CN106681172A - Cavitator anti-saturation PID transmission semi-physical simulation system - Google Patents
Cavitator anti-saturation PID transmission semi-physical simulation system Download PDFInfo
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Abstract
本发明涉及一种空化器抗饱和PID传动半物理仿真系统。具体包括转速调节器、电流调节器、测速发电机、电流互感器、电力电子变换器、角度传感器，空化器转角角度给定角度电压信号，转速调节器输出限幅电压信号；限幅电压信号确定电流给定的最大值，电流调节器输出的限幅电压限制电力电子变换器的最大输出电压；转速调节部分采用双闭环结构，其中外面的闭环起到转速的反馈及调节作用，相应的调节器采用带限幅的PI调节器。本发明体积小、结构简单、成本低且易于实现，可以安装在水下超高速航行体的模型之内，可作为试验装置批量生产，向研究人员及学习者演示水下超高速航行体空化器运动对航行体运动特性及航行姿态的影响。
The invention relates to a cavitator anti-saturation PID transmission semi-physical simulation system. Specifically including speed regulator, current regulator, tachometer generator, current transformer, power electronic converter, angle sensor, cavitator angle given angle voltage signal, speed regulator output limiting voltage signal; limiting voltage signal Determine the maximum value of the current given, the limiting voltage output by the current regulator limits the maximum output voltage of the power electronic converter; the speed adjustment part adopts a double closed-loop structure, in which the outer closed loop plays the role of feedback and adjustment of the speed, and the corresponding adjustment The controller adopts a PI regulator with a limiter. The invention is small in size, simple in structure, low in cost and easy to implement, can be installed in the model of the underwater ultra-high-speed vehicle, can be used as a test device for batch production, and demonstrates the cavitation of the underwater ultra-high-speed vehicle to researchers and learners The influence of aircraft motion on the motion characteristics of the vehicle body and the navigation attitude.
Description
技术领域technical field
本发明涉及一种空化器抗饱和PID传动半物理仿真系统。The invention relates to a cavitator anti-saturation PID transmission semi-physical simulation system.
技术背景technical background
水下超高速航行体以其极高的航行速度和精确的打击能力，远远超越了其他常规航行体，而水下超高速航行体运动控制一直是国家的重要课题。对水下超高速航行体运动控制仿真可以采用半物理仿真来实现。半物理仿真是利用水下超高速航行体模型来代替实际航行体进行各种控制实验，比如空化器控制、尾舵控制、俯仰控制等等。水下超高速航行体半物理仿真系统采用实物与数学模型相结合的仿真方式，可以有效节省人力物力资源，为水下超高速航行体的实际航行提供科学的依据。With its extremely high speed and precise strike capability, the underwater ultra-high-speed vehicle far surpasses other conventional vehicles, and the motion control of the underwater ultra-high-speed vehicle has always been an important issue for the country. The motion control simulation of underwater ultra-high-speed vehicle can be realized by semi-physical simulation. Semi-physical simulation is to use the underwater ultra-high-speed vehicle model to replace the actual vehicle for various control experiments, such as cavitation control, rudder control, pitch control, etc. The semi-physical simulation system of the underwater ultra-high-speed vehicle adopts a simulation method combining physical objects and mathematical models, which can effectively save manpower and material resources, and provide a scientific basis for the actual navigation of the underwater ultra-high-speed vehicle.
传动装置通常有机械式和自动控制式，而自动控制式有开环式和闭环式。机械式和开环式对控制量进行控制时，不能将被控量进行检测，从而控制精度较低。本发明采用自动控制式的闭环方式，能够有效地克服闭环控制中的电流饱和问题，提高控制精度，方便进一步对水下超高速航行体进行运动特性及控制特性的学习与研究。The transmission device usually has mechanical type and automatic control type, and the automatic control type has open-loop type and closed-loop type. When the mechanical type and the open-loop type control the control quantity, the controlled quantity cannot be detected, so the control accuracy is low. The invention adopts an automatic control closed-loop mode, which can effectively overcome the current saturation problem in the closed-loop control, improve control precision, and facilitate further learning and research on the motion characteristics and control characteristics of the underwater ultra-high-speed navigation body.
