CN106919051A - The performance chart method of the delayed anticipatory control link of designed phase - Google Patents
The performance chart method of the delayed anticipatory control link of designed phase Download PDFInfo
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- CN106919051A CN106919051A CN201710234939.8A CN201710234939A CN106919051A CN 106919051 A CN106919051 A CN 106919051A CN 201710234939 A CN201710234939 A CN 201710234939A CN 106919051 A CN106919051 A CN 106919051A
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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
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Abstract
A kind of performance chart method of the delayed anticipatory control link of designed phase, it is characterized in that two control parameters for choosing delayed phase anticipatory control link are respectively coordinate in length and breadth, sets up a two-dimensional parameter design space for bounded；With Control performance standard as object function, two control parameters with delayed phase anticipatory control link draw the isopleth of each Control performance standard as design variable in parameter designing space, obtain the control performance curve map of system；Control performance curve map presents the one-to-one relationship between Control performance standard and correction link parameter；Coordinate and contrast each performance chart, can obtain the comprehensively optimal correction link parameter of control performance, complete the optimized design of correction link.The present invention have directly perceived, system and it is comprehensive the characteristics of.
Description
Technical field：
The invention belongs to mechanical engineering control field, more particularly to a kind of property of designed phase lag-lead compensation link
Can curve map method.
Background technology：
As controlled mechanical system control performance (stability, accuracy and rapidity) be unsatisfactory for require, then can by
The method for increasing correction link in system, to improve the control performance of controlled mechanical system.Delayed phase-anticipatory control is conventional
One of bearing calibration.
In mechanical engineering control field, the most commonly used method of designed phase lag-lead compensation link is to apply Byrd
The Frequency Domain Design Method that figure is designed.The method is general with phase margin as performance indications, is counted by parsing by Bode diagram
Calculate and determine correction link parameter.The method meets given phase margin requirement, is feasible solution, but be not optimal solution.To system
The performance indications of control performance evaluation are not only phase margin, also magnitude margin, shearing frequency, resonance peak, cutoff frequency
The frequency domain performance indications such as rate, and the time-domain response criterion such as time delay, adjustment time, maximum overshoot；In the base of Preliminary design
Need checking computations other performance index whether also to meet on plinth to require, be such as unsatisfactory for, it is necessary to repeatedly design repeatedly and check, Zhi Daoman
Sufficient all properties index request is to cumbersome and time-consuming.
It is conflicting because the control performance to system has between many requirements, multiple Control performance standards；Correction
Influence of the link parameter to system control performance is also conflicting.Therefore, the parameter designing of correction link be one very
Important and extremely difficult problem.
The content of the invention：
The present invention is directed to deficiency of the prior art, proposes that a kind of performance of designed phase lag-lead compensation link is bent
Line-plot method, its have intuitively, system and it is comprehensive the characteristics of.
The present invention solves the scheme that is used of its technical problem：A kind of property of designed phase lag-lead compensation link
Energy curve map method, two control parameters for choosing delayed phase-anticipatory control link are respectively coordinate in length and breadth, set up a bounded
Two-dimensional parameter design space.With Control performance standard as object function, with two controls of delayed phase-anticipatory control link
Parameter is design variable, and the isopleth of each Control performance standard is drawn in parameter designing space, obtains the controlling of system
Can curve map.Control performance curve map presents the one-to-one relationship between Control performance standard and correction link parameter.Association
Reconcile and contrast each performance chart, then can obtain the comprehensively optimal correction link parameter of control performance, complete correction link
Optimized design.
Brief description of the drawings：
Fig. 1 is ssystem transfer function block diagram.
Fig. 2 is phase margin performance chart.
Fig. 3 is shearing frequency performance chart.
Fig. 4 is magnitude margin performance chart.
Fig. 5 is resonance peak performance chart.
Fig. 6 is adjustment time performance chart.
Fig. 7 is rise time performance chart.
