CN102923299A - PID (proportion integration differentiation) control system for constant-speed propeller torque conversion - Google Patents
PID (proportion integration differentiation) control system for constant-speed propeller torque conversion Download PDFInfo
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Abstract
The invention provides a PID (proportion integration differentiation) control system for constant-speed propeller torque conversion, wherein a control circuit receives a propeller rotating speed setting signal input by a flight control system and confirms an engine theoretical value according to the proportional relation between a propeller and an engine; a speed detecting circuit and a current detecting circuit respectively input the timely-detected current speed and current electric current of a torque motor to the control circuit, and a position detecting circuit inputs the timely-detected current position of the propeller to the control circuit; and the control circuit judges the current electric current of the torque motor, sends out a control signal to close a driving circuit if the overcurrent phenomenon occurs, otherwise reads the current rotation speed of the engine detected by the detecting circuit of the engine, selects the numerical value of the proportional element according to the difference between the current rotating speed and the engine theoretical value, and outputs a PWM (pulse-width modulation) signal to the driving circuit according to the selected proportional element numerical value, the current rotation speed of the propeller, the current position of the propeller, and the current speed and the current position of the torque motor by adopting a PID algorithm, and the driving circuit controls the speed and the direction of the torque motor according to the PWM signal.
Description
Technical field
The present invention relates to a kind of constant-speed propeller bending moment control system that is applicable to unmanned vehicle.
Background technology
The current flight device can be divided into screw propeller decides square screw propeller and bending moment screw propeller two large classes.The pitch of deciding the square screw propeller is immutable, has low, the simple in structure advantage of cost, and shortcoming is only higher in specific speed range internal efficiency.The pitch of bending moment screw propeller is variable, pitch is regulated by hydraulic pressure or power-actuated bending moment mechanism by a cover that includes.The bending moment screw propeller is regulated pitch generally with the bending moment control system by this control system, can make driving engine maintain constant speed under different throttles.Therefore the control system work efficiency has determined the work efficiency of this screw propeller to a great extent.
Present common bending moment screw propeller control system or for man-machine use is arranged, or design too simply, can not satisfy the needs of practical flight.The man-machine engine speed that need to manually set to obtain by the aviator needs with the bending moment control system is aloft arranged.This control system result can satisfy the requirement of unmanned vehicle after transforming.But improved reliability control system descends, and the safety of aircraft has been consisted of certain threat.The value of feedback of propeller speed is only introduced in the bending moment control system inside of simplicity of design.Its principle is for when propeller speed is lower than setting value, and the regulating rotary torque motor changes toward low pitch, and engine speed is raise.When propeller speed was higher than setting value, the regulating rotary torque motor changed toward high pitch, and engine speed is reduced.This control system shortcoming is that governing speed and efficient are general, is easy to be subject to the impact of external interference.Even the situation of engine speed vibration appears.
Unmanned vehicle has obtained fast development in recent years, and therefore designing constant-speed propeller bending moment control system becomes the problem of needing solution in the power system badly.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, the constant-speed propeller bending moment PID that a kind of antijamming capability is strong, control accuracy is high, reliability is high control system is provided.
Technical solution of the present invention is: constant-speed propeller bending moment PID control system comprises control circuit, driving circuit, current detection circuit, velocity checking circuits, position detecting circuit;
Control circuit receives the propeller speed setting signal of flight control system input, determines the driving engine theoretical value according to the proportionate relationship of screw propeller and driving engine; Present speed and current electric current that velocity checking circuits, current detection circuit will detect respectively torque motor in real time input to control circuit, and the screw propeller current location that position detecting circuit will detect in real time inputs to control circuit; Control circuit is judged the current electric current of torque motor, if over-current phenomenon avoidance occurs, then send control signal and close driving circuit, otherwise read in the current rotating speed of the driving engine of driving engine testing circuit detection, numerical value according to the difference selection percentage link of current rotating speed and driving engine theoretical value, according to the proportioning element numerical value of selecting, the current rotating speed of screw propeller, screw propeller current location and torque motor present speed and current location adopt the pid algorithm output pwm signal to driving circuit, by speed and the direction of driving circuit according to pwm signal controlling torque motor, torque motor drives propeller blade by retarder and rotates, form new propeller speed and engine speed, so circulation, when control circuit detects propeller speed less than 100rpm, the expression screw propeller is in halted state, closes driving circuit.
The numerical steps of described selection percentage link is as follows:
(1) the difference E of the current rotating speed of calculation engine and driving engine theoretical value;
(2) E is judged, when E＞200rpms, preset proportion link P=P3; When 100rpm＜E≤200rpm, set P=P2; When E≤100rpm, set P=P1; P1=0.8, P2=0.86, P3=0.9.
The present invention's beneficial effect compared with prior art is:
(1) the present invention is incorporated into a series of values of feedback of torque motor in this control system, has not only improved Control system resolution and efficient, and has improved antijamming capability, has greatly improved reliability and the efficient of control system.And the present invention is by introducing proportion adjustable link value, and namely the P value is selected different P value raising system capabilities of fast response according to the real engine value from the difference of setting value.
