CN103345271B - A kind of gas flow control set for adjusting based on embedded system - Google Patents

Abstract

The present invention discloses a kind of gas flow control set for adjusting based on embedded system, comprise ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, it is characterized in that: ARM controller is connected with stepper motor driver, ARM controller is connected with Ducted rocket control system by CAN driver; ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module; Can be fixed in Ducted rocket gas-flow regulator, for controlling the rotation of Ducted rocket gas-flow regulator video disc, change engine jet pipe throat opening area to reach adjusting air-fuel ratio, make full use of the energy of propellant, make Ducted rocket obtain optimum working performance.The present invention adopts modular construction, closed loop design, can ensure higher control accuracy, and compact conformation, assembling and convenient disassembly, reliability is high, environmental suitability is strong.<!--1-->

Description

A kind of gas flow control set for adjusting based on embedded system

Technical field

The invention belongs to automation field, be specifically related to a kind of gas flow control set for adjusting based on embedded system, for controlling the rotation of Ducted rocket gas-flow regulator video disc, changing engine jet pipe throat opening area to reach adjusting air-fuel ratio.

Background technology

For ensureing versatility and the portability of gas-flow regulator, gas flow control set for adjusting is arranged on the inside of gas-flow regulator, and the high precision realizing gas-flow regulator with closed loop controls, and generally can reach level second.The dynamic perfromance of gas-flow regulator depends on the combustion gas of generation, free volume and valve event, and in gas flow adjustment process, there is negative tune characteristic: when expecting that gas flow reduces, quick increase gas generator spray throat area, gas flow first reduces the regulated value increasing to expection again; Vice versa.For ensureing the dynamic perfromance of gas-flow regulator, General Requirements gas flow control set for adjusting can each Parameters variation of dynamic response constantly, and provides control law, controls topworks and makes response.

Domestic Ducted rocket gas flow regulation technology research is started late, and from investigation situation, the Space Science and Technology forth academy has carried out the research of relevant item.Because flow regulation control device and valve body structure, material type selecting, combustion gas type, speed and height etc. are closely related, be only difficult to produce the effect of getting instant result by limited test and theoretical modeling.Current studies in China is scarcely out of swaddling-clothes.

Abroad synchronously carry out the development of the research of gas-flow regulator and Ducted rocket, achieve great successes, wherein many achievements have been applied in service missile.The U.S. has carried out a large amount of solid rocket ramjets from the seventies middle and later periods in last century and has improved test, and wherein gas-flow regulable control is important content wherein, and its achievement in research is widely used in Ducted rocket.Belong to the France in west, the German research about gas flow regulable control and the U.S. together almost to launch simultaneously, be successfully applied on the Ducted rocket of method, moral cooperation research and development.

Summary of the invention

The object of this invention is to provide a kind of gas flow control set for adjusting based on embedded system, this device is fixed in gas-flow regulator, for controlling the rotation of Ducted rocket gas-flow regulator video disc, change engine jet pipe throat opening area to reach adjusting air-fuel ratio.

Technical scheme of the present invention: a kind of gas flow control set for adjusting based on embedded system of the present invention comprises ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, it is characterized in that: ARM controller is connected with stepper motor driver, ARM controller is connected with Ducted rocket control system by CAN driver; ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module;

Main program module: the angle value regulated needed for the control gas-flow regulator video disc that Ducted rocket control system provides compares with the angle feed-back value of stepper motor angle detection feedback system, instruction is sent to stepper motor driver, the by-pass valve control regulator video disc anglec of rotation, thus control gas flow;

Interrupt control module: provide the mark that master routine exports control signal and feedback signal;

Fuzzy module: fuzzy controller using angular deviation e and angular deviation rate of change ec as input quantity, calculating K p: proportion function, Ki: integral function, Kd: differentiation function is as fuzzy controller output valve;

PID module: calculate angular deviation e, then according to Kp, Ki, Kd calculated step Electric Machine Control pulse output quantity that fuzzy exports;

Subordinate function module: the subordinate function controlling curve figure comprising e, ec, Kp, Ki, Kd of corresponding each angu-lar deviation;

Control rule table module: according to repeatedly repetition test contrast, the Fuzzy PID Control Rules table determined is placed in control rule table module, and every bar control law comprises e, ec, Kp, Ki, Kd value of corresponding angle deviate.

