CN105388782B - A kind of algorithm for the sigmoid curve generator for being used to give link - Google Patents
A kind of algorithm for the sigmoid curve generator for being used to give link Download PDFInfo
- Publication number
- CN105388782B CN105388782B CN201510925304.3A CN201510925304A CN105388782B CN 105388782 B CN105388782 B CN 105388782B CN 201510925304 A CN201510925304 A CN 201510925304A CN 105388782 B CN105388782 B CN 105388782B
- Authority
- CN
- China
- Prior art keywords
- sigmoid curve
- work
- enable
- time
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Eletrric Generators (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of for giving the algorithm of the sigmoid curve generator of link, step is：Step 1：To function generator input command value Ak, time parameter TnuAnd Tnd；Step 2：By AkThe operation that state determines；Step 3：Judge whether output process changes positive reversed polarity；Step 4：Calculate sigmoid curve generated time T；Step 5：Calculate time t；Step 6：Calculate Xk；Step 7：Calculate output Yk, that is, generate required sigmoid curve output.SIN function is biased by the algorithm of sigmoid curve generator provided by the invention, formation sigmoid curve, output continuous and derivable, and front half section and second half section are symmetrical in process of rising or falling, and time control is accurate, and algorithm is succinct.
Description
Technical field
The invention belongs to technical field of electric control, especially a kind of calculation for the sigmoid curve generator for being used to give link
Method.
Background technology
In electric control system (such as motor speed regulation system), step is provided by operator or higher level's automated system
Process goal (such as speed, torque or position) command signal, generally requires electric control system to make controlled device by presetting
Function generator parameter reach process goal value.The purpose is to limit the change rate of adjusting process, reduce electrical, machinery punching
Hit, it is safe and stable, rapidly realize technology controlling and process target.
The current this kind of function generator function for giving link mainly has：One order inertia function, common ramp function
With ramp function with rounded corners and sigmoid function etc..
One order inertia function generator is most simple, no matter its main feature is that Stepped Impedance Resonators amplitude size, exports the response time
It is identical；Secondly output change rate initial maximum, changing over time and gradually reducing, substantially 4 times of inertia time constant times are basic
Reach input desired value, but theoretically it exports final value and reaches input desired value for infinite duration, thus main application in
The not high occasion of control accuracy requirement.It is big to electrical, mechanical impact due to this function generator initial rate of change maximum,
It is generally not suitable for using with mechanically operated electrical system.
Common ramp function generator forms slope output using integrator, its main feature is that slope is fixed, the time of integration with
Stepped Impedance Resonators amplitude is directly proportional, Change of integral time is accurate.This function generator early stage application is more universal, but the drawback is that by
It is fixed in output voltage gradient, the initial segment and latter end are unsmooth, to electrically and mechanically still there is certain impact.For example, many machine drivings
With gear, due to the presence of backlash, when acceleration-deceleration, if percentage speed variation steps to fixed value or from fixed value from 0
0 is stepped to, will occur beating tooth phenomenon, bring system oscillation, influence mechanical life；For long shaft transmission or belt transmission, due to
Flexible deformation if percentage speed variation steps to fixed value from 0 or steps to 0 from fixed value, will lead to shafting oscillation or skin
Band slipping phenomenon, influences equipment life.
Ramp function generator with rounded corners is accumulated on the basis of common ramp function generator by an additional slope
Device is divided to make, and the slope (change rate) of the initial segment is integrated to fixed value since 0, latter end slope is integrated to 0 from fixed value, makes slope
The initial segment and final value section of function generator output signal are arc-shaped waveform, and interlude is fixed slope, this causes the initial segment
Smooth with latter end, electrically and mechanically impact greatly reduces.This function generator overcomes the defects of first two generator, is mesh
Preceding application is more universal.But its algorithm is complex.
Step input signal is changed into output final value by sigmoid function generator to be believed equal to the S-shaped smooth curve of input amplitude
Number, the initial segment is symmetrical with latter end, and directly proportional to input amplitude to the time T of output final value from Stepped Impedance Resonators, time control is accurate.
Sigmoid function generator can be there are many implementation method.In terms of this definition, ramp function generator with rounded corners also belongs to S-shaped letter
One kind of number generator.
