CN105422681A - Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method - Google Patents

Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method Download PDF

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CN105422681A
CN105422681A CN201511024524.5A CN201511024524A CN105422681A CN 105422681 A CN105422681 A CN 105422681A CN 201511024524 A CN201511024524 A CN 201511024524A CN 105422681 A CN105422681 A CN 105422681A
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pid
limit
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hydro
rotating speed
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CN105422681B (en
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黄滔
张益兵
徐在强
侯灵芝
李晶
李�杰
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711th Research Institute of CSIC
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D35/00—Fluid clutches in which the clutching is predominantly obtained by fluid adhesion
    • F16D35/005—Fluid clutches in which the clutching is predominantly obtained by fluid adhesion with multiple lamellae

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

The invention discloses a dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method. Operation work conditions are divided into a starting state and an operation state, control oil pressure is taken as a direct control object in a starting state, the rotating speed of a driven shaft is taken as a direct control object in the operation state, and dynamic change of PID parameters is realized in the operation state. Compared with the prior art, the dynamic PID control based hydroviscous variable speed clutch control method has the advantages of good dynamic response, low probability of overshooting, short adjustment time, low probability of shaking and the like.

Description

Based on the hydro-viscous speed governing clutch controlling method that dynamic PID controls
Technical field
The present invention relates to the controlling method of hydro-viscous speed governing clutch.
Background technique
Hydro-viscous speed governing clutch grows up and the new drive device of being used widely in nineteen seventies.Its relies on viscosity of liquid and the shear action transmitting torque of oil film and adjusting rotary speed, namely the oil slick thickness changed between driving and driven friction plate by regulable control oil pressure compresses degree, thus under the constant condition of driving shaft rotating speed, realize output speed stepless speed regulation.Hydro-viscous speed governing clutch is mainly used in the occasions such as blower fan, water pump, Belt Conveyors and special boat power, as shown in Figure 1, the speed-adjusting and control system of hydro-viscous speed governing clutch 90 is primarily of compositions such as electro-hydraulic proportional valve 91, speed probe 92, electrical-controllers 93, wherein electrical-controller 93 is cores of hydro-viscous speed governing clutch speed-adjusting and control system, and it adopts the output speed of PID control method to hydro-viscous speed governing clutch 90 to regulate.
The speed feedback signal of driven shaft and rotating speed of target signal compare by electrical-controller, the error amount obtained is processed, then amplifies through integration, remove the spillway discharge controlling electro-hydraulic proportional valve, hydro-viscous speed governing clutch is made to obtain corresponding control oil pressure, thus the output speed required for obtaining.Electro-hydraulic proportional valve is the directly actuated object of electrical-controller, and the spillway discharge of valve is directly proportional to input current, can the pressure of continuous stepless regulable control oil circuit.
, there is dynamic response difference when being changed by control object place operating mode and himself significantly changes, easily causing the problem such as overshoot, long, the easy generation concussion of regulating time in PID control method traditional at present.
Summary of the invention
Technical problem to be solved by this invention be to provide a kind of dynamic response good, not easily cause the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID that overshoot, regulating time are short, be not easy to produce concussion.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
Based on the hydro-viscous speed governing clutch controlling method that dynamic PID controls, comprise the following steps:
A, output speed size determination operating conditions according to hydro-viscous speed governing clutch, if output speed is less than or equal to default startup rotating speed, then judge that hydro-viscous speed governing clutch is in starting state, and forward step b to, if output speed is greater than default startup rotating speed, then judge that hydro-viscous speed governing clutch is in running state, and forward step e to;
B, when hydro-viscous speed governing clutch is in starting state, the target control oil pressure of hydro-viscous speed governing clutch is set to setting value r (t), the working control oil pressure of collection is set to value of feedback y (t);
C, oil pressure pid parameter K when starting state is set pS, K iSand K dS, wherein, K pSfor starting scaling factor, K iSfor starting integral coefficient, K dSfor starting differential coefficient;
D, according to PID dominated formulate u ( t ) = K P S · e ( t ) + K I S Σ j = 0 t s e ( j ) + K D S [ e ( t ) - e ( t - 1 ) ] Carry out the calculating of PID output quantity u (t), wherein, ts is the moment that starting state terminates, e (t)=r (t)-y (t);
E, when hydro-viscous speed governing clutch is in running state, the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch is set to setting value r (t), the actual output speed value detected is set to value of feedback y (t);
