CN105242541B - Temperature compensation control method towards the sluggish process of response - Google Patents
Temperature compensation control method towards the sluggish process of response Download PDFInfo
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Abstract
The present invention provides a kind of temperature compensation control methods towards the sluggish process of response, include the following steps：(1) determine that the lag time of the lower product of maximum load effect, the lag time are determined by the material of the product, architectural characteristic and temperature；(2) preheating/pre-coo time of product is determined according to the lag time；(3) it is poor to make the lag time of product and the preheating/pre-coo time, as the delay time of control input, is changed according to following temperature and is expected to determine control law parameter；(4) determine that the temperature of product controls according to the control law parameter.The present invention determines control law parameter by optimization algorithm, to quickly and easily realize temperature-compensating；The one step completed success rate of experiment is significantly improved, overtesting examination is effectively prevented；Suitable for all kinds of there are the experiment of operating lag and production process, to lifting process control accuracy, improve experiment and actively promotes effect with the quality of production.
Description
Technical field
The present invention relates to the experiments of testpieces and test method technical field, and in particular, to a kind of sluggish towards response
The temperature compensation control method of process.
Background technology
During space product ground experiment engineering field, especially cryogenic environment simulation with Aerodynamic Heating experiment, extensively
General that too slow phenomenon is responded there is product temperature of participating in the experiment, the product bulk temperature that causes to participate in the experiment is difficult to accurately control, and controls signal
The problems such as saltus step easily occurs.Therefore, to considering that the control method of temperature-compensating is in urgent need.Such as：It is defeated in carrier rocket fuel
In sending pipe low temperature shock to test, pipeline cryogenic environment is simulated by filling liquid nitrogen, liquid nitrogen stream is adjusted according to each measuring point temperature feedback
Speed.But filling initial stage measuring point temperature-responsive (showing as temperature drop) is slowly, control signal quickly reaches the output upper limit and maintains one
The section time, (- 196 DEG C) of observed temperature is less than liquid oxygen (- 183 DEG C) temperature after pipeline is cold, excessively examination occurs.For another example：At certain
In type hypersonic vehicle nacelle ground pneumatic heat test, thermal force is simulated using heat radiations such as quartz, examines electronics in cabin
Instrument working performance.Aircraft exterior heat insulation material, section structure and internal insulation layer make indoor environment temperature-responsive far lag
In nacelle surface, similarly, quartz lamp output power is quickly substantially improved, and also causes excessively to examine.
In engineer application field, there are about 95% space product ground experiments to use traditional PID control method at present, should
The advantage of method is to design simple, easy to implement.The experiment process shorter for there is response lag time, continues to use PID controls
Though method processed can realize stability contorting, control accuracy is not high, and overtesting easily occurs, and is caused to product of participating in the experiment unnecessary
Damage.
In control algolithm field, Smith predictor are considered as the linear most convenient effective control of hysteresis system of processing
Algorithm processed, however its application range is only limitted to process stable, that lag time is shorter.It is similar with Smith predictor
Control algolithm also has Artstein model reduction and finite spectrum assignment (FSA), but only suitable
The linear process smaller for responding variation range.In recent years, it realizes that sluggish process accurately controls using system optimizing control to draw
Hair academia extensive concern, however such H∞The design process of controller is complicated, operand is big, and the smooth implementation of algorithm is to experiment
The configuration requirement of single machine used is higher, therefore does not obtain extensive engineer application.Control method based on Lyapunov equations
It can effectively realize the control of Complex Nonlinear System, control algolithm solution is extremely not easy, although having very high learning value,
But engineering application value is not high.
In conclusion traditional PID control method cannot gradually meet the control requirement of the sluggish process of response, it is existing
Hysteresis compensation control method (such as Smith predictor, Artstein model reduction, FSA etc.) is only capable of achievement unit
Divide the control requirement of sluggish process, and optimal control method, the control algolithm based on Lyapunov equations are because of its complicated design
Process and the requirement of higher hardware configuration, it is difficult to be widely used in engineering field.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of temperature-compensatings towards the sluggish process of response
Control method.
