CN100585520C - DC motor angular displacement PID control method - Google Patents

Abstract

The present invention discloses a direct current motor angular displacement PID control system and a control method thereof, which belong to the field of direct current motor control. The structure of the system comprises a controller, a power driving unit, a controlled object and an angular displacement detection sensor, wherein the controller comprises a comparator, a proportioner, an integrator, a differentiator and an adder; and the controlled object comprises a direct current motor and mechanical load. The control method of the control system comprises the following steps: identifying an equivalent damping parameter D and an equivalent inertia parameter I of the controller object, and adjusting a proportion controlling parameter KP, an integral control parameter KI and a differential control parameter KD of the controller. When the controller system is debugged, the parameters of the controller can be purposely adjusted, thus the blindness of the PID controller parameter adjustment is avoided, the time and the labor are saved, and the optimal angular displacement control effect can be obtained.

Description

A kind of DC generator angular displacement by PID control method

Technical field

The present invention relates to a kind of DC motor angular displacement control method, relate in particular to a kind of DC generator angular displacement by PID control method and control system thereof, belong to the DC MOTOR CONTROL field.

Background technology

DC generator angular displacement must adopt closed-loop control could obtain good angular displacement control performance, and the DC generator angular displacement closed-loop control system comprises controller and controlled device.How the DC generator angular displacement control system is according to different controlled devices, and PID (proportion integration differentiation) controller parameter is shot the arrow at the target and adjusted, and then is that prior art has problem to be solved.At present, in the known prior art, its proportional control parameter of PID controller, integration control parameter and differential controlled variable all are directly to adopt method of trial and error or empirical method to adjust, rather than adjust according to object parameters, the adjustment of controller parameter relatively blindly, the debugging of DC generator angular displacement control system is wasted time and energy, and the angular displacement control performance is difficult to meet the demands.

Summary of the invention

The present invention is in order to solve when the PID controller is adopted in the DC generator angular displacement closed-loop control, and the problem that the PID controller parameter is adjusted according to the Be Controlled image parameter proposes a kind of DC generator angular displacement by PID control method and control system thereof.

The employed control system of DC generator angular displacement by PID control method of the present invention comprises: controller, power drive unit, Be Controlled object and angle/placement detection sensor, and wherein: controller comprises comparer, proportioner, integrator, differentiator and totalizer; The Be Controlled object comprises direct current generator and mechanical load; Comparer acceptance angle displacement commands signal, the output terminal of comparer connects proportioner respectively, the input end of integrator and differentiator, proportioner, the output terminal of integrator and differentiator all connects the input end of totalizer, the input end of the output termination power drive unit of totalizer, the input end of the output termination direct current generator of power drive unit, the meet sb. at the airport input end of tool load of the output terminal of direct current generator, mechanical load one road angle displacement output signal, another road output signal is to the input end of angle/placement detection sensor, the input end of the output termination comparer of angle/placement detection sensor;

Control method based on above-mentioned DC generator angular displacement by PID control system of the present invention comprises the steps:

(1) the equivalent damping parameter D and the equivalent inertia parameter I of identification Be Controlled object comprise the steps:

A. the step signal that with amplitude is M is input to power drive unit, drives the running of Be Controlled object, measures controlled device angular displacement output signal by angle/placement detection sensor, and record step input signal and the time dependent process of angular displacement output signal;

B. set up the coordinate system of angular displacement output signal and time relationship, make straight line l along the straight line portion of angular displacement output signal curve and intersect at time shaft;

Time value T when c. reading straight line l and time shaft and intersecting;

D. measure the slope K of straight line l;

E. with the slope K of step input signal amplitude M, obtain Be Controlled object equivalent damping parameter D divided by straight line l;

F. Be Controlled object equivalent damping parameter D be multiply by time value T, obtain Be Controlled object equivalence inertia parameter I;

Wherein: step signal is the output signal of the totalizer in the controller;

