CN103995474A - Virtual automatic control experimental system and design method of virtual automatic control experimental system - Google Patents
Virtual automatic control experimental system and design method of virtual automatic control experimental system Download PDFInfo
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Abstract
The invention discloses a virtual automatic control experimental system and a design method of the virtual automatic control experimental system. The virtual automatic control experimental system comprises a time domain analysis method experiment module, a root-locus method experiment module, a frequency domain analysis method experiment module, a system correction experiment module and an open experiment module, wherein the time domain analysis method experiment module comprises a first-order system time domain analysis module, a second-order system time domain analysis module and a high-order system time domain analysis module; the root-locus method experiment module comprises a second-order system root-locus analysis module, a third-order system root-locus analysis module and a high-order system root-locus analysis module; the frequency domain analysis method experiment module comprises a typical link frequency response characteristic analysis module and a composite system frequency response analysis module; the system correction experiment module comprises a series connection lead correction module, a series connection lag correction module, a series connection lag-lead correction module and a PID correction module; the open experiment module comprises a water level control module, an elevator control module and a traffic lamp control module. By means of the virtual automatic control experimental system and the design method, a user can design and simulate an automatic control experiment, the efficiency of the automatic control experiment is improved, limitation of hardware equipment is avoided, an experimenter can conveniently have a study, and shortcomings in a traditional experiment are overcome.
Description
Technical field
The present invention relates to a kind of virtual automatic control experimental system and method for designing thereof, a kind of virtual automatic control experimental system and method for designing thereof combining based on LabVIEW and MATLAB script hybrid programming of design that concrete is.
Background technology
The software and hardware building form of existing automatic experiment system exists that hardware experiments ageing equipment is not easy that renewal, limited amount, experiment content are dumb, serial communication between hardware and software is obstructed, experimental result is subject to hardware device state to affect the disadvantages such as large.For these disadvantages, the present invention has designed and Implemented virtual automatic control experimental system, this system has and not limited by hardware device, be not subject to experimental situation to affect (experimenter is as long as install " virtual automatic control experimental system " just can independently test on computers anywhere), experimentation is controlled by experimenter oneself, experiment kind is versatile and flexible, and (system also provides opening experiment link, as water level alarm system, traffic lights control and apparatus for controlling elevator etc.), conventional efficient is high, further experimenter is as long as be familiar with LabVIEW and MATLAB can also develop new experiment content on the basis of this virtual system, the renewal upgrading of system is also very convenient, for experimenter's autonomous learning and follow-up hardware experiments are layed foundation.
Summary of the invention
For addressing the above problem, the invention provides a kind of virtual automatic control experimental system and method for designing thereof, can be for user's design emulation Experiments of Automatic Control, improve Experiments of Automatic Control efficiency, not limited by hardware device, facilitate experimenter's autonomous learning, make up the deficiency of traditional experiment.
For achieving the above object, the technical scheme that the present invention takes is:
Virtual automatic control experimental system, comprises
Temporal analysis experiment module: comprise single order time-domain analysis module and second-order system time-domain analysis module; In addition, experimenter can also oneself design high order systems more than three rank, and its performance of time-domain analysis.
Root-locus technique experiment module: comprise second-order system, third-order system and high order system root locus analysis;
Frequency domain analysis experiment module: comprise the frequency response characteristic analysis of typical link: i.e. amplifying element, inertial element and frequency response characteristic oscillation element etc., and the frequency response analysis of compound system.
System compensation experiment module: comprise lag behind-leading and pid correction of series connection anticipatory control, cascade lag controller, series connection;
Opening experiment module: comprise water level control, elevator control and traffic lights control.
Described single order time-domain analysis module comprises unit-step response, unit ramp response, unit impulse response and the unit para-curve of first-order system; Described second-order system time-domain analysis module comprises unit-step response, unit ramp response, unit impulse response and the unit para-curve response of second-order system, and for studying the unit-step response performance parameter module of the second-order system in different damping situation, i.e. unit-step response and the performance parameter thereof of second-order system under underdamping, critical damping, overdamping and undamped state.
