CN104679037B - Gas flow regulation control device and control method based on DSP embedded system - Google Patents
Gas flow regulation control device and control method based on DSP embedded system Download PDFInfo
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- CN104679037B CN104679037B CN201510080446.4A CN201510080446A CN104679037B CN 104679037 B CN104679037 B CN 104679037B CN 201510080446 A CN201510080446 A CN 201510080446A CN 104679037 B CN104679037 B CN 104679037B
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Abstract
The invention discloses a gas flow regulation control device based on a DSP (Digital Signal Processing) embedded system. The gas flow regulation control device comprises a valve regulator disc, a speed reducer, a lower shell, an upper shell, a gear set, a controller, a torque motor and a rotation shaft, wherein a first axial vent hole is formed in the lower shell; a second axial vent hole communicated with the first axial vent hole is formed in the upper shell; the valve regulator disc is matched with the second axial vent hole; a speed reducer mounting hole is formed in the middle of the lower shell; a rotation shaft mounting hole communicated with the speed reducer mounting hole is formed in the middle of the upper shell; the speed reducer is arranged in the speed reducer mounting hole; the rotation shaft is arranged in the rotation shaft mounting hole; a motor control signal output end of the controller is connected with a control signal input end of the torque motor; an output shaft of the torque motor is connected with the rotation shaft through the gear set and the speed reducer in sequence. The invention has the advantages of high control precision, high transmission efficiency and real-time response, and can solve the problem of poor dynamic response characteristics of the existing gas flow regulation device.
Description
Technical field
The invention belongs to automation field, and in particular to it is a kind of based on DSP (Digital Signal Processing,
Digital signal processor) embedded system gas flow control set for adjusting and control method.
Technical background
To ensure the versatility and portability of gas flow adjusting means, gas flow control set for adjusting is arranged on combustion
Throughput adjusts the inside of performs device, realizes that gas flow adjusts the high-precision control of performs device with closed loop, typically
Second level can be reached.The dynamic characteristic of gas flow adjusting means depends on combustion gas, free volume and the valve event of generation, and
There is negative tune characteristic during gas flow is adjusted：When expecting that gas flow is reduced, quick increase gas generator spray larynx
Area, gas flow first reduce and increase to expected regulated value again；Vice versa.To ensure the dynamic of gas flow adjusting means
Characteristic, typically requires that gas flow control set for adjusting energy Real-time and Dynamic responds each Parameters variation, and provides control law, control
Actuator is responded.
At present, gas flow adjusting means both domestic and external is that the gas flow combined based on worm drive and shift fork adjusts dress
Put, in the device, motor drives leading screw rotation driving nut linear motion, the mobile promotion shift fork of nut and output shaft rotation, real
Existing motor output exports the transmission of between centers with flow regulator.The maximum deficiency of this device is that gear ratio is little, is integrally driven
Efficiency is low, response characteristic is poor, and the linear motion for being mainly reflected in nut promotes shift fork to occur in that greatly during rotating
The energy loss of amount, in addition, being limited by bulk, motor limited torque output, causes scalable load limited and worked
There is clamping stagnation (nut shift fork requires that technological and manufacturing level is high, clamping stagnation easy to wear during work) phenomenon in journey, reliability is low.
The content of the invention
The purpose of the present invention is for above-mentioned technical problem, there is provided a kind of gas flow based on DSP embedded systems is adjusted
Section control device and control method, the control accuracy of the apparatus and method are high, transmission efficiency, real-time response, it is possible to resolve existing
In gas flow adjusting means, dynamic response characteristic is poor, space hold is big, it is inconvenient to install regulation and is unable to effectively solving bears
Adjust the problem of characteristic.
In order to achieve this, the gas flow control set for adjusting based on DSP embedded systems designed by the present invention, it
Including valve actuator video disc, decelerator, lower house, the upper shell being arranged on lower house, the gear being arranged in lower casing body
Group, controller and torque motor, the rotary shaft in the middle part of valve actuator video disc, wherein, the lower house is provided with first
Axial passage, is provided with the second axial passage connected with the first axial passage, the valve actuator dish in upper casing body
Piece is matched with the above-mentioned second axial passage, is provided with decelerator installing hole, is provided with the middle part of upper shell in the middle part of the lower house
The rotary shaft installing hole connected with decelerator installing hole, the decelerator are arranged in decelerator installing hole, and the rotary shaft sets
Put in rotary shaft installing hole, the control signal input of the motor control signal outfan coupling torque motor of the controller
End, the output shaft of the torque motor pass sequentially through gear train and decelerator connection rotary shaft, and the torque motor passes through gear
Group, decelerator and rotary shaft control valve actuator video disc are rotated so as to realize the control of the second axial passage and extraneous break-make
System.
