CN110543096B - Force feedback composite control method suitable for electric simulation loading system - Google Patents
Force feedback composite control method suitable for electric simulation loading system Download PDFInfo
- Publication number
- CN110543096B CN110543096B CN201910879771.5A CN201910879771A CN110543096B CN 110543096 B CN110543096 B CN 110543096B CN 201910879771 A CN201910879771 A CN 201910879771A CN 110543096 B CN110543096 B CN 110543096B
- Authority
- CN
- China
- Prior art keywords
- value
- controller
- loading
- friction
- fuzzy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004088 simulation Methods 0.000 title claims abstract description 20
- 239000002131 composite material Substances 0.000 title claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 10
- 150000001875 compounds Chemical class 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims 1
- 230000009931 harmful effect Effects 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a force feedback composite control method suitable for an electric simulation loading system, and aims to improve the rapidity and the stability of a load accurate loading control process of the electric simulation loading system, reduce the influence of friction on the loading accuracy of a nonlinear system, reduce the influence of redundant force generated on a sensor by the motion of a steering engine of the electric simulation loading system on the loading accuracy and improve the overall control accuracy. The feedback control method based on the loading force provided by the invention comprises three parts, namely a fuzzy PI and feedforward controller, a friction compensator and a net force feedforward compensator. The control method has strong robustness, rapidness and accuracy, is suitable for practical engineering application, and has excellent universality.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a control method for load loading of an electric simulation loading system.
Background
In an electric analog loading system, a load motor requires the requirement of accurate loading of a load. However, the electric simulation loading system is a typical nonlinear system in engineering practice, and has strong nonlinear interference factors, particularly the influence of system friction. In addition, the requirement of accurate loading of the load is strongly influenced by redundant force generated on the sensor by the movement of the steering engine. How to eliminate the friction and the accurate loading of the redundant force on the load becomes a core problem of the control process of the electric simulation loading system. However, the addition of springs or other hardware in the system has the disadvantages of inconvenient design and installation and limited improvement effect.
Disclosure of Invention
In order to solve the problems, a force feedback composite control method suitable for accurate load loading of an electric simulation loading system is designed, and aims to overcome the influences of friction nonlinearity and redundant force of the electric simulation loading system and improve the load loading accuracy of the electric simulation loading system.
The technical scheme of the invention is described as follows by combining the attached drawings:
a force feedback composite control method suitable for accurate load loading of an electric simulation loading system is mainly composed of a fuzzy PI and feedforward controller, a friction compensator and a net force feedforward compensator, and is characterized in that: the output value of the fuzzy PI controller based on force feedback is used as a compensation value to compensate a target loading value, the output value is used as a main body of a control algorithm and is called as a fuzzy PI plus feedforward controller, meanwhile, a linear speed gain value which is twice the sum of the negative number of a force difference value after a limit value and the limit value becomes a friction compensator through the limit value, and finally, a net force corresponding to the acceleration of the sensor is multiplied by a compensation coefficient to form a net force feedforward compensator.
The main body controller is designed based on force feedback, and is provided with a feedforward link and a feedback control link, wherein the feedforward link takes a target loading value as a feedforward value, the feedback control link adopts a fuzzy PI controller, the fuzzy PI controller takes a fuzzy output incremental value as an input value of the PI controller, the output value of the fuzzy PI controller is taken as a compensation value, and rapidity, stability and robustness of a loading process are ensured by adjusting parameters of the fuzzy PI controller.
The friction compensator is designed by considering two factors of force difference and loading motor motion, meets the basic requirements of a Lugre friction model, and can set a maximum static friction value and a speed threshold value to reduce the adverse effect of friction on control.
The net force feedforward compensator multiplies the generalized force corresponding to the acceleration generated by the sensor driven by the steering engine or the connecting part of the sensor by the compensation coefficient to serve as a compensation value, and the compensation coefficient can be adjusted to meet the requirement of different systems on reduction of redundant force generated on the sensor due to the motion of the steering engine.
Drawings
Fig. 1 is a schematic structural diagram of a composite control method provided by the present invention.
Fig. 2 is a schematic structural diagram of an electric analog loading system provided in the present invention.
FIG. 3 is a schematic diagram of the characteristics of the friction compensator according to the present invention.
In the figure: 1 is a loading motor, 2 and 4 are connecting rods, 3 is a sensor, 5 is a steering engine, 6 and 8 are motor servo controllers, 7 is a console, FtargetIs a target value, FsensorIs the feedback value of the sensor, E is the force difference value, EC is the change rate of the force difference value, Delta U is the output increment value of the fuzzy controller, U is the output value of the fuzzy PI controller, omegalFor loading motor speed, +/-FfmaxIs the maximum static friction force, +/-omegathreFor loading motor speed threshold, TcIs the net force corresponding to the acceleration of the sensor, k is the compensation coefficient, Fo1For fuzzy PI plus feedforward controller output value, Fo2As output value of the friction compensator, Fo3As output value of the friction compensator, FoIs the output value of the compound control method.
Detailed Description
The embodiments of the present invention and the embodiments thereof are further illustrated by the following description in conjunction with the accompanying drawings:
the composite control method provided by the invention mainly depends on a fuzzy PI and feedforward controller, a friction compensator and a net force feedforward compensator to improve the load loading precision.
The input to the fuzzy PI plus feedforward controller is Ftarget(target values) and Fsensor(sensor feedback value) of Ftarget(target value) becomes a fuzzy PI plus one branch of the feedforward controller as a feedforward value, and the other branch is composed of a fuzzy PI controller. From Ftarget(target values) and FsensorThe force difference E and the change rate EC of the force difference (sensor feedback value) are input into a fuzzy controller through fuzzification processing, and after the fuzzy controller is processed, output delta U is an output increment value of the fuzzy controller. The output increment value becomes the input of the PI controller, and the PI parameter is adjusted to obtain the output value U of the fuzzy PI controller. The expression is as follows:
the fuzzy PI and feedforward controller has excellent rapidity due to a feedforward branch, has good robustness and adaptability due to the use of fuzzy control, and finally ensures loading precision due to the introduction of an integral term by the PI controller.
The input of the friction compensator is the loading motor rotating speed omegalAnd a force difference value E is obtained, the force difference value E is subjected to a negative passing limit value to form a branch of the friction compensator, and the other branch is a friction conversion process determined by the rotating speed of the loading motor. The friction conversion process determined by the rotation speed of the loading motor is used for converting the rotation speed omega of the loading motorlSelecting a threshold value of rotation speed + -omegathreThe dynamic and static friction is switched. At the same time, the rotational speed omega of the motor is loadedlMultiplying by a factor (F)fmax/ωthre) Converted to friction and finally multiplied by 2 to ensure that the conversion condition is reached when the direction of the friction force, controlled by the force difference E, is switched in the opposite direction due to the loading motor motion. And adding the output values of the two branches and processing the sum through a limiting value to obtain a compensation value of the friction compensator. The expression of the term
When | Ff1|＜FfmaxWhen the temperature of the water is higher than the set temperature,
Fo2＝Ff1 (3)
when | Ff1|≥FfmaxWhen the temperature of the water is higher than the set temperature,
Fo2＝Ffmax·sign(Ff1) (4)
the characteristics of the friction compensator meet the requirements of fig. 3, the friction compensator can well eliminate the influence of friction nonlinearity on a system, and the friction compensator is very suitable for working conditions with active interference.
The input of the net force feedforward compensator is net force T corresponding to the acceleration of the sensorcThe net force TcThe feedback information of the two motors can be calculated in real time, and the feedback information can also be obtained by additionally arranging an acceleration sensor at the steering engine end. Corresponding to sensor accelerationNet force TcAnd multiplying the compensation coefficient k to obtain the compensation value of the net force feedforward compensator. The expression is:
Fo3＝kTc (5)
the principle of the net force feedforward compensator is that: because the steering engine is rotating rapidly, severe instantaneous deformation is generated when the sensor 3 does not completely respond to the movement, because the movement is generated after the speed, the speed is generated after the acceleration, and the deformation is reflected to the force to be redundant force. The research shows that the change trend of the redundant force is similar to the acceleration trend, and the change trend of the redundant force is similar to the net force trend corresponding to the acceleration according to Newton's second law. The influence of the redundant force on the loading accuracy can be eliminated in a linear compensation mode.
The final total output value is:
Fo＝Fo1+Fo2+Fo3 (6)
through the control of the three parts, the influence of friction nonlinearity and redundant force of the electric simulation loading system can be overcome, and meanwhile, the load loading precision of the electric simulation loading system is improved.
Claims (6)
1. A force feedback composite control method suitable for an electric simulation loading system is mainly composed of a fuzzy PI feedforward controller, a friction compensator and a net force feedforward compensator, and is characterized in that: the output value of the fuzzy PI controller based on force feedback is used as a compensation value to compensate a target loading value, so that the output value is used as a main body of a control algorithm and is called as a fuzzy PI plus feedforward controller, a friction compensator is added at the same time, and finally, a net force corresponding to the acceleration of the sensor is multiplied by a compensation coefficient to form a net force feedforward compensator; the friction compensator is implemented as follows: based on a Lugre friction model, the friction compensator which considers the force difference value and the motion of a loading motor and is suitable for the load loading working condition with strong displacement disturbance is provided with the following expression:
when | Ff1|＜FfmaxWhen the temperature of the water is higher than the set temperature,
Fo2＝Ff1 (3)
when | Ff1|≥FfmaxWhen the temperature of the water is higher than the set temperature,
Fo2＝Ffmax·sign(Ff1) (4)
wherein, Ff1For the friction value intermediate variable, E for the force difference, FfmaxAt maximum static friction, ωthreFor loading motor speed threshold, omegalFor loading the motor speed, Sign is a Sign-taking function, Fo2Is the output value of the friction compensator.
2. The force feedback compound control method for an electric analog loading system according to claim 1, wherein: the control algorithm is not only suitable for a simple electric simulation loading system, but also suitable for a system upgraded based on the electric simulation loading system or other electric simulation loading type racks, platforms and the like designed by adopting the electric simulation loading system.
3. The force feedback compound control method for an electric analog loading system according to claim 1, wherein: the main body controller used is designed based on force feedback.
4. The force feedback compound control method for an electric analog loading system according to claim 1, wherein: the adopted main body controller is provided with a feedforward link and a feedback control link, the feedforward link takes a target loading value as a feedforward value, the feedback control link adopts a fuzzy PI controller, the fuzzy PI controller takes a fuzzy output increment value as an input value of the PI controller, an output value of the fuzzy PI controller is taken as a compensation value, and the expression is as follows:
wherein, Fo1For fuzzy PI plus feedforward controller output value, FtargetFor the target values, P and i are PI controller parameters, Δ U is the output increment value of the fuzzy controller, and T is the control period.
5. The force feedback compound control method for an electric analog loading system according to claim 1, wherein: the generalized force corresponding to the acceleration generated by the steering engine driving the sensor or the connecting part thereof is multiplied by the compensation coefficient to be used as a net force feedforward compensator, and the expression is as follows:
Fo3＝kTc (5)
wherein, Fo3As output value of the friction compensator, TcAnd k is a compensation coefficient.
6. The force feedback compound control method for an electric analog loading system according to claim 1, wherein: the main body controller guarantees rapidity, stability and robustness of loading process through adjusting fuzzy PI controller parameter, and the friction compensator subducts the harmful effects of friction to control through setting up maximum static friction value, speed threshold, and the unnecessary power that the net power feedforward compensator subducts because steering wheel motion produces on the sensor through adjusting compensation parameter, and its expression is:
Fo＝Fo1+Fo2+Fo3 (6)
wherein, FoIn order to finally control the output value, the three control algorithms are integrated to realize the accurate load of the electric simulation loading system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910879771.5A CN110543096B (en) | 2019-09-18 | 2019-09-18 | Force feedback composite control method suitable for electric simulation loading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910879771.5A CN110543096B (en) | 2019-09-18 | 2019-09-18 | Force feedback composite control method suitable for electric simulation loading system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110543096A CN110543096A (en) | 2019-12-06 |
| CN110543096B true CN110543096B (en) | 2021-05-28 |
Family
ID=68714153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910879771.5A Expired - Fee Related CN110543096B (en) | 2019-09-18 | 2019-09-18 | Force feedback composite control method suitable for electric simulation loading system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110543096B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646220A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Spaceflight servo motor variable working condition dynamic loading system and spaceflight servo motor variable working condition dynamic loading method |
| CN107179682A (en) * | 2017-06-20 | 2017-09-19 | 南京理工大学 | A kind of passive type load simulator and Surplus Moment suppressing method |
| CN107203184A (en) * | 2017-06-20 | 2017-09-26 | 南京理工大学 | The dynamic control method of straight line steering wheel Electric Loading System |
| CN108303875A (en) * | 2017-12-31 | 2018-07-20 | 湖南沃森电气科技有限公司 | A kind of control method of electric power load for testing simulator and its system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2887044B1 (en) * | 2005-06-10 | 2007-08-10 | Wuilfert Societe Par Actions S | DEVICE FOR AUTOMATICALLY ADJUSTING THE ASSISTANCE OF A MECHANICAL MOTION SIMULATOR AND DEVICE THEREFOR |
-
2019
- 2019-09-18 CN CN201910879771.5A patent/CN110543096B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646220A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Spaceflight servo motor variable working condition dynamic loading system and spaceflight servo motor variable working condition dynamic loading method |
| CN107179682A (en) * | 2017-06-20 | 2017-09-19 | 南京理工大学 | A kind of passive type load simulator and Surplus Moment suppressing method |
| CN107203184A (en) * | 2017-06-20 | 2017-09-26 | 南京理工大学 | The dynamic control method of straight line steering wheel Electric Loading System |
| CN108303875A (en) * | 2017-12-31 | 2018-07-20 | 湖南沃森电气科技有限公司 | A kind of control method of electric power load for testing simulator and its system |
Non-Patent Citations (4)
| Title |
|---|
| 基于负载模拟器的摩擦力矩加载特性研究;郭日阳;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20190115(第01期);第1-85页 * |
| 用于船舶舵机的电液负载模拟器之控制系统;慕香永等;《控制理论与应用》;20080630;第25卷(第03期);第564-568、573页 * |
| 电动式操纵负荷系统多余力抑制技术研究;赵子豪等;《计算机仿真》;20180531;第35卷(第05期);第81-85页 * |
| 电动负载模拟器控制方法研究;朱伟;《中国优秀博硕士学位论文全文数据库 (硕士) 工程科技Ⅱ辑》;20050815(第04期);第1-71页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110543096A (en) | 2019-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Huang et al. | Flight control design using extended state observer and non-smooth feedback | |
| CN111585475B (en) | Brushless direct current motor servo system disturbance suppression and high-precision tracking control method | |
| CN107612445B (en) | Control method of follow-up speed regulation system with load acceleration feedback | |
| CN1195796A (en) | Method and apparatus for estimating and controlling non-linear disturbances in feedback control system | |
| CN108768232B (en) | Control method and system for propulsion motor of semi-submersible vessel dynamic positioning system | |
| CN111176118B (en) | Robust adaptive algorithm-based turntable servo system identification method | |
| CN110181510B (en) | Mechanical arm trajectory tracking control method based on time delay estimation and fuzzy logic | |
| CN110649845B (en) | Photoelectric turntable position tracking control method based on robust generalized predictive control | |
| CN112701975B (en) | Self-adaptive backlash oscillation suppression method for double-inertia servo system | |
| CN110190795A (en) | A kind of permanent magnet synchronous motor tandem type Robust Prediction current control method | |
| CN112187127B (en) | Permanent magnet synchronous motor control method | |
| CN111146991A (en) | Unmanned intelligent sweeper driving motor control method and system | |
| CN110703591A (en) | Control method of active disturbance rejection controller of rotary valve driving motor | |
| CN108336935A (en) | A kind of linear motor control method of Reverse Step Control collaboration ESO | |
| CN115051600B (en) | Brushless direct current motor servo system tracking control method | |
| CN113517832A (en) | Low-voltage servo discrete linear active disturbance rejection control method | |
| CN113377029B (en) | Method for inhibiting redundant torque of electric servo system of airplane steering engine | |
| CN106802569B (en) | A kind of adaptive state feedback control method compensating executing agency's dead-time voltage | |
| CN113283090B (en) | Friction compensation method for electric servo system of airplane steering engine based on bee colony algorithm | |
| CN110543096B (en) | Force feedback composite control method suitable for electric simulation loading system | |
| CN112688599B (en) | Composite control method for improving anti-interference capability of brushless direct current motor | |
| CN116500908B (en) | Mechanical arm anti-interference constraint control method of double-disturbance observer | |
| CN117564803A (en) | Driving system feedforward control method based on improved LuGre friction model | |
| CN116638544A (en) | Joint module cooperative control method based on super local model | |
| CN108267970B (en) | Time-lag rotor active balance control system and method based on Smith model and single neuron PID |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Dai Chang Hua Inventor after: Zong Changfu Inventor after: Chen Guoying Inventor before: Dai Chang Hua Inventor before: Chen Guoying Inventor before: Zong Changfu |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210528 |