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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- CN106681172A CN106681172A CN201611158296.5A CN201611158296A CN106681172A CN 106681172 A CN106681172 A CN 106681172A CN 201611158296 A CN201611158296 A CN 201611158296A CN 106681172 A CN106681172 A CN 106681172A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 7
- 238000004088 simulation Methods 0.000 title abstract description 5
- 230000033228 biological regulation Effects 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims abstract description 10
- 230000005611 electricity Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000000052 comparative effect Effects 0.000 claims description 2
- 238000010923 batch production Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010021703 Indifference Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
Classifications
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- 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
-
- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The present invention relates to a cavitator anti-saturation PID transmission semi-physical simulation system. The system comprises a rotating speed regulator, a current regulator, a tachogenerator, a current transformer, a power electronic converter and an angular transducer. An angle voltage signal is given to the cavitator corner angle, and the rotating speed regulator outputs amplitude limiting voltage signals; the amplitude limiting voltage signals are used to determine the maximum value of the given current, the amplitude limiting voltage outputted by the current regulator limits the maximum output voltage of the power electronic converter; and the rotating speed regulation portion employs a double closed-loop structure, the external closed loop play a rotating speed feedback and regulation effect, and the corresponding regulator employs an PI regulator with amplitude limiting. The cavitator anti-saturation PID transmission semi-physical simulation system is small in size, simple in structure, low in cost and easy to realize, can be installed in the model of an underwater ultra high-speed navigation body, and can be taken as a test device for batch production so as to demonstrate the influence of the motion of the underwater ultra high-speed navigation body cavitator on the navigation body kinematical characteristics and the navigation attitudes to researchers and learners.
Description
Technical field
The present invention relates to a kind of cavitation device anti-saturation PID transmission semi-physical systems.
Technical background
Underwater high-speed vehicle has much surmounted other routines with its high headway and accurate striking capabilities
Sail body, and underwater high-speed vehicle motion control is always the important topic of country.Underwater high-speed vehicle is moved
Control emulation can be realized using semi-physical simulation.Semi-physical simulation is come instead of real using underwater high-speed vehicle model
Border sail body carries out various Control releases, such as cavitation device control, tail vane control, pitch control etc..Ultrahigh speed navigation under water
Using the emulation mode being combined with Mathematical Modeling in kind, can effectively use manpower and material resources sparingly body semi-physical system resource,
The foundation of science is provided for the real navigation of underwater high-speed vehicle.
Transmission device generally has mechanical and automatic control type, and automatic control type has open loop type and closed loop.Mechanically
When being controlled to controlled quentity controlled variable with open loop type, it is impossible to detected controlled volume, so that control accuracy is relatively low.The present invention is using certainly
The closed-loop fashion of dynamic control formula, can improve control accuracy efficiently against the current saturation problem in closed-loop control, conveniently enter
One step carries out the study and research of kinetic characteristic and control characteristic to underwater high-speed vehicle.
The content of the invention
It is anti-full the invention aims to provide a kind of cavitation device that can accurately carry out cavitation device controlling angle emulation
Semi-physical system is driven with PID.
The object of the present invention is achieved like this：
A kind of cavitation device anti-saturation PID is driven semi-physical system, including speed regulator, current regulator, tests the speed
Generator, current transformer, converters, angular transducer, cavitation device crank degree given angle voltage signal turn
Fast adjuster output violent change voltage signal；Limiting voltage signal determines the maximum of given value of current, the limit of current regulator output
Width voltage limits the maximum output voltage of converters；Rotational speed regulation part uses double circle structure, wherein outside
Closed loop plays the feedback and adjustment effect of rotating speed, and corresponding adjuster uses the pi regulator with amplitude limit；Inner ring is adjusted for electric current
Ring, restriction effect is played to motor armature electric current, while can be played a protective role to actuating motor, current regulator uses band
The pi regulator of amplitude limit；Two adjusters are set in systems, and introducing speed feedback and Current Negative Three-Point Capacitance are turned with adjusting respectively
Speed and electric current, cascade arrangement between two adjusters；The output of speed regulator as current regulator input, then electricity consumption
The output of throttle regulator goes to control converters, and electric current loop is inner ring, and der Geschwindigkeitkreis are outer shroud, the rotating speed that system will be exported
Computing is integrated, and the result of integral operation is fed back into angle given side, be compared with given angle voltage signal, will
Comparative result as speed regulator input.
