CN106802567A - A kind of anti-dithering method of electric steering engine - Google Patents
A kind of anti-dithering method of electric steering engine Download PDFInfo
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- CN106802567A CN106802567A CN201710166458.8A CN201710166458A CN106802567A CN 106802567 A CN106802567 A CN 106802567A CN 201710166458 A CN201710166458 A CN 201710166458A CN 106802567 A CN106802567 A CN 106802567A
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- steering engine
- electric steering
- frequency
- structure filter
- filter
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
A kind of anti-dithering method of electric steering engine, Structure Filter series connection is accessed into electric steering engine control loop, the excursion of the mechanical resonant frequency point according to electric steering engine, the central point of mechanical resonant frequency is selected as the centre frequency of Structure Filter, determine the fading depth and frequency bandwidth of Structure Filter, strengthen adaptability of the electric steering engine to resonant frequency dynamic range, the high band amplitude to Structure Filter makees attenuation processing, filter effect of the enhancing to high dither.The present invention improves the adaptability of Structure Filter, effectively inhibits the high dither of sliding mode control, while reducing the influence to low-frequency range amplitude attenuation and delayed phase, it is ensured that the performance of electric steering engine is unaffected.
Description
Technical field
The present invention relates to electrical servo system control technology, more particularly to a kind of anti-dithering method of electric steering engine.
Background technology
With continuing to develop and progressive for missilery, requirement of the guided missile to electric steering engine is improved constantly, high dynamic, corpusculum
Long-pending, high-power is the developing direction of following electric steering engine.Because electric steering engine volume mass constantly reduces, its rigidity is relatively low,
Mechanical resonant phenomena, another aspect, the working environment of sliding mode control and its harsh complexity are easily produced, easily by external environment
Influence, make rudder face produce high dither phenomenon, by sensor-feedback loops metering-in control system, high-frequency signal can make system
In controlled quentity controlled variable vibrate, influence the stability of system, reduce electric steering engine performance, or even have the risk for failing.
To solve influence of the high dither to electric steering engine, presently mainly from the rigidity of structure for improving transmission mechanism and subtract
Solved in terms of small―gap suture, because the volume of electric steering engine requirement is less and less, quality is more and more lighter, improves the rigidity of structure very
Difficulty, the gap of transmission mechanism can not also be completely eliminated, thus all can not solve problem very well, so must be to taking other to have
Effect measure suppresses high dither, improves the reliability of electric steering engine.
The content of the invention
The present invention provides a kind of anti-dithering method of electric steering engine, improves the adaptability of Structure Filter, effectively suppression
The high dither of sliding mode control is made, while reducing the influence to low-frequency range amplitude attenuation and delayed phase, it is ensured that electricity
The performance of dynamic steering wheel is unaffected.
In order to achieve the above object, the present invention provides a kind of anti-dithering method of electric steering engine, comprises the steps of：
Step S1, access electric steering engine control loop that Structure Filter is connected, make the input of Structure Filter connect
The output end of controller, makes the input of the output end connection motor of Structure Filter；
The transmission function of Structure Filter is：
In formula, ω1、ξ1The respectively angular frequency and damped coefficient of secondary differential element；ω2、ξ2Respectively second-order inertia ring
The angular frequency and damped coefficient of section；
Step S2, the excursion according to the mechanical resonant frequency point of electric steering engine, select the center of mechanical resonant frequency
Put as the centre frequency of Structure Filter；
Step S3, the fading depth and frequency bandwidth that determine Structure Filter, enhancing electric steering engine is to resonant frequency dynamic
The adaptability of excursion；
Step S4, the high band amplitude to Structure Filter make attenuation processing, filter effect of the enhancing to high dither.
In described step S2, determine that the method for the centre frequency of Structure Filter is specifically included：
If f1、f2It is the mechanical resonant frequency dispersal point of electric steering engine, and has f1<f2, select f3It is mechanical resonant frequency
Intermediate point, and have f1<f3<f2, make the angular frequency in Structure Filter1=ω2=2 π f3。
By carrying out, Structural Dynamics associative simulation is analyzed and electric steering engine servo-drive system modal test determines electric steering engine
There is the frequency of mechanical resonant.