Described cascade compensation comprises phase place anticipatory control, phase place correction or lag, phase place lag-lead compensation and four parts of pid correction.
Above-mentioned modules is separate in function, each part stand-alone development.Each functional module is selected corresponding function menu item by system interface menu option, and then calls each functional module.
Designing above-mentioned virtual automatic control experimental system need to complete by following steps:
S1, design virtual automatic Control System Software and start and welcome interface, the technology at this interface to realize to be to utilize transit time that software startup loads to play to welcome interface.
S2, build the automatic experiment system framework based on LabVIEW system platform; Mainly comprise temporal analysis experiment, root-locus technique experiment, frequency domain analysis experiment, system compensation experiment and five functional modules of opening experiment.
S3, support ActiveX technology based on LabVIEW, use for reference the look & feel of application software under Windows, design has the system operation interface of Windows Interfacial Characteristics.
S4, employing LabVIEW and MATLAB Commix programmer method, design and Implement respectively temporal analysis experiment, root-locus technique experiment, frequency domain analysis experiment, system compensation and five functional modules of opening experiment.
S5, respectively five functional modules are tested, on the successful basis of each module testing, improve whole system function and connect and adjust, and provide the emulation mode of each functional module and experimental result for example.
In a word, this software is to realize in conjunction with MATLAB Script Programming under LabVIEW programmed environment, control system has been carried out to time-domain analysis, the design and analysis of root locus analysis, frequency analysis and correction link.Under time-domain analysis, there are first-order system analysis, second-order system analysis and high order system analysis; Under root locus analysis, there are second-order system analysis, third-order system analysis and high order system analysis; Under frequency analysis, there are typical link analysis and System Analysis of Compounding; Under correction link, there are series connection anticipatory control, cascade lag controller, series connection lag-lead compensation and pid correction.In each several part experiment, also write corresponding experimental procedure, facilitated experimenter to carry out control system experiment with reference to experimental procedure.
The present invention has that data, image are processed and Presentation Function is powerful, the virtual automatic control system of the features such as experiment content flexibly, friendly interface, control be abundant, easy to operate, can be for user's design emulation Experiments of Automatic Control, improve Experiments of Automatic Control efficiency, not limited by hardware device, facilitate experimenter's autonomous learning, make up the deficiency of traditional experiment.
Brief description of the drawings
Fig. 1 is system frame structure figure of the present invention;
Fig. 2 is the surface chart of second-order system time-domain analysis in the embodiment of the present invention 1;
Fig. 3 is the surface chart of second-order system experimental procedure front panel in the embodiment of the present invention 1;
Fig. 4 is the time domain unit-step nsponse curve of second-order system in the embodiment of the present invention 1 and the performance parameter surface chart of output;
Fig. 5 is can be for the color of user's adjustment curve, the surface chart of line style and line thickness etc. in the embodiment of the present invention 1;
Fig. 6 is the viewing area surface chart that can regulate for user figure in the embodiment of the present invention 1;
Fig. 7 is the surface chart of the control system time domain unit-step response under overdamping in the embodiment of the present invention 1;
Fig. 8 is the experimental result schematic diagram that in the embodiment of the present invention 1, the control system time domain unit-step response under underdamping is derived;
Fig. 9 is the surface chart of " root locus analysis " in the embodiment of the present invention 2;
Figure 10 is the typical link assay surface figure during the embodiment of the present invention 3 frequency domain are analyzed;
Figure 11 is the width phase frequency characteristic test result of the derivation of the embodiment of the present invention 3;
Figure 12 is the surface chart of the System Analysis of Compounding of the embodiment of the present invention 4;
Figure 13 is the water-level alarm surface chart of the embodiment of the present invention 5;
Figure 14 is the surface chart of the embodiment of the present invention 5 middle water level alert program;
Figure 15 is that in the embodiment of the present invention 6, North and South direction allows current state interface figure;
Figure 16 is the surface chart of " north and south green light " program in the embodiment of the present invention 6;
Figure 17 is " north and south amber light " surface chart in the embodiment of the present invention 6;
Figure 18 is the surface chart of elevator control experiment in the embodiment of the present invention 7.
