CN109213002B - Nonlinear dynamic inverse control variable amplitude speed regulation system simulation model and method - Google Patents
Nonlinear dynamic inverse control variable amplitude speed regulation system simulation model and method Download PDFInfo
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Abstract
The invention discloses a nonlinear dynamic inverse control variable-amplitude speed regulation system simulation model and a nonlinear dynamic inverse control variable-amplitude speed regulation system simulation method, which adopt a MATLAB-based process speed regulation control system-oriented modeling method and an Adams-based multi-rigid-body motion analysis variable-amplitude working mechanism modeling method.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment and computers, relates to a simulation model and a simulation method for a crane variable-amplitude speed regulation system, and particularly relates to a simulation model and a simulation method for a variable-amplitude speed regulation system suitable for nonlinear dynamic inverse control of a gantry crane.
Background
The amplitude variation mode of the crane comprises a trolley type amplitude variation mechanism and a swing arm frame type amplitude variation mechanism, wherein the rotating speed of an amplitude variation motor in the trolley type amplitude variation mechanism and the amplitude variation speed of the crane are in a fixed linear relation, and the relation between the rotating speed of the amplitude variation motor of the swing arm frame type amplitude variation mechanism and the amplitude variation speed of the crane is nonlinear: the amplitude variation speed of the same motor rotating speed is changed in a nonlinear mode under different amplitudes. In recent years, people have higher and higher requirements on the amplitude variation performance of the swing arm frame type crane, and the traditional simple open loop type speed regulation mode is gradually replaced by a new intelligent control mode. Under a new control mode, the speed regulation of the amplitude variation mechanism is not completely independent of the current amplitude, the stability of the amplitude variation speed in the amplitude variation process is not limited by a driver according to the experience and the amplitude, but an inverse model controller is connected outside an open-loop amplitude variation transmission and speed regulation system in series, the controller senses the current amplitude at any time and compensates the system input according to the current amplitude, so that the cantilever type amplitude variation mode has linear amplitude variation performance almost equivalent to that of a trolley type amplitude variation mode, and the driver obtains the 'set and obtained' amplitude variation speed regulation performance through an operating handle. Therefore, the luffing speed regulation control system of the jib crane becomes very complex, and the accuracy and the reasonability of the design and development of the control system are difficult to be completely ensured through less design period. On one hand, the establishment of the inverse model in the nonlinear dynamic inverse control variable amplitude speed regulating system needs complicated derivation and necessary simplification, and the performance of the system is very sensitive to the modeling error of the model; on the other hand, in order to further improve the control performance of the system, an attempt to add a compensation link such as a PID type may be required in the system, and the feasibility of the compensation link cannot be guaranteed in advance. Therefore, for the development practice of the variable-amplitude speed regulation system with nonlinear dynamic inverse control, it is urgently needed to check whether the establishment of the inverse model is correct or not, whether a special compensation regulator achieves the expected effect or not, whether the integral variable-amplitude performance is satisfactory or not and the like through a simulation method after the design of the control system is initially completed.
Disclosure of Invention
In order to solve the technical problem, the invention provides a nonlinear dynamic inverse control variable amplitude speed regulation system simulation model and a nonlinear dynamic inverse control variable amplitude speed regulation system simulation method.
The technical scheme adopted by the model of the invention is as follows: a nonlinear dynamic inverse control variable amplitude speed regulation system simulation model is characterized in that: comprises a speed regulating system model and a luffing mechanism model;
the speed regulating system model simulation object comprises a control handle, a dynamic inverse model series compensator, a PID regulator, a frequency converter and a variable amplitude motor which are sequentially connected, and further comprises an encoder, a feedback device and a transmitting device which are used for measuring the rotating speed of a variable amplitude motor rotor and the absolute rotation angle of the variable amplitude motor rotor; the encoder feeds back the actual rotating speed to the PID regulator through the feedback device, and then the given frequency of the frequency converter is regulated; the encoder also transmits the actual absolute rotation angle to the dynamic inverse model series compensator through the transmitting device, and further performs series compensation on an input signal generated by the control handle; during simulation, the actual rotating speed is consistent with the output rotating speed of the variable amplitude motor, and the actual absolute rotating angle is obtained by integrating the output rotating speed of the variable amplitude motor;
the object of the amplitude-changing mechanism model simulation is a working mechanism for realizing the amplitude-changing function behind an output shaft of an amplitude-changing motor, and the amplitude-changing mechanism model simulation comprises an amplitude-changing gear rack transmission pair and a four-connecting-rod combined arm support;
the simulation model directly refers to a dynamic inverse model series compensator expressed by a mathematical model in the variable-amplitude speed regulating system, simulates a key controlled object frequency converter, a variable-amplitude motor, an encoder, a feedback device and a transmitting device by a mathematical link, and simulates a variable-amplitude mechanism by an Adams model;
the simulation model deduces a transfer function of each link or establishes a proper mathematical equation through the connection among different links and the characteristics of each link;
the links comprise an inverse model series compensation link, a PID compensation link, an equivalent electrical transmission link of a frequency converter and a variable frequency variable amplitude motor, and the influence of the variable speed action of an Adams model of an amplitude variation mechanism on the delay, overshoot and deviation caused by the amplitude variation speed regulation of the portal crane;
the input variable of the simulation model is a proportional signal generated by a control handle and represents an expected variable amplitude speed, and the output variable of the simulation model is an actual variable amplitude speed.
The method adopts the technical scheme that: a nonlinear dynamic inverse control variable amplitude speed regulation system simulation method is characterized by comprising the following steps:
step 1: determining an input variable as a desired luffing velocity V produced by a steering handleh0The output variable is the actual amplitude variation speed V determined by the motion state of the amplitude variation mechanism Adams modelhDetermining the interaction relation among links according to the input and the output of the speed regulating system, and constructing an object control flow;
step 2: customizing an input signal;
and step 3: establishing a mathematical model of an inverse model series compensation link according to an approximate dynamic inverse model in the actual variable amplitude speed regulating system;
and 4, step 4: establishing a simulation model of the frequency converter, and determining a transfer function of the link;
and 5: establishing a simulation model of the variable amplitude motor, and determining a transfer function of the link;
step 6: establishing a simulation model of the amplitude variation motor rotor absolute rotation angle measuring and transmitting device, and determining a transfer function of the link;
and 7: setting parameters of the PID regulator to obtain various parameters of the PID regulator;
and 8: establishing an Adams model of the luffing mechanism model;
and step 9: and connecting the speed regulating system model with the Adams model of the luffing mechanism model to form a complete simulation model for simulation.
The crane nonlinear dynamic inverse control variable-amplitude speed regulation system simulation model established according to the method can be directly applied to an SIMLINK module and an Adams simulation platform in MATLAB software to obtain a simulation test result capable of reflecting the variable-amplitude speed regulation performance.
The invention seamlessly connects a speed regulation control system model based on MATLAB oriented process and a multi-rigid-body motion analysis model based on Adams, establishes a complete combined model of the amplitude-variable speed regulation system and the amplitude-variable operation mechanism of nonlinear dynamic inverse control of the crane, can replace a real object to carry out performance analysis and automatic control research, and can check whether the establishment of the inverse model in the speed regulation control method is correct or not, whether a special compensation regulator achieves the expected effect or not, whether the integral amplitude-variable performance is satisfactory or not and the like through simulation experiments.
Drawings
FIG. 1 is a schematic diagram of a non-linear dynamic inverse control variable amplitude speed control system according to an embodiment of the present invention;
FIG. 2 simulation model input signals for an embodiment of the present invention;
FIG. 3 is a diagram of a transfer function or simulation model for each link according to an embodiment of the present invention; wherein, (a) is a dynamic inverse model, (b) is a frequency converter, (c) is an amplitude variation motor, (d) is an arm support system, and (e) is an absolute rotation angle measuring and transmitting device;
FIG. 4 is a simulation block diagram of a nonlinear dynamic inverse control variable amplitude speed control system according to an embodiment of the present invention;
FIG. 5 is a simulation graph of an embodiment of the present invention.
Detailed Description
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof.
The invention provides a nonlinear dynamic inverse control variable amplitude speed regulation system simulation model, which comprises a speed regulation system model and a variable amplitude mechanism model;
the speed regulating system model simulation object comprises a control handle, a dynamic inverse model series compensator, a PID regulator, a frequency converter and a variable amplitude motor which are sequentially connected, and further comprises an encoder, a feedback device and a transmitting device which are used for measuring the rotating speed of a variable amplitude motor rotor and the absolute rotation angle of the variable amplitude motor rotor; the encoder feeds back the actual rotating speed to the PID regulator through a feedback device, and then the given frequency of the frequency converter is regulated; the encoder also transmits the actual absolute rotation angle to the dynamic inverse model series compensator through the transmitting device, and then series compensation is carried out on the input signal generated by the control handle; during simulation, the actual rotating speed is consistent with the output rotating speed of the variable amplitude motor, and the actual absolute rotating angle is obtained by integrating the output rotating speed of the variable amplitude motor;
the object of the amplitude-changing mechanism model simulation is a working mechanism for realizing the amplitude-changing function behind an output shaft of an amplitude-changing motor, and the amplitude-changing mechanism model simulation comprises an amplitude-changing gear rack transmission pair and a four-connecting-rod combined arm support;
the simulation model directly refers a dynamic inverse model series compensator expressed by a mathematical model in the variable-amplitude speed regulating system, simulates a key controlled object frequency converter, a variable-amplitude motor, an encoder, a feedback device and a transmitting device by a mathematical link, and simulates a variable-amplitude mechanism by an Adams model;
the simulation model deduces the transfer function of each link or establishes a proper mathematical equation through the connection between different links and the characteristics of each link;
the links comprise an inverse model series compensation link, a PID compensation link, an equivalent electrical transmission link of a frequency converter and a variable frequency variable amplitude motor, and the influence of the variable speed action of an Adams model of a variable amplitude mechanism on the delay, overshoot and deviation caused by the variable amplitude speed regulation of the portal crane; the Adams model adopts a multi-rigid-body model and is directly driven by the rotating speed output of a variable amplitude motor of the speed regulating system model without closed-loop electromechanical combined simulation;
the input variable of the simulation model is a proportional signal generated by a control handle and represents an expected variable amplitude speed, and the output variable of the simulation model is an actual variable amplitude speed.
The invention provides a nonlinear dynamic inverse control variable amplitude speed regulation system simulation method, which comprises the following steps:
step 1: determining an input variable as a desired luffing velocity V produced by a steering handleh0The output variable is the actual amplitude variation speed V determined by the motion state of the amplitude variation mechanism Adams modelhDetermining the interaction relation among links according to the input and the output of the speed regulating system, and constructing an object control flow;
step 2: customizing an input signal;
the input signal of the present embodiment is a trapezoidal curve, and includes 3 sections, the 1 st section variable amplitude speed approaches the highest speed from 0 acceleration, the 2 nd section speed is maintained constant, and the 3 rd section speed is decelerated from the constant speed to 0.
And step 3: and establishing a mathematical model of an inverse model series compensation link according to an approximate dynamic inverse model processed by linear interpolation in an actual variable amplitude speed regulating system.
And 4, step 4: establishing a simulation model of the frequency converter, and determining a transfer function of the link;
in this embodiment, the frequency converter simulation model adopts a first-order inertia link, and determines a time constant and a gain by a SIMLINK dynamic simulation method in MATLAB.
And 5: establishing a simulation model of the variable amplitude motor, and determining a transfer function of the link;
in this embodiment, the variable amplitude motor simulation model also adopts a first-order inertia link, and determines the time constant and the gain by a SIMLINK dynamic simulation method in MATLAB.
Step 6: establishing a simulation model of the amplitude variation motor rotor absolute rotation angle measuring and transmitting device, and determining a transfer function of the link;
in this embodiment, the first-order integration link is adopted in the simulation model of the amplitude varying motor rotor absolute rotation angle measurement and transmission device.
And 7: setting parameters of the PID regulator to obtain various parameters of the PID regulator;
in this embodiment, the setting of the PID controller parameter employs a particle swarm algorithm.
And 8: establishing an amplitude variation mechanism Adams model;
in this embodiment, the luffing mechanism Adams model is built according to the engineering drawing of the crane in the form of a multi-rigid-body model.
Although the simulation precision of the mechanical part can be improved by establishing the model by adopting a multi-flexible body mode, the difficulty of establishing the simulation model is greatly improved, more assumptions are made on the modeling of the electric control module in each step, the simulation precision is reduced, and the overall simulation precision cannot be necessarily improved, so that the mode of adopting the multi-rigid body model for motion analysis is most suitable.
And step 9: and connecting the speed regulating system model with the amplitude changing mechanism Adams model to form a complete simulation model for simulation.
In this embodiment, a nonlinear dynamic inverse control variable-amplitude speed control system simulation model is established in a process-oriented manner, a SIMLINK module of MATLAB software is used to perform simulation on a variable-amplitude motor speed control system, Adams is used to perform simulation on the motion characteristics of a variable-amplitude working mechanism, and the SIMLINK model and the Adams model are connected to complete the simulation of the variable-amplitude speed.
The present embodiment is further explained with reference to the drawings;
FIG. 1 is a schematic diagram of a crane variable amplitude speed regulating system with nonlinear dynamic inverse control; the non-linear dynamic inverse control crane amplitude varying speed regulating system includes closed loop amplitude varying motor rotation speed control system and amplitude varying mechanism connected serially to the closed loop amplitude varying motor rotation speed control system, and the amplitude varying mechanism outputs the rotation speed of the motor after non-linear amplitude varying motion. For the control of the variable amplitude speed, the variable amplitude speed control system is a semi-closed loop control system, and the variable amplitude speed cannot be measured, so that the whole variable amplitude speed control system cannot form a complete closed loop system. In order to ensure that the amplitude variation speed linearly changes in a fixed proportion along with the set value of the operating handle, an inverse model which is inverse to the mathematical model of the amplitude variation working mechanism is introduced to serially compensate the set value of the operating handle, and the compensated signal is an expected motor rotating speed signal, so that the speed regulation control problem of the nonlinear amplitude variation process is converted into the rotating speed follow-up control problem of the linear variable frequency motor. The PID adjusting link can further improve the performance of closed-loop follow-up control of the variable frequency motor, and ensure that the actual rotating speed of the motor tends to be consistent with the expected rotating speed of the motor determined by the dynamic inverse controller: when the actual rotating speed of the motor is higher than the expected rotating speed of the motor, reducing the frequency of the frequency converter; when the speed of the motor is higher than the desired motor speed, the frequency of the frequency converter is increased. The actual rotating speed of the motor is ensured to be close to the expected rotating speed of the motor, and the final output variable amplitude speed is ensured to be close to the expected variable amplitude speed.
FIG. 2 is an input signal of the simulation model of the non-linear dynamic inverse control variable amplitude speed control system of the embodiment, which is generated by the variable amplitude control handle and represents the expected variable amplitude speed Vh0. Taking a typical trapezoidal speed signal as a signal of a simulation experiment, wherein the typical trapezoidal speed signal comprises three sections of amplitude variation acceleration, amplitude variation constant speed maintenance and amplitude variation deceleration. According to the working characteristics of the portal crane, the amplitude variation working speed of the existing amplitude variation mechanism is approximately between 30m/min and 50m/min, so that the value of the constant speed maintaining part in the trapezoidal signal can be 45 m/min. For ease of implementation in MATLAB, the signal is derived from multiplying the amplitude velocity unit ladder signal by 45 times the magnification. In the unit ladder diagram signal, the speed signal is accelerated from 0 to the maximum value in the 3 rd second; the sample remained unchanged from the 7 th second; and starting uniform deceleration till reaching 0 in 39 seconds, and finishing amplitude variation after 4 seconds.
Fig. 3 is a diagram of a transfer function or simulation model of each link according to the present embodiment. The method mainly adopts a MATLAB-based process-oriented modeling method, a controller part expressed by a mathematical model in the variable-amplitude speed regulating system is directly introduced into a simulation model, a key controlled object frequency converter, a motor and a sensing measuring device are simulated by a mathematical link, and a variable-amplitude mechanism is simulated by an Adams module.
In the simulation model of the embodiment, a frequency converter and a motor are simulated by adopting a first-order inertia link, and a SIMLINK dynamic simulation tool is adopted to respectively identify a time constant and a gain of the link; and the parameter setting of the PID regulator adopts a particle swarm method. A first-order integral link is used for simulating an absolute rotation angle measuring and transmitting device of a motor rotor.
The simulation model of the luffing mechanism in this embodiment adopts a multi-rigid-body Adams model. Adams is driven by the output rotating speed of the motor speed regulating system, and the final output is the horizontal speed, namely the variable amplitude speed, of the end part of the arm support.
After the simulation model of each link is obtained, the non-linear dynamic inverse control variable amplitude speed control system simulation block diagram shown in fig. 4 provided by the embodiment is obtained according to the action relationship among the links. According to this figure, in SIMULINK from MATLABAnd building a simulation block diagram of the variable amplitude motor speed regulating system to obtain a rotating speed response curve of the motor rotor, and driving an Adams model of the variable amplitude mechanism by using the curve to obtain a response curve of the variable amplitude speed. T in FIG. 31、T2The time constants of all the inertia links are first-order inertia link time constants, and S is a transfer function Laplace transform operator; k in FIG. 4pIs a constant of proportionality, TiIntegration time constant, T, for PID regulationdIs the derivative time constant of the PID regulation.
Fig. 5 is a trapezoidal simulation graph of the variable amplitude speed control system of the nonlinear dynamic inverse control of the embodiment. The nonlinear dynamic inverse control variable-amplitude speed regulation system simulation model provided by the embodiment is used for simulation in SIMULINK and Adams, and in order to comprehensively consider the variable-amplitude performance of the system, a trapezoidal curve is used as an expected variable-amplitude speed input signal, and the method comprises starting the uniform acceleration variable-amplitude in the starting stage, stopping the uniform acceleration variable-amplitude in the middle stage and stopping the uniform deceleration variable-amplitude in the last stage, so that the actual output variable-amplitude speed curve of the nonlinear dynamic inverse control variable-amplitude speed regulation system is obtained. The graph shows that the variable amplitude speed regulating system with nonlinear dynamic inverse control can ensure that the actual output variable amplitude speed can stably, accurately and rapidly track a given variable amplitude speed value, and meets the requirement of good crane operation performance on the control quality of the variable amplitude speed. Therefore, the characteristics of the simulation model can be considered to basically accord with the running characteristics of the variable amplitude speed regulation system which actually adopts nonlinear dynamic inverse control. In the figure, the variable-amplitude speed regulation mode adopting nonlinear dynamic inverse control can ensure that the constant-speed variable amplitude can be kept in the variable-amplitude middle section, and the variable-amplitude control method has more superiority than the traditional variable-frequency variable-amplitude speed regulation mode in the aspects of variable-amplitude controllability and stability.
It should be understood that parts of the specification not set forth in detail are well within the prior art.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A nonlinear dynamic inverse control variable amplitude speed regulation system simulation model is characterized in that: comprises a speed regulating system model and a luffing mechanism model;
the speed regulating system model simulation object comprises a control handle, a dynamic inverse model series compensator, a PID regulator, a frequency converter and a variable amplitude motor which are sequentially connected, and further comprises an encoder, a feedback device and a transmitting device which are used for measuring the rotating speed of a variable amplitude motor rotor and the absolute rotation angle of the variable amplitude motor rotor; the encoder feeds back the actual rotating speed to the PID regulator through the feedback device, and then the given frequency of the frequency converter is regulated; the encoder also transmits the actual absolute rotation angle to the dynamic inverse model series compensator through the transmitting device, and further performs series compensation on an input signal generated by the control handle; during simulation, the actual rotating speed is consistent with the output rotating speed of the variable amplitude motor, and the actual absolute rotating angle is obtained by integrating the output rotating speed of the variable amplitude motor;
the object of the amplitude-changing mechanism model simulation is a working mechanism for realizing the amplitude-changing function behind an output shaft of an amplitude-changing motor, and the amplitude-changing mechanism model simulation comprises an amplitude-changing gear rack transmission pair and a four-connecting-rod combined arm support;
the simulation model directly refers to a dynamic inverse model series compensator expressed by a mathematical model in the variable-amplitude speed regulating system, simulates a controlled object frequency converter, a variable-amplitude motor, an encoder, a feedback device and a transmitting device by a mathematical link, and simulates a variable-amplitude mechanism by an Adams model;
the simulation model deduces a transfer function of each link or establishes a proper mathematical equation through the connection among different links and the characteristics of each link;
the links comprise an inverse model series compensation link, a PID compensation link, an equivalent electrical transmission link of a frequency converter and a variable frequency variable amplitude motor, and influence links of delay, overshoot and deviation caused by the variable speed action of an Adams model of an amplitude variation mechanism on the variable amplitude speed regulation of the portal crane;
the input variable of the simulation model is a proportional signal generated by a control handle and represents an expected variable amplitude speed, and the output variable of the simulation model is an actual variable amplitude speed.
2. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation model as defined in claim 1, wherein: the Adams model adopts a multi-rigid-body model, is directly driven by the rotating speed output of the variable amplitude motor of the speed regulating system model, and does not need closed-loop electromechanical combined simulation.
3. A nonlinear dynamic inverse control variable amplitude speed regulation system simulation method is applied to the nonlinear dynamic inverse control variable amplitude speed regulation system simulation model in claim 1; the method is characterized by comprising the following steps:
step 1: determining an input variable as a desired luffing velocity V produced by a steering handleh0The output variable is the actual amplitude variation speed V determined by the motion state of the amplitude variation mechanism Adams modelhDetermining the interaction relation among links according to the input and the output of the speed regulating system, and constructing an object control flow;
step 2: customizing an input signal;
and step 3: establishing a mathematical model of an inverse model series compensation link according to an approximate dynamic inverse model in the actual variable amplitude speed regulating system;
and 4, step 4: establishing a simulation model of the frequency converter, and determining a transfer function of the link;
and 5: establishing a simulation model of the variable amplitude motor, and determining a transfer function of the link;
step 6: establishing a simulation model of the amplitude variation motor rotor absolute rotation angle measuring and transmitting device, and determining a transfer function of the link;
and 7: setting parameters of the PID regulator to obtain various parameters of the PID regulator;
and 8: establishing an amplitude variation mechanism Adams model;
and step 9: and connecting the speed regulating system model with the amplitude changing mechanism Adams model to form a complete simulation model for simulation.
4. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in the step 2, the input signal is a trapezoidal curve and comprises 3 sections, the amplitude variation speed of the 1 st section is accelerated from 0 to be close to the highest speed, the speed of the 2 nd section is kept constant, and the speed of the 3 rd section is decelerated from the constant speed to 0.
5. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in step 3, a linear interpolation method is adopted to determine an approximate dynamic inverse model.
6. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in the step 4, the frequency converter simulation model adopts a first-order inertia LINK, and determines a time constant and a gain through a visual simulation tool SIMU LINK dynamic simulation method in MATLAB.
7. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in the step 5, the variable amplitude motor simulation model also adopts a first-order inertia LINK, and determines a time constant and a gain through a visual simulation tool SIMU LINK dynamic simulation method in MATLAB.
8. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in the step 6, a first-order integral link is adopted in a simulation model of the amplitude varying motor rotor absolute rotation angle measuring and transmitting device.
9. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in step 7, a particle swarm algorithm is adopted for setting the PID controller parameters.
10. The nonlinear dynamic inverse control variable amplitude speed regulation system simulation method according to claim 3, characterized in that: in step 8, the luffing mechanism Adams model is built according to the engineering drawing of the crane and in the mode of a multi-rigid-body model.
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