The beneficial effects of the present invention are：
Described speed regulator, current regulator, tachometer generator, current transformer, converters are to set
Meter is arranged on one piece of circuit board.Compared with prior art, the present invention using speed regulator, current regulator, test the speed hair
Motor, current transformer, converters and cavitation device realize that the angle of cavitation device sets change, can be according to surpassing under water
The operational configuration Reasonable adjustment cavitation device angle of high speed operation body, and then change the hydrodynamic parameter of ultrahigh speed sail body, realize
The change of sail body operational configuration, improves the flexibility of the motion of automobile；The present invention controls rotating speed, electricity using speed and current double closed loop
The control of pivot electric current and corner, can either ensure control accuracy and largely reduce cost；The present invention can realize electricity
The anti-saturation control of stream and rotating speed, provides to actuating motor and is effectively protected；Small volume of the present invention, simple structure, low cost
And be easily achieved, may be mounted within the model of underwater high-speed vehicle, can be produced in batches as experimental rig, to research
The influence of personnel and learner's demonstration underwater high-speed vehicle cavitation device motion to sail body kinetic characteristic and navigation attitude.This
The application method of invention is simple, and only the present invention need to be fixed on inside the front end of sail body, it is possible to achieve real model emulation.
Brief description of the drawings
Fig. 1 is rotating speed of the invention, Current Feedback Control Direct Current Governor System schematic diagram.
The Stable structure figure of Fig. 2 Double Closed-loop DC Speed Systems.
Fig. 3 is the inventive method flow chart.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
The present invention include speed regulator, current regulator, tachometer generator, current transformer, converters,
Angular transducer.Cavitation device crank degree given angle voltage signal, speed regulator output violent change voltage signal.Limiting voltage
The signal deciding maximum of given value of current, the limiting voltage of current regulator output limits the maximum of converters
Output voltage.When adjuster saturation, output reaches amplitude limit value, and the change of input quantity no longer influences output, unless there are reverse
Input signal makes adjuster exit saturation.Rotational speed regulation part uses double circle structure, wherein the closed loop of outside plays rotating speed
Feedback and adjustment effect, corresponding adjuster use the pi regulator with amplitude limit.Inner ring is current regulation loop, to motor armature
Electric current plays restriction effect, while can be played a protective role to actuating motor, current regulator is also adopted by the PI regulations with amplitude limit
Device.
In order that the two kinds of negative-feedbacks of rotating speed and electric current are worked respectively, two adjusters are provided with systems, draw respectively
Enter speed feedback and Current Negative Three-Point Capacitance to adjust rotating speed and electric current, cascade arrangement is realized therebetween.Speed regulator
The input as current regulator is exported, then is gone to control converters with the output of current regulator.From closed loop configuration
On see, electric current loop is inner ring, and der Geschwindigkeitkreis are outer shroud.In order to finally realize the control of cavitation device corner, the rotating speed of output is carried out
Integral operation, and the result of integral operation is fed back into angle given side, it is compared with given angle voltage signal, will compare
Result as speed regulator input.
With reference to Fig. 1 to Fig. 2, the present invention includes speed regulator, current regulator, converters, direct current drive
Machine, tachometer generator, IGCT, current transformer.
In order to prevent rotating speed and current break, using double circle structure, distinguished using speed regulator and current regulator
Feedback regulation is carried out to rotating speed and electric current.Rotational speed setup voltage is compared with speed feedback voltage, and result is exported to rotating speed
Adjuster, speed regulator carries out the given voltage of computing output current to voltage, and the given value of current voltage signal is negative with electric current anti-
Feedthrough voltage signal is compared computing, operation result is input in current regulator is calculated according to control law afterwards,
The result of calculating is input in Technics of Power Electronic Conversion device, converters are added to after signal is carried out into appropriate conversion
Motor two ends, drive dc motor to rotate.Dc motor is coaxially connected with DC tachometer generator, therefore by direct current
Tachometer generator measures the rotating speed of dc motor and feeds back to rotational speed setup end with voltage signal.