In described step S3, determine that the fading depth of Structure Filter and the method for frequency bandwidth are specifically included：
Determine the damped coefficient in Structure Filter
In described step S4, the method that attenuation processing is made to the high band amplitude of Structure Filter is specifically included：
Ensureing ω2<2πf3<ω1, and intermediate frequency point falls in ω1、ω2Between on the premise of, adjust secondary differential element
The ratio of angular frequency and second-order inertia link angular frequencyWhenDuring more than 1, ratio is bigger, and left side amplitude is bigger, and ratio is got over
Small, left side amplitude is smaller, so as to realize the decay of high band amplitude.
Compared with prior art, its advantage and beneficial effect are the present invention：
1st, band width is wide so that wave filter strong adaptability；
2nd, high band amplitude attenuation substantially, can strengthen the filter effect to high dither；
3rd, low-frequency range amplitude attenuation and delayed phase are small, and the influence to electric steering engine reduces.
Brief description of the drawings
Fig. 1 is electric steering engine control loop block diagram of the invention.
Fig. 2 is a kind of flow chart of the anti-dithering method of electric steering engine that the present invention is provided.
Fig. 3 is using the forward and backward electric steering engine amplitude-versus-frequency curve contrast of the anti-dithering method of present invention offer.
Fig. 4 is the transmission function Bode diagram of Structure Filter.
Specific embodiment
Below according to Fig. 1~Fig. 4, presently preferred embodiments of the present invention is illustrated.
As shown in figure 1, electric steering engine control loop is included：Controller, motor, transmission mechanism and measurement feedback pick-up
Device, wherein, controller provides hardware carrier for the realization of control algolithm, and its input is steering wheel deviation signal, is output as through control
Controlled quentity controlled variable after algorithm resolving, the executing agency that motor is deflected as primary control surface, its input is the controlled quentity controlled variable of controller output
Voltage, is output as rotating speed and torque signals, and the signal transmission that transmission mechanism exports motor realizes angular deflection to rudder face, output
It is angle information, angle of rudder reflection degree feedback information δ (s) is changed into voltage signal by measurement feedback transmitter, participates in angle command electricity
Pressure δinsS () seeks difference operation, finally realize position-force control.
Existing electric steering engine control algolithm reduces shake energy by reducing control loop gain, will certainly influence electricity
Dynamic steering wheel dynamic and static properties.Therefore, effectively to suppress high dither, Structure Filter need to be sealed in.Filtered by by structure
Device was sealed in before motor link, and the controlled quentity controlled variable that can be calculated to control algolithm carries out the decay of CF, it is to avoid performed
Mechanism shakes under the effect of high frequency controlled quentity controlled variable.
As shown in Fig. 2 the present invention provides a kind of anti-dithering method of electric steering engine, comprise the steps of：
Step S1, access electric steering engine control loop that Structure Filter is connected, make the input of Structure Filter connect
The output end of controller, makes the input of the output end connection motor of Structure Filter；
The transmission function of Structure Filter is：
In formula, ω1、ξ1The respectively angular frequency and damped coefficient of secondary differential element；ω2、ξ2Respectively second-order inertia ring
The angular frequency and damped coefficient of section；
Structure Filter can be on the premise of electric steering engine required performance not be lost, for the CF of dither signal
Component carries out depth attenuation, weakens its influence to control loop and even eliminates, and can effectively suppress the high frequency of electric steering engine
Shake；
Step S2, the excursion according to the mechanical resonant frequency point of electric steering engine, select the center of mechanical resonant frequency