By taking speed control system as an example, when input instruction from a certain value U1 transition to its reversed polarity value U2 (such as from 50%
Maximum speed transition is to -10% maximum speed or from -40% maximum speed transition to 15% maximum speed), governing system is practical
It needs first from U1 brakings to 0%, back-to-back starting to U2 again, i.e., there are 2 speed to adjust process.If do not have in the speed zero passage
There is braking and start circular arc, then can generate impact to machinery, particularly have apparent impact to carrying gear-driven system, to bullet
Property the more serious long axis transmission system of deformation will also result in apparent oscillatory process, influence mechanical life.Therefore, from protection machinery
Angle set out, should change positive reversed polarity speed regulation process by this to cross at 0% point as separation and be decomposed into 2 S-shaped speed governing
Journey.
Many electrical control occasions, according to technology controlling and process needs, bigger difference may be had with braking institute's bringing onto load by starting.With
It is set respectively with braking time using startup in the function generator of given link, can rationally make full use of and electrically and mechanically set
It is standby, improve production efficiency.Such as certain governing system application scenarios, technique is loaded starting, unloaded braking, it is desirable that given link
Function generator using longer starting time and shorter braking time, due to starting or braking acceleration is directly proportional to torque,
Using longer starting time and the scheme of shorter braking time under this process operation, make accelerating torque in the case of motor band load
Moment of accelerating suitably increases under appropriate reduction, no-load condition, you can rationally makes full use of power of motor and shortens operation as far as possible
Time improves production efficiency.
Invention content
It is an object of the invention in place of overcome the deficiencies in the prior art, provide one kind to give link step instruction letter
The algorithm of the sigmoid curve generator of number buffered.
The present invention solves its technical problem and following technical scheme is taken to realize：
A kind of algorithm for the sigmoid curve generator for being used to give link, step are：
Step 1：To function generator input command value Ak, time parameter TnuAnd Tnd, all variable subscript k expression currently adopts
Sample periodic quantity, 1 sampling period value before k-1 is represented, TnuAbsolute value, which is exported, for sigmoid curve generating process increases to 100% from 0%
The time of maximum command value, TndFor sigmoid curve generating process export absolute value from 100% be reduced to 0% maximum command value when
Between, TA be the sampling period；
Step 2：By AkThe operation that state determines
A. work as Ak=Yk-1(output), then operation terminate；
B. work as Ak=Ak-1, enable Bk=Bk-1、Ck=Ck-1；Then, if Fk-1=1 and Yk=0%, enable Ck=0%, Gk=
TA-tk-1, otherwise enable Gk=TA, works as F=0, performs single sigmoid curve generating process, and F is indexed variable, and G is time integral device
Incremental variable；
C. work as Ak≠Ak-1, enable Bk=Ak、Ck=Yk-1、Gk=TA-tk-1, then start new sigmoid curve generating process；
Step 3：Judge whether output process changes positive reversed polarity
A. work as Bk×Ck<0%, enable Dk=0%, Fk=1, Bk×Ck<When 0%, illustrate that inputting polarity changes, with 0%
For separation, it is by the procedure decomposition：From Yk-1To 0% and from 0% to AkTwo sigmoid curve generating algorithms；
B. work as Bk×Ck>=0%, enable Dk=Bk、Fk=0；
C. E is calculatedk=| Dk|-|Ck|；
Step 4：Calculate sigmoid curve generated time T
A. work as Ek>0%, enable Tk=| Ek|×Tnu；
B. work as Ek<0%, enable Tk=| Ek|×Tnd；
C. work as Ek=0%, terminate.
Step 5：Calculate time t
A. work as tk=Tk, enable Gk=0；
b.tk=tk-1+Gk；
C. work as tk>Tk, enable tk=Tk；
Step 6：Calculate Xk
Xk=50%-50% × cos [(tk/Tk)π]；
Step 7：Calculate output Yk
Yk=(Dk-Ck)×Xk+Ck, wherein (Dk-Ck) be current sigmoid curve amplitude, be multiplied by unit sigmoid curve XkAfterwards, then
In addition previous sigmoid curve final value Ck, that is, generate required sigmoid curve output.
Moreover, in the step 2, work as F=1, operation performs the slave Y in two sigmoid curve generating processk-1To 0%
Sigmoid curve generating algorithm.
The advantages and positive effects of the present invention are：
1st, SIN function is biased by the algorithm of sigmoid curve generator provided by the invention, forms sigmoid curve, output
Continuous and derivable, front half section and second half section are symmetrical in process of rising or falling, and time control is accurate, and algorithm is succinct.