According to an aspect of the present invention, a kind of temperature compensation control method towards the sluggish process of response is provided, it is special
Sign is to include the following steps：
(1) lag time of the lower product of maximum load effect, material, knot of the lag time by the product are determined
Structure characteristic and temperature are determined；
(2) preheating/pre-coo time of product is determined according to the lag time；
(3) it is poor to make the lag time of product and the preheating/pre-coo time, when as the delay for controlling input
Between, estimated determining control law parameter is changed according to following temperature；
(4) determine that the temperature of product controls according to the control law parameter.
Preferably, in described (1) step, determine that the lag time process is：Carry out experiment of repeatedly knowing the real situation, takes response slow
The average value of stagnant time is final lag time.
Preferably, in described (1) step, determine that the lag time process is：It is logical using the material property equation of product
It crosses emulation and determines lag time.
Preferably, in described (2) step, if preheating/pre-coo time is more than preset value, shortened by providing activation energy
Preheating/the pre-coo time.
Preferably, which is characterized in that described (3) step includes following small step：
(a) temperature changing regularity according to product emphasis examination position establishes heat transfer model；
(b) it is met with a response temperature according to the heat transfer model；
(c) preset Wen Sheng/temperature drop rate is combined, determines the control law parameter.
Preferably, in (a) small step, using the frequency response function of input delay process come describe input control signal with
The relationship of product temperature response establishes the heat transfer model.
Preferably, in (b) small step, the response temperature is obtained using the convolution of frequency response function and control signal.
Compared with prior art, the present invention has following advantageous effect：
(1) control law parameter is determined by optimization algorithm, to quickly and easily realize temperature-compensating；
(2) the one step completed success rate of experiment is significantly improved, overtesting examination is effectively prevented；
(3) it is suitable for all kinds of there are the experiment of operating lag and production process, to lifting process control accuracy, improves experiment
Effect is actively promoted with the quality of production.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the overall framework figure of temperature compensation control method；
Fig. 2 is the technological approaches figure of temperature compensation control method；
Fig. 3 is high velocity of sound aircraft ground aerothermodynamics experiment temperature control curve；
Fig. 4 is bay section ground pneumatic heat test temperature control curve；
Fig. 5 is CZ-5 circulating precooling pipelines commissure temperature curve；
Fig. 6 is the closed-loop control figure under the different input delay times.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
So-called " temperature compensation control method towards the sluggish process of response ", refers to for there are feedback signal (such as temperature)
The experiment process for postponing response takes part of participating in the experiment to preheat or based on the estimated control method of part state of participating in the experiment, realizes temperature-compensating,
Ensure higher part temperature control precision of participating in the experiment.The sluggish overtesting caused of system response can be effectively avoided using the control method
Phenomenon, lifting test and test quality.
The present invention is applied to carrier rocket pipeline low-temperature vibration test and certain model supersonic vehicle nacelle ground pneumatic
In the temperature controlled processes of heat test.Experiment process response time constant is picked out using low proportional loading, and is made with this
To determine the criterion for product preheating/pre-coo time of participating in the experiment, the frequency response function based on experiment process is to product temperature of subsequently participating in the experiment
Changing rule works out the calculation, and control law parameter is determined by optimization algorithm, to quickly and easily realize temperature-compensating.
For there are the experiment process of temperature-responsive sluggishness, the present invention participates in the experiment product temperature control accuracy not for solving
The serious engineering problems for restricting experiment completion quality such as overtesting that high, control signal mutation causes.Using preheating/precooling
Adjustment method is combined based on the estimated control algolithm of following temperature variation, quickly and easily realizes the temperature of the sluggish process of response
It accurately controls, significantly improves the one step completed success rate of experiment, effectively prevent overtesting examination.