Present invention additionally comprises following architectural feature：
Two adjusters are using the pi regulator with amplitude limit effect.The limiting voltage of speed regulator output determines electricity
The given maximum of stream, the limiting voltage of current regulator output limits the maximum output voltage of converters.When
During adjuster saturation, output reaches amplitude limit value, and the change of input quantity no longer influences output, and the adjuster of saturation has temporarily separated defeated
Enter the relation with outlet chamber, equivalent to making the regulation ring open loop.When adjuster is unsaturated, pi regulator is operated in linear regulation
State, its effect is to make input deviation voltage be zero in stable state.
Speed regulator can make rotating speed soon follow the change of given voltage, and speed error can be reduced during stable state, this
System can realize indifference control；Anti-interference effect can be played to load change；The output violent change value of speed regulator determines electricity
The maximum current value that motivation is allowed.During the regulation of rotating speed outer shroud, current regulator makes current following given value of current voltage
Change.Fluctuation to line voltage plays real-time anti-interference.During speed dynamic, it is ensured that obtain what motor was allowed
Maximum current, so as to accelerate dynamic process.When motor occurs stall, current regulator can limit the maximum of armature supply
Value, plays quick automatic protection.Work as failure vanishes, system recovers normal automatically.
The closed loop configuration of the system uses three closed loops, and innermost ring limits the mutation of electric current, and middle ring is carried out to rotating speed
Follow the corner of cavitation device is monitored and regulation with regulation, most outer shroud.Because two adjusters are adjusted using PI, so
Non differential regulation can be realized.
Main working process of the present invention and principle are as follows：
In order to realize the real-time control of electric current and quickly follow, current regulator should be at undersaturated condition, therefore system
The course of work there was only speed regulator saturation with unsaturated two kinds of situations.
When speed regulator is unsaturated, two adjusters all in undersaturated condition, during stable state, their input deviation
Voltage is all zero.When speed regulator saturation, speed regulator reaches amplitude limit value, and der Geschwindigkeitkreis are in open loop situations, the change of rotating speed
Change no longer produces influence on der Geschwindigkeitkreis.The single electric current that the speed and current regulating system of two close cycles becomes an electric current floating is closed
Ring regulating system.Maximum current depends on the permissible overload ability of motor and the peak acceleration of system requirements.
It is the voltage Setting signal of cavitation device corner in the input of systemCorner voltage Setting signal and DC velocity measuring
The cavitation device corner voltage signal U that generator is measuredθIt is compared and is output as rotating speed voltage Setting signalThe Setting signal with
The tach signal U for measuringnIt is compared, amplitude limit pi regulator 1, i.e. speed regulator is input to more afterwards.In speed regulator
In carry out computing, be output as the voltage signal of given value of currentThe Setting signal and current and voltage signals UiIt is compared, compares
Result is input in amplitude limit pi regulator 2, i.e. current regulator.Carry out computing by current regulator, operation result pass through than
The voltage signal U obtained after example amplifier Ks computingsd0With equivalent current and the product I of equivalent resistancedR is added to after carrying out computing
The two ends of dc motor, dc motor is equivalent to a constant linkThe rotating speed n of dc motor is multiplied by speed feedback
Factor alpha feeds back to rotational speed setup voltage end.The tach signal of dc motor is converted into angle signal by integral operation, passes through
Angle feed-back coefficient gamma feeds back to the given voltage end of angle, so as to form three closed-loop control system.
The workflow of the transmission system and device starts link for initialization, judges rotating speed voltage and speed feedback voltage
Difference whether be equal to zero, if equal to zero is directly entered next judgement link；If being not equal to zero, signal is by speed regulator
Processed, then judged whether given value of current voltage and the difference of Current feedback voltage are equal to zero, if equal to zero, voltage signal
It is applied directly to dc motor two ends；If being not equal to zero, signal enters current regulator computing and then becomes by power electronics
Parallel operation, is added to dc motor two ends, and dc motor drives DC tachometer generator to rotate, measurement dc motor two ends
Voltage obtains the rotating speed of cavitation device, and the rotation displacement for obtaining cavitation device is integrated to rotating speed.
