CN106959611A - A kind of controller of the digital electric-hydraulic servo actuator with versatility - Google Patents
A kind of controller of the digital electric-hydraulic servo actuator with versatility Download PDFInfo
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Abstract
The present invention is a kind of controller of the digital electric-hydraulic servo actuator with versatility.The controller includes：It is used as the dsp controller of controller core；Gather the feedback signal of the control instruction voltage inputted by voltage regulator on the guidance panel that is connected with dsp controller and pressurized strut position sensor, and by the data acquisition module of the signal transmission of collection to dsp controller；Receive the instruction of dsp controller and the waveform generating module to producing pressurized strut position sensor pumping signal；Receive the feedback signal of dsp controller transmission and the difference of control instruction as input signal and the circuit control module that controls computing to act on electrohydraulic servo valve；State to SOV magnetic valves is monitored, and with the SOV magnetic valve monitoring modules of dsp controller.The sinusoidal signal characteristic of linear displacement transducer output of the present invention, the sampling resolving computational methods to sinusoidal signal pass through experiment test, verify the feasibility of this method.
Description
Technical field
The invention belongs to electro-hydraulic servo actuator, particularly make for a kind of digital electric-hydraulic servo with versatility
The controller of dynamic device.
Background technology
Electro-hydraulic actuator, also known as steering wheel, are the conventional executing agencies in aircraft control system.It is according to computer export
Instruct and each control surface of aircraft is controlled, directly or indirectly.The core of electro-hydraulic actuator is a set of electrohydraulic servo system, electricity
Fluid servo system is also wide variety of a kind of hydraulic actuation system in flight actuating system.Electrohydraulic servo system is used as electric skill
The product that art and hydraulic technique are combined, combines speciality of both electric and hydraulic pressure, with control accuracy height, response speed
Hurry up, output power, signal transacting flexibly, the advantages of be easily achieved the feedback of various parameters.Therefore, it is commonly applied to load quality
The big occasion for requiring fast response time again, the steerable system of present generation aircraft, such as steering wheel, booster, artificial feel system etc. mostly uses
Electrohydraulic servo system.
In recent years, the progress of computer technology, microelectric technique, digital technology, the high performance controller such as DSP, ARM, PLC
Popularization and popularization, digital control technology is significantly easily achieved senior complicated control method with it, obtains quick, accurate
Control effect the advantages of, the rapid use scope for breaking through traditional analog controller, especially digital signal processor (DSP) exists
Breakthrough in function and disposal ability, largely improves the service behaviour of electrohydraulic servo system and realizes complex control
Ability so that the application of electrohydraulic servo system extends further to each industrial circle.
Electro-hydraulic servo control technology is the synthesis of hydraulic pressure and control theory, the emerging skill grown up as nearest decades
Art, has become control field important component.As the application of electrohydraulic servo system is to high-tech sectors such as Aero-Space
Extend, the control performance such as rapidity, stability to electrohydraulic servo system proposes higher requirement, and classical control theory is
The control requirement of complication system can not be met.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of digital electric-hydraulic servo actuator with versatility
Controller, realize to electro-hydraulic servo actuator fast and accurately position control.
The present invention is achieved in that
A kind of controller of the digital electric-hydraulic servo actuator with versatility, the controller includes：
It is used as the dsp controller of controller core；
Gather the control instruction voltage and work inputted by voltage regulator on the guidance panel that is connected with dsp controller
The feedback signal of dynamic cylinder position sensor, and by the data acquisition module of the signal transmission of collection to dsp controller；
Receive the instruction of dsp controller and the waveform generating module to producing pressurized strut position sensor pumping signal；
The difference of the feedback signal and control instruction that receive dsp controller transmission as input signal and controls computing to act on
In the circuit control module of electrohydraulic servo valve；
State to SOV magnetic valves is monitored, and with the SOV magnetic valve monitoring modules of dsp controller.
Further, the data acquisition module is by the positional information of the pressurized strut position sensor feedback of receiving and behaviour
Signal is amplified after the control instruction for making panel input, passed through after filtering after A/D is changed by the software in dsp controller
Algorithm calculates pressurized strut position sensor current location information and malfunction.