Point makes centre frequency " alignment " mechanical resonant frequency point of Structure Filter as the centre frequency of Structure Filter, suppresses to tremble
Dynamic signal；
By carrying out the analysis of Structural Dynamics associative simulation (mode examination is carried with electric steering engine servo-drive system modal test containing band
Test), the torsional flexibility model of electric steering engine can be effectively recognized, determine that electric steering engine occurs the frequency of mechanical resonant；
Resonant frequency otherness in view of electric steering engine under different gap, according to the change model of mechanical resonant frequency point
Enclose, select centre frequency of the intermediate point as designed Structure Filter；
If f1、f2It is the mechanical resonant frequency dispersal point of electric steering engine, and has f1<f2, select f3It is mechanical resonant frequency
Intermediate point, and have f1<f3<f2, make the angular frequency parameter ω in Structure Filter1=ω2=2 π f3, it is capable of achieving Structure Filter
" needle point " is directed at intermediate harmonic Frequency point；
Step S3, the fading depth and frequency bandwidth that determine Structure Filter, enhancing electric steering engine is to resonant frequency dynamic
The adaptability of excursion；
Resonant frequency in view of electric steering engine spreads, in order to adapt to electric steering engine resonant frequency dynamic range, knot
The band width of structure wave filter should be able to be accomplished to accomplish that fading depth is deep enough near envelope, and center frequency points, to improve filtering
Effect is trembled in disappearing for device, and fading depth and frequency bandwidth are main by the damped coefficient parameter ξ in the transmission function of Structure Filter1、ξ2
Value is determined；
The transmission function of Structure Filter can be written as form：
Found out by expression formula (2), Structure Filter is equivalent to a secondary differential element and second-order inertia link
Combination, ξ2Value is inInterval, second-order inertia link amplitude versus frequency characte is presented monotone decreasing, correspondence ξ2Bigger, depth is got over
It is deep, ξ2Smaller, depth is more shallow, i.e. ξ2It is directly proportional to depth value；ξ1Value is inInterval, secondary differential element amplitude-frequency
Characteristic elder generation monotone decreasing monotone increasing again, correspondence ξ1Bigger, depth is more shallow, ξ1Smaller, depth is deeper, i.e. ξ1It is inversely proportional with depth value；
In order to reach the fading depth of big amplitude-frequency, and if only if ξ1/ξ2Smaller, both produce monotone decreasing effect, center simultaneously
Fading depth is bigger, and in ξ1/ξ2When ratio is constant, ξ1、ξ2Value it is bigger, band width is narrower, so hereIt is advisable, especially by the suitable ξ of adjustment1、ξ2It is worth to required decay
Depth and band width.
By setting ξ1、ξ2Parameter, determine the fading depth and band width of Structure Filter, by " intensification " and " plus
The amplitude versus frequency characte depth and band width of width " center frequency points, can strengthen adaptation of the wave filter to electric steering engine mechanical resonant
Property；
Step S4, the high band amplitude to Structure Filter make attenuation processing, filter effect of the enhancing to high dither；
The mechanical resonant characteristic of dynamic characteristic and servo-drive system according to electric steering engine, is ensureing the premise of dynamic characteristic
Under, the energy of high frequency band signal is weakened as much as possible, realize the decay of high band amplitude；
In order to realize that high band amplitude is tried one's best decay, angular frequency parameter ω1、ω2Different value need to be taken, and has ω1>ω2, i.e.,
So that the cut-off frequency of second-order inertia link shifts to an earlier date so that high band amplitude attenuation value is more than the value added of secondary differential element,
So as to realize the decay of high band amplitude；
On the basis of step S2, ω is finely tuned1、ω2Value, whenDuring more than 1, ratio is bigger, and left side amplitude is bigger, than
Value is smaller, and left side amplitude is smaller, and so as to realize the decay of high band amplitude, and value has ω2<2πf3<ω1, it is ensured that intermediate frequency
Point falls in ω1、ω2Between.