发明内容Contents of the invention
本发明的目的是为了提供一种能够精确进行空化器转角控制仿真的空化器抗饱和PID传动半物理仿真系统。The object of the present invention is to provide a cavitator anti-saturation PID transmission semi-physical simulation system capable of accurately performing cavitator rotation angle control simulation.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
一种空化器抗饱和PID传动半物理仿真系统，包括转速调节器、电流调节器、测速发电机、电流互感器、电力电子变换器、角度传感器，空化器转角角度给定角度电压信号，转速调节器输出限幅电压信号；限幅电压信号确定电流给定的最大值，电流调节器输出的限幅电压限制电力电子变换器的最大输出电压；转速调节部分采用双闭环结构，其中外面的闭环起到转速的反馈及调节作用，相应的调节器采用带限幅的PI调节器；内环为电流调节环，对电动机电枢电流起到限制作用，同时能对执行电机起到保护作用，电流调节器采用带限幅的PI调节器；在系统中设置两个调节器，分别引入转速负反馈和电流负反馈以调节转速和电流，两个调节器之间串级连接；把转速调节器的输出当作电流调节器的输入，再用电流调节器的输出去控制电力电子变换器，电流环为内环，转速环为外环，系统将输出的转速进行积分运算，并将积分运算的结果反馈到角度给定端，与给定角度电压信号进行比较，将比较结果作为转速调节器的输入端。A cavitator anti-saturation PID transmission semi-physical simulation system, including a speed regulator, a current regulator, a tachogenerator, a current transformer, a power electronic converter, an angle sensor, and a cavitator angle angle given angle voltage signal, The speed regulator outputs a limiting voltage signal; the limiting voltage signal determines the maximum value of the current given, and the limiting voltage output by the current regulator limits the maximum output voltage of the power electronic converter; the speed regulating part adopts a double closed-loop structure, and the external The closed loop plays the role of feedback and regulation of the speed, and the corresponding regulator adopts a PI regulator with limiter; the inner loop is a current regulation loop, which limits the motor armature current and protects the executive motor at the same time. The current regulator adopts a PI regulator with limiter; two regulators are set in the system, and the speed negative feedback and current negative feedback are respectively introduced to adjust the speed and current, and the two regulators are connected in series; the speed regulator The output of the current regulator is used as the input of the current regulator, and then the output of the current regulator is used to control the power electronic converter. The current loop is the inner loop, and the speed loop is the outer loop. The result is fed back to the angle given end, compared with the given angle voltage signal, and the comparison result is used as the input end of the speed regulator.
本发明的有益效果在于：The beneficial effects of the present invention are:
所述的转速调节器、电流调节器、测速发电机、电流互感器、电力电子变换器是设计安装在一块电路板上的。与现有技术相比，本发明使用转速调节器、电流调节器、测速发电机、电流互感器、电力电子变换器和空化器实现空化器的角度设置变化，可以根据水下超高速航行体的航行状态合理调整空化器角度，进而改变超高速航行体的水动力参数，实现航行体航行状态的改变，提高机动运动的灵活性；本发明采用转速电流双闭环控制转速，电枢电流以及转角的控制，既能够保证控制精度又很大程度上降低了成本；本发明能实现电流及转速的抗饱和控制，对执行电机提供了有效的保护；本发明体积小、结构简单、成本低且易于实现，可以安装在水下超高速航行体的模型之内，可作为试验装置批量生产，向研究人员及学习者演示水下超高速航行体空化器运动对航行体运动特性及航行姿态的影响。本发明的使用方法简单，只需将本发明固定在航行体的前端内部，可以实现真实的模型仿真。The speed regulator, current regulator, tachogenerator, current transformer and power electronic converter are designed and installed on one circuit board. Compared with the prior art, the present invention uses a rotational speed regulator, a current regulator, a tachogenerator, a current transformer, a power electronic converter and a cavitator to realize the change of the angle setting of the cavitator, and can be used according to underwater ultra-high-speed navigation The navigating state of the body can reasonably adjust the angle of the cavitator, and then change the hydrodynamic parameters of the ultra-high-speed navigating body, realize the change of the navigating state of the navigating body, and improve the flexibility of maneuvering; And the control of the rotation angle can not only ensure the control accuracy but also greatly reduce the cost; the present invention can realize the anti-saturation control of the current and the rotating speed, and provide effective protection for the executive motor; the present invention is small in size, simple in structure and low in cost And easy to implement, it can be installed in the model of the underwater ultra-high-speed vehicle, and can be mass-produced as a test device to demonstrate to researchers and learners that the cavitator motion of the underwater ultra-high-speed vehicle affects the motion characteristics of the vehicle and the navigation attitude Impact. The use method of the present invention is simple, only needs to fix the present invention inside the front end of the flying body, and can realize real model simulation.