F, rotating speed pid parameter K when running state is set pD, K iDand K dD; Wherein, K pDfor running state scaling factor, K iDfor running state integral coefficient, K dDfor running state differential coefficient; K pDand K iDvalue all according to the change of rotating speed and dynamic change;
G, according to PID dominated formulate u ( t ) = K P D · e ( t ) + K I D ( S u m + Σ j = t s + 1 t e ( j ) ) + K D D [ e ( t ) - e ( t - 1 ) ] Carry out the calculating of PID output quantity u (t), wherein, e (t)=r (t)-y (t); Sum=(u (ts)-K pDe (ts+1)-K dD[e (ts+1)-e (ts)])/K iD, the PID output quantity that u (ts) is starting state finish time.
After adopting technique scheme, the present invention at least has following technique effect:
1, because the output speed of the hydro-viscous speed governing clutch excursion that is in operation is quite large, for ensureing that it is not hit in start-up course, the application's control object when hydro-viscous speed governing clutch is in starting state is set as controlling oil pressure, and when hydro-viscous speed governing clutch is in running state, control object is set as output speed, and according to different output speeds, different pid parameters is set, thus reaches the effect avoided overshoot, shorten regulating time, reduce concussion;
2, the application is in the integration item of running state, with the addition of running state initialization error accumulated value, thus achieve PID output quantity u (t) when starting state is switched to running state without rubbing switching;
3, in the preferred enforcement of invention, the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID of the present invention also processes error term e (t) process, proportional, integration item and differential term, to reduce shake, reduce vibration, ensure that PID control can stable operation.
Accompanying drawing explanation
Fig. 1 shows the schematic diagram of hydro-viscous speed governing clutch speed-adjusting and control system.
Fig. 2 is conventional PID control principle block diagram.
Fig. 3 shows the schematic flow sheet of the change control object of hydro-viscous speed governing clutch controlling method according to an embodiment of the invention.
Fig. 4 shows the schematic flow sheet arranging dynamic PID parameter of hydro-viscous speed governing clutch controlling method according to an embodiment of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Conventional PID control system theory diagram as shown in Figure 2.This control system is made up of PID controller and controlled device.Wherein r (t) is setting value, and y (t) is the value of feedback of system, and setting value and value of feedback form control deviation e (t)=r (t)-y (t); E (t) as the input of PID controller, the output of u (t) as PID controller and the input of controlled device, so the control law of PID controller is:
u ( t ) = K P · e ( t ) + K I Σ j = 0 t e ( j ) + K D [ e ( t ) - e ( t - 1 ) ] .
Wherein K pfor the scaling factor of controller, K ifor the integral coefficient of controller, K dfor the differential coefficient of controller.
During conventional PID controls, once the parameter of PID controller is determined, it will only mate with current appointment controlled device, and when becoming when controlled device does not occur, this PID controller can obtain extraordinary control effects.But in real industry spot, become when a lot of controlled device can occur slowly in the process run and be subject to probabilistic interference, static PID controller due to its cannot realize parameter Self-tuning System and with become object time current and carry out optimum Match, thus control performance may be caused seriously to be deteriorated.
Refer to Fig. 3 and Fig. 4.According to an embodiment of the invention based on the hydro-viscous speed governing clutch controlling method that dynamic PID controls, comprise the following steps:
A, output speed size determination operating conditions according to hydro-viscous speed governing clutch, if output speed is less than or equal to default startup rotating speed, then judge that hydro-viscous speed governing clutch is in starting state, and forward step b to, if output speed is greater than default startup rotating speed, then judge that hydro-viscous speed governing clutch is in running state, and forward step e to;
B, when hydro-viscous speed governing clutch is in starting state, the target control oil pressure of hydro-viscous speed governing clutch is set to setting value r (t), the working control oil pressure of collection is set to value of feedback y (t);
C, oil pressure pid parameter K when starting state is set pS, K iSand K dS, wherein, K pSfor starting scaling factor, K iSfor starting integral coefficient, K dSfor starting differential coefficient;
D, according to PID dominated formulate u ( t ) = K P S · e ( t ) + K I S Σ j = 0 t s e ( j ) + K D S [ e ( t ) - e ( t - 1 ) ] Carry out the calculating of PID output quantity u (t), wherein, ts is the moment that starting state terminates, e (t)=r (t)-y (t);
E, when hydro-viscous speed governing clutch is in running state, the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch is set to setting value r (t), the actual output speed value detected is set to value of feedback y (t);
F, rotating speed pid parameter K when running state is set pD, K iDand K dD; Wherein, K pDand K iDvalue all according to the change of rotating speed and dynamic change:
When the rotating speed of target of driven shaft is less than the first default rotating speed:
K PD＝(a×200/MainSpeed+b)K P；K ID＝(c×200/MainSpeed+d)K I；K DD＝K D；
When the rotating speed of target of driven shaft is greater than the second default rotating speed:
K PD＝(a+b)K P；K ID＝(c+d)K I；K DD＝K D；
When the rotating speed of target of driven shaft is more than or equal to the first default rotating speed and is less than or equal to the second default rotating speed:
K PD＝(a×DestnationSpeed/MainSpeed+b)K P；
K ID＝(c×DestnationSpeed/MainSpeed+d)K I；
K DD＝K D；
Wherein, K pDfor running state scaling factor, K iDfor running state integral coefficient, K dDfor running state differential coefficient; K pfor preset ratio constant; K ifor default integration constant; K dfor default derivative constant; A, b, c and d are default Weighting factor; MainSpeed is the driving shaft rotating speed of hydro-viscous speed governing clutch, and DestnationSpeed is the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch; First rotating speed is the 10% ~ 20%, second rotating speed of the driving shaft rotating speed of hydro-viscous speed governing clutch is 80% ~ 90% of the driving shaft rotating speed of hydro-viscous speed governing clutch;
G, according to PID dominated formulate u ( t ) = K P D · e ( t ) + K I D ( S u m + Σ j = t s + 1 t e ( j ) ) + K D D [ e ( t ) - e ( t - 1 ) ] Carry out the calculating of PID output quantity u (t), wherein, e (t)=r (t)-y (t); Sum=(u (ts)-K pDe (ts+1)-K dD[e (ts+1)-e (ts)])/K iD, the PID output quantity that u (ts) is starting state finish time, ts+1 is the moment that running state starts, the error amount that e (ts+1) is the ts+1 moment.K pDe (t) is running state proportional, K dD[e (t)-e (t-1)] is running state differential term.
If directly starting state is switched to running state, so may there is sudden change in its pid parameter, error term e (t), and now PID output quantity u (t) also there will be sudden change, causes final control object output speed to occur out of control.For ensureing that switching to the nothing of PID output quantity u (t) the handoff procedure of running state from starting state rubs switching, the application is in the integration item of running state, with the addition of running state initialization error accumulated value Sum, thus the nothing achieving PID output quantity u (t) rubs switching.
In the present embodiment, described default startup rotating speed is 100 ~ 300 revs/min.1000≤K pS≤ 5000,10≤K iS≤ 100,0≤K dS≤ 1; 1000≤K p≤ 5000,10≤K i≤ 100,0≤K d≤ 1; A, b, c and d are all greater than 0 and are less than or equal to 5.
In one more specific embodiment, starting rotating speed is 200 revs/min, K pS=3000, K iS=20, K dS=0; K p=2000, K i=10, K d=0; A=2, b=1, c, and d is equal to 1, driving shaft rotating speed is 1500 revs/min.First rotating speed is the 15%, second rotating speed of the driving shaft rotating speed of hydro-viscous speed governing clutch is 85% of the driving shaft rotating speed of hydro-viscous speed governing clutch.
In a preferred embodiment of the invention, in above-mentioned step b and step e, all normalized is carried out to setting value r (t) and value of feedback y (t).And in above-mentioned steps d and step g, done error term process, proportional process, the process of integration item and differential term process.
Error term process comprises: in steps d and step g, if the absolute value that the absolute value of error term e (t) is less than or equal to default dead band setting value DeadBand or e (t) is greater than default dead band setting value DeadBand but does not exceed predetermined time T, then e (t) is set to 0, and when the absolute value of e (t) is greater than the KB limit PID_ERROR_MAX_LIMIT of error amount, make e (t) equal PID_ERROR_MAX_LIMIT.Error term process can make PID control more stably to run, and prevents shake.In the present embodiment, 0≤DeadBand≤0.005,0 < T1≤10 second, the KB limit PID_ERROR_MAX_LIMIT of described error amount equals 1.
Proportional process comprises: in steps d, works as K pSwhen the absolute value of e (t) is greater than the KB limit PID_P_MAX_LIMIT of proportional component, then make K pSe (t) equals PID_P_MAX_LIMIT; In step g, work as K pDwhen the absolute value of e (t) is greater than the KB limit PID_P_MAX_LIMIT of proportional component, then make K pDe (t) equals PID_P_MAX_LIMIT.In the present embodiment, the KB limit PID_P_MAX_LIMIT of described proportional component equals 1.
The process of integration item comprises: in steps d, when error accumulation value when being greater than deviation accumulation KB limit PID_ERROR_ACC_MAX_LIMIT, then make equal PID_ERROR_ACC_MAX_LIMIT; When integration item when being greater than the KB limit PID_I_MAX_LIMIT of integral element, then make equal PID_I_MAX_LIMIT.In step g, when error accumulation value when being greater than deviation accumulation KB limit PID_ERROR_ACC_MAX_LIMIT, then make equal PID_ERROR_ACC_MAX_LIMIT; When integration item when being greater than the KB limit PID_I_MAX_LIMIT of integral element, then make equal PID_I_MAX_LIMIT.In the present embodiment, 500≤PID_ERROR_ACC_MAX_LIMIT≤2000; The KB limit PID_I_MAX_LIMIT of integral element equals 1.Preferably, PID_ERROR_ACC_MAX_LIMIT=1000.
Differential term process comprises: in steps d, works as K dSwhen the absolute value of [e (t)-e (t-1)] is greater than the KB limit PID_D_MAX_LIMIT of differentiation element, then make K dS[e (t)-e (t-1)] equals PID_D_MAX_LIMIT; In step g, work as K dDwhen the absolute value of [e (t)-e (t-1)] is greater than the KB limit PID_D_MAX_LIMIT of differentiation element, then make K dD[e (t)-e (t-1)] equals PID_D_MAX_LIMIT.In the present embodiment, the KB limit PID_D_MAX_LIMIT of described differentiation element equals 1.
The process of passing ratio item, the process of integration item and differential term process, further can reach the effect reducing vibration, shorten regulating time.