Embodiment
In order to make objects and advantages of the present invention clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The virtual automatic control experimental system of one of the present invention, comprises
Temporal analysis experiment module: comprise single order time-domain analysis module and second-order system time-domain analysis module; In addition, experimenter can also oneself design high order systems more than three rank, and its performance of time-domain analysis.
Root-locus technique experiment module: comprise second-order system, third-order system and high order system root locus analysis;
Frequency domain analysis experiment module: the frequency response characteristic analysis of typical link, comprises amplifying element, inertial element and frequency response characteristic oscillation element etc. and the frequency response analysis of compound system.
System compensation experiment module: comprise series connection anticipatory control, cascade lag controller, series connection lag-lead compensation and pid correction.；
Opening experiment module: comprise water level control, elevator control and traffic lights control.
Described single order time-domain analysis module comprises unit-step response, unit ramp response, unit impulse response and the unit para-curve response of first-order system; Described second-order system time-domain analysis module comprises unit-step response, unit ramp response, unit impulse response and the unit para-curve response of second-order system, and for studying the unit-step response performance parameter module of the second-order system in different damping situation, i.e. unit-step response and the performance parameter thereof of second-order system under underdamping, critical damping, overdamping and undamped state.
Described cascade compensation comprises phase place anticipatory control, phase place correction or lag, phase place lag-lead compensation and four parts of pid correction.
Above-mentioned modules is separate in function, each part stand-alone development.Each functional module is selected corresponding function menu item by system interface menu option, and then calls each functional module.
As shown in Figure 1, designing above-mentioned virtual automatic control experimental system need to complete by following steps:
S1, design virtual automatic Control System Software and start and welcome interface, the technology at this interface to realize to be to utilize transit time that software startup loads to play to welcome interface.
S2, build the automatic experiment system framework based on LabVIEW system platform; Mainly comprise temporal analysis experiment, root-locus technique experiment, frequency domain analysis experiment, system compensation experiment and five functional modules of opening experiment.
S3, support ActiveX technology based on LabVIEW, use for reference the look & feel of application software under Windows, design has the system operation interface of Windows Interfacial Characteristics.
S4, employing LabVIEW and MATLAB Commix programmer method, design and Implement respectively temporal analysis experiment, root-locus technique experiment, frequency domain analysis experiment, system compensation and five functional modules of opening experiment.
S5, respectively five functional modules are tested, on the successful basis of each module testing, improve whole system function and connect and adjust, and provide the emulation mode of each functional module and experimental result for example.
Embodiment 1
If choose second-order system closed loop transfer function, in experiment
by itself and standard second-order system closed loop transfer function,
compare, the damping ratio that can choose second-order system is 0.4, and natural hunting angle frequency is 5rad/s.The time-domain analysis of this second-order system can be carried out in the steps below:
Step 1, open virtual automatic control experimental system, select second-order system in menu bar, interface is as Fig. 2;
Step 2, in " input parameter setting " module, click " experimental procedure and points for attention " button, eject experimental procedure front panel and read for experimenter, as Fig. 3, experimenter, grasping after experimental procedure and points for attention, can carry out the system time-domain analysis under various type signal effects;
In step 3, " input parameter setting " module, be provided with " input signal types " button, experimenter can select input signal by this button, and the typical input signal in time-domain analysis comprises four kinds of pulse signal, step signal, ramp signal and parabolic signals.For this example, in " input parameter setting " module, " input signal types " being set is step signal, as Fig. 2.In experiment, click the triangle button on " step function ", can select, " natural hunting angle frequency " is 5rad/s, and damping ratio is 0.4.
Step 4, complete and press " carriage return " key after setting parameter and get final product to obtain the time-domain response curve of second-order system and the performance parameter of output in example 1, as Fig. 4.In figure, red curve is input signal, and white curve is system responses curve, and unlike signal line uses different colours to be distinguished.Experimenter also can be according to the color of the hobby trade-off curve of oneself, line style and line thickness etc., concrete using method is, right-hand button in the icon " system responses curve " of below, click graphics display area, there is Fig. 5, experimenter can select the curve color of oneself liking, the similar color setting of method to set up of line thickness and line style.