The bottom of the decelerator installing hole is provided with rotary transformer, and stator and the lower house of the rotary transformer are fixed
Connection, the rotor of rotary transformer are fixedly connected with decelerator, the feedback signal output connection control of above-mentioned rotary transformer
The angle feedback signal input of device.
The controller includes digital signal processor, CAN (Controller Area Network, controller local area network
Network) driver, crystal oscillator and motor driver, wherein, the CAN control signals communication ends of the digital signal processor pass through CAN
Driver connects Ducted rocket control system, the clock signal input terminal connection crystal oscillator of digital signal processor, digital signal
The multichannel buffered serial port of processor connects the speed controling signal input of motor driver, the I/O of digital signal processor
(input/output, input/output port) interface connects the enable signal input part of motor driver, at the digital signal
The angle feedback signal input of reason device connects the feedback signal output of rotary transformer.
A kind of gas flow adjustment control method based on DSP embedded systems, it comprises the steps：
Step 1：The main program module of the digital signal processor interrupts reception Ducted rocket control by CAN
The angle value adjusted needed for the control gas flow adjusting means valve actuator video disc that system is given；
Step 2：Path planning module reads the current angle feed-back value of rotary transformer, according to Ducted rocket control is
The control of system requires to calculate valve actuator video disc and rotates operation deformation trace, and by path planning flag set, position PID
(ratio (proportion), integration (integration), differential (differentiation) control) module is with path planning
The angle that the valve actuator video disc rotation operation deformation trace that module is calculated is obtained is current goal angle value, is read current
The angle feed-back value of rotary transformer, is calculated output velocity amplitude；
Step 3：The velocity amplitude that speed by PID module is calculated using position PID modules calculates motor as input quantity
The speed controling signal of driver, motor driver are adjusted according to the rotation of above-mentioned speed controling signal control moment motor output shaft
Section, be rotated through gear train, decelerator and the rotary shaft of torque motor output shaft drive valve actuator video disc action, valve to adjust
Section device video disc changes the throat opening area of the second axial passage, so as to realize that gas flow adjusts control.
The invention has the beneficial effects as follows：
1st, the present invention adopts modularized design, each functions of modules independence more conducively to arrange, improve in flow regulator
Portion space utilization rate；
2nd, integrated level height of the invention, small volume, driving force are strong, can drive larger load (decelerator speed reducing ratio 1:
300, can driving load it is big)；
3rd, control accuracy height of the invention, fast response time, algorithm strong adaptability, it is convenient to adapt to flow regulator
Dynamic characteristic, solves its negative tune characteristic；
4th, assembling regulation of the invention and convenient disassembly, reliability be high, the strong (path planning algorithm and double of environmental suitability
Pid algorithm is applied together, also can be adjusted well in the case of varying load).
The above-mentioned close-loop control mode based on DSP embedded systems of present invention design, is compared and traditional is passed based on spiral
The gas flow Purely mechanical regulative mode of dynamic and shift fork combination, with higher control accuracy and transmission efficiency, with more preferable
Response real-time (existing shift fork mode gap error is big, and varying load affects big, low-response), it is possible to resolve existing such control
In device, dynamic response characteristic is poor, space hold big (reducer structure closely, takes up room little in the present invention, and speed reducing ratio is big),
Install and adjust inconvenient and be unable to effectively solving and bear adjust the problem of characteristic (path planning and pid algorithm of the present invention can be carried out
Calculate and adjust path, algorithm understands to adjust running orbit in advance, and effectively solving is negative to adjust characteristic).It is solid that the present invention is applied to high accuracy
The control of engine gas flow regulator is rushed, with preferable using value and promotion prospect.
Description of the drawings
Fig. 1 is the theory diagram of the present invention；
Fig. 2 is the theory diagram of the digital signal processor 4.1 of the present invention；
Fig. 3 is the control principle logic chart of the present invention.