附图说明Description of drawings
图1是本发明的转速、电流反馈控制直流调速系统原理图。Fig. 1 is a schematic diagram of the rotational speed and current feedback control DC speed regulation system of the present invention.
图2双闭环直流调速系统的稳态结构图。Figure 2 The steady-state structure diagram of the double closed-loop DC speed control system.
图3为本发明方法流程图。Fig. 3 is a flow chart of the method of the present invention.
具体实施方式detailed description
下面结合附图对本发明做进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.
本发明包括转速调节器、电流调节器、测速发电机、电流互感器、电力电子变换器、角度传感器。空化器转角角度给定角度电压信号，转速调节器输出限幅电压信号。限幅电压信号决定了电流给定的最大值，电流调节器输出的限幅电压限制了电力电子变换器的最大输出电压。当调节器饱和时，输出达到限幅值，输入量的变化不再影响输出，除非有反向的输入信号使调节器退出饱和。转速调节部分采用双闭环结构，其中外面的闭环起到转速的反馈及调节作用，相应的调节器采用带限幅的PI调节器。内环为电流调节环，对电动机电枢电流起到限制作用，同时能对执行电机起到保护作用，电流调节器也采用带限幅的PI调节器。The invention includes a speed regulator, a current regulator, a tachogenerator, a current transformer, a power electronic converter and an angle sensor. The angle voltage signal is given by the rotation angle of the cavitator, and the speed regulator outputs a limiting voltage signal. The limiting voltage signal determines the maximum value of the current given, and the limiting voltage output by the current regulator limits the maximum output voltage of the power electronic converter. When the regulator is saturated, the output reaches the limit value, and the change of the input quantity no longer affects the output, unless there is a reverse input signal to make the regulator out of saturation. The speed adjustment part adopts a double closed-loop structure, in which the outer closed loop plays the role of feedback and adjustment of the speed, and the corresponding regulator adopts a PI regulator with a limiter. The inner ring is a current regulating ring, which can limit the armature current of the motor and protect the executive motor at the same time. The current regulator also adopts a PI regulator with a limiter.
为了使转速和电流两种负反馈分别起作用，在系统中设置了两个调节器，分别引入转速负反馈和电流负反馈以调节转速和电流，二者之间实现串级连接。把转速调节器的输出当作电流调节器的输入，再用电流调节器的输出去控制电力电子变换器。从闭环结构上看，电流环为内环，转速环为外环。为了最终实现空化器转角的控制，将输出的转速进行积分运算，并将积分运算的结果反馈到角度给定端，与给定角度电压信号进行比较，将比较结果作为转速调节器的输入端。In order to make the speed and current negative feedback work separately, two regulators are set up in the system, and the speed negative feedback and the current negative feedback are respectively introduced to adjust the speed and current, and the two are connected in series. The output of the speed regulator is used as the input of the current regulator, and then the output of the current regulator is used to control the power electronic converter. From the perspective of closed-loop structure, the current loop is the inner loop, and the speed loop is the outer loop. In order to finally realize the control of the rotation angle of the cavitator, the output speed is integrated, and the result of the integral operation is fed back to the angle given end, compared with the given angle voltage signal, and the comparison result is used as the input end of the speed regulator .
结合图1至图2，本发明包括转速调节器、电流调节器、电力电子变换器、直流电动机、测速发电机、晶闸管、电流互感器。1 to 2, the present invention includes a speed regulator, a current regulator, a power electronic converter, a DC motor, a tachogenerator, a thyristor, and a current transformer.
