CN112202386B - Electric steering engine control method suitable for low-temperature environment - Google Patents
Electric steering engine control method suitable for low-temperature environment Download PDFInfo
- Publication number
- CN112202386B CN112202386B CN202010985804.7A CN202010985804A CN112202386B CN 112202386 B CN112202386 B CN 112202386B CN 202010985804 A CN202010985804 A CN 202010985804A CN 112202386 B CN112202386 B CN 112202386B
- Authority
- CN
- China
- Prior art keywords
- steering engine
- deviation signal
- control
- signal
- temperature
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012360 testing method Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000008602 contraction Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 239000004519 grease Substances 0.000 description 3
- 230000001050 lubricating effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- 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
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a control method of an electric steering engine suitable for a low-temperature environment, which comprises the following steps: acquiring a feedback position signal of the steering engine and the working temperature of the steering engine in real time; acquiring a deviation signal of the steering engine based on a feedback position signal of the steering engine and an instruction input signal of the steering engine; under the condition that the absolute value of the deviation signal of the steering engine is smaller than or equal to the critical value of the first deviation signal, acquiring the control rate of the control module by adopting dead zone control; under the condition that the absolute value of the deviation signal of the steering engine is greater than or equal to the critical value of the second deviation signal, adopting bangbang control to obtain the control rate of the control module; under the condition that the absolute value of the deviation signal of the steering engine is larger than the first deviation signal critical value and smaller than the second deviation signal critical value, PD subsection control is adopted, wherein PD control parameters change along with the change of the working temperature of the steering engine; and then the PWM control signal of the steering engine is calculated based on the control rate. The invention can solve the technical problem that the existing electric steering engine has poor performance in a low-temperature environment.
Description
Technical Field
The invention relates to the technical field of electric steering engine control, in particular to a control method of an electric steering engine suitable for a low-temperature environment.
Background
The steering engine is an actuating mechanism of a missile control system, and the flight quality of the missile is directly influenced by the performance of the steering engine. Under the low temperature state, the performance of the electric steering engine, such as rotating speed, frequency band, dynamic process, precision and the like, can change obviously compared with the normal temperature state, and tests show that the dynamic performance of the electric steering engine is reduced by about 35 percent compared with the normal temperature state under the low temperature state. If the missile is launched in a low-temperature state, the flight quality of the missile is seriously influenced by performance reduction of the electric steering engine in an initial launching section due to low temperature. The electric steering engine comprises a control module, a power driving module, a motor, a transmission mechanism and a feedback potentiometer, when the electric steering engine works, the control module receives a command input signal given by a higher level and a steering engine output shaft position signal fed back by the feedback potentiometer, a PWM control signal is calculated, the power driving module drives the motor, a motor shaft transmits torque to the steering engine output shaft through the transmission mechanism, and the output shaft is driven to rotate, so that a steering surface deflects according to the command input. The performance of the steering engine is reduced in a low-temperature environment mainly because the efficiency of the motor is reduced, the expansion caused by heat and contraction caused by cold of a metal piece of the transmission mechanism leads to the increase of the damping, and the viscosity of lubricating grease in the transmission mechanism leads to the increase of the damping in the low-temperature environment.
At present, the motor with a wider working temperature range, the transmission mechanism material with a smaller coefficient of expansion with heat and contraction with cold and the lubricating grease with better temperature performance are selected, so that the performance influence of low temperature on the steering engine can be weakened to a certain extent, the principle is simple, the implementation is easy, but not only a large amount of cost is increased, but also the effect is limited, and therefore, the means for improving the performance of the electric steering engine in a low-temperature environment by taking measures purely from a physical structure is limited.
Disclosure of Invention
The invention provides a control method of an electric steering engine suitable for a low-temperature environment, which can solve the technical problem that the existing electric steering engine has poor performance in the low-temperature environment.
