CN102923299B - 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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- CN102923299B CN102923299B CN201210430996.0A CN201210430996A CN102923299B CN 102923299 B CN102923299 B CN 102923299B CN 201210430996 A CN201210430996 A CN 201210430996A CN 102923299 B CN102923299 B CN 102923299B
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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 being applicable to unmanned vehicle.
Background technology
Current flight device screw can be divided into determines square screw and the large class of bending moment screw two.The pitch determining square screw is immutable, has cost low, the simple advantage of structure, and shortcoming is only higher in specific velocity interval internal efficiency.The pitch of bending moment screw is variable, by a set ofly being regulated pitch by hydraulic pressure or power-actuated bending moment mechanism of including.Bending moment screw, generally with bending moment control system, regulates pitch by this control system, engine can be made under different throttle to maintain constant speed.Therefore control system operating efficiency determines the operating efficiency of this screw to a great extent.
Bending moment propeller control system common at present or for there being man-machine use, or design is too simple, can not meet the needs of practical flight.Man-machine bending moment control system is had to need to carry out manually setting aloft with the engine speed obtaining needs by pilot.After the transformation of this control system result, the requirement of unmanned vehicle can be met.But improved reliability control system declines, and constitutes certain threat to the safety of aircraft.The inner value of feedback only introducing revolution speed of propeller of bending moment control system of simplicity of design.Its principle is for when revolution speed of propeller is lower than setting value, and regulating rotary torque motor changes toward low pitch, and engine speed is raised.When revolution speed of propeller is higher than setting value, regulating rotary torque motor changes toward high pitch, and engine speed is reduced.This control system shortcoming is that governing speed and efficiency are general, is easy to the impact being subject to external interference.Even there is the situation that engine speed is vibrated.
Unmanned vehicle is developed rapidly in recent years, and therefore designing constant-speed propeller bending moment control system becomes in dynamical system the problem needing solution badly.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provides the constant-speed propeller bending moment PID control system that a kind of antijamming capability is strong, control accuracy is high, reliability is high.
Technical solution of the present invention is: constant-speed propeller bending moment PID control system, comprises control circuit, drive circuit, current detection circuit, velocity checking circuits, position detecting circuit;
Control circuit receives the revolution speed of propeller setting signal of flight control system input, according to the proportionate relationship determination engine theoretical value of screw and engine, the present speed and current flow that detect torque motor are in real time inputed to control circuit by velocity checking circuits, current detection circuit respectively, and the screw current location detected in real time is inputed to control circuit by position detecting circuit, control circuit judges the current flow of torque motor, if there is over-current phenomenon avoidance, then send control signal and close drive circuit, otherwise read in the current rotating speed of the engine that engine testing circuit detects, according to the numerical value of the difference selection percentage link of current rotating speed and engine theoretical value, according to the proportional component numerical value selected, the current rotating speed of screw, screw current location and torque motor present speed and current location adopt pid algorithm output pwm signal to drive circuit, by drive circuit according to the speed of pwm signal controlling torque motor and direction, torque motor drives propeller blade to rotate by decelerator, form new revolution speed of propeller and engine speed, circulation like this, when control circuit detects that revolution speed of propeller is less than 100rpm, represent that screw is in halted state, close drive 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 engine theoretical value;
(2) E is judged, as E > 200rpms, setting proportional component P=P3; As 100rpm < E≤200rpm, setting P=P2; As E≤100rpm, setting P=P1; P1=0.8, P2=0.86, P3=0.9.
The present invention's beneficial effect is compared with prior art:
(1) a series of values of feedback of torque motor are incorporated in this control system by the present invention, not only increase Control system resolution and efficiency, and improve antijamming capability, substantially increase reliability and the efficiency of control system.And the present invention is by introducing proportion adjustable link value, i.e. P value, selects different P value raising system capabilities of fast response according to real engine value and the difference of setting value.
(2) the present invention adopts PID controller, by changing the parameter of controller, its characteristic and working control process being matched, reaches the target of dynamic performance and static properties optimum.
(3) the present invention adopts pwm signal by drive circuit, according to the rotating speed of different duty regulating rotary torque motor and the rotating of control motor, makes revolution speed of propeller convergence setting value, prevents the situation occurring screw stall aloft.
Accompanying drawing explanation
Fig. 1 is present system composition frame chart;
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 instruction circuit theory diagrams;
Fig. 6 is the workflow block diagram of control circuit of the present invention.