Further, the data acquisition module is believed magnitude of voltage and sine that control instruction is obtained after gathered data processing
Number voltage effective value.
Further, the handling process of the sinusoidal signal voltage effective value is：The digital quantity of collection is converted into correspondence
Analog voltage；
Least square solution is asked for using Row action method；
Ask for two-phase sinusoidal signal voltage signal magnitude；
Ask for two-phase sinusoidal signal voltage effective value；
Ask for two-phase voltage and value and two-phase voltage difference.
Further, the mistake of signal amplitude is resolved with Sine-Fitting method to sinusoidal signal voltage signal known to frequency
Journey includes：
The feedback signal collected is expressed as：
Wherein, sinusoidal frequency f is identical with exciting signal frequency,
To signal continuous sampling N number of cycle, the sampling period is △ T, n sampled point of sampling altogether, since each sampling
As start time, the sampled value of each sampled point is yi, this n sampled point all meet formula (2)
It is expressed as after the equation group vectorization that formula (2) is represented
Gn×2X2×1=Yn×1 (3)
In formula (3),
X is solved according to equation (3)1And x2Value, then the amplitude A for the sinusoidal signal sampled is
Meanwhile, seek out phase pushing figureFor
Further, asking for least square solution using Row action method includes：Row action method is obtained after resolving
The desired value of each sampled point is obtained by computing
Desired valueComparison with actual sample value y obtains abnormal point missed by a mile.
Further, circuit control module takes current control instruction and feedback information：
The departure e of the two is calculated,
The departure rate of change ec of the two is calculated,
Update deviation；
By departure e and departure rate of change ec obfuscations；
Inquiry fuzzy reasoning table obtains the change of controlled quentity controlled variable；
Current controlled quentity controlled variable is calculated using gravity model appoach；
Pid control computation is exported；
Into next controlling cycle.
Compared with prior art, beneficial effect is the present invention：
The present invention is devised with versatility according to the operation principle and the functional requirement of controller of electro-hydraulic servo actuator
The digital electric-hydraulic servo actuator using DSP as core controller group, the sinusoidal letter of linear displacement transducer output
Number characteristic, resolves computational methods to the sampling of sinusoidal signal and passes through experiment test, verify the feasibility of this method；
Present invention employs Self-tuning Fuzzy PID Control, routine has been carried out to simplified electrohydraulic servo system modeling
PID and Fuzzy PID Control Simulation experiment, comparative analysis, which is drawn using the PID control after Fuzzy self- turning, has more preferable control
Effect；
Brief description of the drawings
Fig. 1 is the circuit structure block diagram of controller provided in an embodiment of the present invention；
Fig. 2 is sinusoidal signal flow chart of data processing figure provided in an embodiment of the present invention；
Fig. 3 is fuzzy self-tuning recursion flow chart provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Referring to Fig. 1, the controller of the digital electric-hydraulic servo actuator with versatility, the controller includes：
It is used as the dsp controller of controller core；
Gather the control instruction voltage and work inputted by voltage regulator on the guidance panel that is connected with dsp controller
The feedback signal of dynamic cylinder position sensor, and by the data acquisition module of the signal transmission of collection to dsp controller；
Receive the instruction of dsp controller and the waveform generating module to producing pressurized strut position sensor pumping signal；
The difference of the feedback signal and control instruction that receive dsp controller transmission as input signal and controls computing to act on
In the circuit control module of electrohydraulic servo valve；
State to SOV magnetic valves is monitored, and with the SOV magnetic valve monitoring modules of dsp controller.
Dsp controller is the core of controller, and its major function is the control of pressurized strut circuit positions.Dsp controller will also
The monitoring to pressurized strut position sensor and electro-hydraulic actuating system working condition is realized, and according to controlling switch on controller panel
With the state of control instruction input, and actuator, the conversion and monitoring of mode are controlled.Meanwhile, dsp controller is also provided
The pumping signal and communication interface that waveform generator produces pressurized strut position sensor are used for location status and control instruction
Display.
Determined in the present embodiment, in controller chip type selecting in the TMS320C2000 series using TI companies
TMS320C28346 chips.
Data acquisition module inputs the positional information of the pressurized strut position sensor feedback of receiving and guidance panel
Signal is amplified after control instruction, through calculating work by the software algorithm in dsp controller after A/D is changed after filtering
Dynamic cylinder position sensor current location information and malfunction.