Described stepper motor angle detection feedback system comprises rotary transformer, and rotary transformer is coaxially connected with stepper motor, and rotary transformer is connected with ARM controller by rotary digital converter, level transferring chip;

In described subordinate function module, subordinate function selects triangular function, and the horizontal ordinate of e, ec, Kp, Ki, Kd subordinate function is the domain of each parameter, and ordinate is the value of each parameter; Subordinate function rate of curve is determined: in fuzzy module, fuzzy PID algorithm adopts 7 linguistic variables, i.e. negative large NB, negative middle NM, negative little NS, zero Z0, just little PS, center PM, honest PB; The basic domain of angular deviation e is [-emax ,+emax], and the basic domain of angular deviation rate of change ec is [-ecmax ,+ecmax]; If actual value exceedes basic domain, be all taken as basic domain boundary value; Corresponding 7 linguistic variables, domain is taken as [-3 ,-2 ,-0,0,1,2,3], and can calculate the scale factor of e and ec according to domain value, formula is as follows:

$\mathrm{Ke}=\frac{3}{e\max }---\left(1\right)$

$\mathrm{Kec}=\frac{3}{\mathrm{ec}\max }---\left(2\right)$

The basic domain of same setting Kp, Ki, Kd is respectively [-Kpmax ,+Kpmax], [-Kimax ,+Kimax], [-Kdmax ,+Kdmax], and the domain of Kp, Ki, Kd is taken as [-3 respectively,-2 ,-1,0,1,2,3], [-0.5 ,-0.4 ,-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3,0.4,0.5], [-1.5 ,-1 ,-0.5,0,0.5,1,1.5], can calculate the scale factor of Kp, Ki, Kd according to domain value, formula is as follows:

$K_{\mathrm{kp}\max }=\frac{\mathrm{kp}\max }{3}---\left(3\right)$

$K_{\mathrm{ki}\max }=\frac{\mathrm{ki}\max }{0.5}---\left(4\right)$

$K_{\mathrm{kd}\max }=\frac{\mathrm{kd}\max }{1.5}---\left(5\right).$

Described control rule table module is divided into 49 control laws, divides 49 sections by angle maximum opening value etc., successively ascending corresponding 49 control laws respectively, and e, ec, Kp, Ki, Kd in every bar control law defer to the change of corresponding subordinate function respectively.

The angle information that rotary transformer feeds back by described main program module and required valve regulated angle compare, and then reissue instruction revise the valve actuator video disc anglec of rotation if any deviation, form closed-loop control; Main program module Real-Time Monitoring rotary transformer output valve, if occur sinusoidal or more than revolve lose phase, sine or more than revolve output valve when exceeding the threshold values of setting, ARM controller keeps the last angle value exported constant, until rotary transformer exports normally.

Described interruption control module establishes two timers, during initialization, two timers all put 1, after beginning, first timer time delay 20 milliseconds sets to 0, provide master routine and export control signal mark, the second timer time delay 40 milliseconds puts 2, provides the mark that stepper motor angle detected value is fed back to Ducted rocket control system by master routine.

Described stepper motor is fixed in flow regulator cavity with the form of motor body, and rotary transformer is fixed on the rotation axis of stepper motor; Stepper motor is fixed in flow regulator cavity by stepper motor erecting frame, bearing bearing rod is connected on the axle of stepper motor, bearing, bearing bearing rod, stepper motor erecting frame are combined the end face being fixed on stepper motor by bearing cutting ferrule, screw-casing is connected with the axle of stepper motor by bearing pin, and the screw-casing that rotates through of step motor shaft exports.

Technique effect of the present invention is embodied in: control device of the present invention adopts modular design, and each functions of modules is independent, is more conducive to arrange, improves flow regulator inner space utilization rate; Control device integrated level of the present invention is high, volume is little, driving force is strong, can drive larger load; Control device of the present invention, control accuracy is high, fast response time, algorithm strong adaptability, can adapt to flow regulator dynamic perfromance easily, solves its negative tune characteristic; Control device of the present invention, it assembles adjustment and convenient disassembly, reliability is high, environmental suitability is strong.

The present invention can solve that dynamic response characteristic in this type of control device existing is poor, space hold is large, install and regulate inconvenient and effectively can not solve the negative problem adjusting characteristic.The present invention is applicable to the control of high precision Ducted rocket gas-flow regulator, has good using value and promotion prospect.

Accompanying drawing explanation

Fig. 1 is hardware logic block diagram of the present invention.

Fig. 2 is software logic block diagram of the present invention.

Fig. 3 is main program module logic diagram of the present invention.

Fig. 4 is that control module logic diagram is interrupted in the present invention.

Fig. 5 fuzzy-adaptation PID control schematic diagram.

Fig. 6 is e subordinate function controlling curve figure.