Claims (1)
1. a kind of cavitation device anti-saturation PID transmission semi-physical system, including speed regulator, current regulator, test the speed hair
Motor, current transformer, converters, angular transducer, it is characterised in that：Cavitation device crank degree given angle electricity
Pressure signal, speed regulator output violent change voltage signal；Limiting voltage signal determines the maximum of given value of current, current regulator
The limiting voltage of output limits the maximum output voltage of converters；Rotational speed regulation part uses double circle structure, its
The closed loop of middle outside plays the feedback and adjustment effect of rotating speed, and corresponding adjuster uses the pi regulator with amplitude limit；Inner ring is
Current regulation loop, restriction effect is played to motor armature electric current, while actuating motor can be played a protective role, electric current regulation
Device uses the pi regulator with amplitude limit；Two adjusters are set in systems, speed feedback and Current Negative Three-Point Capacitance are introduced respectively
To adjust rotating speed and electric current, cascade arrangement between two adjusters；The output of speed regulator as the defeated of current regulator
Enter, then gone to control converters with the output of current regulator, electric current loop is inner ring, and der Geschwindigkeitkreis are outer shroud, and system will
The rotating speed of output is integrated computing, and the result of integral operation is fed back into angle given side, with given angle voltage signal
Be compared, using comparative result as speed regulator input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611158296.5A CN106681172A (en) | 2016-12-15 | 2016-12-15 | Cavitator anti-saturation PID transmission semi-physical simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611158296.5A CN106681172A (en) | 2016-12-15 | 2016-12-15 | Cavitator anti-saturation PID transmission semi-physical simulation system |
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| Publication Number | Publication Date |
|---|---|
| CN106681172A true CN106681172A (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611158296.5A Pending CN106681172A (en) | 2016-12-15 | 2016-12-15 | Cavitator anti-saturation PID transmission semi-physical simulation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123699A (en) * | 2019-12-25 | 2020-05-08 | 珠海格力电器股份有限公司 | Control parameter optimization method and device based on dynamic simulation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2116994U (en) * | 1991-11-30 | 1992-09-23 | 侯继文 | Motor stepless speed regulation controller |
| CN201467051U (en) * | 2009-07-22 | 2010-05-12 | 襄樊航鹰航空科技有限责任公司 | Digital DC speed regulation device |
| CN201918959U (en) * | 2010-12-02 | 2011-08-03 | 北京中纺锐力机电有限公司 | Upper limit current control circuit |
| CN203883720U (en) * | 2014-06-04 | 2014-10-15 | 国家电网公司 | A direct current brushless motor closed loop control system |
| CN205430106U (en) * | 2016-03-15 | 2016-08-03 | 国网福建省电力有限公司 | Two closed loop direct current motor control circuit |
-
2016
- 2016-12-15 CN CN201611158296.5A patent/CN106681172A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2116994U (en) * | 1991-11-30 | 1992-09-23 | 侯继文 | Motor stepless speed regulation controller |
| CN201467051U (en) * | 2009-07-22 | 2010-05-12 | 襄樊航鹰航空科技有限责任公司 | Digital DC speed regulation device |
| CN201918959U (en) * | 2010-12-02 | 2011-08-03 | 北京中纺锐力机电有限公司 | Upper limit current control circuit |
| CN203883720U (en) * | 2014-06-04 | 2014-10-15 | 国家电网公司 | A direct current brushless motor closed loop control system |
| CN205430106U (en) * | 2016-03-15 | 2016-08-03 | 国网福建省电力有限公司 | Two closed loop direct current motor control circuit |
Non-Patent Citations (1)
| Title |
|---|
| 赵利娜: ""水下高速航行体系统建模与仿真技术研究"", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123699A (en) * | 2019-12-25 | 2020-05-08 | 珠海格力电器股份有限公司 | Control parameter optimization method and device based on dynamic simulation |
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Application publication date: 20170517 |
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| RJ01 | Rejection of invention patent application after publication |