基于卡尔曼滤波的PID控制在PLC中的实现及应用  

Realization and application of PID control based on Kalman filtering in PLC

作　　者：熊磊 陈相全 谢晖 郭景富[1,2] 张雪明 董永军[1,2] XIONG Lei;CHEN Xiangquan;XIE Hui;GUO Jingfu;ZHANG Xueming;DONG Yongjun(School of Physics,Northeast Normal University,Changchun 130024,China;Jilin Key Laboratory of Advanced Energy Development and Application Innovation,Changchun 130024,China)

机构地区：[1]东北师范大学物理学院,吉林长春130024 [2]吉林省先进能源开发及应用创新重点实验室,吉林长春130024

出　　处：《现代电子技术》2022年第6期5-8,共4页Modern Electronics Technique

基　　金：吉林省发改委产业技术研究与开发专项项目(2018C036⁃4);国家科技计划项目国家重点研发计划(2018YFB1501903⁃03);吉林省教育厅“十三五”科学技术研究规划项目(JJKH20170258KJ);国家海洋局海洋可再生能源专项资金课题(GHME2016YY03)。

摘　　要：中子发生器电源性能直接影响中子管产额稳定性,文中针对中子发生器电源PID控制存在的噪声敏感、超调量大等问题,在PLC系统中设计一种基于卡尔曼滤波的PID控制方法。利用PLC中的行优先顺序,以浮点型数据格式存储卡尔曼滤波器中的矩阵,采用PLC中的四则运算基本指令进行卡尔曼滤波器的矩阵运算,通过多次嵌套调用矩阵运算子程序实现PID控制参数的卡尔曼滤波。最后,将文中方法应用于中子发生器的电源控制,通过对比实验以验证其有效性。测试结果表明,在PLC中基于卡尔曼滤波进行PID控制能够有效地滤除噪声,减少超调量,控制效果得到明显改善。通过进一步优化,文中设计方法可应用于中子发生器、液面高度、温度、气压等多种PLC控制系统。The power supply performance of neutron generator can directly affect the yield stability of neutron tube.In allusion to the problems of noise sensitivity and large overshoot in the PID control of neutron generator power supply,a PID control method based on Kalman filtering is designed in PLC system.By means of the row priority in PLC,the matrix in Kalman filter is stored in floating⁃point data format.The basic instructions of four operations in PLC are used for the matrix operation of Kalman filter.The Kalman filtering of PID control parameters is realized by multiply nesting and calling matrix operation subroutine.The proposed method is applied to the power control of neutron generator.Its effectiveness was verified in the comparative experiments.The testing results show that the PID control based on Kalman filtering in PLC can effectively filter out noise and reduce overshoot,and its control effect is obvious improved.With further optimizations,this method can be applied to various PLC control systems to control neutron generator,liquid level height,temperature and air pressure.

关 键 词：PID控制 PLC系统 卡尔曼滤波器 矩阵运算 中子发生器 电源控制 系统测试 

分 类 号：TN876-34[电子电信—信息与通信工程]