Fig. 7 is ec subordinate function controlling curve figure.

Fig. 8 is Kp subordinate function controlling curve figure.

Fig. 9 is Ki subordinate function controlling curve figure.

Figure 10 is Kd subordinate function controlling curve figure.

Figure 11 is control table module map.

Figure 12 is stepper motor of the present invention assembling schematic diagram.

Embodiment

Below in conjunction with drawings and Examples, the present invention is further described.

Fig. 1 is hardware logic block diagram of the present invention: hardware of the present invention is made up of control panel and power panel.

Control panel comprises ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, and ARM controller is connected with stepper motor driver, and ARM controller is connected with Ducted rocket control system by CAN driver.Power panel supplies various power supply.

Fig. 2 is software logic block diagram of the present invention: ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module.

Fig. 3 is main program module logic diagram of the present invention:

Main program module: the angle value regulated needed for the control gas-flow regulator video disc that Ducted rocket control system provides compares with the angle feed-back value of stepper motor angle detection feedback system, instruction is sent to stepper motor driver, the by-pass valve control regulator video disc anglec of rotation, thus control gas flow.

The angle information that rotary transformer feeds back by main program module and required valve regulated angle compare, and then reissue instruction revise the valve actuator video disc anglec of rotation if any deviation, form closed-loop control; Main program module Real-Time Monitoring rotary transformer output valve, if occur sinusoidal or more than revolve lose phase, sine or more than revolve output valve when exceeding the threshold values of setting, ARM controller keeps the last angle value exported constant, until rotary transformer exports normally.

Fig. 4 is that control module logic diagram is interrupted in the present invention: interrupt control module and establish two timers, during initialization, two timers all put 1, after beginning, first timer time delay 20 milliseconds sets to 0, provide master routine and export control signal mark, second timer time delay 40 milliseconds puts 2, provides the mark that stepper motor angle detected value is fed back to control system by master routine.

Fig. 5 fuzzy-adaptation PID control schematic diagram:

What control algolithm adopted is Fuzzy PID, this algorithm is carried out by input quantity angular deviation e and angular deviation rate of change ec fuzzyly changing into fuzzy quantity, again the corresponding fuzzy language of fuzzy quantity is represented, thus obtain a subset of input quantity fuzzy language, again by fuzzy subset and control law by inference composition rule carry out decision-making, obtain output quantity Kp, Ki, Kd.According to the characteristic of the input quantity in general fuzzy controller and electric machine control system, design fuzzy controller is using angular deviation e and angular deviation rate of change ec as input quantity, Electric Machine Control pulse as output quantity, Kp: proportion function, Ki: integral function, Kd: differentiation function be fuzzy controller export value.

Fuzzy module: according to the characteristic of the input quantity in general fuzzy controller and electric machine control system, design fuzzy controller using angular deviation e and angular deviation rate of change ec as input quantity, calculating K p: proportion function, Ki: integral function, Kd: differentiation function is as fuzzy controller output valve;

PID module: calculate angular deviation e, then according to Kp, Ki, Kd calculated step Electric Machine Control pulse output quantity that fuzzy exports;

Subordinate function module: the subordinate function controlling curve figure comprising e, ec, Kp, Ki, Kd of corresponding each angu-lar deviation; Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 are the subordinate function controlling curve figure of e, ec, Kp, Ki, Kd.

In subordinate function module, subordinate function selects triangular function, and the horizontal ordinate of e, ec, Kp, Ki, Kd subordinate function is the domain of each parameter, and ordinate is the value of each parameter; Subordinate function rate of curve is determined: in fuzzy module, fuzzy PID algorithm adopts 7 linguistic variables, i.e. negative large NB, negative middle NM, negative little NS, zero Z0, just little PS, center PM, honest PB; The basic domain of angular deviation e is [-emax ,+emax], and the basic domain of angular deviation rate of change ec is [-ecmax ,+ecmax]; If actual value exceedes basic domain, be all taken as basic domain boundary value; Corresponding 7 linguistic variables, domain is taken as [-3 ,-2 ,-0,0,1,2,3], and can calculate the scale factor of e and ec according to domain value, formula is as follows:

$\mathrm{Ke}=\frac{3}{e\max }---\left(1\right)$

$\mathrm{Kec}=\frac{3}{\mathrm{ec}\max }---\left(2\right)$

The basic domain of same setting Kp, Ki, Kd is respectively [-Kpmax ,+Kpmax], [-Kimax ,+Kimax], [-Kdmax ,+Kdmax], and the domain of Kp, Ki, Kd is taken as [-3 respectively,-2 ,-1,0,1,2,3], [-0.5 ,-0.4 ,-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3,0.4,0.5], [-1.5 ,-1 ,-0.5,0,0.5,1,1.5], can calculate the scale factor of Kp, Ki, Kd according to domain value, formula is as follows:

$K_{\mathrm{kp}\max }=\frac{\mathrm{kp}\max }{3}---\left(3\right)$

$K_{\mathrm{ki}\max }=\frac{\mathrm{ki}\max }{0.5}---\left(4\right)$

$K_{\mathrm{kd}\max }=\frac{\mathrm{kd}\max }{1.5}---\left(5\right).$

Control rule table module: Figure 11 is control table module map, and according to repeatedly repetition test contrast, the Fuzzy PID Control Rules table determined, every bar control law comprises e, ec, Kp, Ki, Kd value of corresponding angle deviate.

Control rule table module is divided into 49 control laws, divides 49 sections by angle maximum opening value etc., respectively corresponding 49 control laws, and e, ec, Kp, Ki, Kd in every bar control law defer to the change of corresponding subordinate function respectively.

The course of work describes: Ducted rocket control system Ducted rocket sucks the real-time parameter of air supply, drive according to calculating control device the angle value regulated needed for flow regulator video disc, control algolithm parses control law rear drive device and sends instruction to motor.Stepper motor works, rotary transformer is recorded the angle of stepper motor rotation and is fed back to ARM controller, the angle information that rotary transformer feeds back by ARM controller and system directive compare, if any deviation, then reissue instruction to revise the valve actuator video disc anglec of rotation, form closed-loop control.Stepper motor, by the transmission mechanism control valve regulated body video disc anglec of rotation, changes throat opening area, thus controls gas flow.

Meanwhile, ARM controller Real-Time Monitoring rotary transformer output valve, if occur sinusoidal or more than revolve lose phase, sine or more than revolve output valve when exceeding the threshold values of setting, ARM controller keeps the last angle value exported constant, until rotary transformer exports normally.

Specific as follows: (supplementing each module routine of ARM controller)

The angle value regulated needed for the control gas-flow regulator video disc that main program module is provided by CAN interrupting receive Ducted rocket control system, compare with the angle feed-back value of stepper motor angle detection feedback system, both subtract each other and obtain fuzzy input quantity e, fuzzy module output quantity Kp is obtained according to input quantity e check and control tabulation module (table 1), Ki, the linguistic variable of Kd, Fig. 8 is looked into respectively according to respective linguistic variable, Fig. 9, Figure 10 obtains Kp, Ki, the subordinate function curve of Kd, the subordinate function rate of curve of each variable respectively can by formula (3), formula (4) and formula (5) calculate, the output quantity Kp of fuzzy module can be calculated respectively according to domain value, Ki, the value of Kd.Calculate PID module input quantity Kp, Ki, Kd, then calculate control module input quantity motor speed, control module exports speed control of stepping motor valve actuator video disc and rotates to angle on target; Each control cycle PID calculates once, exports current tachometer value and control motor rotation in control cycle, when control cycle zone bit is zero, recalculates pid value output motor rotating speed and controls motor rotation, until be adjusted to target location angle; Interrupt control module and provide the flag that main program module exports control signal, feedback signal and control cycle.

Figure 12 is stepper motor of the present invention assembling schematic diagram: stepper motor, as topworks, is fixed on the inside cavity of gas-flow regulator with the form of motor body, drive video disc to rotate in the mode of worm drive.Stepper motor 7 is fixed in flow regulator cavity by stepper motor erecting frame 1.The end face being fixed on stepper motor 7 combined by bearing cutting ferrule 3, bearing bearing rod 4 and bearing 6, and protection motor does not bear axle pressure.Screw-casing 2 is connected by the axle of pin 5 with stepper motor 7, and the screw-casing 2 that rotates through of stepper motor 7 axle exports.Rotary transformer is fixed on stepper motor rotation axis.Stepper motor driver in control device realizes overcurrent protection by sampling resistor, realizes overvoltage protection by diode.