为了防止转速和电流突变，采用双闭环结构，采用转速调节器和电流调节器分别对转速和电流进行反馈调节。转速给定电压与转速反馈电压进行比较，将结果输出给转速调节器，转速调节器对电压进行运算输出电流给定电压，该电流给定电压信号与电流负反馈电压信号进行比较运算，之后将运算结果输入到电流调节器中按照控制规律进行计算，将计算的结果输入到电力电子变换化器中，电力电子变换器将信号进行适当的变换后加到电动机两端，驱动直流电动机转动。直流电动机与直流测速发电机同轴连接，因此通过直流测速发电机测得直流电动机的转速并以电压信号反馈到转速给定端。In order to prevent sudden changes in the speed and current, a double closed-loop structure is adopted, and a speed regulator and a current regulator are used to feedback and adjust the speed and current respectively. The speed given voltage is compared with the speed feedback voltage, and the result is output to the speed regulator. The speed regulator calculates the voltage and outputs the current given voltage. The current given voltage signal is compared with the current negative feedback voltage signal, and then the The calculation result is input to the current regulator to calculate according to the control law, and the calculation result is input to the power electronic converter. The power electronic converter converts the signal properly and then adds it to both ends of the motor to drive the DC motor to rotate. The DC motor is coaxially connected with the DC tachometer generator, so the speed of the DC motor is measured through the DC tachometer generator and fed back to the speed given terminal as a voltage signal.
本发明还包括以下结构特征：The present invention also includes the following structural features:
两个调节器均采用带限幅作用的PI调节器。转速调节器输出的限幅电压决定了电流给定的最大值，电流调节器输出的限幅电压限制了电力电子变换器的最大输出电压。当调节器饱和时，输出达到限幅值，输入量的变化不再影响输出，饱和的调节器暂时隔断了输入与输出间的关系，相当于使该调节环开环。当调节器不饱和时，PI调节器工作在线性调节状态，其作用是使输入偏差电压在稳态时为零。Both regulators are PI regulators with limiting effect. The limiting voltage output by the speed regulator determines the maximum value of the current given, and the limiting voltage output by the current regulator limits the maximum output voltage of the power electronic converter. When the regulator is saturated, the output reaches the limit value, and the change of the input quantity no longer affects the output. The saturated regulator temporarily cuts off the relationship between the input and the output, which is equivalent to opening the regulation loop. When the regulator is not saturated, the PI regulator works in a linear regulation state, and its function is to make the input deviation voltage zero in the steady state.
转速调节器能使转速很快地跟随给定电压的变化，稳态时能够减小转速误差，本系统可以实现无差控制；对负载变化能起到抗扰作用；转速调节器的输出限幅值决定了电动机允许的最大电流值。在转速外环的调节过程中，电流调节器使电流跟随电流给定电压的变化。对电网电压的波动起实时抗扰的作用。在转速动态过程中，保证获得电动机允许的最大电流，从而加快动态过程。当电动机发生堵转时，电流调节器能够限制电枢电流的最大值，起快速的自动保护作用。当故障消失，系统自动恢复正常。The speed regulator can make the speed quickly follow the change of the given voltage, and can reduce the speed error in the steady state. The value determines the maximum current value allowed by the motor. In the adjustment process of the speed outer loop, the current regulator makes the current follow the change of the current given voltage. It plays the role of real-time anti-disturbance to the fluctuation of grid voltage. In the dynamic process of speed, it is guaranteed to obtain the maximum current allowed by the motor, so as to speed up the dynamic process. When the motor is stalled, the current regulator can limit the maximum value of the armature current, which acts as a fast automatic protection. When the fault disappears, the system automatically returns to normal.
该系统的闭环结构采用三闭环形式，最内环限制电流的突变，中间环对转速进行跟随与调节，最外环对空化器的转角进行监测与调节。由于两个调节器均采用PI调节，所以均可以实现无差调节。The closed-loop structure of the system adopts the form of three closed loops, the innermost loop limits the sudden change of the current, the middle loop follows and adjusts the speed, and the outermost loop monitors and adjusts the rotation angle of the cavitator. Because both regulators adopt PI regulation, they can realize no-difference regulation.
本发明主要工作过程及原理如下：Main working process and principle of the present invention are as follows:
为了实现电流的实时控制和快速跟随，电流调节器应处于不饱和状态，因此系统的工作过程只有转速调节器饱和与不饱和两种情况。In order to realize the real-time control and fast following of the current, the current regulator should be in an unsaturated state, so the working process of the system only has two cases of saturation and non-saturation of the speed regulator.