In order to solve the technical problem, the invention provides a control method of an electric steering engine suitable for a low-temperature environment, which comprises the following steps:
testing the performance index of the steering engine at each working temperature, and determining a corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement based on a proportion parameter and a differential parameter preset by the steering engine;
taking the lower limit value of the corresponding working temperature range when the performance index does not meet the preset requirement as the minimum working temperature T for parameter self-tuning min Multiplying the upper limit value of the corresponding working temperature range when the performance index does not meet the preset requirement by the preset percentage to serve as the maximum working temperature T of the parameter self-tuning max Obtaining the working temperature range [ T ] of the parameter self-tuning min ,T max ]And an operating temperature range [ T ] within which the parameter is self-tuned at a predetermined temperature interval [ Delta ] T min ,T max ]Dividing the temperature into n equal temperature sections;
selecting the minimum value in each equal temperature section as a debugging temperature value of the corresponding temperature section to obtain n debugging temperature values, and respectively debugging the steering engine at each debugging temperature value to obtain a proportional function value and a differential function value corresponding to each equal temperature section;
acquiring a feedback position signal of the steering engine and the working temperature of the steering engine in real time;
acquiring a deviation signal of the steering engine based on a feedback position signal of the steering engine and an instruction input signal of the steering engine;
under the condition that the absolute value of the deviation signal of the steering engine is smaller than or equal to the first deviation signal critical value, acquiring the control rate of the control module by adopting dead zone control, and calculating a PWM control signal of the steering engine based on the control rate;
under the condition that the absolute value of the deviation signal of the steering engine is greater than or equal to the second deviation signal critical value, adopting bangbang control to obtain the control rate of the control module, and calculating the PWM control signal of the steering engine based on the control rate;
under the condition that the absolute value of the deviation signal of the steering engine is larger than the first deviation signal critical value and smaller than the second deviation signal critical value, whether the working temperature of the steering engine is in the working temperature range [ T ] with self-adjusted parameters or not is judged min ,T max ]And if so, acquiring the control rate of the control module based on the proportional function value and the differential function value corresponding to the working temperature of the steering engine and the deviation signal of the steering engine, and resolving the PWM control signal of the steering engine based on the control rate, otherwise, acquiring the control rate of the control module based on the proportional parameter and the differential parameter preset by the steering engine and the deviation signal of the steering engine, and resolving the PWM control signal of the steering engine based on the control rate.
Preferably, the deviation signal of the steering engine is obtained by the following formula:
e(k)＝U i (k)-U f (k)；
in the formula of U i (k) For the command input signal at the k-th instant, U f (k) The feedback position signal at the k-th time, e (k), is a deviation signal at the k-th time.
Preferably, the control rate of the control module is obtained based on a proportional function value and a differential function value corresponding to the operating temperature of the steering engine and a deviation signal of the steering engine by the following formula:
U(k)＝K p (T)e(k)+K D (T)(e(k)-e(k-1))；
wherein e (K) is the deviation signal at the K-th time, e (K-1) is the deviation signal at the K-1-th time, K p (T) is a proportional function value corresponding to the operating temperature T, K D (T) is a differential function value corresponding to the operating temperature T, and U (k) is a control rate at the k-th time.
Preferably, the control rate of the control module is obtained based on a proportional parameter and a differential parameter preset by the steering engine and a deviation signal of the steering engine through the following formula:
U(k)＝K p ′e(k)+K D ′(e(k)-e(k-1))；
wherein e (K) is the deviation signal at the K-th time, e (K-1) is the deviation signal at the K-1-th time, K p ' proportional parameters preset for steering engine, K D ' is a preset differential parameter of the steering engine, and U (k) is a control rate at the kth moment.
By applying the technical scheme of the invention, the corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement is obtained by testing the performance index of the steering engine at each working temperature, and the working temperature range with self-tuning parameters is obtained according to the corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement, so that the proportional function value and the differential function value corresponding to each temperature value in the working temperature range with self-tuning parameters are obtained, and the control rate of the control module is further obtained. By adopting the control method, the performance indexes of the steering engine such as rotating speed, frequency band, dynamic process, precision and the like in a low-temperature environment can be effectively improved. In addition, the method of the invention has simple design and strong portability, and does not need to change the control structure of the original system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of an electric steering engine control method suitable for low-temperature environments according to an embodiment of the invention;
fig. 2 is a schematic workflow diagram of an electric steering engine suitable for use in a low-temperature environment according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 shows a flowchart of an electric steering engine control method suitable for a low-temperature environment according to an embodiment of the present invention.
As shown in fig. 1, the invention provides a method for controlling an electric steering engine suitable for a low-temperature environment, which comprises the following steps:
s1, testing the performance index of the steering engine at each working temperature, and determining the corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement based on the preset proportional parameter and differential parameter of the steering engine;
s2, taking the lower limit value of the corresponding working temperature range when the performance index does not meet the preset requirement as the minimum working temperature T of parameter self-tuning min Multiplying the upper limit value of the corresponding working temperature range when the performance index does not meet the preset requirement by the preset percentage to serve as the maximum working temperature T of the parameter self-tuning max Obtaining the working temperature range [ T ] of the parameter self-tuning min ,T max ]And a working temperature range [ T ] within which the parameter is self-tuned at a predetermined temperature interval [ T ] min ,T max ]Dividing the temperature into n equal temperature sections;
s3, selecting the minimum value in each equal temperature section as the debugging temperature value of the corresponding temperature section to obtain n debugging temperature values, and respectively debugging the steering engine at each debugging temperature value to obtain a proportional function value and a differential function value corresponding to each equal temperature section;
s4, acquiring a feedback position signal of the steering engine and the working temperature of the steering engine in real time;
s5, acquiring a deviation signal of the steering engine based on the feedback position signal of the steering engine and the instruction input signal of the steering engine;
s6, under the condition that the absolute value of the deviation signal of the steering engine is smaller than or equal to the first deviation signal critical value, adopting dead zone control to obtain the control rate of the control module, and calculating the PWM control signal of the steering engine based on the control rate;
s7, under the condition that the absolute value of the deviation signal of the steering engine is larger than or equal to the critical value of the second deviation signal, adopting bangbang control to obtain the control rate of the control module, and calculating the PWM control signal of the steering engine based on the control rate;
s8, judging whether the working temperature of the steering engine is in the working temperature range [ T ] with self-adjusted parameters or not under the condition that the absolute value of the deviation signal of the steering engine is larger than the first deviation signal critical value and smaller than the second deviation signal critical value min ,T max ]And if so, acquiring the control rate of the control module based on the proportional function value and the differential function value corresponding to the working temperature of the steering engine and the deviation signal of the steering engine, and resolving the PWM control signal of the steering engine based on the control rate, otherwise, acquiring the control rate of the control module based on the proportional parameter and the differential parameter preset by the steering engine and the deviation signal of the steering engine, and resolving the PWM control signal of the steering engine based on the control rate.