Claims (6)

1. the gas flow control set for adjusting based on embedded system, comprise ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, it is characterized in that: ARM controller is connected with stepper motor driver, ARM controller is connected with Ducted rocket control system by CAN driver; ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module;

Main program module: the angle value regulated needed for the control gas-flow regulator video disc that Ducted rocket control system provides compares with the angle feed-back value of stepper motor angle detection feedback system, instruction is sent to stepper motor driver, the by-pass valve control regulator video disc anglec of rotation, thus control gas flow;

Interrupt control module: provide the mark that master routine exports control signal and feedback signal;

Fuzzy module: fuzzy controller using angular deviation e and angular deviation rate of change ec as input quantity, calculating K p: proportion function, Ki: integral function, Kd: differentiation function is as fuzzy controller output valve; In fuzzy module, fuzzy PID algorithm adopts 7 linguistic variables, i.e. negative large NB, negative middle NM, negative little NS, zero Z0, just little PS, center PM, honest PB; The basic domain of angular deviation e is [-emax ,+emax], and the basic domain of angular deviation rate of change ec is [-ecmax ,+ecmax]; If actual value exceedes basic domain, be all taken as basic domain boundary value; Corresponding 7 linguistic variables, domain is taken as [-3 ,-2 ,-0,0,1,2,3], and can calculate the scale factor of e and ec according to domain value, formula is as follows:

$Ke=\frac{3}{emax}---\left(1\right)$

$Kec=\frac{3}{ecmax}---\left(2\right)$

The basic domain of same setting Kp, Ki, Kd is respectively [-Kpmax ,+Kpmax], [-Kimax ,+Kimax], [-Kdmax ,+Kdmax], and the domain of Kp, Ki, Kd is taken as [-3 respectively,-2 ,-1,0,1,2,3], [-0.5 ,-0.4 ,-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3,0.4,0.5], [-1.5 ,-1 ,-0.5,0,0.5,1,1.5], can calculate the scale factor of Kp, Ki, Kd according to domain value, formula is as follows:

$K_{kpmax}=\frac{kpmax}{3}---\left(3\right)$

$K_{kimax}=\frac{kimax}{0.5}---\left(4\right)$

$K_{kdmax}=\frac{kdmax}{1.5}---\left(5\right);$

PID module: calculate angular deviation e, then according to Kp, Ki, Kd calculated step Electric Machine Control pulse output quantity that fuzzy exports;

Subordinate function module: the subordinate function controlling curve figure comprising e, ec, Kp, Ki, Kd of corresponding each angu-lar deviation; In subordinate function module, subordinate function selects triangular function, and the horizontal ordinate of e, ec, Kp, Ki, Kd subordinate function is the domain of each parameter, and ordinate is the value of each parameter; Subordinate function rate of curve is determined:

Control rule table module: according to repeatedly repetition test contrast, the Fuzzy PID Control Rules table determined is placed in control rule table module, and every bar control law comprises e, ec, Kp, Ki, Kd value of corresponding angle deviate.

2. the gas flow control set for adjusting based on embedded system according to claim 1, it is characterized in that: stepper motor angle detection feedback system comprises rotary transformer, rotary transformer is coaxially connected with stepper motor, and rotary transformer is connected with ARM controller by rotary digital converter, level transferring chip.

3. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: control rule table module is divided into 49 control laws, 49 sections are divided by angle maximum opening value etc., ascending corresponding 49 control laws respectively successively, e, ec, Kp, Ki, Kd in every bar control law defer to the change of corresponding subordinate function respectively.

4. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: the angle information that rotary transformer feeds back by main program module and required valve regulated angle compare, then reissue instruction if any deviation to revise the valve actuator video disc anglec of rotation, form closed-loop control; Main program module Real-Time Monitoring rotary transformer output valve, if occur sinusoidal or more than revolve lose phase, sine or more than revolve output valve when exceeding the threshold values of setting, ARM controller keeps the last angle value exported constant, until rotary transformer exports normally.

5. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: interrupt control module and establish two timers, during initialization, two timers all put 1, after beginning, the first timer time delay 20 milliseconds sets to 0, and provides master routine and exports control signal mark, second timer time delay 40 milliseconds puts 2, provides the mark that stepper motor angle detected value is fed back to Ducted rocket control system by master routine.

6. the gas flow control set for adjusting based on embedded system according to claim 2, it is characterized in that: stepper motor (7) is fixed in flow regulator cavity with the form of motor body, rotary transformer is fixed on the rotation axis of stepper motor (7); Stepper motor (7) is fixed in flow regulator cavity by stepper motor erecting frame (1), bearing bearing rod (4) is connected on the axle of stepper motor (7), bearing (6), bearing bearing rod (4), stepper motor erecting frame (1) are combined the end face being fixed on stepper motor (7) by bearing cutting ferrule (3), screw-casing (2) is connected by the axle of bearing pin (5) with stepper motor (7), and the screw-casing (2) that rotates through of stepper motor (7) axle exports.