Multi-Phase Focused PID Adaptive Tuning with Reinforcement Learning

摘要

The Proportional-Integral-Derivative (PID) controller, a fundamental element in industrial control systems, plays a pivotal role in regulating an extensive array of controlled objects. Accurate and rapid adaptive tuning of PID controllers holds significant practical value in fields such as mechatronics, robotics, and automatic control. The three parameters of the PID controller exert a substantial influence on control performance, rendering the tuning of these parameters an area of significant interest within related research fields. Numerous tuning techniques are widely employed to optimize its functionality. Nonetheless, their adaptability and control stability may be constrained in situations where prior knowledge is inadequate. In this paper, a multi-phase focused PID adaptive tuning method is introduced, leveraging the deep deterministic policy gradient (DDPG) algorithm to automatically establish reference values for PID tuning. This method constrains agent actions in multiple phases based on the reward thresholds, allowing the output PID parameters to focus within the stable region, which provides enhanced adaptability and maintains the stability of the PID controller even with limited prior knowledge. To counteract the potential issue of a vanishing gradient following action constraints, a residual structure is incorporated into the actor network. The results of experiments conducted on both first-order and second-order systems demonstrate that the proposed method can reduce the tracking error of a PID controller by 16–30% compared with the baseline methods without a loss in stability.