CN102622001A - Variable-parameter PID (proportion-integration-differentiation) control circuit and variable-parameter PID control method for electric steering gear - Google Patents
Variable-parameter PID (proportion-integration-differentiation) control circuit and variable-parameter PID control method for electric steering gear Download PDFInfo
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- CN102622001A CN102622001A CN2012100355029A CN201210035502A CN102622001A CN 102622001 A CN102622001 A CN 102622001A CN 2012100355029 A CN2012100355029 A CN 2012100355029A CN 201210035502 A CN201210035502 A CN 201210035502A CN 102622001 A CN102622001 A CN 102622001A
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Abstract
The invention relates to a variable-parameter PID (proportion-integration-differentiation) control circuit and a variable-parameter PID control method for an electric steering gear, which belong to the technical field of automatic control. The PID control circuit comprises a filtering circuit, a PID circuit, an adding circuit, a deviation judgment circuit and an on-off switching circuit, wherein the deviation judgment circuit is used for controlling on and off of two groups of output of an analog switch in the on-off switching circuit by means of a deviation value of input signals and feedback signals of an electric steering gear closed-loop system, so that whether a parallel resistor and a parallel capacitor are inputted into the PID circuit or not are controlled, and online adjustment of PID parameters is realized. By the aid of the variable-parameter PID control circuit and the variable-parameter PID control method, the problem that the electric steering gear of an aviation guided weapon is difficult to achieve good control effect with a group of preset PID parameters in the working environment of great inertia, nonlinearity, strong interference and the like. The variable-parameter PID control circuit is reasonable in design, simple and feasible, is capable of effectively weakening systematic buffeting, increasing systematic robustness and improving control precision, and can guarantee the system to have good control quality in different control phases.
Description
Technical field
The present invention relates to a kind of variable parameter PID control circuit and control method that is used for electric steering engine, belong to the automatic control technology field.
Background technology
PID control is to use the most a kind of control law in the control automatically, and practical operating experiences and theoretical analysis show, this control law is used for most of controlling object can accesses satisfied result.But; Because the electric steering engine working environment on the aerial guidance weapon exists characteristics such as big inertia, non-linear, strong jamming; Implement control with one group of pid parameter of adjusting in advance and be difficult to reach excellent control effect; Especially when the image parameter variation surpassed certain scope, system performance was understood obvious variation, even exceeds many scopes.
Summary of the invention
The objective of the invention is in order further to improve the performance of electric steering engine PID control; A kind of variable parameter PID control circuit and control method that is used for electric steering engine proposed; To the different phase in the dynamic perfromance through introducing the big or small online pid regulator parameters of nonlinear function, so that system obtains best control effect according to deviation.
The objective of the invention is to realize through following technical scheme.
A kind of variable parameter PID control circuit that is used for electric steering engine of the present invention; Be applied to the closed-loop system of electric steering engine control; The input end of circuit comprises in the closed-loop system of anti-phase each other feedback signal VF among the input signal VI and closed-loop system; Output terminal is that PID OUT signal also is PID control result, and the variable parameter PID control circuit is made up of filtering circuit, PID circuit, adding circuit, deviation decision circuitry and switch switching circuit;
Input signal VI and feedback signal VF are through linking together behind the filtering circuit and getting into the input end of PID circuit and adding circuit respectively;
The PID circuit comprises integrating circuit, differentiating circuit and the ratio amplifying circuit of series connection, and its input end is input signal VI and the signal of feedback signal VF through linking together behind the filtering circuit, and output terminal is that the PID_OUT signal also is PID control result;
Add circuit is used for the input signal VI of anti-phase each other and the filtered result of feedback signal VF are carried out addition; Its input is the signal that input signal VI and feedback signal VF link together behind the wave circuit after filtration, and output is deviation result after input signal VI and the feedback signal VF addition and the input of sending into the deviation decision circuitry;
Set the upper and lower bound of deviation in the deviation decision circuitry through the mode of introducing reference voltage; The input end of deviation decision circuitry is the output terminal of adding circuit; The output terminal of deviation decision circuitry gets into the input end of switch switching circuit; Judge that when the deviation decision circuitry then the output terminal of deviation decision circuitry is a low level, otherwise is high level within the scope of deviation result at upper and lower bound of its input end;
The input end of switch switching circuit is the output terminal of deviation decision circuitry; The output terminal of switch switching circuit has two groups; When the input end of switch switching circuit is high level; Two groups of output terminals all are in opening state, first group of scale parameter through the mode control ratio amplifying circuit of input parallel resistance, second group of integral parameter of controlling integrating circuit through the mode that drops into shunt capacitance; When the input end of switch switching circuit was low level, two groups of output terminals all were in off state, and said parallel circuit and shunt capacitance all do not drop into the PID circuit;
A kind of variable parameter PID control circuit that is used for electric steering engine of the present invention, its step of using period control method is:
1) control procedure of target electric steering engine closed-loop system is carried out mathematical modeling and emulation; Making system's control reach the effect that meets the demands with the size adjustment pid parameter of the deviate Δ V of input signal in the closed-loop system and feedback signal in the simulation process is principle, confirms input signal and the deviate of feedback signal and corresponding pid parameter table when pid parameter switches based on simulation result;
2) design variable parameter PID control circuit; Wherein parallel resistance and shunt capacitance to be dropped into all adopts the pid parameter table in the step 1) simulation result to carry out values match in the switch switching circuit, and the reference voltage of the expression deviation upper and lower bound of introducing in the deviation decision circuitry is confirmed based on switching point in the step 1) simulation result;
3) with step 2) the variable parameter PID control circuit that designs is incorporated in the electric steering engine control and carries out work; The variable parameter PID control circuit can come opening and turn-offing of two groups of output terminals of CS commutation circuit according to the deviate of input signal in the electric steering engine closed-loop system and feedback signal, to realize the online adjustment of pid parameter.