2nd, the algorithm of sigmoid curve generator provided by the invention decomposes the sigmoid curve generating process for changing positive reversed polarity
For 2 sigmoid curve generating process, be conducive to protection system and machinery, extend equipment life.
3rd, the algorithm of sigmoid curve generator provided by the invention exported from Stepped Impedance Resonators to sigmoid curve the time T of final value with
Input that amplitude is directly proportional, and the absolute value increment of input value increase, subtract time (also known as rise time and fall time) T in direction can
To set respectively, be conducive to improve production efficiency.
Description of the drawings
Fig. 1 is typical input/output oscillogram (for compareing)；
Fig. 2 is T in the present inventionnuAnd TndDefine schematic diagram (wherein smoothed curve is output waveform figure)；
Fig. 3 is the flow chart of the algorithm of sigmoid curve generator of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and pass through specific embodiment the invention will be further described, following embodiment is descriptive
, it is not limited, it is impossible to which protection scope of the present invention is limited with this.
A kind of algorithm for the sigmoid curve generator for being used to give link, step are：
Step 1：To function generator input command value Ak(note：, variable as described below is that its maximum value is such as without explanation
100% relative value；All variable subscript k represent current sample period values, k-1 represent before 1 sampling period value), time ginseng
Number TnuAnd Tnd, wherein, TnuThe time that absolute value increases to 100% maximum command value from 0% is exported for sigmoid curve generating process,
TndExport that absolute value is reduced to the time of 0% maximum command value from 100%, TA is the sampling period for sigmoid curve generating process；
Step 2：By AkThe operation that state determines
D. work as Ak=Yk-1(output), then operation terminate；
E. work as Ak=Ak-1, enable Bk=Bk-1、Ck=Ck-1；Then, if Fk-1=1 and Yk=0%, enable Ck=0%, Gk=
TA-tk-1, otherwise enable Gk=TA, works as F=0, performs single sigmoid curve generating process, and F is indexed variable, and G is time integral device
Incremental variable；
F. work as Ak≠Ak-1, enable Bk=Ak、Ck=Yk-1、Gk=TA-tk-1, then start new sigmoid curve generating process；
Step 3：Judge whether output process changes positive reversed polarity
D. work as Bk×Ck<0%, enable Dk=0%, Fk=1, Bk×Ck<When 0%, illustrate that inputting polarity changes, with 0%
For separation, it is by the procedure decomposition：From Yk-1To 0% and from 0% to Ak2 sigmoid curve generating algorithms, work as F=1, perform
Slave Y in 2 sigmoid curve generating processk-1To 0% sigmoid curve generating algorithm；
E. work as Bk×Ck>=0%, enable Dk=Bk、Fk=0；
F. E is calculatedk=| Dk|-|Ck|；
Step 4：Calculate sigmoid curve generated time T
D. work as Ek>0%, enable Tk=| Ek|×Tnu；
E. work as Ek<0%, enable Tk=| Ek|×Tnd；
F. work as Ek=0%, terminate.
Step 5：Calculate time t
D. work as tk=Tk, enable Gk=0；
e.tk=tk-1+Gk；
F. work as tk>Tk, enable tk=Tk。
Step 6：Calculate Xk
Xk=50%-50% × cos [(tk/Tk)π].(calculating process is equivalent to [- pi/2, pi/2] section SIN function
Attenuation 50%, then it is biased to the unit sigmoid curve from 0%~100%).
Step 7：Calculate output Yk
Yk=(Dk-Ck)×Xk+Ck, wherein (Dk-Ck) be current sigmoid curve amplitude, be multiplied by unit sigmoid curve XkAfterwards, then
In addition previous sigmoid curve final value Ck, that is, generate required sigmoid curve output.
Although disclosing the embodiment of the present invention and attached drawing for the purpose of illustration, those skilled in the art can manage
Solution：Do not departing from the present invention and spirit and scope of the appended claims in, it is various replace, change and modification be all it is possible,
Therefore, the scope of the present invention is not limited to embodiment and attached drawing disclosure of that.