(2) the present invention adopts the PID controller, by changing the parameter of controller, its characteristic and working control process is complementary, and reaches the target of dynamic performance and static properties optimum.
(3) the present invention adopts pwm signal by driving circuit, and rotating speed and the rotating of controlling motor according to different duty regulating rotary torque motor make propeller speed convergence setting value, prevent from occurring the situation of screw propeller stall aloft.
Description of drawings
Fig. 1 is the block diagram of system of the present invention;
Fig. 2 is control circuit schematic diagram of the present invention
Fig. 3 is driving circuit principle figure of the present invention;
Fig. 4 is torque motor current foldback circuit schematic diagram;
Fig. 5 is the indication schematic circuit diagram;
Fig. 6 is the workflow block diagram of control circuit of the present invention.
The specific embodiment
As shown in Figure 1, system of the present invention comprises control circuit, driving circuit, current detection circuit, velocity checking circuits, position detecting circuit;
Control circuit receives the propeller speed setting signal of flight control system input, determines the driving engine theoretical value according to the proportionate relationship of screw propeller and driving engine; For concrete unmanned vehicle, the rotating speed proportionate relationship of screw propeller and driving engine is a fixed value, so can be according to the theoretical value of spiral strength rotary speed setting signal and the simply definite driving engine of proportionate relationship.
Present speed and current electric current that velocity checking circuits, current detection circuit will detect respectively torque motor in real time input to control circuit, position detecting circuit inputs to control circuit with the screw propeller current location of Real-Time Monitoring and (specifically detects the speed of torque motor by photoelectric encoder, potentiometer detects the position through the screw propeller behind the retarder, detects the electric current of torque motor by current sensor); Control circuit is judged the current electric current of torque motor, if over-current phenomenon avoidance occurs, then send control signal and close driving circuit, otherwise read in the current rotating speed of the driving engine of driving engine testing circuit detection, numerical value according to the difference selection percentage link of current rotating speed and driving engine theoretical value, according to the proportioning element numerical value of selecting, the current rotating speed of screw propeller, screw propeller current location and torque motor present speed and current location adopt the pid algorithm output pwm signal to driving circuit, by speed and the direction of driving circuit according to pwm signal controlling torque motor, torque motor drives propeller blade by retarder and rotates, form new propeller speed and engine speed, so circulation, when control circuit detects propeller speed less than 100rpm, the expression screw propeller is in halted state, closes driving circuit.
As shown in Figure 2, control circuit mainly is comprised of control chip and peripheral circuit thereof, the MSP430F149 type micro controller system that control chip selects TI company to produce, and peripheral circuit comprises reset circuit, master clock circuit and the auxiliary clock circuit that is made of IMP811.System's major clock is 8M, and auxiliary clock is 32K.
Control circuit is regulated the rotating speed of torque motor through calculating the dutycycle of adjusting pwm signal according to the signal that receives from testing circuit.When actual engine speed and setting value have big difference, increase the rotating speed that the pwm signal dutycycle improves torque motor, when actual engine speed and setting value near the time, reduce the rotating speed of pwm signal dutycycle reduction torque motor.Because during the torque motor backward rotation, motor internal can produce larger electric current moment, shields so add diode in circuit, sees D1, D2, D3 and D4 among Fig. 3.
The workflow of control circuit as shown in Figure 6, system's a series of initial work of rear beginning that powers on, as open house dog program in the control chip, autoboot when " race flies " situation appears in program; Open the interruption of control chip P2.5 mouth, when having detected tacho-pulse, enter the calculating that interrupt routine is finished actual speed.Read in current rotary speed setting signal.Read in the current signal of current torque motor from the A/D acquisition port P6.0 of control chip, if there is the overcurrent situation, then close driving circuit, otherwise read in the present engine tachometer value, select P value, i.e. proportioning element numerical value according to this value.Systemic presupposition P value is P1, P2, P3, wherein P1＜P2＜P3.When engine speed actual value and theoretical value deviation E＞200rpms, set P=P3, improve the actual speed rate of change.When 100rpm＜E≤200rpm, set P=P2.When E≤100rpm, set P=P1, this moment, the actual speed rate of change was less, can prevent the excessive situation of overshoot.By emulation and actual tests, the P1 value is that 0.8, P2 value is that 0.86, P3 value is 0.9.
After the parameter P value of the good ratio link of default, the sensor that carries from screw propeller reads in the propeller speed signal, reads in the torque motor speed signal, reads in the screw propeller position signal from position detecting circuit from velocity checking circuits, calculates speed and the direction of regulating rotary torque motor by pid algorithm according to the above-mentioned parameter that obtains.When detecting propeller speed less than 100rpm, the expression screw propeller is in halted state, closes the torque adjustment circuit.Pid algorithm is a kind of very ripe method, and its key point is determining of P value, after the P value is determined, with reference to speed and the direction that can calculate the regulating rotary torque motor in " Automatic Control Theory " about the introduction of pid algorithm, does not give unnecessary details about algorithm herein.