Beneficial effect
The present invention has solved aerial guidance weapon electric steering engine effectively under working environments such as big inertia, non-linear, strong jamming, implements to control the problem that is difficult to reach excellent control effect with one group of pid parameter of adjusting in advance.Pass through to introduce the big or small online pid regulator parameters of nonlinear function to the different phase in the dynamic perfromance, so that system obtains best control effect according to deviation.Variable parameter PID Circuit Design of the present invention is reasonable, simple possible, and effectively impair system is buffeted, increased system robustness, improves control accuracy, and the system that guaranteed has better controlling performance in the Different control stage.
Description of drawings
Fig. 1 is the schematic diagram of variable parameter PID control circuit in the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
A kind of variable parameter PID control circuit that is used for electric steering engine; The input end of circuit comprises the input signal VI and the feedback signal VF of anti-phase each other; Output terminal is that the PID_OUT signal also is PID control result, and the variable parameter PID control circuit is made up of filtering circuit, PID circuit, adding circuit, deviation decision circuitry and switch switching circuit;
Input signal VI and feedback signal VF are through linking together behind the filtering circuit and getting into the input end of PID circuit and adding circuit respectively;
The PID circuit comprises integrating circuit, differentiating circuit and the ratio amplifying circuit of series connection, and its input end is input signal VI and the signal of feedback signal VF through linking together behind the filtering circuit, and output terminal is that the PID_OUT signal also is PID control result;
Add circuit is used for the input signal VI of anti-phase each other and the filtered result of feedback signal VF are carried out addition; Its input is the signal that input signal VI and feedback signal VF link together behind the wave circuit after filtration, and output is deviation result after input signal VI and the feedback signal VF addition and the input of sending into the deviation decision circuitry;
Set the upper and lower bound of deviation in the deviation decision circuitry through the mode of introducing reference voltage; The input end of deviation decision circuitry is the output terminal of adding circuit; The output terminal of deviation decision circuitry gets into the input end of switch switching circuit; Judge that when the deviation decision circuitry then the output terminal of deviation decision circuitry is a low level, otherwise is high level within the scope of deviation result at upper and lower bound of its input end;
The input end of switch switching circuit is the output terminal of deviation decision circuitry; The output terminal of switch switching circuit has two groups; When the input end of switch switching circuit is high level; Two groups of output terminals all are in opening state, first group of scale parameter through the mode control ratio amplifying circuit of input parallel resistance, second group of integral parameter of controlling integrating circuit through the mode that drops into shunt capacitance; When the input end of switch switching circuit was low level, two groups of output terminals all were in off state, and said parallel circuit and shunt capacitance all do not drop into the PID circuit.