Fig. 4 is the overlooking the structure diagram of the present invention.
Fig. 5 is the perspective cross-sectional structural representation in a direction of the invention.
Fig. 6 is the cross section structure diagram in another direction of the invention.
Wherein, 1-valve actuator video disc, 2-lower house, the 2.1-the first axial passage, 2.2-decelerator are installed
Hole, 3-upper shell, the 3.1-the second axial passage, 3.2-rotary shaft installing hole, 4-controller, at 4.1-digital signal
Reason device, 4.11-main program module, 4.12-interruption control module, 4.13-path planning module, 4.14-position PID moulds
Block, 4.15-speed by PID module, 4.2-CAN drivers, 4.3-crystal oscillator, 4.4-motor driver, 5-torque motor, 6-
Rotary shaft, 7-decelerator, 8-gear train, 9-rotary transformer, 10-Ducted rocket control system
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail：
The gas flow control set for adjusting based on DSP embedded systems and control method of the present invention is by controlling Gu Chong
The rotation of engine gas flow regulator valve actuator video disc, reaches regulation sky to change engine jet pipe throat opening area
Combustion makes full use of the energy of propellant than (ratio of air mass flow rate/combustion gas quality flow rate), obtains Ducted rocket optimal
Service behaviour.The present invention adopts modular construction, closed loop design to can guarantee that higher control accuracy.
Its concrete structure as shown in figs. 1 to 6, including valve actuator video disc 1, decelerator 7, lower house 2, is arranged on down
Upper shell 3, the gear train 8 being arranged in lower house 2, controller 4 and torque motor 5 on housing 2, installed in valve actuator
Rotary shaft 6 in the middle part of video disc 1, wherein, the lower house 2 is provided with the first axial passage 2.1, is provided with and first in upper shell 3
Second axial passage 3.1 of the connection of axial passage 2.1, the valve actuator video disc 1 and the above-mentioned second axial passage
3.1 matchings, the middle part of the lower house 2 are provided with decelerator installing hole 2.2, and the middle part of upper shell 3 is provided with and decelerator installing hole
The rotary shaft installing hole 3.2 of 2.2 connections, the decelerator 7 are arranged in decelerator installing hole 2.2, and the rotary shaft 6 is arranged on
In rotary shaft installing hole 3.2, the control signal input of the motor control signal outfan coupling torque motor 5 of the controller 4
End, the output shaft of the torque motor 5 pass sequentially through gear train 8 and the connection rotary shaft 6 of decelerator 7, and the torque motor 5 passes through
Gear train 8, decelerator 7 and 6 control valve actuator video disc 1 of rotary shaft rotate so as to realize the second axial passage 3.1 with it is outer
(output shaft of torque motor 5 is fixedly connected a gear of the initial end of gear train 8,8 end of gear train for the control of boundary's break-make
One gear is engaged with the gear of decelerator 7, and decelerator 7 is fixedly connected with rotary shaft 6).
In above-mentioned technical proposal, the bottom of the decelerator installing hole 2.2 is provided with rotary transformer 9, the rotation transformation
The stator of device 9 is fixedly connected with lower house 2, and the rotor of rotary transformer 9 is fixedly connected with decelerator 7, above-mentioned rotary transformer 9
Feedback signal output by the angle feedback signal input of rotary digital transducer, electrical level transferring chip and controller 4
Connection.
The torque of the output of torque motor 5 passes to decelerator 7 by gear train 8, and the torque of the output of decelerator 7 is by rotation
Axle 6 drives valve actuator video disc 1 to rotate, and controls the size of passage effective active area.
In above-mentioned technical proposal, the controller 4 includes digital signal processor 4.1, CAN drivers 4.2, crystal oscillator 4.3
With motor driver 4.4, wherein, the CAN control signals communication ends of the digital signal processor 4.1 pass through CAN drivers 4.2
Connection Ducted rocket control system 10, the clock signal input terminal connection crystal oscillator 4.3 of digital signal processor 4.1, numeral letter
The multichannel buffered serial port of number processor 4.1 connects the speed controling signal input of motor driver 4.4, Digital Signal Processing
The I/O interfaces of device 4.1 connect the enable signal input part of motor driver 4.4, and the angle of the digital signal processor 4.1 is anti-
Feedback signal input connects the feedback signal output of rotary transformer 9.