Referring to attached drawing 1, basic thought of the invention is to participate in the experiment Product Status variable (temperature) response in the presence of delay and sluggishness
Overlong time is that existing PID control method and other delay compensation control methods is caused to be difficult to realize the main of accurate process control
Reason.It therefore, can be by carrying out preheating/precooling treatment to product of participating in the experiment, it is characterised in that the response reduced during testing is slow
The stagnant time, then there will be the sluggish processes of shorter response to be converted into the process in the presence of shorter control signal input delay, feature
It is the equivalent process by the design and implementation of great convenience control algolithm.
Referring to attached drawing 2, realize that the technological approaches of temperature compensation control method, implementation step include：1. identification response is slow
The stagnant time；2. determining preheating/precooling treatment time；3. the sluggish process of response is converted input delay process in order to control, according to rear
Continuous temperature change is estimated to determine control law parameter.
1. the step needs to determine product temperature response lag time (unit：S), i.e., product arrives under maximum load effect
Up to the time of test requirements document temperature.It is characterized in that must be in conjunction with material, architectural characteristic and the temperature check requirements for product of participating in the experiment
Determine lag time.
Preferably, carry out experiment of repeatedly knowing the real situation, it is final process lag time to take the average value of response lag time；
Material property equation can be utilized to carry out emulation and determine lag time.
2. the step needs to confirm preheating/pre-coo time of formal test according to the conclusion of step 1..It is characterized in that being
Product (material) of participating in the experiment provides activation energy, it is made quickly across energy barrier, to effectively reduce lag time.Preferably, when preheating/precooling
Between length should have more product material and design feature and determine, avoid preheating/pre-coo time long as possible.
3. the step will respond the equivalent input delay process of signal in order to control of sluggish process, and delay time is L.Its
It is characterized in that：First, wherein lag time is responded for process, for preheating/precooling treatment time；Secondly, for there is shorter control
The process of signal input delay processed can select to accurately control based on the estimated control algolithm realization of following temperature variation.
3. the step further can be divided into (1) process model building again；(2) following temperature variation is estimated joins with (3) control law
The temperature control that number determines to realize product of participating in the experiment.
Described point of process (1) is experiment process model building, it is characterised in that according to product emphasis examination spot temperature variation rule
Rule establishes heat transfer model, which, which has, inputs for the measuring signal of temperature feedback with control.
Preferably, input control signal (generally current or voltage) is described using the frequency response function of input delay process
With the relationship of product temperature response；More experiment process is responded for actual measurement, it may be considered that use state variable equation models.
Described point of process (2) is the estimated of following temperature variation, it is characterised in that according to the mould for dividing process (1) to establish
Type extrapolates the response temperature after the L unit interval, it can be proved that the error of estimating temperature and actual temperature is limited.
Preferably, frequency response function can be used to estimate experiment process following temperature with the convolution for controlling signal, meter can be passed through
Calculation machine operation is completed.
Described point of process (3) is used to determine the parameter of control law, it is characterised in that need to reach in conjunction with required by experiment process
Wen Sheng/temperature drop rate and testing equipment to control signal output limitation (exporting threshold values), rationally, optimum option control
System rule parameter (pole location), ensures that the control algolithm can be realized effectively.
Preferably, closed loop procedure pole location is chosen at 3-5 times far from ring opening process pole location, for Wen Sheng/temperature
The high experiment process of reduction of speed rate, closed loop procedure pole location may be selected in farther place.
It elaborates to the present invention below by application example.
It is superelevation velocity of sound aircraft ground aerothermodynamics experiment inner wall temperature controlling curve referring to attached drawing 3.Before experiment process
20s is warm, significant changes does not occur by responding temperature, but product material of participating in the experiment has obtained enough abilities and quickly dashed forward
Broken temperature rises energy barrier.20s -40s is rapid warm raising section, and control accuracy is preferable.Since experiment process is not provided with actively cooling control
System, temperature drop section error are larger.
It is bay section ground pneumatic heat test temperature control curve referring to attached drawing 4, similarly, when 16s is preheating before testing
Between, the control accuracy that temperature rises section is higher.