Embodiment
As shown in Figure 1, resistance R 1, R2, R3, R4 and capacitor C 1, C2 constitute filtering circuit, and its input signal is respectively the input signal VI and the feedback signal VF of anti-phase each other; Capacitor C 3, resistance R 5, R6 and operational amplifier U1A have constituted the integrating circuit in the PID circuit; Wherein the size of capacitor C 3 influences integral parameter; Resistance R 7, R8, R9, capacitor C 4 and operational amplifier U1B have constituted the differentiating circuit in the PID circuit; Resistance R 10, R11, R12, R13 and operational amplifier U1C have constituted the ratio amplifying circuit in the PID circuit, and wherein the size of resistance R 10 influences scale-up factor; Resistance R 14, R15 and operational amplifier U1D have constituted adding circuit; Operational amplifier U2A, U2B and diode D1, D2, Dz, resistance R 16, R17, R18, R19 have formed the deviation decision circuitry, wherein operational amplifier U2A relatively rectify end, operational amplifier U2B relatively hold negative terminal connect respectively the reference voltage Vref of the upper and lower bound of representing deviation-, Vref+; To be switched parallel resistance Rx, shunt capacitance Cx and analog switch U3 have constituted switch switching circuit; Analog switch U3 has adopted chip AQW214; Two output terminals of first group of output of analog switch U3 are respectively the pin 7 and pin 8 of chip AQW214; Pin 8 is connected to an end P1 of resistance R 10 through resistance R x, and pin 7 directly links to each other with the end P2 of R10, and two output terminals of second group of output of analog switch U3 are respectively the pin 5 and pin 6 of chip AQW214; Pin 6 is connected to an end I1 of capacitor C 3 through capacitor C x, and pin 5 directly links to each other with an end I2 of capacitor C 3;
Above-mentioned a kind of variable parameter PID control circuit that is used for electric steering engine is applied to the closed-loop control system of electric steering engine, and the step of its control method is:
1) control procedure of target electric steering engine closed-loop system is carried out mathematical modeling and emulation; Making system's control reach the effect that meets the demands with the size adjustment pid parameter of the deviate Δ V of input signal in the closed-loop system and feedback signal in the simulation process is principle, confirms input signal and the deviate of feedback signal and corresponding pid parameter table when pid parameter switches based on simulation result;
2) design variable parameter PID control circuit; Wherein parallel resistance Rx and shunt capacitance Cx to be dropped into all adopts the pid parameter table in the step 1) simulation result to carry out values match in the switch switching circuit, the reference voltage Vref of the expression deviation upper and lower bound of introducing in the deviation decision circuitry+confirm based on switching point in the step 1) simulation result with Vref-;
3) with step 2) the variable parameter PID control circuit that designs is incorporated into and carries out work in the electric steering engine closed-loop control; The variable parameter PID control circuit can come opening and turn-offing of two groups of outputs of gauge tap commutation circuit based on the deviate of input signal in the electric steering engine closed-loop system and feedback signal, to realize the online adjustment of pid parameter;
The deviation decision circuitry is come two groups of opening and turn-offing of exporting of analog switch in the CS commutation circuit through the input signal VI of electric steering engine closed-loop system and the deviate size of feedback signal VF; When deviate is between Vref+ and Vref-(acquiescence Vref+ is greater than Vref-); Deviation decision circuitry output low level, the two-way output of analog switch AQW214 chip is off state; When deviate during greater than Vref+ or less than Vref-, deviation decision circuitry output high level, the output of analog switch is opening state, and Rx will be parallelly connected with R10, and system's proportional gain will strengthen, and Cx will be parallelly connected with C3 the while, and the system storage effect of making weakens; When analog switch output was broken off, each parameter in the PID circuit and Rx and Cx were irrelevant.
Through top flow process, pid parameter will have been realized the online variation of pid parameter based on the size automatic switchover pid parameter state of deviate.
The above; Be merely the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technician who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (2)
1. variable parameter PID control circuit that is used for electric steering engine; Be applied to the closed-loop system of electric steering engine control; The input end of circuit comprises in the closed-loop system of anti-phase each other feedback signal VF among the input signal VI and closed-loop system; Output terminal is that the PID_OUT signal also is PID control result, it is characterized in that:
The variable parameter PID control circuit is made up of filtering circuit, PID circuit, adding circuit, deviation decision circuitry and switch switching circuit;
Input signal VI and feedback signal VF are through linking together behind the filtering circuit and getting into the input end of PID circuit and adding circuit respectively;
The PID circuit comprises integrating circuit, differentiating circuit and the ratio amplifying circuit of series connection, and its input end is input signal VI and the signal of feedback signal VF through linking together behind the filtering circuit, and output terminal is that the PID_OUT signal also is PID control result;
Add circuit is used for the input signal VI of anti-phase each other and the filtered result of feedback signal VF are carried out addition; Its input is the signal that input signal VI and feedback signal VF link together behind the wave circuit after filtration, and output is deviation result after input signal VI and the feedback signal VF addition and the input of sending into the deviation decision circuitry;
Set the upper and lower bound of deviation in the deviation decision circuitry through the mode of introducing reference voltage; The input end of deviation decision circuitry is the output terminal of adding circuit; The output terminal of deviation decision circuitry gets into the input end of switch switching circuit; Judge that when the deviation decision circuitry then the output terminal of deviation decision circuitry is a low level, otherwise is high level within the scope of deviation result at upper and lower bound of its input end;
The input end of switch switching circuit is the output terminal of deviation decision circuitry; The output terminal of switch switching circuit has two groups; When the input end of switch switching circuit is high level; Two groups of output terminals all are in opening state, first group of scale parameter through the mode control ratio amplifying circuit of input parallel resistance, second group of integral parameter of controlling integrating circuit through the mode that drops into shunt capacitance; When the input end of switch switching circuit was low level, two groups of output terminals all were in off state, and said parallel circuit and shunt capacitance all do not drop into the PID circuit.