Data acquisition module is sampled to control instruction voltage and pressurized strut position sensor feedback signal, to hits
According to the magnitude of voltage and sinusoidal signal voltage effective value that control command is obtained after data processing.
Control instruction voltage is direct current signal, and pressurized strut position sensor is output as sinusoidal signal, and data sampling rate will be according to
Set according to sinusoidal signal frequency.According to nyquist sampling law, sample frequency at least should be greater than the two of frequency analog signal
Times.To sinusoidal signal, two sampled points of a cycle obviously can not ensure calculation accuracy, but sampling number can excessively expend greatly
System resource is measured, arithmetic speed is influenceed.By experimental test, for 1800Hz pressurized strut LVDT sinusoidal signals, a cycle adopts
20 sampled points of sample have A/D sample rates in preferable calculation accuracy and arithmetic speed, therefore program to be set to 36k, sampling number n=
20。
Sample frequency is controlled by the way of the interruption of timer clocked flip, and the timing of timer 0 is to then to system
Send and interrupt application, AD samplings are opened into interrupt routine.When sampling number is enough, then Off Timer, no longer applies interrupting,
Start to resolve the data of sampling.
(1) control signal sampled-data processing
Control instruction is DC voltage, takes the cumulative mean of n sampled value to be worth to control voltage VCommand_inFor：
(2) LVDT sampled-data processings
Because sampled value is that digital quantity is usual than larger, to prevent that data from overflowing in interative computation, sinusoidal signal amplitude
In calculating process, the value for being first converted to corresponding analog quantity is calculated again.Sinusoidal signal flow chart of data processing is
According to LVDT operation principles, the voltage effective value of sinusoidal signal is amplitudeTimes, two-phase LVDT feedback signals
Voltage difference can be used for calculating measurand position quantity, and value can then monitor LVDT most fault state.
The secondary voltage amplitude sum E of pressurized strut LVDT two are understood through experiment testO1+EO2Fluctuated in a fixed value,
So the secondary voltage amplitude sum up-and-down boundaries of pressurized strut LVDT two can be set according to the fixed value.
Referring to Fig. 2, the handling process of sinusoidal signal voltage effective value is：
The digital quantity of collection is converted into corresponding analog voltage；
Least square solution is asked for using Row action method；
Ask for two-phase sinusoidal signal voltage signal magnitude；
Ask for two-phase sinusoidal signal voltage effective value；
Ask for two-phase voltage and value and two-phase voltage difference.
Because pressurized strut LVDT is output as sinusoidal signal, sinusoidal signal need to be converted to discrete numeral by analog-digital converter
Signal, then make difference operation through pressurized strut positional information and the controlled quentity controlled variable needed for software demodulation is converted into.By LVDT efforts
Principle, sinusoidal signal amplitude information is sought out to LVDT output signals with regard to the displacement information that can be fed back.
The present invention derives a set of simple and easy to do sinusoidal magnitude value fast resolution algorithm, is according to the characteristic of sinusoidal signal
Adaptation more generalized occasion is used, and a kind of scheme based on solution linear equation is proposed in the present embodiment, passes through one group
Multiple sampled points set up equation group, calculate sinusoidal signal amplitude, and method is simple and effective.Derive as follows：
LVDT feedback sinusoidal signals are expressed as:
Y=Asin (ω t) (1)
The half-cycle integral of known sinusoidal signal and the linear dependency relations of amplitude A, then ask the signal that formula (1) is represented
The region area S1 that sine curve is constituted with transverse axis in a cycle is taken, is obtained by integration：
Assuming that the sinusoidal signal cycle that formula (1) is represented is T, to signal continuous sampling N number of cycle, the sampling period is △ T,
Sample altogether n sampled point, the sampled value of each sampled point is yi(i=1,2,3 ... n).Then have：
The average value of sampled signal：
Then the sampled sinusoidal signal of a cycle can be obtained with transverse axis compositing area area S2 by sampled value is cumulative：
In formula (4), to remove the influence for the variation being likely to occur in feedback signal transmission sampling process, each sampling
Point subtracts the summation that added up again after offset voltage (being represented with average voltage).In theory, in the case of sample rate infinite height
S1=S2.Actual sample rate is unable to infinite height, it is considered to actual requirement of engineering and software cost, can regard as when sample rate is enough：
S1 ≈ S2, then can be obtained by formula (2) and formula (4)：
There are ω T=2 π, and NT=n Δs T again.Arrangement formula (5) can obtain sinusoidal signal amplitude expression：
In formula (6), sinusoidal signal amplitude is only relevant with the accumulated value and sampling number of collection capacity, not special in sampling number
In the case of big, accumulating operation is easily achieved.
Party's genealogy of law test data result is as shown in table 1：
The sinusoidal signal amplitude of table 1 resolves test data
The resolving is simple and easy to do, can quickly calculate sinusoidal signal amplitude.But sampling of the calculation method to being disturbed
The no resolving ability of point, sampled signal by ectocine less in the case of then above-mentioned demodulation method disclosure satisfy that system requirements.
In order that algorithm has stronger adaptability, more stable amplitude calculation result is obtained, is proposed again herein a kind of based on sinusoidal plan
The amplitude calculation method of conjunction, disclosure satisfy that amplitude resolves demand and distinguished and missed by a mile in sampled point and deal with.
Consider general sinusoidal signal form, the signal as formula (1) is represented is represented by
Wherein, sinusoidal frequency f is identical with exciting signal frequency.
Assuming that same to signal continuous sampling N number of cycle, the sampling period is △ T, n sampled point of sampling altogether, from each
Sampling is initially as start time, and the sampled value of each sampled point is yi, this n sampled point all meet formula (8)
It is expressed as after the equation group vectorization that formula (8) is represented
Gn×2X2×1=Yn×1 (9)
In formula (9),
X can be solved according to equation (9)1And x2Value, then the amplitude A for the sinusoidal signal sampled is
Simultaneously, moreover it is possible to seek out phase pushing figureFor
To 20 data points of a sinusoidal signal cycle continuous sampling, the equation for the equation group being made up of 20 sampled points
Number is much larger than unknown quantity number, it is clear that can not draw accurate solution, it is therefore desirable to seek the generalized solution of equation group.
The equation group that equation number is more than unknown quantity is referred to as over-determined systems.The conventional solution of over-determined systems is the side of asking for
The least square solution of journey group.
The definition of least square solution introduces residual error function：
R=Y-GX (12)
The solution X* for making the 2- Norm minimums of residual error function is equation group GX=Y least square solution.I.e.
If X* is GTGX=GTY solution, then X* is over-determined systems GX=Y least square solution.Proof procedure is as follows：
It is G by X*TGX=GTY solution, has
GT(Y-GX*)=0 (14)
To arbitrary n-dimensional vector X, have
(X*-X)GT(Y-GX*)=0 (15)
Residual error function 2- norm squared function representations are
Inner product is utilized on the right of formula (16), convolution (14) and formula (15) can be obtained
It can draw
And if only if X=X*When, the equal sign of formula (18) is set up, so can be derived that X* is GX=Y least square solution
Conclusion.
If X* is GX=Y least square solution, i-th of component that formula (12) is represented can be expressed as
It is by residual error function 2- norm squared function representations
X* is function I (X) minimum point, and the necessary condition for seeking extreme value by the function of many variables is known：
Arrangement formula can be obtained after (21)
It is expressed as with matrix form
GTGX=GTY (23)
I.e. when X* is GX=Y least square solution, X* meets normal equation group GTGX=GTY。
The necessary and sufficient condition that above procedure demonstrates the least square solution that X* is GX=Y is that X* is GTGX=GTY solution, therefore
The least square solution of over-determined systems is converted into the system of linear equations G that asked regularTGX=GTY accurate solution, as coefficient matrix GTG
Reversible, normal equation group has unique solution, and form is expressed as below
X=(GTG)-1GTY (24)
The least square solution for solving over-determined systems uses Row action method：
1) initialize
Appoint and take X0∈Rn
Z0=AX0
X=X0 (25)
2) column space iterative method
Z(K+1)=ZK+tiTi
Xi=Xi+ti
K=0,1,2 ...
I=Kmod (n)+1 (26)
3) stopping criterion for iteration
|ti|≤ε (i=1,2 ... n)
X*=X
To known to system of linear equations GX=Y, G and Y value, it is desirable to take suitable X values.TiRepresent G the i-th column vector, XiTable
Show X i-th of component, 0 ＜ ε ＜ 1 are given solving precision, X*For final result of calculation, according to Row action method, solve super
The software for determining the least square solution of equation group realizes that flow is as follows.
Parameter initially sets primary iteration value, dimension of solving precision and input matrix etc..
Initialization function Void Initinput (float*head, int n) formula (25) are inputted by coefficient matrices A and n
The augmented matrix of individual sampled value composition, is stored in array.
Iteration function void diedai (void) (interative computation that formula 2-30 whole process just refers to).Using
The Z calculatedK(ZKMiddle parameter, eventually for reckoning X)) calculate ZK+1, until reaching stopping criterion for iteration, interative computation knot
Beam, obtains operation result output least square solution X*.
Obtained after being resolved according to Row-Action algorithm
The desired value of each sampled point is obtained by computing
Desired valueWith actual sample value yiComparison can analyze the precision of the calculation method, in addition, sampled point by
Point, which compares, can also obtain abnormal point missed by a mile, and the effect of optimization sampled data points is there is provided to a certain degree, is being adopted
Sample signal occurs having more preferable calculation accuracy in the case of interference.
1800Hz sinusoidal waveform is produced by signal generator, drives outside ADC to be sampled by TMS320C28346
Resolve, different amplitude calculation results are as shown in table 2：
Amplitude of the table 2 based on solution linear equation resolves test data
Proof of algorithm result shows that the linear equation based on Sine-Fitting, which is resolved, asks for sinusoidal signal amplitude tool known to frequency
Have low to hardware requirement condition, flexibility ratio is high, greatlys save system switching cost.
In the present embodiment, referring to Fig. 3, the handling process of circuit control module is：
Take current control instruction and feedback information：
The departure e of the two is calculated,
The departure rate of change ec of the two is calculated,
Update deviation；
By departure e and departure rate of change ec obfuscations；
Inquiry fuzzy reasoning table obtains the change of controlled quentity controlled variable；
Current controlled quentity controlled variable is calculated using gravity model appoach；
Pid control computation is exported；
Into next controlling cycle.
Present invention employs Fuzzy Self-Tuning PID Controller, Fuzzy Self-Tuning PID Controller is basic with fuzzy mathematics
Theoretical and method, by the condition of rule and operation with fuzzy set representations, and using these fuzzy control rules and for information about as
Knowledge deposit computer literacy storehouse, then computer is according to the real response situation of control system, and with fuzzy reasoning, realization is certainly
The optimum apjustment of dynamic pid parameter.
The value of the continuous on-line checking error e of Fuzzy Self-Tuning PID Controller and error rate ec, and pushed away according to certain
Reason rule, rule searching table seeks current optimal output parameter.Single argument fuzzy controller controlled variable is error e,
It is that error e and error rate ec two are measured to input, and is output as three parameter, Δ K of PID controllerp、ΔKi、ΔKd。
(2) obfuscation of variable
Electrohydraulic servo system fuzzy controller input variable is error rate, and the fuzzy subset of input quantity is defined as：
E, ec=it is negative big, and it is negative small in bearing, zero, just small, center is honest }={ NB, NM, NS, ZO, PS, PM, PB }.
E, ec={ -3, -2, -1,0,1,2,3 }
Output variable Kp, Ki, Kd fuzzy subset are defined as：
Kp, Ki, Kd={ NB, NM, NS, ZO, PS, PM, PB }.
Will output pid parameter increment Delta Kp、ΔKi、ΔKdExcursion be respectively defined as domain in fuzzy set：
ΔKp, Δ Ki={ -3, -2, -1,0,1,2,3 }
ΔKd={ -0.06, -0.04, -0.02,0,0.02,0.04,0.06 }
Fuzzy controller is micro adjusting, when systematic error e, error rate ec values are larger, is directly adjusted using PID
Section device characteristic is adjusted, when the deviation of output valve and set-point is gradually decreased in the range of Indistinct Input amount domain, Fuzzy Control
Device processed starts device adjustment effect.
(2) fuzzy reasoning and defuzzification
The determination of fuzzy rule is generally based on the practical experience of engineers and technicians, true according to systematic error and error rate
Fixed corresponding Δ Kp、ΔKi、ΔKdControl parameter.
The a stages：The controlled parameter rapid increase stage, in this course, deviation e>0, deviation variation rate ec<0 and | ec
| gradually increase.
B-stage：This stage, deviation e and deviation variation rate ec was respectively less than zero, and was gradually reduced.
The c stages：In this course, system output value reduces, deviation e<0, | e | it is gradually reduced, change of error ec>0.
The d stages：System output value is less than set-point and is gradually reduced, deviation e>0 and become larger, change of error ec>0 simultaneously
It is gradually reduced.
For different e and ec, with reference to pid control parameter Kp、Ki、KdEffect, the establishment principle of fuzzy rule is as follows：
When | e | when larger, to make system that there is preferable tracking performance, larger Δ Kp and less Δ Kd should be taken, together
When be to avoid system response from larger overshoot occur, integral action should be gradually reduced.
As | e | and | ec | during median size, to make system that there is less overshoot, Δ Kp should take it is smaller, while Δ Kd
Influence of the value to system it is larger, should take smaller, Δ Ki value is appropriate.
When | e | when smaller, to make system have good stability, Δ Kp and Δ Ki all should take greatly, while to keep away
Exempt from system to shake near setting value, and consider the interference free performance of system, Δ Kd value is particularly significant, when | ec | compared with
When big, Δ Kd can use smaller；| ec | when smaller, Δ Kd can use more larger
According to the following fuzzy reasoning table of above Rulemaking
Output quantity Kp fuzzy reasoning tables are as follows：
According to above-mentioned rule list, it can be deduced that 49 fuzzy control rules are as follows：
1.If(e is NB)and(ec is NB)then(Kpis PB)(Kiis NB)(Kdis PS)；
2.If(e is NB)and(ec is NM)then(Kpis PB)(Kiis NB)(Kdis NS)；
3.If(e is NB)and(ec is NS)then(Kpis PM)(Kiis NM)(Kdis NB)；
……
49.If(e is PB)and(ec is PB)then(Kpis NB)(Kiis PB)(Kdis PS)。
Fuzzy rule above obtains fuzzy output amount, conventional fuzzy reasoning side by specific fuzzy reasoning method
Method uses Mamdani methods, that is, takes small method.
By calculating current system error e and error rate ec, according to the degree of membership for each fuzzy subset having built up
With each parameter fuzzy Controlling model, the fuzzy matrix table of PID corrected parameters is designed using fuzzy algorithmic approach reasoning, corrected parameter is found
Bring following formula calculating into and obtain new pid parameter value.
A, b, c refer to correction factor (correction factor, or be correction coefficient)
Simulink system simulation models of the invention based on the electro-hydraulic position servo system model buildings after simplification.System
Response curve show that fuzzy-adaptation PID control is adjusted compared to simple PID, and combining the fuzzy-adaptation PID control of fuzzy theory has
More preferable control performance, disclosure satisfy that higher precision system requirements, especially in the system of practical application, fuzzy control can
There is stronger adaptability to non-linear present in system, time-varying characteristics.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent and improvement made within refreshing and principle etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of controller of the digital electric-hydraulic servo actuator with versatility, it is characterised in that the controller includes：
It is used as the dsp controller of controller core；
Gather the control instruction voltage inputted by voltage regulator on the guidance panel that is connected with dsp controller and pressurized strut
The feedback signal of position sensor, and by the data acquisition module of the signal transmission of collection to dsp controller；
Receive the instruction of dsp controller and the waveform generating module to producing pressurized strut position sensor pumping signal；
The difference of the feedback signal and control instruction that receive dsp controller transmission as input signal and controls computing to act on electricity
The circuit control module of hydraulic servo；
State to SOV magnetic valves is monitored, and communicates the SOV magnetic valve monitoring modules being connected with dsp controller.
2. according to the controller of the digital electric-hydraulic servo actuator with versatility described in claim 1, it is characterised in that
The data acquisition module inputs the positional information of the pressurized strut position sensor feedback of receiving and guidance panel
Signal is amplified after control instruction, through calculating work by the software algorithm in dsp controller after A/D is changed after filtering
Dynamic cylinder position sensor current location information and malfunction.