It is CZ-5 circulating precooling pipelines commissure temperature curve referring to attached drawing 5.First 200 seconds of entire experiment process are pipe
Road precooling treatment, by adjusting the temperature of liquid nitrogen flow control commissure, as shown, control error is realized within ± 3 DEG C
It accurately controls.
The detailed algorithm substep of function of temperature compensation control in embodiment above is described below：
The detailed algorithm substep of function of temperature compensation control is described below：
Participate in the experiment product material characteristic, design feature are analyzed, in conjunction with the product temperature change curve of participating in the experiment of test requirements document, is carried out
Know the real situation experiment, calculates the temperature-responsive lag time λ of the product.
Preheating/pre-coo time the λ for product formal test of participating in the experiment is determined by the experiment of low proportional loading*。
It is preheating/precooling treatment and the experiment in the presence of shorter control input delay by the sluggish process equivalent conversion of response
Journey, delay time L=λ-λ*。
Experiment process model building, the pass between the control input of response output signal/experiment process are completed using frequency response function
System can be expressed as：
Wherein B (s) and A (s) is respectively n ranks, polynomial of order m, and L is the input delay time；Y (s) is the process under frequency domain
Response, U (s) are the control input signal under frequency domain.
Response estimation after the L unit interval can be expressed as
What the first item of wherein right formula indicated is that previous moment t participates in the experiment the response of product, works as t=0, indicates preheating/precooling
Product temperature response of participating in the experiment at the end of processing just；The Section 2 of right formula is an integral operation, and function h (t) is the production under time domain
Product load impulse Response Function, are the transmission function of experiment process after Laplace is converted.
It is responded using estimated product temperatureDetermine that control law, expression formula are as follows：
Wherein the zero of A (s) R (s)+B (s) S (s) is both needed to be less than zero to ensure that closed-loop system is stablized.
Simulating, verifying uses the closed loop procedure after the control method, certain second order to control the closed-loop simulation knot of input delay process
Fruit is as shown in Fig. 6.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (7)
1. a kind of temperature compensation control method towards the sluggish process of response, which is characterized in that include the following steps：
(1) determine that the lag time of the lower product of maximum load effect, the lag time are special by the material of the product, structure
Property and temperature are determined；
(2) preheating/pre-coo time of product is determined according to the lag time；
(3) it is poor to make the lag time of product and the preheating/pre-coo time, as the delay time of control input, root
Change estimated determining control law parameter according to following temperature；
(4) determine that the temperature of product controls according to the control law parameter.
2. the temperature compensation control method according to claim 1 towards the sluggish process of response, which is characterized in that described the
(1) in step, determine that the lag time process is：Carry out experiment of repeatedly knowing the real situation, it is final to take the average value of response lag time
Lag time.
3. the temperature compensation control method according to claim 1 towards the sluggish process of response, which is characterized in that described the
(1) in step, determine that the lag time process is：Lag time is determined by emulation using the material property equation of product.
4. the temperature compensation control method according to claim 1 towards the sluggish process of response, which is characterized in that described the
(2) in step, if preheating/pre-coo time is more than preset value, shorten the preheating/pre-coo time by providing activation energy.
5. the temperature compensation control method according to any one of claim 1 to 4 towards the sluggish process of response, feature
It is, described (3) step includes following small step：
(a) temperature changing regularity according to product emphasis examination position establishes heat transfer model；
(b) it is met with a response temperature according to the heat transfer model；
(c) preset Wen Sheng/temperature drop rate is combined, determines the control law parameter.
6. the temperature compensation control method according to claim 5 towards the sluggish process of response, which is characterized in that described the
(a) in small step, using the frequency response function of input delay process come describe the relationship of input control signal and product temperature response come
Establish the heat transfer model.
7. the temperature compensation control method according to claim 5 towards the sluggish process of response, which is characterized in that described the
(b) in small step, the response temperature is obtained using the convolution of frequency response function and control signal.
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| CN102101353B (en) * | 2009-12-16 | 2013-10-30 | 北京化工大学 | Temperature control method for reaching set temperature at equal time intervals at preheating stage of plastic machinery |
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