Detailed description of the invention
As shown in Figure 1, present system comprises control circuit, drive circuit, current detection circuit, velocity checking circuits, position detecting circuit;
Control circuit receives the revolution speed of propeller setting signal of flight control system input, according to the proportionate relationship determination engine theoretical value of screw and engine; For concrete unmanned vehicle, the rotating speed proportionate relationship of screw and engine is a fixed value, so simply can determine the theoretical value of engine according to spiral strength rotary speed setting signal and proportionate relationship.
The present speed and current flow that detect torque motor are in real time inputed to control circuit by velocity checking circuits, current detection circuit respectively, the screw current location of Real-Time Monitoring is inputed to control circuit and (detects the speed of torque motor especially by photoelectric encoder by position detecting circuit, potentiometer detects the position of the screw after decelerator, is detected the electric current of torque motor by current sensor), control circuit judges the current flow of torque motor, if there is over-current phenomenon avoidance, then send control signal and close drive circuit, otherwise read in the current rotating speed of the engine that engine testing circuit detects, according to the numerical value of the difference selection percentage link of current rotating speed and engine theoretical value, according to the proportional component numerical value selected, the current rotating speed of screw, screw current location and torque motor present speed and current location adopt pid algorithm output pwm signal to drive circuit, by drive circuit according to the speed of pwm signal controlling torque motor and direction, torque motor drives propeller blade to rotate by decelerator, form new revolution speed of propeller and engine speed, circulation like this, when control circuit detects that revolution speed of propeller is less than 100rpm, represent that screw is in halted state, close drive circuit.
As shown in Figure 2, control circuit is primarily of control chip and peripheral circuit composition thereof, and the MSP430F149 type single-chip microcomputer that control chip selects TI company to produce, peripheral circuit comprises the reset circuit, master clock circuit and the auxiliary clock circuit that are made up of IMP811.System master clock is 8M, and auxiliary clock is 32K.
Control circuit, according to the signal received from testing circuit, regulates through the rotating speed of dutycycle to torque motor calculating adjustment pwm signal.When actual engine speed and setting value have big difference, increase the rotating speed that pwm signal dutycycle improves torque motor, when actual engine speed and setting value close to time, reduce the rotating speed of pwm signal dutycycle reduction torque motor.Because when torque motor rotates backward, motor internal can produce larger electric current instantaneously, shields, see D1, D2, D3 and the D4 in Fig. 3 so add diode in circuit.
The workflow of control circuit as shown in Figure 6, starts a series of initial work after system electrification, as opened the house dog program in control chip, and the autoboot when " race flies " situation appears in program; Opening the interruption of control chip P2.5 mouth, when tacho-pulse having been detected, entering the calculating that interrupt routine completes 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 overcurrent situation, then close drive circuit, otherwise read in present engine tachometer value, select P value according to this value, i.e. proportional component numerical value.Systemic presupposition P value is P1, P2, P3, wherein P1 < P2 < P3.When engine speed actual value and theoretical value deviation E > 200rpms, setting P=P3, improves actual speed rate of change.As 100rpm < E≤200rpm, setting P=P2.As E≤100rpm, setting P=P1, now actual speed rate of change is less, can prevent the situation that overshoot is excessive.By emulation and actual tests, P1 value is 0.8, P2 value be 0.86, P3 value is 0.9.
After the parameter P value of the good proportional component of default, the sensor carried from screw reads in revolution speed of propeller signal, reads in torque motor rate signal from velocity checking circuits, reads in propeller position signal from position detecting circuit, is calculated speed and the direction of regulating rotary torque motor according to the above-mentioned parameter obtained by pid algorithm.When detecting that revolution speed of propeller is less than 100rpm, representing that screw is in halted state, closing torque adjustment circuit.Pid algorithm is a kind of very ripe method, and its key point is the determination of P value, after P value is determined, can calculate speed and the direction of regulating rotary torque motor, do not repeat herein about algorithm with reference to the introduction about pid algorithm in " Automatic Control Theory ".
As shown in Figure 3, torque motor drive circuit forms primarily of chip L289N.The high-voltage large current that L289N includes two H bridges is enjoyed a double blessing bridge driver, and Received signal strength is standard TTL logic level signal, can drive 46V, below 2A motor.The control chip P2.0 mouth of control circuit is connected with L289N Enable Pin ENA, is worked by this mouth control L289N.P2.6 mouth is connected with IN1 mouth, and P2.7 mouth is connected with IN2 mouth.Just can the rotating of controlling torque motor by the low and high level that changes IN1 mouth and IN2 mouth.When ENA mouth is high level, IN1 mouth is high level, and when IN2 mouth is low level, torque motor rotates clockwise, and pitch changes toward high pitch.When ENA mouth is high level, IN1 mouth is low level, and when IN2 mouth is high level, torque motor rotates counterclockwise, and pitch changes toward low pitch.When ENA mouth is low level, four transistors on drive axle road all end, and L289N does not work, motor stalls.Physical circuit realizes as shown in Figure 3.Current detection circuit detects the electric current of drive circuit, for pid algorithm provides parameter by current sensor.Simultaneity factor have also been devised current foldback circuit.