Fig. 3 be using this method before and after electric steering engine amplitude versus frequency characte correlation curve, as seen from Figure 3, electricity
After sealing in Structure Filter in dynamic servos control loop, electric steering engine dynamic property in itself remains unchanged substantially, the height of system
Significantly, shake energy attenuating substantially, inhibits the high dither of electric steering engine to frequency amplitude attenuation to a certain extent.With rudder face mode
It is dispersed in as a example by 120Hz~180Hz, takes resonance center frequeH point f3It is 146Hz, damped coefficient ξ1、ξ2Respectively 0.3 and 0.8,
The Bode diagram that the transmission function of sealed in Structure Filter can be obtained is as shown in Figure 4：
Electric steering engine dynamic performance index data are specific as follows before and after using this method：
| Index | Before | Afterwards |
| Resonance peak (db) | 0.1 | 0.1 |
| Bandwidth (Hz) | 20 | 19.5 |
| 120Hz amplitude-frequencies (db) | -22 | -26 |
| 146Hz amplitude-frequencies (db) | -25 | -32 |
| 180Hz amplitude-frequencies (db) | -27 | -35 |
Compared with prior art, its advantage and beneficial effect are the present invention：
1st, band width is wide so that wave filter strong adaptability；
2nd, high band amplitude attenuation substantially, can strengthen the filter effect to high dither；
3rd, low-frequency range amplitude attenuation and delayed phase are small, and the influence to electric steering engine reduces.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for of the invention
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. the anti-dithering method of a kind of electric steering engine, it is characterised in that comprise the steps of：
Step S1, access electric steering engine control loop that Structure Filter is connected, make the input of Structure Filter connect control
The output end of device, makes the input of the output end connection motor of Structure Filter；
The transmission function of Structure Filter is：
In formula, ω1、ξ1The respectively angular frequency and damped coefficient of secondary differential element；ω2、ξ2Respectively second-order inertia link
Angular frequency and damped coefficient；
Step S2, the excursion according to the mechanical resonant frequency point of electric steering engine, the central point for selecting mechanical resonant frequency are made
It is the centre frequency of Structure Filter；
Step S3, the fading depth and frequency bandwidth that determine Structure Filter, enhancing electric steering engine is to resonant frequency dynamic change
The adaptability of scope；
Step S4, the high band amplitude to Structure Filter make attenuation processing, filter effect of the enhancing to high dither.
2. the anti-dithering method of electric steering engine as claimed in claim 1, it is characterised in that in described step S2, it is determined that
The method of the centre frequency of Structure Filter is specifically included：
If f1、f2It is the mechanical resonant frequency dispersal point of electric steering engine, and has f1<f2, select f3It is the centre of mechanical resonant frequency
Point, and have f1<f3<f2, make the angular frequency in Structure Filter1=ω2=2 π f3。
3. the anti-dithering method of electric steering engine as claimed in claim 2, it is characterised in that by carrying out structural dynamic student's federation
Close simulation analysis and determine that electric steering engine occurs the frequency of mechanical resonant with electric steering engine servo-drive system modal test.
4. the anti-dithering method of electric steering engine as claimed in claim 1, it is characterised in that in described step S3, it is determined that
The fading depth of Structure Filter and the method for frequency bandwidth are specifically included：
Determine the damped coefficient in Structure Filter
5. the anti-dithering method of electric steering engine as claimed in claim 2, it is characterised in that in described step S4, to knot
The method that the high band amplitude of structure wave filter makees attenuation processing is specifically included：
Ensureing ω2The π f of ＜ 23＜ ω1, and intermediate frequency point falls in ω1、ω2Between on the premise of, adjust secondary differential element angle
The ratio of frequency and second-order inertia link angular frequencyWhenDuring more than 1, ratio is bigger, and left side amplitude is bigger, and ratio is got over
Small, left side amplitude is smaller, so as to realize the decay of high band amplitude.
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| CN201710166458.8A CN106802567A (en) | 2017-03-20 | 2017-03-20 | A kind of anti-dithering method of electric steering engine |
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| CN201710166458.8A CN106802567A (en) | 2017-03-20 | 2017-03-20 | A kind of anti-dithering method of electric steering engine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107272420A (en) * | 2017-08-07 | 2017-10-20 | 上海航天控制技术研究所 | A kind of high-frequency noise active inhibition method applied to electric steering engine |
| CN111007872A (en) * | 2019-12-03 | 2020-04-14 | 上海航天控制技术研究所 | Rudder deflection distribution method based on spoiler |
| CN111949041A (en) * | 2020-08-07 | 2020-11-17 | 上海航天控制技术研究所 | Elastic vibration suppression method adaptive to large uncertainty frequency |
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| CN111949041A (en) * | 2020-08-07 | 2020-11-17 | 上海航天控制技术研究所 | Elastic vibration suppression method adaptive to large uncertainty frequency |
| CN111949041B (en) * | 2020-08-07 | 2023-12-15 | 上海航天控制技术研究所 | Elastic vibration suppression method suitable for large uncertainty frequency |
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Application publication date: 20170606 |