In above-mentioned technical proposal, motor driver 4.4 realizes overcurrent protection by sampling resistor, is realized by diode
Pressure protection.
In above-mentioned technical proposal, the rotary shaft 6, decelerator 7 and rotary transformer 9 are to be coaxially disposed.
In above-mentioned technical proposal, the digital signal processor 4.1 includes main program module 4.11, interruption control module
4.12nd, path planning module 4.13, position PID module 4.14 and speed by PID module 4.15；The digital signal processor 4.1
For existing processor, its model is preferably TMS320F28335.
Wherein, the main program module 4.11 is for the valve actuator dish that is given according to Ducted rocket control system 10
The target angle angle value of piece 1 and the comparative result of the angle feed-back value of rotary transformer 9, send instruction to motor driver 4.4, control
Valve actuator video disc processed 1 is rotated to target angular position, so as to control gas flow；Main program module 4.11 will rotate transformation
The angle information of the feedback of device 9 is compared with the target angle angle value of valve actuator video disc 1, then reissues instruction to valve if any deviation
1 anglec of rotation of door actuator video disc is modified, and forms closed loop control；4.11 real-time monitoring rotary transformer 9 of main program module
Output valve, if occur it is sinusoidal or it is remaining rotation lose phase, it is sinusoidal or it is remaining rotation output valve exceed arrange threshold values when, digital signal processor
4.1 keep the angle value of last output constant, until rotary transformer 9 is exported normally.
The interruption control module 4.12 is for main program module 4.11 and motor driver 4.4 and rotary transformer 9
Between signal transmission carry out sequencing contro, the main program module 4.11 sends motor control instruction to motor driver 4.4,
Main program module 4.11 receives the angle feed-back value of rotary transformer 9；Interruption control module 4.12 is provided with two timers, one
It is controlling cycle timer, another is angle detected value feedback timer, and during initialization, two timers all set to 0, mastery routine
After module 4.11 receives the regulating command of Ducted rocket control system 10, controlling cycle timer is put into 1, controlling cycle meter
When device start timing, and calculate the speed controling signal of current motor driver 4.4, when timing is to 5 milliseconds, provide main journey
Sequence output control signal is identified；1 is put when 2 timing of timer is to 20 milliseconds, providing mastery routine will be torque motor angle detected value anti-
The mark of control system of feeding；
The path planning module 4.13 is used for the planning operation deformation trace for calculating torque motor 5, the torque motor 5
The calculation of planning operation deformation trace be：The valve that path planning module 4.13 is given with Ducted rocket control system 10
The target angle angle value of door actuator video disc 1 is terminal target location, with the current angle feed-back value of rotary transformer 9 as starting point,
Require to be calculated according to the control of Ducted rocket control system 10, draw the planning operation deformation trace of torque motor 5；
The position PID modules 4.14 are used for the speed output dq_out for calculating torque motor 5, the calculating torque motor
The calculation of 5 speed output dq_out is：The valve that Ducted rocket control system 10 is given by position PID module 4.14
The target angle angle value of door actuator video disc 1 with the difference of the angle feed-back value of rotary transformer 9 as input quantity, according to position PID
The position PID Proportional coefficient K p of module 4.14, integral coefficient Ki and differential coefficient Kd, calculate torque using conventional pid algorithm
The speed output dq_out of motor 5；
The speed by PID module 4.15 is used for the speed controling signal output dqv_out for calculating motor driver 4.4,
The calculation of the speed controling signal output dqv_out of the motor driver 4.4 is：Speed by PID module 4.15 is with above-mentioned
The speed output dq_out of torque motor 5 as input quantity, further according to the speed by PID proportionality coefficient of speed by PID module 4.15
Kp, integral coefficient Ki and differential coefficient Kd, calculate the speed controling signal of motor driver 4.4 using conventional pid algorithm
Output dqv_out.