Claims (2)
1. a kind of algorithm for the sigmoid curve generator for being used to give link, it is characterised in that：Its step is：
Step 1：To function generator input command value Ak, time parameter TnuAnd Tnd, all variable subscript k expressions present sample weeks
Time value, 1 sampling period value before k-1 is represented, TnuAbsolute value, which is exported, for sigmoid curve generating process increases to 100% maximum from 0%
The time of command value, TndTime, the TA for being reduced to 0% maximum command value from 100% for sigmoid curve generating process output absolute value
For the sampling period；
Step 2：By AkThe operation that state determines
A. work as Ak=output Yk-1, then operation terminates；
B. work as Ak=Ak-1, enable Bk=Bk-1、Ck=Ck-1；Then, if Fk-1=1 and Yk-1=0%, enable Ck=0%, Gk=TA-
tk-1, otherwise enable Gk=TA, works as F=0, performs single sigmoid curve generating process, and F is indexed variable, and G is the increasing of time integral device
Quantitative change amount；
C. work as Ak≠Ak-1, enable Bk=Ak、Ck=Yk-1、Gk=TA-tk-1, then start new sigmoid curve generating process；
Step 3：Judge whether output process changes positive reversed polarity
A. work as Bk×Ck<0%, enable Dk=0%, Fk=1, Bk×Ck<When 0%, illustrate that inputting polarity changes, with 0% to divide
The procedure decomposition is by boundary's point：From Yk-1To 0% and from 0% to AkTwo sigmoid curve generating algorithms；
B. work as Bk×Ck>=0%, enable Dk=Bk、Fk=0；
C. E is calculatedk=| Dk|-|Ck|；
Step 4：Calculate sigmoid curve generated time T
A. work as Ek>0%, enable Tk=| Ek|×Tnu；
B. work as Ek<0%, enable Tk=| Ek|×Tnd；
C. work as Ek=0%, terminate；
Step 5：Calculate time t
A. work as tk=Tk, enable Gk=0；
b.tk=tk-1+Gk；
C. work as tk>Tk, enable tk=Tk；
Step 6：Calculate Xk
Xk=50%-50% × cos [(tk/Tk)π]；
Step 7：Calculate output Yk
Yk=(Dk-Ck)×Xk+Ck, wherein (Dk-Ck) be current sigmoid curve amplitude, be multiplied by unit sigmoid curve XkAfterwards, it adds
Previous sigmoid curve final value Ck, that is, generate required sigmoid curve output.
2. the algorithm of the sigmoid curve generator according to claim 1 for being used to give link, it is characterised in that：Described
In step 2, work as F=1, operation performs the slave Y in two sigmoid curve generating processk-1To 0% sigmoid curve generating algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510925304.3A CN105388782B (en) | 2015-12-10 | 2015-12-10 | A kind of algorithm for the sigmoid curve generator for being used to give link |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510925304.3A CN105388782B (en) | 2015-12-10 | 2015-12-10 | A kind of algorithm for the sigmoid curve generator for being used to give link |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105388782A CN105388782A (en) | 2016-03-09 |
| CN105388782B true CN105388782B (en) | 2018-06-08 |
Family
ID=55421174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510925304.3A Active CN105388782B (en) | 2015-12-10 | 2015-12-10 | A kind of algorithm for the sigmoid curve generator for being used to give link |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105388782B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1039129A (en) * | 1988-06-28 | 1990-01-24 | 煤炭工业部重庆煤矿设计研究院 | Novel type dual-integration presetting device |
| CN1120263A (en) * | 1992-06-22 | 1996-04-10 | 幕林克斯公司 | Device to regulate the speed of an electric motor and its method of operation |
| GB2393528B (en) * | 1999-10-04 | 2004-05-12 | Fisher Rosemount Systems Inc | Integrated advanced control blocks in process control systems |
| CN1976211A (en) * | 2006-12-12 | 2007-06-06 | 浙江大学 | Mixed speed regulating method for permanent magnetic synchronous motor |
| CN1997164A (en) * | 2006-01-05 | 2007-07-11 | 恩益禧电子股份有限公司 | Data converting circuit and display apparatus using the same |
| CN101458521A (en) * | 2008-12-30 | 2009-06-17 | 中国海洋石油总公司 | Misoperation prevention method by DCS |
-
2015
