The Study On Intelligent Track Guiding Control Algorithm

PID controller is widely used in various industrial process controls because of its simple structure and easiness to implement. However, with the increasing complication of the engineering system and the more exact demand to control effect, and time-delay, time variation, uncertainties and other factors in the actual industrial process, PID control is difficult to meet the requirement of both static and dynamic performance which leads to the inefficiency of operation. But there is no practical and feasible controller or control algorithms to replace traditional PID control, in order to solve this embarrassing situation, the paper proposes a more simple and practical method of control: ITGC (Intelligent Track Guiding Control) "Draw the ideological essence of classic PID, and structure a new pattern for controller" is the original intention of this thesis.ITGC overcomes the shortcoming of traditional PID control that the method it gets error is too simple, avoids the too large error between output value and set value which is a step in the initial phase .ITGC plan a reasonable guiding curve to replace original step setting with the step response curve of first-order inertia system so that the error between output value and objectives can be reached, and the traditional "objective control" has been transited to "process control"; differential feedback is used effectively to receive speed error , and ITGC combines speed and position control of coordination to make the system output follow the guiding curve to achieve terminal value smoothly.The parameters that need setting in ITGC algorithm include: the time-constant T of first-order inertia process, position control coefficient Ap and speed control coefficient Av. A new evaluation index: ITAEU (the Integral of product of time and absolute error and control variable increment) is designed based on technical requirement of "stability", "prospective" and " rapidity " and the life cycle of actuator, which is regarded as the limited condition of parameter T, and the range of T will be determined by MATLAB simulation; further more, a practical value method of Ap and Av based on work experience is also introduced in this thesis. The structure of ITGC is simple and easy to be realized, and the real-time experimental result in the temperature test platform proves the superiority of ITGC algorithm which can restrain oscillation and overshoot better.ITGC can be applied not only in the large inertia and large delay system, such as the boiler temperature control. According to the characters of it can restrains oscillation and overshoot and makes output follow setting track,, the broad application foreground in other aspects like mechanical hand, and three-dimensional warehouse will be reached.