A kind of gas flow adjustment control method based on DSP embedded systems, it comprises the steps：
Step 1：The main program module 4.11 of the digital signal processor 4.1 interrupts reception Gu Chong by CAN to be sent out
The angle value adjusted needed for the control gas flow adjusting means valve actuator video disc 1 that motivation control system 10 is given；
Step 2：Path planning module 4.13 reads the current angle feed-back value of rotary transformer 9, according to Ducted rocket
The control of control system 10 requires that calculating valve actuator video disc 1 rotates operation deformation trace, and path planning mark is put
Position, position PID module 4.14 rotate operation deformation trace with the valve actuator video disc 1 that path planning module 4.13 is calculated and obtain
The angle for arriving is current goal angle value, reads the angle feed-back value of current rotary transformer 9, is calculated output speed
Value；
Step 3：The velocity amplitude that speed by PID module 4.15 is calculated using position PID module 4.14 is calculated as input quantity
The speed controling signal of motor driver 4.4 is drawn, motor driver 4.4 is according to above-mentioned speed controling signal control moment motor
The rotation of 5 output shafts is adjusted, and be rotated through gear train 8, decelerator 7 and the rotary shaft 6 of 5 output shaft of torque motor are adjusted with movable valve
1 action of section device video disc, valve actuator video disc 1 change the throat opening area of the second axial passage 3.1, so as to realize gas flow
Adjust control.
In above-mentioned technical proposal, the controlling cycle of each digital signal processor 4.1 re-starts position PID moulds
The calculating of block 4.14 and speed by PID module 4.15；
When the controlling cycle flag bit of the controlling cycle timer of interruption control module 4.12 is 1, speed by PID module
The current speed controling signal that 4.15 outputs are calculated is rotated by 4.4 control moment motor 5 of motor driver, is controlled when interrupting
When the controlling cycle flag bit of the controlling cycle timer of molding block 4.12 is 0, calculated with path planning module 4.13
The current goal angle value that the planning operation deformation trace of torque motor 5 is obtained is used as angle on target, then reads rotary transformer 9
Angle feed-back value, re-start the calculating of position PID module 4.14 and speed by PID module 4.15, speed by PID module 4.15 is again
Export calculated current speed controling signal and regulation is rotated by 4.4 control moment motor of motor driver 5, until adjusting
To path planning final goal angle, i.e. aims of systems position angle；Interruption control module 4.12 provides main program module 4.11
The flag of output control signal, the feedback signal of current rotary transformer 9 and controlling cycle, and according to main program module 4.11
The mark for being given carries out path planning calculating, position PID and calculates and speed by PID calculating.
Digital signal processor 4.1 in the present invention by the way of pid control algorithm and path planning algorithm combine,
1 target of valve actuator video disc that the path planning algorithm of path planning module 4.13 is required with Ducted rocket control system 10
Angle is terminal target location, with the current angle feed-back value of rotary transformer 9 as starting point, according to Ducted rocket control system
10 control requires the controlling cycle for carrying out calculating the operation deformation trace of path planning, cycle and controlling cycle timer
Unanimously；The target angle angle value of the valve actuator video disc 1 that Ducted rocket control system 10 is given by position PID module 4.14 with
The difference of the angle feed-back value of rotary transformer 9 as input quantity, position PID Proportional coefficient K p according to position PID module 4.14,
Integral coefficient Ki and differential coefficient Kd, calculates the speed output dq_out of torque motor 5 using conventional pid algorithm；Speed
PID modules 4.15 using the speed output dq_out of above-mentioned torque motor 5 as input quantity, further according to speed by PID module 4.15
Speed by PID Proportional coefficient K p, integral coefficient Ki and differential coefficient Kd, calculate motor driver using conventional pid algorithm
4.4 speed controling signal output dqv_out.Output speed control signal control moment motor 5 is rotated, so as to control valve
Actuator video disc 1 turns to current path object of planning angle position；So circulation is performed, until it is final to be adjusted to path planning
The target location angle of angle on target, i.e. valve actuator video disc 1.
The present invention the course of work be：Ducted rocket control system 10 sucks air supply according to Ducted rocket
Real-time parameter, calculates the target angle angle value of valve actuator video disc 1, and digital signal processor 4.1 calculates torque motor 5
Planning operation deformation trace and provide the speed controling signal of current motor driver 4.4, speed controling signal operation motor
Driver 4.4 sends instruction controlled motor and rotates.(torque electricity during 5 control valve actuator video disc of torque motor 1 is rotated
The power of the output of machine 5 sequentially passes through gear train 8, decelerator 7 and rotary shaft 6 and passes to valve actuator video disc 1), rotates transformation
Device 9 records the angle Real-time Feedback of the rotation of torque motor 5 to digital signal processor 4.1, and digital signal processor 4.1 will
The angle information of the feedback of rotary transformer 9 is compared with the target angle angle value of valve actuator video disc 1, if any deviation, is then counted
Word signal processor 4.1 continues to issue a command to motor driver 4.4 to be modified the anglec of rotation of valve actuator video disc 1,
Until adjusting in place, closed loop control is formed.Torque motor 5 is rotated by control valve actuator video disc 1, changes throat opening area,
So as to control gas flow.