2. a kind of variable parameter PID control circuit that is used for electric steering engine according to claim 1 is characterized in that its step of using period control method is:
1) control procedure of target electric steering engine closed-loop system is carried out mathematical modeling and emulation; Size based on the deviate of input signal in the closed-loop system and feedback signal in the simulation process is adjusted pid parameter; So that system's control reaches the effect that meets the demands is principle, confirms input signal and the deviate of feedback signal and corresponding pid parameter table when pid parameter switches based on simulation result;
2) design variable parameter PID control circuit; Wherein parallel resistance and shunt capacitance to be dropped into all adopts the pid parameter table in the step 1) simulation result to carry out values match in the switch switching circuit, and the reference voltage of the expression deviation upper and lower bound of introducing in the deviation decision circuitry is confirmed based on switching point in the step 1) simulation result;
3) with step 2) the variable parameter PID control circuit that designs is incorporated in the electric steering engine control and carries out work; The variable parameter PID control circuit can come opening and turn-offing of two groups of output terminals of CS commutation circuit according to the deviate of input signal in the electric steering engine closed-loop system and feedback signal, to realize the online adjustment of pid parameter.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104698835A (en) * | 2015-02-10 | 2015-06-10 | 中国航天科技集团公司第九研究院第七七一研究所 | Variable structure control system and method of electric steering engine |
| CN105159177A (en) * | 2015-09-11 | 2015-12-16 | 湖北三江航天红峰控制有限公司 | Mini electro-hydraulic steering engine control circuit |
| CN105242678A (en) * | 2015-09-11 | 2016-01-13 | 湖北三江航天红峰控制有限公司 | Rudder jitter suppression circuit and rudder system |
| CN106338912A (en) * | 2016-10-27 | 2017-01-18 | 陕西航天时代导航设备有限公司 | ARM based rapid PID control parameter setting method of steering system |
| CN106843227A (en) * | 2017-03-09 | 2017-06-13 | 杭州电子科技大学 | A kind of method of the autonomous tracking path planning of intelligent automobile |
| CN111367165A (en) * | 2020-04-13 | 2020-07-03 | 烟台艾睿光电科技有限公司 | PID control and regulation circuit system capable of automatically regulating PID parameters |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104698835A (en) * | 2015-02-10 | 2015-06-10 | 中国航天科技集团公司第九研究院第七七一研究所 | Variable structure control system and method of electric steering engine |
| CN104698835B (en) * | 2015-02-10 | 2018-06-19 | 中国航天科技集团公司第九研究院第七七一研究所 | The variable structure control system and method for a kind of electric steering engine |
| CN105159177A (en) * | 2015-09-11 | 2015-12-16 | 湖北三江航天红峰控制有限公司 | Mini electro-hydraulic steering engine control circuit |
| CN105242678A (en) * | 2015-09-11 | 2016-01-13 | 湖北三江航天红峰控制有限公司 | Rudder jitter suppression circuit and rudder system |
| CN105242678B (en) * | 2015-09-11 | 2017-10-31 | 湖北三江航天红峰控制有限公司 | A kind of steering gear swaying suppression circuit and steering gear system |
| CN105159177B (en) * | 2015-09-11 | 2018-11-02 | 湖北三江航天红峰控制有限公司 | A kind of miniaturization electro-hydraulic actuator control circuit |
| CN106338912A (en) * | 2016-10-27 | 2017-01-18 | 陕西航天时代导航设备有限公司 | ARM based rapid PID control parameter setting method of steering system |
| CN106843227A (en) * | 2017-03-09 | 2017-06-13 | 杭州电子科技大学 | A kind of method of the autonomous tracking path planning of intelligent automobile |
| CN111367165A (en) * | 2020-04-13 | 2020-07-03 | 烟台艾睿光电科技有限公司 | PID control and regulation circuit system capable of automatically regulating PID parameters |
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