CN102882463B - Control parameter setting method of speed regulating controller in speed regulating device of torque motor - Google Patents
Control parameter setting method of speed regulating controller in speed regulating device of torque motor Download PDFInfo
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- CN102882463B CN102882463B CN201210434768.0A CN201210434768A CN102882463B CN 102882463 B CN102882463 B CN 102882463B CN 201210434768 A CN201210434768 A CN 201210434768A CN 102882463 B CN102882463 B CN 102882463B
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Abstract
The invention discloses a control parameter setting method of a speed regulating controller in a speed regulating device of a torque motor; a speed regulating device on which the method is based is composed of a speed regulating order generator, a speed regulating controller, a power driving module, a speed regulating executing mechanism and a speed sensor; the setting method comprises the steps of forming a parameter identifying device of the speed regulating executing mechanism; according to a phase step output response feature of the speed regulating executing mechanism, identifying an equivalent viscous damping coefficient and an equivalent inertia of the speed regulating executing mechanism, dividing the maximal output voltage of the power driving module by the maximal value of a speed regulating order, squaring the obtained quotient, multiplying by 5 times and dividing by the equivalent inertia to obtain an integral coefficient of the speed regulating controller; multiplying the equivalent inertia by the integral coefficient of the speed regulating controller and calculating a square root, multiplying by twice, and subtracting the equivalent viscous damping coefficient from the obtained product to obtain a probability distribution function (PDF) coefficient of the speed regulating controller. According to the control parameter setting method, the controlling parameter of the speed regulating controller is precisely set, and the speed of the torque motor is stably regulated within a wide range.
Description
Technical field:
The present invention relates to a kind of torque motor wide-range-timing device design and adjustment method, particularly the control parameter of speed setting controller size setting method in a kind of torque motor wide-range-timing device.
Background technology:
In speed adjusting device, torque motor speed governing often runs in many plant equipment and weaponry, as the revolution of mechanical arm, and the rotatablely moving of process equipment, the transmission of workpiece in automatic production line, the search of radar antenna etc.In torque motor speed regulating device, the variable of adjusting is the movement velocity of mechanical load.In order to obtain the speed of service that mechanical load is lower, must configuration deceleration device between torque motor and mechanical load.Like this, not only increase the cost of speed regulating device, and increased the volume and weight of speed regulating device.Even the in the situation that of configuration deceleration device; torque motor speed regulating device performance when low cruise is still unstable, particularly when extremely low speed moves, due to load variations or external interference; often can occur can not continuous and stable the situation of operation, i.e. so-called creeping phenomenon.
In order to obtain good speed adjusting function, torque motor speed regulating device must adopt speed-regulating control device.That is to say, in mechanized equipment the speed of moving component after testing sensor feedback to speed regulating device input, compare generation error signal with speed-regulating instruction signal, and then by speed setting controller, error signal is carried out sending control signal after control algorithm, the speed of moving component is implemented to control.Yet, even if adopt now widely used feedback or other so-called modern control method, though torque motor speed adjusting performance can obtain certain improvement, still can not even running when low speed, in load change or external interference situation, creeping phenomenon is comparatively obvious especially.Trace it to its cause, traditional feedback or the common corrective measure of other control method are that error is increased to control algorithm.In fact, in forward direction control loop, to a kind of computing of the every increase of error, speed governing command signal and feedback signal have been increased to control algorithm simultaneously.Each computing of speed governing command signal is just equivalent to the forced term of the right increase at the dynamic differential equation of speed regulating device, makes control device occur a plurality of forced term.Like this, speed regulating device output just can not accurately reappear speed-regulating instruction signal.
Raising along with running precision, response speed and the automaticity of various plant equipment and weaponry, has proposed more and more higher requirement to torque motor speed adjusting performance.Current widely used general feedback control method can not meet the demands, particularly cannot meet the performance requirement under low speed or utmost point low cruise condition.In order to guarantee that torque motor can not only run well under high-speed case, and also can smooth operation in low speed and utmost point low speed situation, realizable force torque motor in without reducing gear situation its speed zero to thousands of turn in wide region can stable and continuous adjusting object, adopting new speed regulating device is further to improve one of speed adjusting performance problem to be solved.
At present, the known speed setting controller of the prior art of torque motor speed regulating device, it controls parameter is not to design with a definite target in view according to the parameter of speed governing actuator, but the control parameter that directly adopts trial and error procedure or empirical method to adjust speed setting controller.This just causes the adjusting of control parameter size of speed setting controller to have phenomenon blindly, and the debugging of torque motor speed regulating device is wasted time and energy, and speed adjusting performance is difficult to engineering demands.Therefore,, when the design of torque motor speed regulating device and debugging, the control parameter of how to adjust quantitatively speed setting controller according to the characterisitic parameter of speed governing actuator, is in prior art, to have two of problem to be solved.