In experiment, may run into because coordinate is measured the too large or too little figure causing and shown not too aesthetic problem, now experimenter can click lock shape button (as Fig. 6) in " response time ", " response curve " button and regulate the viewing area of figure, also can under the state of release, directly revise the coordinate figure of coordinate axis, with the display effect obtaining.
The time domain response performance index that shown example second order control in step 5. " output parameter and state show " module, comprise rise time, time to peak, overshoot, adjustment time and steady-state error.In addition, also have four to show that control is used for recording the residing damping state of this second-order system.Because second-order system can be divided into undamped, underdamping, critical damping and four kinds of states of overdamping according to the difference of damping ratio, therefore can be by the knob of slip damping ratio in experiment, or directly input suitable damping ratio and carry out the system responses analysis under different damping state, Fig. 7 is the control system time domain response under overdamping.
Step 6. is tested complete, and most important is exactly to record experimental data and waveform.The method that native system records experimental data and waveform is at the region a mouse click right button that shows curve, popup menu, and selecting derives, and can derive simplified image, and file is preserved in click, selects the file path of preserving and names, and clicks and determines.Fig. 8 is the experimental result deriving.
So far, the time-domain analysis of example second order control is complete, finish this experiment, clicks " stopping emulation " and can exit this emulation.
Embodiment 2
If choose open-loop transfer function in experiment:
the root locus analysis of this five rank system can carry out in the steps below:
1, open virtual automatic control experimental system, select " root locus analysis " in menu bar, interface is as Fig. 9.
2, in " point submultinomial " and " denominator polynomial expression " module, input the coefficient of open-loop transfer function; what draw due to root locus is the distribution situation of a certain parameter of open loop closed loop characteristic root while changing; this system, using open-loop gain K as running parameter, is given tacit consent to K=1.
3, in experiment parameter module, recorded some characteristics and the parameter of root locus analysis, comprised the number of this root locus, asymptotic number, the burble point of root locus and meeting point, the intersection point of asymptotic line and real axis, initial angle and the end angle etc. of root locus.In experimental result, can also observe the situation of closed loop transfer function, root.
4, on the display interface of root locus, be also provided with a vernier, this vernier arranges in order to record root locus and imaginary axis intersection point, and experimenter can moving cursor, to obtain root locus and imaginary axis intersecting point coordinate value etc.
5, experiment right side, interface provides " curve attribute " functional module to adjust root locus plot color etc. for experimenter.
Embodiment 3
If the oscillation element of choosing in typical link in experiment is research object, the time constant T=1s of oscillation element is set, damping ratio ξ=0.5.The frequency-domain analysis of this typical link can be carried out in the steps below:
1, open virtual automatic control experimental system, select typical link analysis in menu bar, interface is as Figure 10;
2, in " setting parameter " module, click " experimental procedure and points for attention " button, eject experimental procedure front panel and read for experimenter, experimenter, grasping after experimental procedure and points for attention, can carry out the frequency-domain analysis of various typical links;
3, in " setting parameter " module, be provided with " typical link type " button, experimenter can select typical link by this button, and the typical link in frequency-domain analysis comprises eight kinds of amplifying elements, inertial element, integral element, oscillation element, first derivative element, secondary differential element, delay link, single order unstable elements.For this example, in " setting parameter " module, " typical link type " being set is oscillation element, and " time constant T " is set is 1s, and damping ratio is 0.5.
4. complete and press frequency characteristic (comprising Bode diagram, nyquist diagram and Nichols diagram) that " carriage return " key can obtain oscillation element and the indices of frequency-domain analysis after setting parameter, interface is as Figure 10.Taking nyquist diagram as example, interface is as Figure 11, green curve is the frequency characteristic (frequency transformation scope be zero to just infinite) of oscillation element, and the red curve (frequency transformation scope is negative infinite to zero) in Nyquist is the symmetry of green curve about transverse axis.Experimenter also can be according to the color of the hobby trade-off curve of oneself, line style and line thickness etc., concrete using method is, the right button of clicking the mouse on curve, select " legend " in " display items ", click the right-hand button in the top-right icon in graphics display area " curve 0 ", experimenter can select the curve color of oneself liking.The similar color setting of method to set up of line thickness and line style.
