CN101403892B - Controlled member parameter recognition method based on DC motor angular displacement control - Google Patents

Abstract

The invention discloses a controlled object parameter identification method based on DC motor angular displacement control, and belongs to a DC motor angular displacement control method. In the method, a step signal generator is adopted to trigger a power drive unit to output drive current so as to drive the motor to drive load running; an angular displacement sensor is adopted to detect the motor angular displacement signal, the coordinates of the angular displacement signal and the step signal with time are respectively established, and a straight line is made along the line segment of the angular displacement signal and is extended to intersect at the time axis; the slope coefficient of the straight line is measured; the step signal amplitude is divided by the slope coefficient of the straight line to obtain an equivalent damping parameter; a second straight line is made from an origin by adopting a slope coefficient identical with that of the straight line; a time point is taken on the abscissa, and the ordinate difference value of the two straight lines at the time point is measured; and the controlled object equivalent inertia parameter is obtained by the ordinate difference value, the equivalent damping parameter and the step input signal amplitude. The method has good static property and dynamic property.

Description

Controlling object parameter identification method based on DC generator angular displacement control

Technical field

The present invention relates to a kind of DC motor angular displacement control method, particularly a kind of controlling object parameter identification method based on DC generator angular displacement control.

Background technology

DC generator angular displacement control must adopt closed-loop control could obtain good angular displacement control performance.Have only to controlled device carry out qualitative understanding could determine the design which type of controller, have only object parameters quantitatively discerned and could accurately be adjusted controller parameter.At present, controller in the known prior art, as widely used PID (proportion integration differentiation) controller, be not at first to determine object parameters, but directly adopt method of trial and error or empirical method to adjust controller proportional control parameter, integration control parameter and differential controlled variable.Therefore, the adjustment of controller parameter relatively blindly, the debugging of DC generator angular displacement control system is wasted time and energy, the angular displacement control performance is difficult to meet the demands, some in addition can't control by diagonal displacement at all.Therefore, during DC generator angular displacement control, how discerning object parameters, then is that prior art has problem to be solved.

Summary of the invention

The technical problem to be solved in the present invention is to propose a kind of controlling object parameter identification method based on DC generator angular displacement control at the defective that prior art exists.

The present invention is based on the controlling object parameter identification method of DC generator angular displacement control, comprise the following steps:

(1) step signal that adopts the step signal generator to export;

(2) adopt power drive unit to receive described step signal output driving current;

(3) adopt direct current generator and load to receive described drive current and drive load running;

(4) adopt angle/placement detection sensor measurement direct current generator and load to obtain angular displacement signal;

(5) adopt register instrument to receive described step signal and angular displacement signal, and set up coordinate system and the coordinate system of step signal and time of angular displacement and time;

(6) make straight line and prolong to intersect at time shaft along the straight-line segment of angular displacement signal;

(7) measure the slope K of above-mentioned straight line;

(8), obtain controlled device equivalent damping parameter D with the slope K of step input signal amplitude M divided by straight line;

(9) adopt the identical slope K of the described straight line of step 6, cross initial point and make the second straight line;

(10) on horizontal ordinate, get a time point, detect the ordinate difference L that obtains at the above two straight line of this time point;

(11) adopt above-mentioned ordinate difference L, equivalent damping parameter D, step input signal amplitude M to obtain controlled device equivalence inertia parameter $I=\frac{L\×D^2}{M}.$

The present invention not only can be sparing of one's energy and the time when DC generator angular displacement controlling Design and debugging, and can obtain good static properties and dynamic property.

Description of drawings

Fig. 1: control system block diagram of the present invention;

Fig. 2: step signal figure of the present invention;

Fig. 3: angular displacement signal figure of the present invention.

Embodiment

As shown in Figure 1.The DC generator angular displacement controlling object recognition system that the present invention is based on, comprise step signal generator 101, power drive unit 102, direct current generator and load 103, angle/placement detection sensor 104 and register instrument 105, wherein the output terminal of step signal generator 101 respectively with the input end of power drive unit 102, an input end of register instrument 105 connects, the output termination direct current generator of power drive unit 102 and the input end of load 103, the input end of the output termination angle/placement detection sensor 104 of direct current generator and load 103, another input end of the output termination register instrument 105 of angle/placement detection sensor 104.

Narrate the controlling object parameter identification method based on DC generator angular displacement control of the present invention in conjunction with Fig. 1, Fig. 2 and Fig. 3, comprise the following steps:

(1) step signal that adopts step signal generator 101 to export;

(2) adopt power drive unit 102 to receive described step signal output driving current;

(3) adopt direct current generator and load 103 to receive described drive current and drive load running;

(4) adopt angle/placement detection sensor 104 measurement direct current generators and load 103 to obtain angular displacement signal;

(5) adopt register instrument 105 to receive described step signal and angular displacement signal, and set up coordinate system and the coordinate system of step signal and time of angular displacement and time;

(6) make straight line and prolong to intersect at time shaft along the straight-line segment of angular displacement signal;

(7) measure the slope K of above-mentioned straight line;

(8), obtain controlled device equivalent damping parameter D with the slope K of step input signal amplitude M divided by straight line;

(9) adopt the identical slope K of the described straight line of step 6, cross initial point and make the second straight line;

(10) on horizontal ordinate, get a time point, detect the ordinate difference L that obtains at the above two straight line of this time point;

(11) adopt above-mentioned ordinate difference L, equivalent damping parameter D, step input signal amplitude M to obtain controlled device equivalence inertia parameter $I=\frac{L\×D^2}{M}.$

After the equivalent inertia parameter I and equivalent damping parameter D of controlled device, the DC generator angular displacement controller just can design and adjust according to these two object parameters when obtaining the control of above-mentioned DC generator angular displacement.

Claims (1)

1. the controlling object parameter identification method based on DC generator angular displacement control is characterized in that comprising the following steps:

(1) step signal that adopts step signal generator (101) to export;

(2) adopt power drive unit (102) to receive described step signal output driving current;

(3) adopt direct current generator and load (103) to receive described drive current and drive load running;

(4) adopt angle/placement detection sensor (104) measurement direct current generator and load (103) to obtain angular displacement signal;

(5) adopt register instrument (105) to receive described step signal and angular displacement signal, and set up coordinate system and the coordinate system of step signal and time of angular displacement and time;

(6) make straight line and prolong to intersect at time shaft along the straight-line segment of angular displacement signal;

(7) measure the slope K of above-mentioned straight line;

(8), obtain controlled device equivalent damping parameter D with the slope K of step signal amplitude M divided by straight line;

(9) adopt the identical slope K of the described straight line of step 6, cross initial point and make the second straight line;

(10) on horizontal ordinate, get a time point, detect the ordinate difference L that obtains at the above two straight line of this time point;

(11) adopt above-mentioned ordinate difference L, equivalent damping parameter D, step signal amplitude M to obtain controlled device equivalence inertia parameter

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