CN104539215B - Fast torque tracking control strategy - Google Patents
Fast torque tracking control strategy Download PDFInfo
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- CN104539215B CN104539215B CN201510034988.8A CN201510034988A CN104539215B CN 104539215 B CN104539215 B CN 104539215B CN 201510034988 A CN201510034988 A CN 201510034988A CN 104539215 B CN104539215 B CN 104539215B
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- torque
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- subtractor
- comparator
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- Control Of Direct Current Motors (AREA)
Abstract
The present invention relates to fast torque Tracking Control Strategy, this fast torque Tracking Control Strategy is completed by control circuit, control circuit includes pi regulator, sawtooth generator, clock circuit, comparator, rest-set flip-flop, adder, two inputs of adder, one input receives the steering wheel position signalling after coming from change-over circuit conversion, another input receives the signal for coming from current sampling circuit, adder output is after sampling resistor, it is connected with the input in the same direction of comparator, as the input signal in the same direction of comparator；The output signal of torque sensor is compared with torque reference signal, the outfan connection pi regulator of subtractor, on the one hand pi regulator outfan is connected to the second subtractor input, on the other hand multiplier is connected to, multiplier outputs are connected with sawtooth generator, the outfan of sawtooth generator is connected to the second subtractor another input, and subtractor outputs are connected with comparator inverse output terminal.The present invention realizes that Electric Loading System in real time, quickly and correctly tracks the change of given torque.
Description
Technical field：
The present invention relates to controlling the circuit that Electric Loading System applies effective loading spectrum for steering wheel, and in particular to
It is fast torque Tracking Control Strategy.
Background technology：
Loading motor pwm converter Torque tracking control strategy typically adopts traditional linear feedback control strategy at present,
That is the closed loop control of torque current feedback list and torque, rotating speed and electric current three close-loop control, actuator are typically adjusted using PID.Due to
Loading motor pwm converter substantially belongs to strong nonlinearity kinetic-control system, the loading motor PWM based on linear Feedback Control
The aspects such as dynamic response of the changer in torque loading procedure, Immunity Performance and steady-state error are difficult to obtain satisfied control effect
Really.
Content of the invention：
It is an object of the invention to provide fast torque Tracking Control Strategy, it is dynamic for solving existing PID control presence
State responds the big problem of slow, steady-state error.
The technical solution adopted for the present invention to solve the technical problems is：This fast torque Tracking Control Strategy is by control
Completing, control circuit includes pi regulator, sawtooth generator, clock circuit, comparator, rest-set flip-flop, addition to circuit processed
Device, two inputs of adder, an input receive the steering wheel position signalling after coming from change-over circuit conversion, another
Input receives the signal for coming from current sampling circuit, and adder output is after sampling resistor, in the same direction with comparator
Input connects, used as the input signal in the same direction of comparator；The output signal of torque sensor compared with torque reference signal,
On the one hand the outfan connection pi regulator of subtractor, pi regulator outfan are connected to the second subtractor input, the opposing party
Face is connected to multiplier, and multiplier outputs are connected with sawtooth generator, and the outfan of sawtooth generator is connected to second
Subtractor another input, subtractor outputs are connected with comparator inverse output terminal.
Beneficial effect：
1st, the present invention adopts torque for outer shroud, and electric current is internal ring and considers the torque of steering wheel position disturbance, current double closed-loop
Control system, overcomes classical PID control and there is dynamic response contrast slow, poor robustness and regulator parameter and be difficult to adjustment etc. and ask
Topic, fast torque tracing control are strictly proportional to control benchmark in a cycle, and the disturbance of steering wheel strong position is had very
Strong inhibitory action.
2nd, the present invention realizes that Electric Loading System in real time, quickly and correctly tracks the change of given torque.
Description of the drawings：
Fig. 1 is the structural representation of the present invention.
