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Simulation of state feedback PID control
Let,, be, KC = [188.8458329.2705159.7069,22.8667], k = [0.06659, 3.6134, 4.8962, 2.9486, 0.6659]
The parameters of the first stage regulator are: KP = 0.08, I = 50s
The parameters of the second stage regulator are: KP = 1.0, I = 0.0s
4.2.1 comparison of state feedback PID control and PID cascade control system
The parameters of the first stage regulator of PID cascade control system are: KP = 1, I = 25s
The parameters of the second stage regulator are: KP = 1.0, I = 0.0s
Fig. 3 is the response curve of the fixed value when the unit step disturbance occurs.
It can be seen from Figure 3 that the control effect of the state feedback PID control system is obviously better than that of the traditional PID cascade control system
Fig. 3 Comparison of response characteristics between state feedback PID control and PID cascade control
4.2.2 change the time constant T 0 of the observer (other parameters remain unchanged)
When t0 = 5, 8, 10, 15, the set value disturbance response of the system is shown in Fig. 4. From Figure 4, we can see the performance of the state feedback PID control system when the model is mismatched. When the time constant t0 of the observer is less than the time constant T2 (10s) of the inertia region, the response of the system is accelerated, but the smaller t0 is, the greater the overshoot appears. When t0 is greater than T2, the system response becomes slower. It should be noted that when the difference between t0 and T2 is large, the system response becomes worse. Therefore, in practical application, the time constant t0 of the observer can be made as a function of the load to adapt to the change of the time constant T2 in the inert region. If the variation range of T2 is within 20%, it can be considered that t0 is a constant.
Fig. 4. Response curves of the system with different observer time constants
4.2.3 change the gain K0 of the observer (other parameters remain unchanged)
When K0 = 1.0, 1.1, 1.2, 1.5, the set value disturbance response of the system is shown in Fig. 5. It can be seen from Fig. 5 that the system is not sensitive to the change of K0, and the variation range of the inert region gain of the actual system is basically between 1.1 and 1.5.
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A860-0326-T103
A860-0326-T103