5. the frequency domain response performance index that shown example oscillation element in " frequency-domain analysis indices " module, comprise magnitude margin, phase margin, phase cross over frequency, gain transition frequency.
6. experiment is complete, and most important is exactly to record experimental data and waveform.The method that native system records experimental data and waveform is at the region a mouse click right button that shows curve, popup menu, and selecting derives, and can derive simplified image, and file is preserved in click, selects the file path of preserving and names, and clicks and determines.
7, so far, the frequency-domain analysis of example oscillation element is complete, finish this experiment, clicks " stopping emulation " button and can exit this emulation.
Embodiment 4
If choose third-order system as research object in experiment, the open-loop transfer function of its unity feedback system is
system is composed in series by five typical links, i.e. amplifying element G
1(s)=10, integral element
Inertial element
Inertial element
First derivative element G
5(s)=0.5s+1.The frequency-domain analysis of this three rank compound system can be carried out in the steps below:
1, open virtual automatic control experimental system, select System Analysis of Compounding in menu bar, interface is as Figure 12;
2, in " setting parameter " module, click " experimental procedure and points for attention " button, eject experimental procedure front panel and read for experimenter, experimenter, grasping after experimental procedure and points for attention, can carry out the frequency-domain analysis of this three rank compound system;
3, choose parameter K=10 of the amplifying element in three rank compound systems, time constant T
1=1s, T
2=0.05s, τ=0.5 in first derivative element.Complete and press " carriage return " key after setting parameter and can obtain three frequency characteristics of rank compound system and the indices of frequency-domain analysis.Change the method for curve and deduced image as described above.
4, the frequency domain response performance index that shown this three rank compound system in " frequency-domain analysis indices " module, comprise magnitude margin, phase margin, phase cross over frequency, gain transition frequency.
5, so far, the frequency-domain analysis of example three rank compound systems is complete, finish this experiment, clicks " stopping emulation " button and can exit this emulation.
Embodiment 5
1, open virtual automatic control experimental system, in menu bar, select water-level alarm in opening experiment as shown in figure 13.
2, in test panel, design the Displaying Meter of a real time water level and the numerical value of real time water level and shown control, can intuitively and dynamically observe the numerical value of real time water level by them.
3, in experiment, user can need to arrange alarming value according to oneself, as being 100 when alarm water level value is set, will report to the police if exceed 100, and alarm lamp flicker and buzzing are reported to the police.
4, be Figure 14 corresponding to the program of the test panel of water-level alarm, it adopts " While circulation " nested use " construction of condition " to realize water-level alarm function.Program is passed through relatively Real-time Water place value and alarm water level value in " While circulation ", and comparative result is connected with " construction of condition ", and when comparative result is False, pilot lamp flicker and buzzing are reported to the police, and when comparative result is True, program is proceeded.
5, so far, water-level alarm Control System Imitation finishes, and finish this experiment, clicks " stopping " and can exit this emulation.
Embodiment 6
1, open virtual automatic control experimental system, in menu bar, select the traffic lights control under opening experiment, traffic lights is often referred to by three kinds of color lamps of red, yellow, and green and forms the signal lamp for directing traffic, test panel is to realize by the boolean's control in LabVIEW by four groups of reddish yellow green lights, can intuitively and dynamically observe each crossing traffic lamp on/off situation by them.North and South direction that what Figure 15 represented is allows current state, and now North and South direction residual flux line time is 14s, simultaneously the east-west direction state that is that no through traffic.What aspect beautifying at interface, use is the rhetorical function that LabVIEW carries.