当转速调节器不饱和时，两个调节器都处于不饱和状态，稳态时，它们的输入偏差电压都是零。当转速调节器饱和时，转速调节器达到限幅值，转速环呈开环状态，转速的变化对转速环不再产生影响。双闭环的转速电流调节系统变成了一个电流无静差的单电流闭环调节系统。最大电流取决于电动机的容许过载能力和系统要求的最大加速度。When the speed regulator is not saturated, both regulators are not saturated, and in steady state, their input offset voltage is zero. When the speed regulator is saturated, the speed regulator reaches the limit value, and the speed loop is in an open-loop state, and the change of the speed will no longer affect the speed loop. The double closed-loop speed current regulation system has become a single current closed-loop regulation system with no current static difference. The maximum current depends on the allowable overload capacity of the motor and the maximum acceleration required by the system.
在系统的输入端为空化器转角的电压给定信号转角电压给定信号与直流测速发电机测得的空化器转角电压信号Uθ进行比较输出为转速电压给定信号该给定信号与测得的转速信号Un进行比较，比较后输入到限幅PI调节器1，即转速调节器。在转速调节器中进行运算，输出为电流给定的电压信号该给定信号与电流电压信号Ui进行比较，比较结果输入到限幅PI调节器2中，即电流调节器。经过电流调节器进行运算，运算结果经过比例放大器Ks运算之后得到的电压信号Ud0与等效电流与等效电阻的乘积IdR进行运算后加到直流电动机的两端，直流电动机等效为一个常数环节直流电动机的转速n乘以转速反馈系数α反馈到转速给定电压端。直流电动机的转速信号经过积分运算转化为角度信号，经过角度反馈系数γ反馈到角度给定电压端，从而形成三闭环控制系统。The input terminal of the system is the voltage reference signal of the cavitator corner The rotation angle voltage reference signal is compared with the cavitator rotation angle voltage signal U θ measured by the DC tachogenerator, and the output is the rotation speed voltage reference signal The given signal is compared with the measured speed signal U n , and then input to the limiting PI regulator 1, namely the speed regulator. The operation is performed in the speed regulator, and the output is a voltage signal given by the current The given signal is compared with the current and voltage signal U i , and the comparison result is input into the limiting PI regulator 2, namely the current regulator. After the calculation is performed by the current regulator, the voltage signal U d0 obtained after the operation of the proportional amplifier Ks and the product I d R of the equivalent current and the equivalent resistance are calculated and then added to both ends of the DC motor. The DC motor is equivalent to a constant link The speed n of the DC motor is multiplied by the speed feedback coefficient α and fed back to the speed given voltage terminal. The rotational speed signal of the DC motor is converted into an angle signal through an integral operation, and fed back to the angle given voltage terminal through the angle feedback coefficient γ, thereby forming a three-closed-loop control system.
该传动系统及装置的工作流程为初始化开始环节，判断转速电压与转速反馈电压之差是否等于零，如果等于零直接进入下一判断环节；如果不等于零，信号经过转速调节器进行处理，而后判断电流给定电压与电流反馈电压之差是否等于零，如果等于零，电压信号直接加到直流电动机两端；如果不等于零，信号进入电流调节器运算而后经过电力电子变换器，加到直流电动机两端，直流电动机带动直流测速发电机转动，测量直流电动机两端的电压得到空化器的转速，对转速进行积分得到空化器的转动位移。The working process of the transmission system and the device is the initialization start stage, judging whether the difference between the speed voltage and the speed feedback voltage is equal to zero, if it is equal to zero, directly enter the next judgment stage; Whether the difference between the constant voltage and the current feedback voltage is equal to zero, if it is equal to zero, the voltage signal is directly added to both ends of the DC motor; if it is not equal to zero, the signal enters the current regulator operation and then passes through the power electronic converter, and is added to both ends of the DC motor, the DC motor Drive the DC tachogenerator to rotate, measure the voltage at both ends of the DC motor to obtain the speed of the cavitator, and integrate the speed to obtain the rotational displacement of the cavitator.
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