CN109709869A - A kind of soft brake control method of control system - Google Patents
A kind of soft brake control method of control system Download PDFInfo
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- CN109709869A CN109709869A CN201910030754.4A CN201910030754A CN109709869A CN 109709869 A CN109709869 A CN 109709869A CN 201910030754 A CN201910030754 A CN 201910030754A CN 109709869 A CN109709869 A CN 109709869A
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Abstract
The present invention relates to one kind to be used for the soft brake control method of control system.The it is proposed of this method makes the corresponding reference index of control object transfinite for background with unpredictable control signal.When controlling signal transfinites, soft control for brake is carried out to control object online.By preset limit value, build it is irreversible switch, signal keep, signal decaying and etc. realize to control object response transfinite when soft control for brake.So that control object when command signal is more than corresponding limit value not only will not emergency braking, but also will not make control object response further development to which bigger harm occur.To realize the protection to control object.Simultaneously because the realization of online soft control for brake, does not need that input signal is transformed offline.
Description
Technical field
The present invention relates to a kind of soft brake control methods of control system, belong to test control technology field.
Background technique
Control system as with own target, function management system, civilian Mechanical course, military firepower control,
The every field of the human societies such as aerospace system control is all widely used.Three basic demands of control system are as follows: dynamic
State process is steady, response action is rapid, tracking target is accurate.However in actual application, for certain control systems,
Due to the uncertainty of input signal, it is likely that causing output signal is more than the limit value of control object itself, is made to control object
At certain damage, therefore control for brake is essential component part in control system.The caused control but signal transfinites
The unexpected braking of system can also generate certain injury to certain control objects.
Summary of the invention
Based on the drawbacks described above of existing control technology, the invention proposes a kind of soft brake control methods of control system, use
So that control object can be braked slowly when control signal is more than control object itself limit value, to realize to control object
Protection.
To achieve the goals above, the present invention uses following technological means:
A kind of soft brake control method of control system, comprising the following steps:
Step 1: setting logic module predefines each reference quantity of control object and its limit value, as logic judgment mark
It is quasi-；
Step 2: irreversible switch is set, when each reference quantity command signal in step 1 is more than corresponding pre- fixed limit
When value, irreversible switch is triggered, control object entering signal is kept for the stage, no longer by the control more than signal after corresponding preset limit value
System is always held at position, speed, power and the voltage of the back signal control more than corresponding preset limit value；
Step 3: adding signal attenuation module, decaying exponential function is set in signal attenuation module, i.e., when the institute in step 2
After stating the control object entering signal holding stage, the signal attenuation module starts soft braking countdown simultaneously, and control signal multiplies
With the decaying exponential function, until attenuated input signal is to zero, control object stops in original state.
Further, the decaying exponential function is f=1- | e-input|, wherein input is input signal.
Further, in the step 1, when the absolute value of input signal is greater than corresponding preset limit value, logical signal
Output 1, otherwise exports 0.
Further, in the step 2, as long as i.e. control object is accordingly joined when the output of some logic module signal is 1
When considering more than corresponding preset limit value, logical value 1 will participate in circulation as largest logical value always, realize irreversible switch not
Reciprocal characteristics.
Further, in the step 3, the soft braking count down time is 4s.
Compared with prior art, present invention has an advantage that
1. realizing that control object signal is kept by irreversible switch, control object is realized slowly by signal attenuation module
It returns to original state and stops, protecting control object from damage.
2. the present invention uses On-Line Control Method, do not need that input signal is transformed offline.
Detailed description of the invention
Fig. 1 is that soft brake module realizes detail drawing；
Fig. 2 is that irreversible switch realizes that control signal keeps detail drawing；
Fig. 3 is signal decaying detail drawing；
Fig. 4 (a) is that table top and peripheral branch protect the effect to collide；
Fig. 4 (b) is the effect of emergency braking when shake table response is transfinited；
Fig. 4 (c) is soft braking effect when being transfinited using shake table response of the invention.
Specific embodiment
Soft brake module of the invention realizes that detail drawing is shown in Figure 1, and in conjunction with relevant drawings, the present invention is described in detail below
Implementation steps.
A kind of soft brake control method of control system, comprising the following steps:
Step 1: setting logic module predefines each reference quantity of control object and its limit value, as logic judgment mark
It is quasi-.When the absolute value of input signal is greater than corresponding preset limit value, otherwise logical signal output 1 exports 0.
Step 2: irreversible switch is set, as shown in Fig. 2, each reference quantity command signal in step 1 is more than
When corresponding preset limit value, irreversible switch is triggered, control object entering signal is kept for the stage, no longer by more than corresponding preset limit value
The control of signal afterwards is always held at position, speed, power and the voltage of the back signal control more than corresponding preset limit value.
As long as when the output of some logic module signal is 1, i.e., when the corresponding reference quantity of control object is more than corresponding preset limit value, logical value
1 will participate in circulation as largest logical value always, realize the irreversible property of irreversible switch.
Step 3: as shown in figure 3, adding signal attenuation module, decaying exponential function being set in signal attenuation module, that is, is worked as
After the control object entering signal holding stage in step 2, the signal attenuation module starts soft braking countdown simultaneously,
Soft braking count down time is 4s, and control signal is multiplied by the decaying exponential function, up to attenuated input signal to zero, control pair
As stopping in original state.Wherein, decaying exponential function f=1- | e-input|, wherein input is input signal.
Embodiment 1
Shown in the effect that the present invention realizes such as Fig. 4 (a)-Fig. 4 (c).Using earthquake simulation shaking table as control object in example,
Using shake table displacement as reference quantity, 105 millimeters of shake table motion amplitude, beyond then meaning that shake table touches with surrounding supporting construction
It hits, limit displacement value is set as 100 millimeters.It is seen that table top displacement maximum value reaches shake table motion amplitude 105 in Fig. 4 (a)
Millimeter thinks that table top collides with peripheral branch shield at this time.Fig. 4 (b) is the effect of emergency braking when shake table response is transfinited.Figure
4 (c) soft braking effects when transfiniting for shake table response of the invention.It is not difficult to find out from shake table moving displacement time-history curves when vibration
The dynamic platform response soft brake control method of shake table of the invention when transfiniting has shake table itself and vibration bench test test specimen
Good protecting effect.
Finally it should be noted that the above summary of the invention is only to illustrate the present invention, and not limit skill described in the invention
Art scheme.The present invention is not to be only applicable to the control of shake table, the application of irreversible switch, signal remaining method, control signal
The solution of soft braking of transfiniting is intended to be within the scope of the claims of the invention.
Claims (5)
1. a kind of soft brake control method of control system, it is characterised in that: the following steps are included:
Step 1: setting logic module predefines each reference quantity of control object and its limit value, as logic judgment standard；
Step 2: irreversible switch is set, when each reference quantity command signal in step 1 is more than corresponding preset limit value,
Triggering irreversible switch, control object entering signal is kept for the stage, no longer by the control for being more than signal after corresponding preset limit value, one
Directly it is maintained at position, speed, power and the voltage of the back signal control more than corresponding preset limit value；
Step 3: adding signal attenuation module, decaying exponential function is set in signal attenuation module, i.e., when the control in step 2
After the object entering signal holding stage processed, the signal attenuation module starts soft braking countdown simultaneously, controls signal multiplied by institute
Decaying exponential function is stated, until attenuated input signal is to zero, control object stops in original state.
2. the soft brake control method of a kind of control system according to claim 1, it is characterised in that: the exponential damping letter
Number is f=1- | e-input|, wherein input is input signal.
3. the soft brake control method of a kind of control system according to claim 1, it is characterised in that: in the step 1, when
When the absolute value of input signal is greater than corresponding preset limit value, otherwise logical signal output 1 exports 0.
4. the soft brake control method of a kind of control system according to claim 3, it is characterised in that: in the step 2, only
It to be 1 when the output of some logic module signal, i.e., when the corresponding reference quantity of control object is more than corresponding preset limit value, logical value 1
Circulation will be participated in as largest logical value always, and realize the irreversible property of irreversible switch.
5. the soft brake control method of a kind of control system according to claim 1, it is characterised in that: in the step 3, institute
Stating soft braking count down time is 4s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910030754.4A CN109709869B (en) | 2019-01-14 | 2019-01-14 | Soft braking control method of control system |
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| CN201910030754.4A CN109709869B (en) | 2019-01-14 | 2019-01-14 | Soft braking control method of control system |
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| CN109709869A true CN109709869A (en) | 2019-05-03 |
| CN109709869B CN109709869B (en) | 2020-06-23 |
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Citations (9)
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| JPH09226337A (en) * | 1996-02-29 | 1997-09-02 | Unisia Jecs Corp | Vehicle suspension device |
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| JP2018179637A (en) * | 2017-04-07 | 2018-11-15 | Ｊｆｅスチール株式会社 | Dynamic rigidity testing method of automobile body |
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| CN108544465A (en) * | 2018-05-03 | 2018-09-18 | 南京邮电大学 | Omni-directional mobile robots and its control method based on Mecanum wheels |
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