As shown in Figure 4, current foldback circuit forms primarily of operational amplifier U5, and control chip calculates current torque current of electric according to the magnitude of voltage at P6.0 place.When torque motor is positioned at extreme position, this current value exceedes 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, simultaneously control chip arranges torque motor and can only rotate toward rightabout.
As shown in Figure 5, indicating circuit forms primarily of green LED DS12 and red light emitting diodes DS13.Red light emitting diodes is power supply indicator, and when after system electrification, red led is bright.Devise self-checking function in software, when system is in self-inspection, green indicating lamp glimmers simultaneously.When self-inspection is complete, the normal bright expression self-inspection of green indicating lamp is not passed through, and lampet extinguishing represents that self-inspection is 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, drive circuit, current detection circuit, velocity checking circuits, position detecting circuit;
Control circuit receives the revolution speed of propeller setting signal of flight control system input, according to the proportionate relationship determination engine theoretical value of screw and engine, the present speed and current flow that detect torque motor are in real time inputed to control circuit by velocity checking circuits, current detection circuit respectively, and the screw current location detected in real time is inputed to control circuit by position detecting circuit, control circuit judges the current flow of torque motor, if there is over-current phenomenon avoidance, then send control signal and close drive circuit, otherwise read in the current rotating speed of the engine that engine testing circuit detects, according to the numerical value of the difference selection percentage link of current rotating speed and engine theoretical value, according to the proportional component numerical value selected, the current rotating speed of screw, screw current location and torque motor present speed and current location adopt pid algorithm output pwm signal to drive circuit, by drive circuit according to the speed of pwm signal controlling torque motor and direction, torque motor drives propeller blade to rotate by decelerator, form new revolution speed of propeller and engine speed, circulation like this, when control circuit detects that revolution speed of propeller is less than 100rpm, represent that screw is in halted state, close drive circuit.
2. constant-speed propeller bending moment PID control system according to claim 1, 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 engine theoretical value;
(2) E is judged, as E > 200r/ms, setting proportional component P=P3; As 100r/m < E≤200r/m, setting P=P2; As E≤100r/m, setting 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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| 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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| CN102923299B true CN102923299B (en) | 2015-03-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| 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 |
| CN108438210B (en) * | 2017-12-07 | 2022-03-15 | 中国航空工业集团公司西安航空计算技术研究所 | Piston type aircraft engine propeller pitch changing method |
| CN112623268B (en) * | 2020-11-30 | 2022-06-28 | 中国特种飞行器研究所 | Method for quickly changing propeller thrust in full-mechanical power model test |
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| CN101024419A (en) * | 2007-01-19 | 2007-08-29 | 哈尔滨工程大学 | Submersible omnibearing propeller controller |
| CN101054154A (en) * | 2007-05-31 | 2007-10-17 | 上海交通大学 | Synchronous control method for stern hydraulic workbench lifting |
| CN101492091A (en) * | 2008-11-28 | 2009-07-29 | 中国航天空气动力技术研究院 | Screw propeller variable-torque controller suitable for unmanned aerial vehicle |
| CN102149600A (en) * | 2008-09-09 | 2011-08-10 | 提乐特飞机引擎股份有限公司 | Control system for an aircraft propeller drive |
| CN102365200A (en) * | 2009-03-31 | 2012-02-29 | 三井造船株式会社 | Power system for ship |
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| FR2894040B1 (en) * | 2005-11-28 | 2011-10-21 | Eurocopter France | ASSEMBLY DEVICE FOR UNBALANCED ROTOR VIBRATOR. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101024419A (en) * | 2007-01-19 | 2007-08-29 | 哈尔滨工程大学 | Submersible omnibearing propeller controller |
| CN101054154A (en) * | 2007-05-31 | 2007-10-17 | 上海交通大学 | Synchronous control method for stern hydraulic workbench lifting |
| CN102149600A (en) * | 2008-09-09 | 2011-08-10 | 提乐特飞机引擎股份有限公司 | Control system for an aircraft propeller drive |
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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 |
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