At the same time, the output valve of 4.1 real-time monitoring rotary transformer 9 of digital signal processor, if occurring sinusoidal or remaining
When rotation is lost phase, sinusoidal or remaining rotation output valve and exceedes the threshold values for arranging, digital signal processor 4.1 keeps the angle of last output
Value is constant, until rotary transformer 9 is exported normally.
The content that this specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. a kind of gas flow control set for adjusting based on DSP embedded systems, it is characterised in that：It includes valve actuator
Video disc (1), decelerator (7), lower house (2), the upper shell (3) being arranged on lower house (2), it is arranged in lower house (2)
Gear train (8), controller (4) and torque motor (5), the rotary shaft (6) in the middle part of valve actuator video disc (1), wherein,
The lower house (2) is provided with the first axial passage (2.1), is provided with and connects with the first axial passage (2.1) in upper shell (3)
The second axial passage (3.1), the valve actuator video disc (1) is matched with the above-mentioned second axial passage (3.1), described
Decelerator installing hole (2.2) is provided with the middle part of lower house (2), is provided with the middle part of upper shell (3) with decelerator installing hole (2.2) even
Logical rotary shaft installing hole (3.2), the decelerator (7) are arranged in decelerator installing hole (2.2), and the rotary shaft (6) sets
Put in rotary shaft installing hole (3.2), the control of motor control signal outfan coupling torque motor (5) of the controller (4)
Signal input part processed, the output shaft of the torque motor (5) pass sequentially through gear train (8) and decelerator (7) connection rotary shaft
(6), the torque motor (5) is turned by gear train (8), decelerator (7) and rotary shaft (6) control valve actuator video disc (1)
The dynamic control so as to realize the second axial passage (3.1) and extraneous break-make；
The bottom of the decelerator installing hole (2.2) is provided with rotary transformer (9), and the stator of the rotary transformer (9) is with
Housing (2) is fixedly connected, and the rotor of rotary transformer (9) is fixedly connected with decelerator (7), above-mentioned rotary transformer (9) it is anti-
The angle feedback signal input of feedback signal outfan connection controller (4)；
The controller (4) includes digital signal processor (4.1), CAN drivers (4.2), crystal oscillator (4.3) and motor driver
(4.4), wherein, the CAN control signals communication ends of the digital signal processor (4.1) are solid by CAN drivers (4.2) connection
Rush engine control system (10), clock signal input terminal connection crystal oscillator (4.3) of digital signal processor (4.1), numeral letter
The speed controling signal input of multichannel buffered serial port connection motor driver (4.4) of number processor (4.1), digital signal
The enable signal input part of I/O interfaces connection motor driver (4.4) of processor (4.1), the digital signal processor
(4.1) feedback signal output of angle feedback signal input connection rotary transformer (9)；
The digital signal processor (4.1) includes main program module (4.11), interruption control module (4.12), path planning mould
Block (4.13), position PID modules (4.14) and speed by PID module (4.15)；
Wherein, the main program module (4.11) is for the valve actuator dish that is given according to Ducted rocket control system (10)
The target angle angle value of piece (1) and the comparative result of the angle feed-back value of rotary transformer (9), send to motor driver (4.4)
Instruction, control valve actuator video disc (1) is rotated to target angular position, so as to control gas flow；
The interruption control module (4.12) is for main program module (4.11) and motor driver (4.4) and rotary transformer
(9) signal transmission between carries out sequencing contro, and the main program module (4.11) sends motor control to motor driver (4.4)
System instruction, main program module (4.11) receive the angle feed-back value of rotary transformer (9)；
The path planning module (4.13) is for calculating the planning operation deformation trace of torque motor (5), the torque motor
(5) calculation of planning operation deformation trace is：Path planning module (4.13) is with Ducted rocket control system (10)
The target angle angle value of the valve actuator video disc (1) for being given is terminal target location, anti-with the angle that rotary transformer (9) is current
Feedback value is starting point, requires to be calculated according to the control of Ducted rocket control system (10), draws the planning of torque motor (5)
Operation deformation trace；