Summary of the invention:
The object of the invention is for above-mentioned problems of the prior art and defect, for realizable force torque motor its speed in without reducing gear situation can stable and continuous regulate to thousands of turning in wide region zero, and guarantee that torque motor speed has good Static and dynamic performance in adjustable extent.The control parameter tuning method of speed setting controller in a kind of torque motor speed regulating device is provided.
For achieving the above object, the technical solution used in the present invention is:
A control parameter tuning method for speed setting controller in torque motor speed regulating device, this setting method is comprised of speed-regulating instruction generator, speed setting controller, power driver module, speed governing actuator and velocity transducer based on a kind of torque motor speed regulating device; Wherein said speed setting controller is by comparator, integrator, integral coefficient multiplier, subtracter, PDF(Pseudo-Derivative-Feedback) coefficient multiplier, PDF follower, feedback follower and the saturated limiter of integration form; Described speed governing actuator is comprised of torque motor, coupling and mechanical load; Comparator, integrator, integral coefficient multiplier, subtracter, power driver module, torque motor, coupling, mechanical load, velocity transducer and feedback follower according to the order of sequence clockwise direction annular are connected; Described comparator is also connected with described speed-regulating instruction generator; Described subtracter is also connected with PDF coefficient multiplier, PDF follower, velocity transducer successively; The saturated limiter of described integration is connected with the output sum-product intergrator of integral coefficient multiplier respectively.
The performance of described torque motor speed regulating device is not only closely related with the version of speed setting controller, but also is subject to integral coefficient and these two impacts of controlling parameter size of PDF coefficient in speed setting controller.Only have these two sizes of controlling parameter of adjusting exactly, just can make torque motor obtain good speed adjusting performance.
The sizes of these two the control parameters of will adjusting exactly, the characterisitic parameter that first will exchange speed actuating mechanism carries out Quantitative." know yourself as well as the enemy, can be victorious in every battle ", only, on the basis of speed governing actuator characterisitic parameter Quantitative, could carry out quantitative accurately adjusting to the control parameter of speed setting controller.
The control parameter tuning method of speed setting controller in torque motor speed regulating device of the present invention, comprises the following steps:
(1) set up the parameter identification device of speed governing actuator in torque motor speed regulating device, this device is comprised of step signal generator, power driver module, speed governing actuator, velocity transducer and register instrument, and described step signal generator, power driver module, speed governing actuator, mechanical load, velocity transducer and register instrument are linked in sequence; Described step signal generator is also connected with register instrument;
(2) utilize step input signal to measure the output response of speed governing actuator, register instrument is recorded step input signal and speed governing actuator output response temporal evolution process simultaneously, until output response reaches steady-state value;
(3) amplitude of step input signal is exported to the steady-state value of response divided by speed governing actuator, picked out the equivalent viscous damping ratio of speed governing actuator;
(4) obtain 0.632 times of time value of locating that the output response of speed governing actuator reaches steady-state value;
(5) above-mentioned equivalent viscous damping ratio and time value are multiplied each other, pick out the equivalent inertia of speed governing actuator;
(6) determine selected power driver module maximum output voltage;
(7) according to torque motor speed governing, require and the actual maximum speed that can reach, set the maximum of speed-regulating instruction signal;
(8) maximum divided by speed-regulating instruction signal by power driver module maximum output voltage, the business of gained carries out square, then quintuples doubly again divided by the equivalent inertia of speed governing actuator, obtains the integral coefficient of speed setting controller;
(9) integral coefficient of speed setting controller is multiplied by equivalent inertia and opens the root of redressing, then be multiplied by two times, the long-pending equivalent viscous damping ratio that deducts speed governing actuator of gained obtains the PDF coefficient of speed setting controller.
Advantage of the present invention and beneficial effect are:
(1) the present invention torque motor and with mechanical load between without any need for reduction box, can realize zero rotating speed to the continuous adjusting in per minute several thousand wide regions that turn, dwindle the volume of speed regulating device and reduce costs.
(2) speed regulating device of the present invention not only have the feedback of the state information of regulated variable own, and have the feedback of regulated variable rate of change state information, have realized the feedback of regulated variable two states information.But, in speed regulating device, only adopted a kind of transducer just to realize the feedback of two states information, the structure of speed setting controller has distinctive feature, convenient and easy in engineering construction.
