What is double closed-loop control
The double closed-loop control algorithm is an advanced control method, which optimizes various disturbances and changes in the control system to improve the stability, precision and response speed of the system.
The double closed-loop control algorithm consists of an inner loop and an outer loop, which respectively control the fast response and system stability of the system.
The inner-loop controller is mainly responsible for monitoring and adjusting the actual output of the system to ensure fast response and high precision of the system. It usually uses proportional, integral, and differential control algorithms, and optimizes the selection of appropriate parameters.
The outer loop controller is responsible for controlling the stability of the system. In the case of ensuring the accuracy and response speed of the inner loop control of the system, by comparing the output signal with the reference input signal, the PID control algorithm is used to adjust the output of the system. signal to achieve stability.
Debug double closed-loop PID algorithm
The following steps need to be followed:
1. Check the PID parameters: first check whether the PID parameters are correct. Check whether the parameters such as proportional coefficient, integral coefficient, differential coefficient and sampling time are set correctly.
2. Check the loop structure: determine whether the double closed loop structure is correct. If there are multiple loops in the control system, it is necessary to confirm whether the calculation order of each loop is correct.
3. Check signal quality: Check the quality of input and output signals. Poor input signal quality can cause noise or jitter in the control system. Poor output signal quality can lead to insensitive or unstable control system response.
4. Simulated environment: Simulate the control system environment, and use a simulator or simulation software for simulation testing. A simulated environment can help developers better understand how a system responds to input, allowing for faster identification of problems.
5. Adjust parameters: According to the simulation test results, adjust the parameters to make the control system more sensitive and stable. Verify that the parameters are correct through test data and actual operating conditions.
6. Actual test: If the above steps have obtained good results, then the actual test can be carried out and the results analyzed. If the result is not as expected, you need to continue to adjust the parameters and verify.
Inner and outer ring bandwidth
The bandwidth of the inner loop control is usually higher than that of the outer loop control. For example, the control of the robot joint needs faster response speed, while the position control of the end effector needs more stable control.
Specifically, in a dual closed-loop PID controller, the inner and outer loops of the control system have their own proportional, integral, and derivative parameters (Kp, Ki, and Kd), respectively. The control parameters of the inner loop should be higher than those of the outer loop in order to respond quickly to the control of the robot joints, while the control parameters of the outer loop should be smaller in order to better stabilize the position control of the robot end effector.
For example, in robot control, the PID controller of the inner loop can have control parameters of Kp = 1000, Ki = 0, Kd = 10, while the PID controller of the outer loop can have Kp = 100, Ki = 0.1, Kd = 1 control parameters.
This control strategy can ensure that the robot control system can accurately control the position of the robot end effector while responding quickly to the robot joint control.
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