(2) the proportional control parameter K of adjustment controller _P, the integration control parameter K _IWith differential controlled variable K _D, mainly comprise the steps:

A. determine the peak power P that selected power drive unit can be exported according to selected device _Max

B. be set in maximum angular displacement value Θ in the range of linearity according to actual needs _Ml

C. adjust the proportional control parameter of controller $K_P=\frac{P_{\max }}{{\mathrm{\Θ}}_{\mathrm{ml}}};$

D. adjust the integration control parameter of controller $K_I=\frac{K_P}{9\×I}\sqrt{3{\mathrm{IK}}_P};$

E. adjust the differential controlled variable of controller $K_D=\sqrt{3{\mathrm{IK}}_P}-D.$

The present invention is a kind of DC generator angular displacement by PID control method and control system thereof, system is when debugging, the PID controller parameter is adjusted according to the Be Controlled image parameter, the PID controller parameter can be adjusted with a definite target in view, accomplish to know what's what, contain the blindness that the PID controller parameter is adjusted, saved time and efforts, and can obtain best angular displacement control effect.

Description of drawings

Fig. 1 is a DC generator angular displacement by PID control system block diagram of the present invention.

Fig. 2 is an angular displacement output signal coordinate diagram of the present invention.

Embodiment

As shown in Figure 1, a kind of DC generator angular displacement by PID control system, this system comprises: controller 110, power drive unit 120, Be Controlled object 130 and angle/placement detection sensor 140, and wherein: controller 110 comprises comparer 111, proportioner 112, integrator 113, differentiator 114 and totalizer 115; Be Controlled object 130 comprises direct current generator 131 and mechanical load 132; Comparer 111 acceptance angle displacement commands signals, the output terminal of comparer 111 connects proportioner 112 respectively, the input end of integrator 113 and differentiator 114, proportioner 112, the output terminal of integrator 113 and differentiator 114 all connects the input end of totalizer 115, the input end of the output termination power drive unit 120 of totalizer 115, the input end of the output termination direct current generator 131 of power drive unit 120, the meet sb. at the airport input end of tool load 132 of the output terminal of direct current generator 131, mechanical load 132 one road angle displacement output signals, another road output signal is to the input end of angle/placement detection sensor 140, the input end of the output termination comparer 111 of angle/placement detection sensor 140.

Narrate the control method of this DC generator angular displacement by PID control system in conjunction with Fig. 1 and Fig. 2, mainly comprise the steps:

(1) the equivalent damping parameter D and the equivalent inertia parameter I of identification Be Controlled object comprise the steps:

A. the step signal that with amplitude is M is input to power drive unit 120, drive 130 runnings of Be Controlled object, measure controlled device 130 angular displacement output signals by angle/placement detection sensor 140, and record step signal and the time dependent process of angular displacement output signal;

B. set up the coordinate system of angular displacement output signal and time relationship, make straight line l along the straight line portion of angular displacement output signal curve and intersect at time shaft;

Time value T when c. reading straight line l and time shaft and intersecting;

D. measure the slope K of straight line l;

E. with the slope K of step input signal amplitude M, obtain Be Controlled object equivalent damping parameter D divided by straight line l;

F. Be Controlled object equivalent damping parameter D be multiply by time value T, obtain Be Controlled object equivalence inertia parameter I;

Wherein: step signal is the output signal of the totalizer 115 in the controller 110;

(2) the proportional control parameter K of adjustment controller _P, the integration control parameter K _IWith differential controlled variable K _D, mainly comprise the steps:

A. determine the peak power P that selected power drive unit 120 can be exported according to selected device _Max

B. be set in maximum angular displacement value Θ in the range of linearity according to actual needs _Ml

C. adjust the proportional control parameter of controller $K_P=\frac{P_{\max }}{{\mathrm{\Θ}}_{\mathrm{ml}}};$

D. adjust the integration control parameter of controller $K_I=\frac{K_P}{9\×I}\sqrt{3{\mathrm{IK}}_P};$

E. adjust the differential controlled variable of controller $K_D=\sqrt{3{\mathrm{IK}}_P}-D.$

The system works flow process is: comparer 111 compares with the input angular displacement command signal with from the angular displacement feedback signal that angle/placement detection sensor 140 is sent here, produces the angular displacement error signal; Proportioner 112 multiply by the proportional control parameter to the angular displacement error signal; Integrator 113 diagonal displacement error signals are carried out integration and be multiply by the integration control parameter; Differentiator 114 diagonal displacement error signals are carried out differential and be multiply by the differential controlled variable; Totalizer 115 produces step signal with proportioner 112, integrator 113 and differentiator 114 output signal additions and delivers to power drive unit 120; Power drive unit 120 provides suitable energy according to the control signal of controller 110 outputs to direct current generator 131 in good time, makes controlled device 130 reach desired angular displacement according to the angular displacement command signal; The received signal of object that controlled device 130 control system will be controlled and angle displacement output signal and angle/placement detection sensor 140; Angle/placement detection sensor 140 detects the operation angular displacement of controlled device 130, sends to comparer 111 as the angular displacement feedback signal.

Claims (1)

1, a kind of DC generator angular displacement by PID control method, it is characterized in that: the employed control system of this control method comprises controller (110), power drive unit (120), Be Controlled object (130) and angle/placement detection sensor (140), and wherein: controller (110) comprises comparer (111), proportioner (112), integrator (113), differentiator (114) and totalizer (115); Be Controlled object (130) comprises direct current generator (131) and mechanical load (132); Comparer (111) acceptance angle displacement commands signal, the output terminal of comparer (111) connects proportioner (112) respectively, the input end of integrator (113) and differentiator (114), proportioner (112), the output terminal of integrator (113) and differentiator (114) all connects the input end of totalizer (115), the input end of the output termination power drive unit (120) of totalizer (115), the input end of the output termination direct current generator (131) of power drive unit (120), the meet sb. at the airport input end of tool load (132) of the output terminal of direct current generator (131), mechanical load (132) one road angle displacement output signals, another road output signal is to the input end of angle/placement detection sensor (140), the input end of the output termination comparer (111) of angle/placement detection sensor (140);

This control method comprises the steps:

(1) the equivalent damping parameter D and the equivalent inertia parameter I of identification Be Controlled object comprise the steps:

A. the step signal that with amplitude is M is input to power drive unit (120), drive Be Controlled object (130) running, measure the angular displacement output signal of Be Controlled object (130) by angle/placement detection sensor (140), and write down step signal and the time dependent process of angular displacement output signal;

B. set up the coordinate system of angular displacement output signal and time relationship, make straight line l along the straight line portion of angular displacement output signal curve and intersect at time shaft;

Time value T when c. reading straight line l and time shaft and intersecting;

D. measure the slope K of straight line l;

E. with the slope K of step input signal amplitude M, obtain Be Controlled object equivalent damping parameter D divided by straight line l;

F. Be Controlled object equivalent damping parameter D be multiply by time value T, obtain Be Controlled object equivalence inertia parameter I;

Wherein: step signal is the output signal of the totalizer (115) in the controller (110);

(2) the proportional control parameter K of adjustment controller _P, the integration control parameter K _IWith differential controlled variable K _D, comprise the steps:

A. determine the peak power P that selected power drive unit (120) can be exported according to selected device _Max

B. be set in maximum angular displacement value Θ in the range of linearity according to actual needs _Ml

C. adjust the proportional control parameter of controller $K_P=\frac{P_{\max }}{{\mathrm{\Θ}}_{\mathrm{ml}}};$

D. adjust the integration control parameter of controller $K_I=\frac{K_P}{9\×I}\sqrt{3{\mathrm{IK}}_P};$

E. adjust the differential controlled variable of controller $K_D=\sqrt{3{\mathrm{IK}}_P}-D.$

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