Fig. 8 is unit step response curve figure.
Specific embodiment：
Below in conjunction with drawings and Examples, the invention will be further described：
It is as shown in Figure 1 ssystem transfer function block diagram, the transmission function of delayed phase-anticipatory control link isIt has three control parameters, respectively T1、T2And β, typically can use parameter beta=10 (ginseng
Influences of the number β to system control performance, can be by adjusting parameter T1And T2Compensate, thus can setting parameter β be normal equal to 10
Amount), selection parameter T1And T2Span be 0.05≤T1The ＜ T of ＜ 2 and 12＜ 20, and choose T1And T2It is design variable.Receive
The transmission function of control mechanical system intrinsic part is
Respectively with the control parameter T of bounded1And T2It is transverse and longitudinal coordinate, then can obtains the parameter designing space of correction link.
With Control performance standard as object function, with parameter T1And T2It is design variable, object function etc. is drawn in parameter designing space
Value line, then can obtain the performance chart of each performance indications.
Fig. 2 show phase margin performance chart, Fig. 3 and show shearing frequency performance chart, Fig. 4 and show amplitude
Nargin performance chart, Fig. 5 show resonance peak performance chart, Fig. 6 and show adjustment time performance chart, Fig. 7 institutes
It is shown as rise time performance chart.Coordinate and contrast each performance chart, then can obtain the optimal corrector loop of combination property
Section parameter.For example, the parameter that correction link may be selected here is T=1.5 and T2=6.
Fig. 6 show the unit-step nsponse curve figure of system, and three subgraphs correspond to correction link respectively in described Fig. 6
Parameter is T1=0 and T2The unit-step nsponse curve of system when=0 (without correction link)；Correction link parameter is T1=1.43
And T2=6.67 (to meet phase margin more than or equal to 50 °, using the school that the frequency domain response method for designing based on Bode diagram is obtained
Positive link parameter) when system unit-step nsponse curve；Correction link parameter is T1=1.5 and T2=6 (apply the performance
The correction link parameter that curve map method is obtained) when system unit-step nsponse curve.Three subgraphs are visible shown in comparison diagram 6,
Performance chart method can significantly improve the control performance of system, and with directly perceived, system, it is comprehensive the characteristics of.
Claims (1)
1. a kind of performance chart method of designed phase lag-lead compensation link, it is characterized in that choosing delayed phase-advanced school
Two control parameters of positive link are respectively coordinate in length and breadth, set up a two-dimensional parameter design space for bounded；With control performance
Index is object function, two control parameters with delayed phase-anticipatory control link as design variable, in parameter designing space
The interior isopleth for drawing each Control performance standard, obtains the control performance curve map of system；Control performance curve map is presented
One-to-one relationship between Control performance standard and correction link parameter；Coordinate and contrast each performance chart, can obtain
The comprehensively optimal correction link parameter of control performance, completes the optimized design of correction link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234939.8A CN106919051A (en) | 2017-04-12 | 2017-04-12 | The performance chart method of the delayed anticipatory control link of designed phase |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710234939.8A CN106919051A (en) | 2017-04-12 | 2017-04-12 | The performance chart method of the delayed anticipatory control link of designed phase |
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| CN106919051A true CN106919051A (en) | 2017-07-04 |
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| CN201710234939.8A Pending CN106919051A (en) | 2017-04-12 | 2017-04-12 | The performance chart method of the delayed anticipatory control link of designed phase |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111832115A (en) * | 2020-06-02 | 2020-10-27 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Symmetrical delay-advance correction integrated frequency design method |
-
2017
- 2017-04-12 CN CN201710234939.8A patent/CN106919051A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111832115A (en) * | 2020-06-02 | 2020-10-27 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Symmetrical delay-advance correction integrated frequency design method |
| CN111832115B (en) * | 2020-06-02 | 2023-12-19 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Integrated frequency design method for symmetric delay-advance correction |
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Application publication date: 20170704 |