2, the function of test panel realizes needs plate programming in the back to realize, and plate adopts " While circulation " nested " construction of condition " to realize the light on and off at intermittence of each group of reddish yellow green light in the back.The all time values of original state are zero.Reddish yellow green light be by bunch mode combine, the convenient like this control of element to wherein.The For circulation of the necessary termination condition structure of shut down procedure.
3, Figure 16 is " north and south green light " program, in its " north and south green light " construction of condition, has comprised a For loop structure, controls the current time of north and south by For cycle index.On For loop structure, equation is north and south in transit time to be set give a green light, and thing sends out a warning.
4, Figure 17 is " north and south amber light " structure, has still adopted a For loop structure in its structure, the duration of the number of times control north and south amber light circulating by For.
5, " thing green light " follows the similar of North and South direction with " thing amber light " structure, is no longer repeated in this description.At " construction of condition ", the outside While of interpolation circulates, and realizes program loop and carries out, thereby realize the sight that crossroad access lamp is simulated.
6, so far, traffic light control system emulation finishes, and finish this experiment, clicks " stopping " and can exit this emulation.
Embodiment 7
1, open virtual automatic control experimental system, select the elevator control under opening experiment in menu bar, Figure 18 is elevator control experiment front panel.
2, the function of test panel realizes needs plate programming in the back to realize, and adopts " stacked structure ", " construction of condition " to realize the various functions of elevator control with " While circulation " nested programming mode.In outermost first stepped construction, mainly realize two functions: the upper and lower and switch gate state of the initialization of program and elevator shows.The init state of elevator is: elevator is in Stall position, and state of elevator shows also in Stall position.Elevator up/down state display routine is the current VI path implement by obtaining elevator, left-hand door and right door.
3, so far, apparatus for controlling elevator emulation finishes, and finish this experiment, clicks " stopping " and can exit this emulation
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. virtual automatic control experimental system, is characterized in that, comprises
Temporal analysis experiment module: comprise first-order system, second-order system and high order system time-domain analysis module;
Root-locus technique experiment module: comprise second-order system, third-order system and high order system root locus analysis;
Frequency domain analysis experiment module: comprise the frequency response characteristic analysis of typical link and the frequency response analysis of compound system;
System compensation experiment module: comprise series connection anticipatory control, cascade lag controller, series connection lag-lead compensation and pid correction;
Opening experiment module: comprise water level control, elevator control and traffic lights control.
2. virtual automatic control experimental system according to claim 1, is characterized in that, described first-order system time-domain analysis module comprises unit-step response, unit ramp response, unit impulse response and the unit para-curve response of first-order system; Described second-order system time-domain analysis module comprises second-order system unit-step response, unit ramp response, unit impulse response and unit para-curve response, and for studying the unit-step response performance parameter module of the second-order system in different damping situation.
3. virtual automatic control experimental system according to claim 1, is characterized in that, described cascade compensation comprises phase place anticipatory control, phase place correction or lag, phase place lag-lead compensation and four parts of pid correction.
4. the method for designing of virtual automatic control experimental system, is characterized in that, comprises the steps:
S1, design virtual automatic Control System Software and start and welcome interface;
S2, build the automatic experiment system framework based on LabVIEW system platform;
S3, support ActiveX technology based on LabVIEW, use for reference the look & feel of application software under Windows, design has the system operation interface of Windows Interfacial Characteristics.
S4, employing LabVIEW and MATLAB Commix programmer method, design and Implement respectively temporal analysis experiment, root-locus technique experiment, frequency domain analysis experiment, system compensation and five functional modules of opening experiment.
S5, respectively five functional modules are tested, on the successful basis of each module testing, improve whole system function and connect and adjust, and provide the emulation mode of each functional module and experimental result for example.
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| CN108919652A (en) * | 2018-10-10 | 2018-11-30 | 北京工商大学 | A kind of adaptive anti-interference reforming control method and system |
| CN108919652B (en) * | 2018-10-10 | 2021-07-27 | 北京工商大学 | Adaptive anti-interference shaping control method and system |
| CN112558463A (en) * | 2020-12-03 | 2021-03-26 | 重庆交通大学 | Series correction method of second-order under-damped system |
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