As shown in Figure 3, the torque motor driving circuit mainly is comprised of chip L289N.The high-voltage large current that L289N includes two the H bridges bridge driver of enjoying a double blessing, receiving signal is standard TTL logic level signal, can drive 46V, the following motor of 2A.The control chip P2.0 mouth of control circuit is connected with L289N Enable Pin ENA, by this mouth control L289N work.The P2.6 mouth is connected with the IN1 mouth, and the P2.7 mouth is connected with the IN2 mouth.High-low level by changing IN1 mouth and IN2 mouth just can the controlling torque motor rotating.When the ENA mouth is high level, the IN1 mouth is high level, and when the IN2 mouth was low level, torque motor clockwise rotated, and pitch changes toward high pitch.When the ENA mouth is high level, the IN1 mouth is low level, and when the IN2 mouth was high level, torque motor rotated counterclockwise, and pitch changes toward low pitch.When the ENA mouth was low level, four transistors that drive on the bridge circuit all ended, and L289N does not work, and motor stops operating.Physical circuit is realized as shown in Figure 3.Current detection circuit is by the electric current of current sensor detection driving circuit, for pid algorithm provides parameter.Simultaneity factor has also designed current foldback circuit.
As shown in Figure 4, current foldback circuit mainly is comprised of op amp U5, and control chip calculates current torque motor electric current according to the magnitude of voltage at P6.0 place.When torque motor is positioned at end position, this current value surpasses the threshold value of setting, control chip P2.0 mouth output low level signal is in L298N, L298N is no longer worked, torque motor stops, no longer be rotated further to this position, the while control chip arranges torque motor and can only rotate toward opposite sense.
As shown in Figure 5, indicating circuit mainly is comprised of green LED DS12 and red light emitting diodes DS13.Red light emitting diodes is power light, and after system powered on, red indicating light was bright.In software, designed simultaneously self-checking function, when system during in self check, the green indicating lamp flicker.When self check was complete, the normal bright expression self check of green indicating lamp was not passed through, lampet extinguish the expression self check normal.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (2)
1. constant-speed propeller bending moment PID control system is characterized in that: comprise control circuit, driving circuit, current detection circuit, velocity checking circuits, position detecting circuit;
Control circuit receives the propeller speed setting signal of flight control system input, determines the driving engine theoretical value according to the proportionate relationship of screw propeller and driving engine; Present speed and current electric current that velocity checking circuits, current detection circuit will detect respectively torque motor in real time input to control circuit, and the screw propeller current location that position detecting circuit will detect in real time inputs to control circuit; Control circuit is judged the current electric current of torque motor, if over-current phenomenon avoidance occurs, then send control signal and close driving circuit, otherwise read in the current rotating speed of the driving engine of driving engine testing circuit detection, numerical value according to the difference selection percentage link of current rotating speed and driving engine theoretical value, according to the proportioning element numerical value of selecting, the current rotating speed of screw propeller, screw propeller current location and torque motor present speed and current location adopt the pid algorithm output pwm signal to driving circuit, by speed and the direction of driving circuit according to pwm signal controlling torque motor, torque motor drives propeller blade by retarder and rotates, form new propeller speed and engine speed, so circulation, when control circuit detects propeller speed less than 100rpm, the expression screw propeller is in halted state, closes driving circuit.
2. constant-speed propeller bending moment PID control system according to claim 1, it is characterized in that: the numerical steps of described selection percentage link is as follows:
(1) the difference E of the current rotating speed of calculation engine and driving engine theoretical value;
(2) E is judged, when E＞200rpms, preset proportion link P=P3; When 100rpm＜E≤200rpm, set P=P2; When E≤100rpm, set P=P1; P1=0.8, P2=0.86, P3=0.9.
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| CN201210430996.0A CN102923299B (en) | 2012-10-31 | 2012-10-31 | PID (proportion integration differentiation) control system for constant-speed propeller torque conversion |
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| CN105083567A (en) * | 2015-08-14 | 2015-11-25 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN106655978A (en) * | 2016-11-02 | 2017-05-10 | 深圳市道通智能航空技术有限公司 | Permanent magnet synchronous motor over-current protection method, over-current protection system and unmanned aircraft |
| WO2017147781A1 (en) * | 2016-03-01 | 2017-09-08 | 深圳市大疆创新科技有限公司 | Storage medium, unmanned aircraft, and shaking detection and tracking control method and system |
| CN108438210A (en) * | 2017-12-07 | 2018-08-24 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of piston aviation engine Propeller variable pitch method |
| CN112623268A (en) * | 2020-11-30 | 2021-04-09 | 中国特种飞行器研究所 | Method for quickly changing propeller thrust in full-machine power model test |
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| CN112623268A (en) * | 2020-11-30 | 2021-04-09 | 中国特种飞行器研究所 | Method for quickly changing propeller thrust in full-machine power model test |
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Effective date of registration: 20170208 Address after: 065500 Guan Industrial Park, Langfang, Hebei Patentee after: Rainbow UAV Technology Co., Ltd. Address before: 100074 Beijing, Fengtai District Yungang West Road, No. 17 Patentee before: China Aerospace Aerodynamic Technology Institute |