The position PID modules (4.14) are for calculating the speed output dq_out of torque motor (5), the calculating torque motor
(5) calculation of speed output dq_out is：Ducted rocket control system (10) is given by position PID modules (4.14)
The difference of the target angle angle value of the valve actuator video disc (1) for going out and the angle feed-back value of rotary transformer (9) is used as input quantity, root
According to position PID Proportional coefficient K p, the integral coefficient Ki and differential coefficient Kd of position PID modules (4.14), calculated using conventional PID
Method calculates the speed output dq_out of torque motor (5)；
The speed by PID module (4.15) for calculating the speed controling signal output dqv_out of motor driver (4.4),
The calculation of the speed controling signal output dqv_out of the motor driver (4.4) is：Speed by PID module (4.15) with
The speed output dq_out of above-mentioned torque motor (5) as input quantity, further according to the speed by PID of speed by PID module (4.15)
Proportional coefficient K p, integral coefficient Ki and differential coefficient Kd, calculate turning for motor driver (4.4) using conventional pid algorithm
Fast control signal output dqv_out.
2. the gas flow control set for adjusting based on DSP embedded systems according to claim 1, it is characterised in that：
The rotary shaft (6), decelerator (7) and rotary transformer (9) are to be coaxially disposed.
3. it is a kind of according to claim 1 based on DSP embedded systems gas flow control set for adjusting control method,
Characterized in that, it comprises the steps：
Step 1：The main program module (4.11) of the digital signal processor (4.1) interrupts reception Gu Chong by CAN to be sent out
The angle value adjusted needed for control gas flow adjusting means valve actuator video disc (1) that motivation control system (10) is given；
Step 2：Path planning module (4.13) reads the current angle feed-back value of rotary transformer (9), according to Ducted rocket
The control of control system (10) requires to calculate valve actuator video disc (1) and rotates operation deformation trace, and by path planning mark
Will set, position PID modules (4.14) rotate operation with the valve actuator video disc (1) that path planning module (4.13) is calculated
The angle that deformation trace is obtained is current goal angle value, reads the angle feed-back value of current rotary transformer (9), is calculated
Output velocity amplitude；
Step 3：The velocity amplitude that speed by PID module (4.15) is calculated using position PID modules (4.14) is calculated as input quantity
The speed controling signal of motor driver (4.4) is drawn, motor driver (4.4) is according to above-mentioned speed controling signal control moment
The rotation of motor (5) output shaft is adjusted, and torque motor (5) output shaft is rotated through gear train (8), decelerator (7) and rotation
Axle (6) drives valve actuator video disc (1) action, valve actuator video disc (1) to change the throat of the second axial passage (3.1)
Area, so as to realize that gas flow adjusts control.
4. control method according to claim 3, it is characterised in that：The control week of each digital signal processor (4.1)
Phase all re-starts the calculating of position PID modules (4.14) and speed by PID module (4.15)；
When the controlling cycle flag bit of the controlling cycle timer of interruption control module (4.12) is 1, speed by PID module
(4.15) the current speed controling signal that output is calculated is rotated by motor driver (4.4) control moment motor (5), when
When the controlling cycle flag bit of the controlling cycle timer of interruption control module (4.12) is 0, with path planning module (4.13)
The current goal angle value that the planning operation deformation trace of the torque motor (5) for calculating is obtained is used as angle on target, then reads
The angle feed-back value of rotary transformer (9) is taken, the meter of position PID modules (4.14) and speed by PID module (4.15) is re-started
Calculate, speed by PID module (4.15) exports calculated current speed controling signal again by motor driver (4.4) controling power
Torque motor (5) is rotated and is adjusted, until being adjusted to path planning final goal angle, i.e. aims of systems position angle；Interrupt control
Module (4.12) provides main program module (4.11) output control signal, the feedback signal of current rotary transformer (9) and control
The flag in cycle, and the mark be given according to main program module (4.11) carries out path planning calculating, position PID calculating and speed
Degree PID is calculated.
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