3. according to the controller of the digital electric-hydraulic servo actuator with versatility described in claim 1 or 2, its feature exists
In magnitude of voltage and sinusoidal signal voltage effective value of the data acquisition module to acquisition control instruction after gathered data processing.
4. according to the controller of the digital electric-hydraulic servo actuator with versatility described in claim 3, it is characterised in that
The handling process of the sinusoidal signal voltage effective value is：The digital quantity of collection is converted into corresponding analog voltage；
Least square solution is asked for using Row action method；
Ask for two-phase sinusoidal signal voltage signal magnitude；
Ask for two-phase sinusoidal signal voltage effective value；
Ask for two-phase voltage and value and two-phase voltage difference.
5. according to the controller of the digital electric-hydraulic servo actuator with versatility described in claim 4, it is characterised in that
The process that sinusoidal signal voltage signal known to frequency resolves signal amplitude with Sine-Fitting method is included：
The feedback signal collected is expressed as：
Wherein, sinusoidal frequency f is identical with exciting signal frequency,
To signal continuous sampling N number of cycle, the sampling period is △ T, n sampled point of sampling altogether, from sample every time initially as
Start time, the sampled value of each sampled point is yi, n sampled point all meet following formula：
It is expressed as after the equation group vectorization that formula (2) is represented
Gn×2X2×1=Yn×1 (3)
In formula (3),
X is solved according to equation (3)1And x2Value, then the amplitude A for the sinusoidal signal sampled is
Meanwhile, seek out phase pushing figureFor
6. according to the controller of the digital electric-hydraulic servo actuator with versatility described in claim 4, it is characterised in that
Asking for least square solution using Row action method includes：Row action method is obtained after resolving
The desired value of each sampled point is obtained by computing
Desired valueComparison with actual sample value y obtains abnormal point missed by a mile.
7. according to the controller of the digital electric-hydraulic servo actuator with versatility described in claim 1, it is characterised in that
Circuit control module takes current control instruction and feedback information：
The departure e of the two is calculated,
The departure rate of change ec of the two is calculated,
Update deviation；
By departure e and departure rate of change ec obfuscations；
Inquiry fuzzy reasoning table obtains the change of controlled quentity controlled variable；
Current controlled quentity controlled variable is calculated using gravity model appoach；
Pid control computation is exported；
Into next controlling cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223109.5A CN106959611A (en) | 2017-04-07 | 2017-04-07 | A kind of controller of the digital electric-hydraulic servo actuator with versatility |
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| CN113494931A (en) * | 2021-06-01 | 2021-10-12 | 中国航空工业集团公司沈阳飞机设计研究所 | Digital demodulation method and device for LVDT or RVDT signals |
| CN114355842A (en) * | 2021-12-28 | 2022-04-15 | 中国航空工业集团公司北京长城航空测控技术研究所 | Position and force control switching method and system for electro-hydraulic servo loading system |
| IT202000030794A1 (en) * | 2020-12-15 | 2022-06-15 | Bereva S R L | APPARATUS FOR THE AUTOMATIC CONTROL OF THE FLOW RATE OF A FLUID FLOWING ALONG A DUCT AND REFRIGERATION OR COOLING SYSTEM INCLUDING THE ABOVEMENTIONED APPARATUS |
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| IT202000030794A1 (en) * | 2020-12-15 | 2022-06-15 | Bereva S R L | APPARATUS FOR THE AUTOMATIC CONTROL OF THE FLOW RATE OF A FLUID FLOWING ALONG A DUCT AND REFRIGERATION OR COOLING SYSTEM INCLUDING THE ABOVEMENTIONED APPARATUS |
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| CN114355842A (en) * | 2021-12-28 | 2022-04-15 | 中国航空工业集团公司北京长城航空测控技术研究所 | Position and force control switching method and system for electro-hydraulic servo loading system |
| CN114355842B (en) * | 2021-12-28 | 2024-03-15 | 中国航空工业集团公司北京长城航空测控技术研究所 | Position and force control switching method and system of electrohydraulic servo loading system |
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