(3) the control parameter tuning of speed setting controller is to be based upon on the basis of exchanging speed actuating mechanism characterisitic parameter Quantitative to carry out.Torque motor speed regulating device are controlled adjusting of parameter and are shot the arrow at the target, and reduce the blindness that speed regulating device are controlled parameter tuning, increase work efficiency.
(4) no matter due to the distinguished version of speed setting controller in these speed regulating device, and control precisely adjusting of parameter, be high-speed cruising or low cruise, can increase substantially static properties and the dynamic property of torque motor speed regulating device.When low speed and the utmost point low speed operation very steady, without creeping phenomenon.
Accompanying drawing explanation
Fig. 1 is that the torque motor speed regulating device of the embodiment of the present invention form block diagram;
Fig. 2 is the control parameter tuning method flow chart of speed setting controller in the torque motor speed regulating device of the embodiment of the present invention.
Embodiment:
In order to deepen the understanding of the present invention, below in conjunction with accompanying drawing 1 and Fig. 2, specific embodiments of the invention are further described in detail.
As shown in Figure 1, be the torque motor speed regulating device formation block diagram of the embodiment of the present invention.These torque motor speed regulating device are comprised of speed-regulating instruction generator 110, speed setting controller 120, power driver module 130, speed governing actuator 140 and velocity transducer 150; Wherein said speed setting controller 120 is comprised of comparator 121, integrator 122, integral coefficient multiplier 123, subtracter 124, PDF coefficient multiplier 125, PDF follower 126, feedback follower 127 and the saturated limiter 128 of integration, and described speed governing actuator 140 is comprised of torque motor 141, coupling 142 and mechanical load 143; Described speed-regulating instruction generator 110, comparator 121, integrator 122, integral coefficient multiplier 123, subtracter 124, power driver module 130, torque motor 141, coupling 142, mechanical load 143, velocity transducer 150 and feedback follower 127 according to the order of sequence clockwise direction are connected; Described comparator 121 is also connected with speed-regulating instruction generator 110, described subtracter 124 is also connected with velocity transducer 150 with PDF follower 126 by PDF coefficient multiplier 125, and the saturated limiter 128 of described integration is connected with the output sum-product intergrator 122 of integral coefficient multiplier 123 respectively.
When speed-regulating instruction generator 110 provides after speed-regulating instruction, the actual motion rate signal of comparator 121 feeds back itself and velocity transducer 150 mechanical load 143 through feedback follower 127 compares, first the error signal producing carries out integral operation by integrator 122, and then be multiplied by integral coefficient by integral coefficient multiplier 123, at this moment the signal and the signal subtraction of velocity transducer 150 after PDF follower 126 and 125 computings of PDF coefficient multiplier that produce, at this, in fact realized the rate of change of speed---the feedback of acceleration condition information.Therefore, torque motor wide-range-timing device of the present invention is realized the feedback of more variable state information than known feedback device, and speed adjusting performance can increase substantially.Another ingenious part is, has not both adopted acceleration transducer here, also rate signal is not differentiated, but is controlling the feedback that has but realized acceleration in function, and for engineering construction, convenient and easy, tool is of great significance.Speed setting controller output signal then power ratio control driver module 130 provides the energy of timely and appropriate discovery to torque motor, through coupling, the movement velocity of mechanical load is regulated.Power driver module can be amplidyne, bidirectional triode thyristor rectifying device etc.
Should draw attention especially, the performance of speed regulating device is not only closely related with the version of speed-regulating control device, but also with speed setting controller in these two of integral coefficient and PDF coefficients to control parameters closely related.Only having adjusts these two exactly controls the sizes of parameters, just can make speed regulating device obtain good dynamic property and static properties, and realizable force torque motor its speed in without reducing gear situation turns to thousands of the objects that in wide region, stable and continuous regulates zero.