Specific embodiment：
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, this fast torque Tracking Control Strategy is completed by control circuit, control circuit includes that PI is adjusted
Section device, sawtooth generator, clock circuit, comparator, rest-set flip-flop, adder, two inputs of adder, an input
End receives the steering wheel position signalling after coming from change-over circuit conversion, and another input is received and comes from current sampling circuit
Signal, adder output are connected with the input in the same direction of comparator after sampling resistor, used as the input in the same direction of comparator
Signal；The output signal of torque sensor compared with torque reference signal, adjust by the outfan connection pi regulator of subtractor, PI
On the one hand section device outfan is connected to the second subtractor input, is on the other hand connected to multiplier, multiplier outputs and saw
Tooth wave producer connects, and the outfan of sawtooth generator is connected to the second subtractor another input, subtractor outputs
It is connected with comparator inverse output terminal.
Torque reference signalWith torque sensor feedback signalCompare and obtain torque error signal, signal
Be byThrough the controlled quentity controlled variable that proportional and integral controller PI is exported.Therefore, in the case of torque stable state, torque feedback signalWith
Torque reference signalEqual, it is achieved that torque astatic requirement in stable state.Control signalTypically with armature supply into
Ratio, sampling armature supply as current inner loop signal, in real time with control signalCompare, it is ensured that torque is fast in real time
Given torque is tracked fastly.
Claims (1)
1. a kind of fast torque tracking and controlling method, it is characterised in that：This fast torque tracking and controlling method is by controlling electricity
Completing, control circuit includes pi regulator, sawtooth generator, clock circuit, comparator, rest-set flip-flop, adder on road, plus
Two inputs of musical instruments used in a Buddhist or Taoist mass, an input receive the steering wheel position signalling after coming from change-over circuit conversion, another input
End receives the signal for coming from current sampling circuit, in the same direction input of the adder output after sampling resistor, with comparator
End connection, used as the input signal in the same direction of comparator；The output signal of torque sensor compared with torque reference signal, first
On the one hand the outfan connection pi regulator of subtractor, pi regulator outfan are connected to the second subtractor input, the opposing party
Face is connected to multiplier, and multiplier outputs are connected with sawtooth generator, and the outfan of sawtooth generator is connected to second
Subtractor another input, the second subtractor outputs are connected with comparator inverse output terminal；The input letter of the first subtractor
Number be torque reference signalWith torque sensor feedback signal, torque reference signalWith torque sensor feedback letter
NumberCompare and obtain torque error signal, control signalBe byThrough the controlled quentity controlled variable that proportional and integral controller PI is exported,
In the case of torque stable state, torque feedback signalWith torque reference signalEqual, it is achieved that torque in stable state without
The requirement of static difference；Armature supply sample as current inner loop signal, in real time with control signalCompare, realize torque reality
When rapidly track given torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034988.8A CN104539215B (en) | 2015-01-25 | 2015-01-25 | Fast torque tracking control strategy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034988.8A CN104539215B (en) | 2015-01-25 | 2015-01-25 | Fast torque tracking control strategy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104539215A CN104539215A (en) | 2015-04-22 |
| CN104539215B true CN104539215B (en) | 2017-03-15 |
Family
ID=52854702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510034988.8A Expired - Fee Related CN104539215B (en) | 2015-01-25 | 2015-01-25 | Fast torque tracking control strategy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104539215B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113426839A (en) * | 2021-06-01 | 2021-09-24 | 阳春新钢铁有限责任公司 | Load monitor based on 6RA70 direct current transmission device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7643733B2 (en) * | 2007-07-27 | 2010-01-05 | Gm Global Technology Operations, Inc. | Control device for driving a brushless DC motor |
| CN101286724B (en) * | 2007-11-16 | 2010-05-19 | 西北工业大学 | Direct torque control method for permanent magnetic synchronous electric machine |
| US20100019008A1 (en) * | 2008-05-30 | 2010-01-28 | Helios Systems Inc. | Storage device |
| CN102957372A (en) * | 2011-08-23 | 2013-03-06 | 上海工程技术大学 | Double closed-loop control system of permanent-magnet synchronous motor |
| CN204304862U (en) * | 2015-01-25 | 2015-04-29 | 东北石油大学 | Fast torque follow-up control circuit |
-
2015
- 2015-01-25 CN CN201510034988.8A patent/CN104539215B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104539215A (en) | 2015-04-22 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20210125 |