一种基于模块化状态机的事件PID控制器
A Modular State-Machine Based Event PID Controller
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中文总结 AI 辅助
本文提出一种模块化状态机事件PID控制器，通过有限状态机封装标准PID，减少执行器抖动并形成保持带，计算频率低于时间触发和事件驱动控制器，且性能相当。
中文摘要 AI 辅助
在本文中，我们提出了一种模块化的比例-积分-微分（PID）控制器，其计算和模式逻辑由更高级别的状态机执行。受实时安全关键应用的启发，在这些应用中，计算负载、执行器抖动、传感误差和噪声是设计挑战，所提出的算法将标准PID封装在一个具有三个状态（pidInit、ErrorOutRange、ErrorInRange）的有限状态机内。目标是调节期望参考值在安全操作区域内，同时减少执行器抖动并在操作范围内创建相当大的保持带。该设计是模块化的，可以轻松集成到具有多个低级回路和状态的更高级别状态机中。该算法还具有较低的计算复杂度，适合嵌入式硬件部署。我们在已发表的事件驱动PID基准的两个测试台上通过仿真展示了该算法的有效性。该算法计算控制更新的频率显著低于时间触发PID，且低于两种主流事件驱动控制器，同时保持相当等效的控制性能。此外，我们还展示了所设计算法在实时流量控制中的一些实验结果。
英文摘要
In this paper, we present a modular proportional-integral-derivative (PID) controller whose computation and mode logic are executed by a higher-level state machine. Inspired by real-time safety-critical applications where computational load, actuator chattering, sensing error and noise are design challenges, the proposed algorithm wraps a standard PID inside a finite state machine with three states (pidInit, ErrorOutRange, ErrorInRange). The goal is to regulate a desired reference within a safe region of operation while reducing actuator chattering and creating a sizable hold band over the range of operation. This design is modular and can be easily integrated into a higher-level state machine with multiple low-level loops and states. The algorithm also has low computational complexity and is suitable for embedded hardware deployment. We demonstrate the effectiveness of the algorithm in simulation on the two test benches of a published event-based PID benchmark. The algorithm computes the control updates significantly less often than the time-triggered PID and less often than both dominant event-driven controllers, while keeping a fairly equivalent control performance profile. Furthermore, we also present some experimental results of the designed algorithm for a real-time flow control.
发表机构
- University of Texas at Arlington（阿灵顿德克萨斯大学）
- Mariana Minerals（马里亚纳矿物公司）
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