Claims (10)

1., based on the hydro-viscous speed governing clutch controlling method that dynamic PID controls, it is characterized in that, comprise the following steps:
A, output speed size determination operating conditions according to hydro-viscous speed governing clutch, if output speed is less than or equal to default startup rotating speed, then judge that hydro-viscous speed governing clutch is in starting state, and forward step b to, if output speed is greater than default startup rotating speed, then judge that hydro-viscous speed governing clutch is in running state, and forward step e to;
B, when hydro-viscous speed governing clutch is in starting state, the target control oil pressure of hydro-viscous speed governing clutch is set to setting value r (t), the working control oil pressure of collection is set to value of feedback y (t);
C, oil pressure pid parameter K when starting state is set pS, K iSand K dS, wherein, K pSfor starting scaling factor, K iSfor starting integral coefficient, K dSfor starting differential coefficient;
D, according to PID dominated formulate u ( t ) = K P S &CenterDot; e ( t ) + K I S &Sigma; j = 0 t s e ( j ) + K D S &lsqb; e ( t ) - e ( t - 1 ) &rsqb; Carry out the calculating of PID output quantity u (t), wherein, ts is the moment that starting state terminates, e (t)=r (t)-y (t);
E, when hydro-viscous speed governing clutch is in running state, the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch is set to setting value r (t), the actual output speed value detected is set to value of feedback y (t);
F, rotating speed pid parameter K when running state is set pD, K iDand K dD; Wherein, K pDfor running state scaling factor, K iDfor running state integral coefficient, K dDfor running state differential coefficient; K pDand K iDvalue all according to the change of rotating speed and dynamic change;
G, according to PID dominated formulate u ( t ) = K P D &CenterDot; e ( t ) + K I D ( S u m + &Sigma; j = t s + 1 t e ( j ) ) + K D D &lsqb; e ( t ) - e ( t - 1 ) &rsqb; Carry out the calculating of PID output quantity u (t), wherein, e (t)=r (t)-y (t); Sum=(u (ts)-K pDe (ts+1)-K dD[e (ts+1)-e (ts)])/K iD, the PID output quantity that u (ts) is starting state finish time.
2. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 1, is characterized in that, in described step f:
When the rotating speed of target of driven shaft is less than the first default rotating speed:
K PD＝(a×200/MainSpeed+b)K P；K ID＝(c×200/MainSpeed+d)K I；K DD＝K D；
When the rotating speed of target of driven shaft is greater than the second default rotating speed:
K PD＝(a+b)K P；K ID＝(c+d)K I；K DD＝K D；
When the rotating speed of target of driven shaft is more than or equal to the first default rotating speed and is less than or equal to the second default rotating speed:
K PD＝(a×DestnationSpeed/MainSpeed+b)K P；
K ID＝(c×DestnationSpeed/MainSpeed+d)K I；
K DD＝K D；
Wherein, K pfor preset ratio constant; K ifor default integration constant; K dfor default derivative constant; A, b, c and d are default Weighting factor; MainSpeed is the driving shaft rotating speed of hydro-viscous speed governing clutch, and DestnationSpeed is the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch; The first described rotating speed is 10% ~ 20% of the driving shaft rotating speed of hydro-viscous speed governing clutch, and the second described rotating speed is 80% ~ 90% of the driving shaft rotating speed of hydro-viscous speed governing clutch.
3. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 1 and 2, is characterized in that, in described step b and step e, is normalized setting value r (t) and value of feedback y (t).
4. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 3, it is characterized in that, in described steps d and step g, if the absolute value that the absolute value of e (t) is less than or equal to default dead band setting value DeadBand or e (t) is greater than default dead band setting value DeadBand but does not exceed predetermined time T, then e (t) is set to 0, and when the absolute value of e (t) is greater than the KB limit PID_ERROR_MAX_LIMIT of error amount, make e (t) equal PID_ERROR_MAX_LIMIT.
5. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 4, it is characterized in that, 0≤DeadBand≤0.005,0 < T1≤10 second, the KB limit PID_ERROR_MAX_LIMIT of described error amount equals 1.
6. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 3, is characterized in that, in described steps d, work as K pSwhen the absolute value of e (t) is greater than the KB limit PID_P_MAX_LIMIT of proportional component, then make K pSe (t) equals PID_P_MAX_LIMIT;
In described step g, work as K pDwhen the absolute value of e (t) is greater than the KB limit PID_P_MAX_LIMIT of proportional component, then make K pDe (t) equals PID_P_MAX_LIMIT;
The KB limit PID_P_MAX_LIMIT of described proportional component equals 1.
7. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 3, is characterized in that, in described steps d, when error accumulation value when being greater than deviation accumulation KB limit PID_ERROR_ACC_MAX_LIMIT, then make equal PID_ERROR_ACC_MAX_LIMIT; When integration item when being greater than the KB limit PID_I_MAX_LIMIT of integral element, then make equal PID_I_MAX_LIMIT;
In described step g, when error accumulation value when being greater than deviation accumulation KB limit PID_ERROR_ACC_MAX_LIMIT, then make equal PID_ERROR_ACC_MAX_LIMIT; When integration item when being greater than the KB limit PID_I_MAX_LIMIT of integral element, then make equal PID_I_MAX_LIMIT.
8. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 7, is characterized in that, 500≤PID_ERROR_ACC_MAX_LIMIT≤2000; The KB limit PID_I_MAX_LIMIT of integral element equals 1.
9. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 3, is characterized in that, in described steps d, work as K dSwhen the absolute value of [e (t)-e (t-1)] is greater than the KB limit PID_D_MAX_LIMIT of differentiation element, then make K dS[e (t)-e (t-1)] equals PID_D_MAX_LIMIT;
In described step g, work as K dDwhen the absolute value of [e (t)-e (t-1)] is greater than the KB limit PID_D_MAX_LIMIT of differentiation element, then make K dD[e (t)-e (t-1)] equals PID_D_MAX_LIMIT;
The KB limit PID_D_MAX_LIMIT of described differentiation element equals 1.
10. the hydro-viscous speed governing clutch controlling method controlled based on dynamic PID according to claim 2, it is characterized in that, described default startup rotating speed is 100 ~ 300 revs/min;
1000≤K pS≤ 5000,10≤K iS≤ 100,0≤K dS≤ 1; 1000≤K p≤ 5000,10≤K i≤ 100,0≤K d≤ 1; A, b, c and d are all greater than 0 and are less than or equal to 5.
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CN110431496A (en) * 2017-03-13 2019-11-08 横河电机株式会社 Assess device, assessment system and appraisal procedure
CN114658557A (en) * 2022-03-28 2022-06-24 重庆红江机械有限责任公司 Diesel engine analog electrohydraulic speed regulator control module

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Patentee before: Shanghai Marine Diesel Engine Research Institute