- 2015-12-10 CN CN201510925304.3A patent/CN105388782B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1039129A (en) * | 1988-06-28 | 1990-01-24 | 煤炭工业部重庆煤矿设计研究院 | Novel type dual-integration presetting device |
| CN1120263A (en) * | 1992-06-22 | 1996-04-10 | 幕林克斯公司 | Device to regulate the speed of an electric motor and its method of operation |
| GB2393528B (en) * | 1999-10-04 | 2004-05-12 | Fisher Rosemount Systems Inc | Integrated advanced control blocks in process control systems |
| CN1997164A (en) * | 2006-01-05 | 2007-07-11 | 恩益禧电子股份有限公司 | Data converting circuit and display apparatus using the same |
| CN1976211A (en) * | 2006-12-12 | 2007-06-06 | 浙江大学 | Mixed speed regulating method for permanent magnetic synchronous motor |
| CN101458521A (en) * | 2008-12-30 | 2009-06-17 | 中国海洋石油总公司 | Misoperation prevention method by DCS |
Non-Patent Citations (1)
| Title |
|---|
| 传动系统速度实际值信号的陷波滤波器及其仿真研究;楚子林;《电机传动》;20081231;第38卷(第8期);第14-16页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105388782A (en) | 2016-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101699763B (en) | Rotary inertia identification method for permanent magnet synchronous motor AC servo system | |
| US10030591B2 (en) | Operating an internal combustion engine coupled to a generator | |
| EP2869458A1 (en) | Current controller of a wind turbine | |
| US8897901B2 (en) | Command generator | |
| CN104104296B (en) | For the method and apparatus that mechanical resonant suppresses | |
| CN105388782B (en) | A kind of algorithm for the sigmoid curve generator for being used to give link | |
| CN103395698B (en) | Safety control method, device and system for execution actions of crawling crane | |
| Kreinin et al. | A systematic approach to synthesis of a drive system | |
| CN101877567A (en) | Motor speed command generating device and method | |
| CN103174523A (en) | Gas turbine rotation speed prediction protection control method | |
| CN107959456A (en) | A kind of permanent magnet synchronous motor control strategy of electric automobile | |
| CN103754780B (en) | Luffing mechanism and luffing mechanism full-power speed regulation method | |
| RU2446552C2 (en) | Device for automatic control of electromechanical system with viscoelastic kinematic link | |
| CN104441754B (en) | The control system of vertical axial shaping press and method, control device and method | |
| RU2399080C1 (en) | Self-tuning electric drive | |
| Chen et al. | Fractional-order fuzzy pid contouring control for a vcms-based xy motion stage | |
| Inoan et al. | Control of an induction motor using the relay method approach | |
| Xiao et al. | Speed control system based on improved fuzzy-PID hybrid control for direct current motor | |
| CN106444426B (en) | Electric steering engine design method based on harmonic reducing mechanism | |
| RU158490U1 (en) | DEVICE FOR FORMING A SIGNAL RELATED TO THE ENERGY-SAVING DIAGRAM OF MOVING THE EXECUTIVE AUTOMATIC BODY OF A DIRECT-CURRENT CURRENT-RESISTANT RESISTANCE | |
| Fu et al. | Mechanical resonance suppression and disturbance rejection of 2-inertia system with observer-based feedback control | |
| RU159707U1 (en) | An apparatus for generating a signal corresponding to ENERGY SAVING CHART TRAVEL EXECUTIVE BODY ELECTRIC DC speed-dependent resistance torque under the restriction of maximum and minimum values of the current anchor chain MOTOR AND SPEED ELECTRIC | |
| RU100315U1 (en) | DEVICE FOR FORMING A SIGNAL CORRESPONDING TO THE OPTIMUM OPTIMAL DIAGRAM FOR LARGE MOVEMENTS OF THE EXECUTIVE ELECTRIC DRIVE WITH INEROUS VALDEAL CONVERTER | |
| RU87305U1 (en) | DEVICE FOR FORMING A RATIONAL DIAGRAM FOR LARGE MOVEMENTS OF THE EXECUTIVE AUTHORITY OF THE MECHANISM ELASTICALLY CONNECTED WITH THE ELECTRIC MOTOR CONNECTED TO THE INERTIAL CONVERTER | |
| RU67796U1 (en) | DEVICE FOR FORMING A DIAGRAM FOR MOVING AN ELECTRIC DRIVE WITH AN ELASTIC SHAFT WITH OPTIMUM OPTIMUM CLOSE OPTIMAL DURING LIMITATIONS ON THE CURRENT TIME AND THE SPEED OF THE MECHANISM OF RESISTANCE TO THE TYPE OF TYPE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |