CN108679042B - Optimization method of diving suit tightness detection automatic control system - Google Patents

Optimization method of diving suit tightness detection automatic control system Download PDF

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CN108679042B
CN108679042B CN201810482352.3A CN201810482352A CN108679042B CN 108679042 B CN108679042 B CN 108679042B CN 201810482352 A CN201810482352 A CN 201810482352A CN 108679042 B CN108679042 B CN 108679042B
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cylinder
control system
piston
diving suit
control
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CN108679042A (en
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唐铃凤
蒋秦帅
随和
谢鹏飞
郭富城
李亚飞
张振
湛洪
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Anhui Polytechnic University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

Abstract

The invention discloses an optimization method of an automatic control system for detecting the sealing performance of a diving suit, which relates to the field of quality detection of diving suits.

Description

Optimization method of diving suit tightness detection automatic control system
Technical Field
The invention relates to the field of quality detection of diving suits, in particular to an identification direction of sealing performance detection, and particularly relates to an optimization method of an automatic control system of the sealing performance detection of a diving suit.
Background
Diving gradually becomes a leisure sport which takes underwater activities as main content, thereby achieving the purposes of body exercising and leisure and entertainment, and is widely popular. The benefits of diving not only lie in the tremendous enjoyment of the wonder world in water by the human mind, but more importantly, the ability to enhance and improve the cardio-pulmonary function of the human body, and diving sports are even used as an aid in the treatment of cancer in the united states and japan. According to scientific demonstration, the balanced pressure of water on a human body is beneficial to blood circulation, and long-time underwater oxygen inhalation can effectively kill cancer cells and inhibit the diffusion of the cancer cells. The most annoying thing for each diver to go to the diving step is the choice of equipment in addition to psychological concerns. And with the popularization of technical diving and the consideration of the characteristics of Chinese geographical positions, potential points with good visibility are basically in high lakes or underground caves, the water temperature is usually low, and clothes drying is more indispensable to divers. The water is prevented from entering, the air in the dry clothes can slow down the spread of heat, and the dry clothes can be worn with warm clothes, thus being beneficial to keeping the body temperature, reducing the air consumption of respiration, reducing the risk of decompression sickness and reducing the feeling of fatigue; as a spare buoyancy device, the safety is improved. The diving suit is used as necessary equipment for diving, and the air tightness of the diving suit directly influences the life safety of diving personnel moving underwater.
In some diving equipment factories, detection equipment for sealing devices such as diving suits still old and backward fall, the diving suits are clamped only by manually controlling the air cylinders, the detection efficiency is low, the speed is low, and the manpower waste is serious. And the control precision is low, the stability is poor, the result is not accurate enough, and the flow of the detection work is limited.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an optimization method of an automatic control system for detecting the sealing performance of a diving suit, and the optimization of the automatic control method is realized through pole allocation.
The technical scheme includes that the optimization method of the automatic control system for detecting the sealing performance of the diving suit comprises the steps that the position of an input ideal cylinder inner piston is compared with the actual piston position detected by a displacement sensor, a difference signal is calculated through a control algorithm of P L C, then an analog signal is obtained through a power amplifier, the analog signal is used for controlling an electric proportional valve, the electric proportional valve controls an air cylinder, a piston rod in the air cylinder moves, a clamping plate is driven to clamp, and the diving suit is clamped.
The specific optimization steps of the control algorithm are as follows:
establishing a relation between the position of a piston in an ideal cylinder and the displacement of the piston of the cylinder to form a transfer function;
step two, obtaining a pneumatic servo system valve control cylinder closed-loop model by utilizing the relational expression in the step one and combining the set constant setting;
thirdly, a closed-loop spatial expression of the diving suit sealing detection position control system is obtained through a pneumatic servo system valve control cylinder closed-loop model;
selecting a pole of an ideal control system as an expected pole according to the existing pneumatic servo control system;
and step five, solving a feedback gain matrix K by using pole allocation so as to enable the system state to reach the expected system state.
In the method, the relationship between the position of the piston in the ideal cylinder and the displacement of the piston in the cylinder in the step one is as follows:
Figure BDA0001665860540000021
in the formula: y is an output signal indicating the displacement of the piston of the cylinder;
u is a control signal indicating the position of the piston in the ideal cylinder;
omega is a natural frequency, and the natural frequency reflects the response speed of the control system;
s is a complex variable;
ξ is damping ratio;
K1for open loop gain, K1The system response speed is increased, and the control precision is improved.
In the method, the closed loop state space expression of the automatic control system for detecting the sealing performance of the diving suit in the third step is as follows:
Figure BDA0001665860540000022
is that
Figure BDA0001665860540000023
Figure BDA0001665860540000024
In the formula: x is the number of1、x2、x3Is a state vector
Figure BDA0001665860540000025
A is the system matrix, b is the control matrix, C is the output matrix, and u is the control signal.
The invention has the beneficial effects that: according to the invention, through the pole allocation of the diving suit tightness detection automatic control system, the state feedback is carried out on the system, the state feedback matrix K of the control system is obtained, and after the state feedback matrix K exists, the control system achieves the expected excellent system from the existing poor system. The arrangement of the poles of the so-called diving suit tightness detection automatic control system is to make the given system poles in the expected positions, because the system poles determine the stability and dynamic quality of the system. The expected pole is the best control system pole checked by time, and the system with poor control system performance is changed into a system with good control characteristics through state feedback, so that the system is optimized.
Drawings
The contents of the drawings and the reference numerals in the drawings are briefly described as follows:
FIG. 1 is a wetsuit clamp according to an embodiment of the present invention.
FIG. 2 is an apparatus schematic of an automatically controlled detection system according to an embodiment of the present invention.
FIG. 3 is a functional block diagram of an automatically controlled detection system in accordance with an embodiment of the present invention.
FIG. 4 is a block diagram of a pole placement system in accordance with an embodiment of the present invention.
FIG. 5 is a step response diagram for a control system incorporating optimization in accordance with an embodiment of the present invention.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
The invention provides an optimization method of an automatic control system for detecting the sealing performance of diving suits, which is applied to the automatic control system, as shown in figure 1-2, the system comprises an upper clamping plate 1, a lower clamping plate 2, a piston rod 3, a cylinder 4, a displacement sensor 5, an electric proportional valve 6, a power amplifier 7 and an ideal cylinder piston position input by the P L C8. and an actual piston position detected by the displacement sensor, a difference signal is calculated by a control algorithm through the P L C8, then an analog signal is obtained through the power amplifier 7, the signal is used for controlling the electric proportional valve 6, and the electric proportional valve 6 controls the cylinder 4 to move the piston rod 3 in the cylinder 4 to drive the clamping plates 1 and 2 to clamp so as to achieve the effect of clamping the diving suits.
Referring to fig. 3-4, the optimization method of the automatic control system for sealing detection of diving suit explains the principle of the automatic control system for sealing detection of diving suit and the signal state diagram after system optimization. The optimization method of the diving suit sealing detection automatic control system comprises the following steps:
step one, the relation between input u and output y of the system is as follows:
Figure BDA0001665860540000031
in the formula: y is an output signal indicating the displacement of the piston of the cylinder;
u is a control signal indicating the position of the piston in the ideal cylinder;
Figure BDA0001665860540000032
is a natural frequency, naturalThe frequency reflects the response speed of the control system;
s is a complex variable;
Figure BDA0001665860540000041
is the damping ratio;
Figure BDA0001665860540000042
for open loop gain, K1The system response speed is increased, and the control precision is improved;
k is specific heat ratio, k is 1.4 for air, and k is for gas in left and right chambers of cylinderq1、kq3＝1.4；
P1、P2The gas pressures of the left cavity and the right cavity of the cylinder are respectively;
A1、A2effective acting areas of pistons in the left cavity and the right cavity of the cylinder are respectively;
V1、V2the volume (m) of gas in two cavities of the left cavity and the right cavity of the cylinder respectively3)；
M is the mass (kg) of gas in the cylinder;
kvis the coefficient of viscous kinetic friction;
r is gas constant (J/kg · k), where R is 287;
T1、T2is the absolute temperature of the gas in the left cavity and the right cavity of the cylinder.
Step two, the specific data of the automatic control system for detecting the sealing performance of a certain diving suit are as follows:
Figure BDA0001665860540000043
the data are substituted into the system, and the valve control cylinder closed-loop model of the pneumatic servo system can be obtained as follows:
Figure BDA0001665860540000044
a1is s is2The coefficient of (a);
a2a coefficient of s;
a3a coefficient that is a constant term;
g(s) is a system transfer function, which is a simplified formula of step one.
And step three, obtaining a closed-loop state space expression of the diving suit sealing detection position control system by a pneumatic servo system valve control cylinder closed-loop model:
Figure BDA0001665860540000051
is that
Figure BDA0001665860540000052
Figure BDA0001665860540000053
In the formula: x is the number of1、x2、x3Is a state vector
Figure BDA0001665860540000054
Three components of (a). A is a system matrix, b is a control matrix, C is an output matrix, and u is a control signal.
Step four, selecting a pole lambda of an ideal control system according to the existing pneumatic servo control system1 *，
Figure BDA0001665860540000055
To expect a pole, this expected pole
Figure BDA0001665860540000056
And step five, solving a state feedback gain matrix K to enable the system state to reach the expected system state.
Figure BDA0001665860540000057
Then [ b Ab A2b]Rank [ b Ab A ]2b]Rank is the order of the system, so a given system is likeThe state is fully controllable, closed-loop characteristic values can be configured at will through state feedback control, and a state feedback gain matrix K is obtained.
5.1 obtaining a system closed loop characteristic equation from det (sI-A)
Figure BDA0001665860540000058
I is the identity matrix and det (sI-A) is the value of determinant (sI-A).
5.2, setting the expected pole lambda1 *，
Figure BDA0001665860540000059
Substitution into
Figure BDA00016658605400000510
Obtaining desired closed-loop characteristic equation
Figure BDA0001665860540000061
In the formula
Figure BDA0001665860540000062
Are coefficients of different powers s in the closed-loop characteristic equation.
5.3, subtracting the same power coefficient in the expected closed-loop characteristic equation and the closed-loop characteristic equation of the system to obtain a state feedback gain array
Figure BDA0001665860540000063
5.4 constructing an expression of the controllable matrix
Figure BDA0001665860540000064
5.5, taking the inverse of the above formula Q, P ═ Q-1。
5.6, is prepared from
Figure BDA0001665860540000069
Multiplying by P to obtain a state feedback gain matrix
Figure BDA00016658605400000610
5.7 from1＝129.3,a2＝1333.3,a3＝28667。
Figure BDA0001665860540000065
Substituting the above formula to obtain a state feedback gain matrix;
Figure BDA00016658605400000611
get a new system
Figure BDA0001665860540000066
Referring to fig. 4, the system is arranged by detecting the pole allocation of the automatic control system through the tightness of the diving suit
Figure BDA0001665860540000067
Adding a state feedback u ═ v-K to obtain
Figure BDA0001665860540000068
The response characteristic of the system is determined by the eigenvalue of the closed-loop system matrix A-bK, and the matrix K is properly selected, so that the matrix A-bK can form an asymptotic stable matrix. The eigenvalues of the matrix a-bK are the poles of the closed loop system. The problem of arbitrarily positioning the poles of the closed-loop system to the desired positions. The system pole determines the stability and dynamic quality of the system. The expected system pole is the best control system pole checked by time, and is obtained after state feedback, so that the originally unstable system becomes a system with good control characteristics, and the system is optimized.
As can be seen from fig. 5, after the system simulation model is established, a step response curve of the system is obtained, and if there is a step response curve, the response time of the original system is long and the stability of the system is poor. After the pole of the automatic control system for detecting the sealing performance of the diving suit is configured, the response time of the system is shortened, and the control system has no overshoot, so that the automatic control system for detecting the sealing performance of the diving suit is better optimized, the clamping performance of the diving suit is improved, the system has shorter reflection time, the system has high precision and the system has less energy consumption.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification. The protection scope of the present invention shall be subject to the protection scope defined by the claims.

Claims (3)

1. An optimization method of an automatic control system for detecting the sealing performance of a diving suit is characterized in that an input ideal cylinder piston position is compared with an actual piston position detected by a displacement sensor, a difference signal is calculated through a control algorithm P L C (8), then an analog signal is obtained through a power amplifier (7), the analog signal is used for controlling an electric proportional valve (6), the electric proportional valve (6) controls a cylinder (4), a piston rod (3) in the cylinder (4) moves to drive a clamping plate to clamp the diving suit, and the control algorithm specifically comprises the following steps:
establishing a relation between an input ideal cylinder piston position and cylinder piston displacement to form a transfer function;
step two, obtaining a closed-loop model of a valve control cylinder of the pneumatic servo system by utilizing the relational expression in the step one and combining the set constant;
thirdly, a closed-loop spatial expression of the diving suit sealing detection position control system is obtained through a pneumatic servo system valve control cylinder closed-loop model;
selecting a pole of an ideal control system as an expected pole according to the existing pneumatic servo control system;
and step five, solving a feedback gain matrix K by using pole allocation so as to enable the system state to reach the expected system state.
2. The method for optimizing the automatic control system for detecting the sealing performance of the diving suit according to claim 1, wherein in the first step, the relationship between the position of the piston in the ideal cylinder and the displacement of the piston in the cylinder is as follows:
Figure FDA0002320840560000011
in the formula: y is an output signal indicating the displacement of the piston of the cylinder;
u is a control signal indicating the position of the piston in the ideal cylinder;
omega is a natural frequency, and the natural frequency reflects the response speed of the control system;
s is a complex variable;
ξ is damping ratio;
K1for open loop gain, K1The system response speed is increased, and the control precision is improved.
3. The optimization method of the automatic control system for sealing detection of diving suit according to claim 1, characterized in that the closed loop state space expression of the automatic control system for sealing detection of diving suit in the third step is:
Figure FDA0002320840560000021
is that
Figure FDA0002320840560000022
Figure FDA0002320840560000023
In the formula: x is the number of1、x2、x3Is a state vector
Figure FDA0002320840560000024
A system matrix, b a control matrix, C an output matrix,u is a control signal.
CN201810482352.3A 2018-05-18 2018-05-18 Optimization method of diving suit tightness detection automatic control system Expired - Fee Related CN108679042B (en)

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