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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- 238000011217 control strategy Methods 0.000 title abstract description 9
- 238000005070 sampling Methods 0.000 claims abstract description 8
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
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- 230000003068 static effect Effects 0.000 claims description 2
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Abstract
Description
技术领域：Technical field:
本发明涉及的是控制电动负载模拟器为舵机施加有效载荷谱的电路，具体涉及的是快速转矩跟踪控制策略。The invention relates to a circuit for controlling an electric load simulator to apply a payload spectrum to a steering gear, in particular to a fast torque tracking control strategy.
背景技术：Background technique:
目前加载电机PWM变换器转矩跟踪控制策略一般采用传统的线性反馈控制策略，即转矩电流反馈单闭环控制和转矩、转速和电流三环控制，调节器一般采用PID调节。由于加载电机PWM变换器本质上属于强非线性动态控制系统，基于线性反馈控制的加载电机PWM变换器在转矩加载过程中的动态响应、抗扰性能和稳态误差等方面很难取得满意的控制效果。At present, the torque tracking control strategy of the PWM converter of the loaded motor generally adopts the traditional linear feedback control strategy, that is, the torque current feedback single closed-loop control and the torque, speed and current three-loop control, and the regulator generally adopts PID regulation. Since the loaded motor PWM converter is essentially a strongly nonlinear dynamic control system, it is difficult to achieve satisfactory results in the dynamic response, anti-disturbance performance and steady-state error of the loaded motor PWM converter based on linear feedback control during torque loading. Control effect.
发明内容：Invention content:
本发明的目的是提供快速转矩跟踪控制策略，它用于解决现有的PID控制存在动态响应比较慢、稳态误差大的问题。The purpose of the present invention is to provide a fast torque tracking control strategy, which is used to solve the problems of relatively slow dynamic response and large steady-state error in the existing PID control.
本发明解决其技术问题所采用的技术方案是：这种快速转矩跟踪控制策略通过控制电路来完成，控制电路包括PI调节器、锯齿波发生器、时钟电路、比较器、RS触发器、加法器，加法器的两个输入端，一个输入端接收来自于转换电路转换后的舵机位置信号，另一个输入端接收来自于电流采样电路的信号，加法器输出端经过采样电阻后，与比较器的同向输入端连接，作为比较器的同向输入信号；转矩传感器的输出信号与转矩给定信号相比较，减法器的输出端连接PI调节器，PI调节器输出端一方面连接到第二减法器输入端，另一方面连接到乘法器，乘法器输出端与锯齿波发生器连接，锯齿波发生器的输出端连接到第二减法器另一个输入端，减法器输出端与比较器反向输出端连接。The technical scheme adopted by the present invention to solve its technical problems is: this fast torque tracking control strategy is completed through the control circuit, the control circuit includes a PI regulator, a sawtooth wave generator, a clock circuit, a comparator, an RS flip-flop, an addition Two input terminals of the adder, one input terminal receives the servo position signal converted from the conversion circuit, and the other input terminal receives the signal from the current sampling circuit, and the output terminal of the adder passes through the sampling resistor and is compared with The same input terminal of the comparator is connected as the same input signal of the comparator; the output signal of the torque sensor is compared with the given torque signal, the output terminal of the subtractor is connected to the PI regulator, and the output terminal of the PI regulator is connected to the To the input end of the second subtractor, on the other hand connected to the multiplier, the output end of the multiplier is connected to the sawtooth wave generator, the output end of the sawtooth wave generator is connected to the other input end of the second subtractor, and the output end of the subtractor is connected to the other input end of the second subtractor. comparator inverting output connection.
有益效果：Beneficial effect:
1、本发明采用转矩为外环，电流为内环并考虑舵机位置扰动的转矩、电流双闭环控制系统，克服了经典PID控制存在动态响应比较慢、鲁棒性差和调节器参数难于调整等问题，快速转矩跟踪控制在一个周期内严格与控制基准成比例，并对舵机强位置扰动具有很强的抑制作用。1. The present invention adopts the torque as the outer loop, the current as the inner loop and considers the torque and current double closed-loop control system of the servo position disturbance, which overcomes the slow dynamic response, poor robustness and difficult regulator parameters in the classic PID control. Adjustment and other issues, the fast torque tracking control is strictly proportional to the control reference in one cycle, and has a strong inhibitory effect on the strong position disturbance of the steering gear.
2、本发明实现电动负载模拟器实时、快速和准确地跟踪给定转矩的变化。2. The present invention realizes that the electric load simulator can track the change of given torque in real time, quickly and accurately.
附图说明：Description of drawings:
图1是本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.
具体实施方式：detailed description:
下面结合附图对本发明做进一步说明：The present invention will be further described below in conjunction with accompanying drawing:
如图1所示，这种快速转矩跟踪控制策略通过控制电路来完成，控制电路包括PI调节器、锯齿波发生器、时钟电路、比较器、RS触发器、加法器，加法器的两个输入端，一个输入端接收来自于转换电路转换后的舵机位置信号，另一个输入端接收来自于电流采样电路的信号，加法器输出端经过采样电阻后，与比较器的同向输入端连接，作为比较器的同向输入信号；转矩传感器的输出信号与转矩给定信号相比较，减法器的输出端连接PI调节器，PI调节器输出端一方面连接到第二减法器输入端，另一方面连接到乘法器，乘法器输出端与锯齿波发生器连接，锯齿波发生器的输出端连接到第二减法器另一个输入端，减法器输出端与比较器反向输出端连接。As shown in Figure 1, this fast torque tracking control strategy is accomplished through the control circuit, which includes a PI regulator, a sawtooth wave generator, a clock circuit, a comparator, an RS flip-flop, an adder, and two of the adder Input terminal, one input terminal receives the servo position signal converted by the conversion circuit, the other input terminal receives the signal from the current sampling circuit, the output terminal of the adder passes through the sampling resistor, and is connected to the same input terminal of the comparator , as the same input signal of the comparator; the output signal of the torque sensor is compared with the given torque signal, the output of the subtractor is connected to the PI regulator, and the output of the PI regulator is connected to the input of the second subtractor on the one hand , the other hand is connected to the multiplier, the output of the multiplier is connected to the sawtooth wave generator, the output of the sawtooth wave generator is connected to the other input of the second subtractor, and the output of the subtractor is connected to the inverting output of the comparator .
转矩给定信号与转矩传感器反馈信号相比较得到转矩误差信号，信号是由经比例积分调节器PI输出的控制量。因此，在转矩稳态的情况下，转矩反馈信号与转矩给定信号相等，实现了转矩在稳态时无静差的要求。控制信号一般与电枢电流成比例，采样电枢电流作为电流内环信号，实时地与控制信号相比较，保证了转矩实时快速地跟踪给定转矩。Torque given signal with torque sensor feedback signal Compared to get the torque error signal ,Signal By The control quantity output by the proportional-integral regulator PI. Therefore, in the case of torque steady state, the torque feedback signal and torque given signal Equal, to achieve the requirement of no static difference in the torque in the steady state. control signal Generally proportional to the armature current, the armature current is sampled as the current inner loop signal, and the control signal is real-time In comparison, it ensures that the torque can quickly track the given torque in real time.
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| CN201510034988.8A CN104539215B (en) | 2015-01-25 | 2015-01-25 | Fast torque tracking control strategy |
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| 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 |
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| 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 | A Direct Torque Control Method for Permanent Magnet Synchronous Motor |
| 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 |
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