As shown in Figure 2, the control parameter tuning method of speed setting controller in torque motor speed regulating device of the present invention, comprises the following steps:
(1) the 01st step, set up speed governing parameter of actuating mechanism device for identifying, by the power driver module in Fig. 1 130, speed governing actuator 140, velocity transducer 150 other step signal generator and the register instrument of increasing, the parameter identification device of setting up speed governing actuator in speed regulating device, described step signal generator, power driver module 130, speed governing actuator 140, velocity transducer 150 and register instrument are linked in sequence; Described step signal generator is also connected with register instrument;
(2) the 02nd steps, utilize the output response of step input signal measurement speed governing actuator, register instrument that step input signal and actuator's output response temporal evolution process are recorded simultaneously, until output response reaches steady-state value;
(3) the 03rd steps, export the amplitude of step input signal the steady-state value of response divided by speed governing actuator, pick out the equivalent viscous damping ratio of speed governing actuator;
(4) the 04th steps, obtain 0.632 times of time value of locating that the output response of speed governing actuator reaches steady-state value;
(5) the 05th steps, multiply each other above-mentioned equivalent viscous damping ratio and time value, pick out the equivalent inertia of speed governing actuator;
(6) the 06th steps, determine selected power driver module maximum output voltage;
(7) the 07th steps, require and the actual maximum speed that can reach according to torque motor speed governing, set the maximum of speed-regulating instruction signal;
(8) the 08th steps, the maximum by power driver module maximum output voltage divided by speed-regulating instruction signal, the business of gained carries out square, then quintuples doubly again divided by the equivalent inertia of speed governing actuator, obtains the integral coefficient of speed setting controller;
(9) the 09th steps, are multiplied by equivalent inertia by the integral coefficient of speed setting controller and open the root of redressing, then are multiplied by two times, and the long-pending equivalent viscous damping ratio that deducts speed governing actuator of gained obtains the PDF coefficient of speed setting controller.
From above-mentioned steps, in torque motor speed regulating device during the control parameter tuning of speed setting controller, utilize step response method, first by the equivalent viscous damping ratio of speed governing actuator and equivalent inertia identification out, then just can, according to selected other known conditions, quantitatively determine that the control parameter in speed setting controller is the size of integral coefficient and PDF coefficient.Facts have proved, the method for the invention not only can be sparing of one's energy and the time in the design of torque motor wide-range-timing device and debugging, and can make speed regulating device obtain good static properties and dynamic property.Not only can even running during high speed, and also can even running when low speed and utmost point low speed, without creeping phenomenon, realizable force torque motor without in reducing gear situation in wide region smoothly adjustable-speed.
Claims (1)
1. a control parameter tuning method for speed setting controller in torque motor speed regulating device, this setting method based on a kind of torque motor speed regulating device by speed-regulating instruction generator, speed setting controller, power driver module, speed governing actuator and velocity transducer, formed; Wherein said speed setting controller is comprised of comparator, integrator, integral coefficient multiplier, subtracter, PDF coefficient multiplier, PDF follower, feedback follower and the saturated limiter of integration; Described speed governing actuator is comprised of torque motor, coupling and mechanical load; Described comparator, integrator, integral coefficient multiplier, subtracter, power driver module, torque motor, coupling, mechanical load, velocity transducer and feedback follower according to the order of sequence clockwise direction annular are connected; Described comparator is also connected with described speed-regulating instruction generator; Described subtracter is also connected with PDF coefficient multiplier, PDF follower, velocity transducer successively; The saturated limiter of described integration is connected with the output sum-product intergrator of integral coefficient multiplier respectively; It is characterized in that: setting method comprises the steps:
(1) set up the parameter identification device of speed governing actuator in torque motor speed regulating device, this device is comprised of step signal generator, power driver module, speed governing actuator, velocity transducer and register instrument, and described step signal generator, power driver module, speed governing actuator, mechanical load, velocity transducer and register instrument are linked in sequence; Described step signal generator is also connected with register instrument;
(2) utilize step input signal to measure the output response of speed governing actuator, register instrument is recorded step input signal and speed governing actuator output response temporal evolution process simultaneously, until output response reaches steady-state value;
(3) amplitude of step input signal is exported to the steady-state value of response divided by speed governing actuator, picked out the equivalent viscous damping ratio of speed governing actuator;
(4) obtain 0.632 times of time value of locating that the output response of speed governing actuator reaches steady-state value;
(5) above-mentioned equivalent viscous damping ratio and time value are multiplied each other, pick out the equivalent inertia of speed governing actuator;
(6) determine selected power driver module maximum output voltage;
(7) according to torque motor speed governing, require and the actual maximum speed that can reach, set the maximum of speed-regulating instruction signal;
(8) maximum divided by speed-regulating instruction signal by power driver module maximum output voltage, the business of gained carries out square, then quintuples doubly again divided by the equivalent inertia of speed governing actuator, obtains the integral coefficient of speed setting controller;
(9) integral coefficient of speed setting controller is multiplied by equivalent inertia and opens the root of redressing, then be multiplied by two times, the long-pending equivalent viscous damping ratio that deducts speed governing actuator of gained obtains the PDF coefficient of speed setting controller.
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| DE102006046388A1 (en) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co. Ltd. | Motor control device for e.g. industrial device, has estimation section receiving speed and acceleration detection values, and controller for correcting control constant based on measure of inertia to adjust torque current instruction value |
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
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