Development of an Algorithm for an Automated Tuning System for the Pid Controller of a Servo Cylinder Based on a Mathematical Model of a Hydraulic Drive

Abstract

The article discusses the issues of building effective automated control systems for mechanisms using a proportional-integral-differential regulator (hereinafter referred to as a PID controller) and adaptive controllers. The issues of correct application and control of the PID controller, including the task of forming a system for predicting the coefficients of the PID controller, are presented using the example of building a servo cylinder control system, that is, using the example of controlling the operation of a hydraulic system. It is shown that the most technically difficult, time-consuming and responsible stage of building an automated mechanism control system is the stage of adjusting the control action, taking into account dynamically changing input data. A control algorithm and methods for determining (selecting) coefficients are considered. An example of a software implementation of a PID controller is presented. An automated method for setting up a PID controller based on numerical optimization methods using a mathematical model of a hydraulic drive is proposed. It is shown that the formed approach makes it possible to select optimal control parameters. An example of a software implementation of a PID controller in an environment for developing algorithms in a high-level interpreted general-purpose programming language is considered separately. Special emphasis is placed on the development and practical testing of an automated method for selecting the coefficients of a PID controller based on a mathematical model of a hydraulic drive. The approach proposed in the article is based on the application of the optimization method (minimum search) - the Nelder-Mead simplex method. Numerical and simulation experiments have demonstrated that the developed automated method makes it possible to find optimal or close to optimal sets of PID controller coefficients in an acceptable time, significantly improving the quality of control, stability of operation and reducing the dependence of the result on the subjective experience of the adjuster. The results obtained can be used in the design of industrial control systems with hydraulic drives, as well as in various applications.