By applying the technical scheme of the invention, the corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement is obtained by testing the performance index of the steering engine at each working temperature, and the working temperature range with self-tuning parameters is obtained according to the corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement, so that the proportional function value and the differential function value corresponding to each temperature value in the working temperature range with self-tuning parameters are obtained, and the control rate of the control module is further obtained. By adopting the control method, the performance indexes of the steering engine such as rotating speed, frequency band, dynamic process, precision and the like in a low-temperature environment can be effectively improved. In addition, the method of the invention has simple design and strong portability, and does not need to change the control structure of the original system.
According to one embodiment of the invention, the deviation signal of the steering engine is obtained by:
e(k)＝U i (k)-U f (k)；
in the formula of U i (k) For the command input signal at the k-th instant, U f (k) The feedback position signal at the k-th time, e (k), is a deviation signal at the k-th time.
According to an embodiment of the present invention, the control rate of the control module is obtained based on the proportional function value and the differential function value corresponding to the operating temperature of the steering engine, and the deviation signal of the steering engine by the following formula:
U(k)＝K p (T)e(k)+K D (T)(e(k)-e(k-1))；
wherein e (K) is the deviation signal at the K-th time, e (K-1) is the deviation signal at the K-1-th time, K p (T) is a proportional function value corresponding to the operating temperature T, K D (T) is a differential function value corresponding to the operating temperature T, and U (k) is a control rate at the k-th time.
According to one embodiment of the invention, the control rate of the control module is obtained based on the proportional parameter and the differential parameter preset by the steering engine and the deviation signal of the steering engine according to the following formula:
U(k)＝K p ′e(k)+K D ′(e(k)-e(k-1))；
wherein e (K) is the deviation signal at the K-th time, e (K-1) is the deviation signal at the K-1-th time, K p ' proportional parameters preset for steering engine, K D ' is a differential parameter preset by the steering engine, and U (k) is a control rate at the kth moment.
Fig. 2 is a schematic workflow diagram of an electric steering engine suitable for use in a low-temperature environment according to an embodiment of the present invention.
As shown in fig. 2, taking a certain high latitude ground launching model as an example, the electric steering engine comprises a circuit device, a steering engine executing mechanism and a temperature sensor, wherein the circuit device is installed in a missile equipment cabin, and the steering engine executing mechanism and the temperature sensor are installed in a missile tail cabin; the circuit device comprises a control module and a power driving module, and the steering engine executing mechanism comprises a motor, a transmission mechanism and a feedback potentiometer. When the steering engine works, the control module resolves a PWM control signal according to a command input signal given by a receiving superior level, a feedback position signal fed back by the potentiometer and a temperature signal output by the temperature sensor, the power driving module drives the motor to rotate according to the PWM control signal, and the motor shaft transmits torque to the output shaft of the steering engine through the transmission mechanism and drives the output shaft to rotate, so that the deflection of a control surface is controlled.
The lowest environmental temperature in the high-latitude area can reach below-35 ℃, which can cause the efficiency reduction of a motor, the increase of damping caused by the expansion and contraction of a metal piece of a transmission mechanism and the increase of the viscosity of lubricating grease in the transmission mechanism, so that the performance indexes of the steering engine, such as the rotating speed, the frequency band, the dynamic process, the precision and the like, are obviously reduced, and the flight quality of the missile in the initial stage of missile launching can be influenced. After the missile is launched, the temperature of the steering engine execution structure can rise to about 40 ℃ along with the work of a missile engine, and all performance indexes of the steering engine can meet the technical requirements at the moment. If use steering wheel performance index under the low temperature environment simply as the accurate debugging parameter, can make steering wheel parameter mismatch under normal atmospheric temperature or high temperature environment, lead to the steering wheel to take place unstability phenomena such as shake. Therefore, the steering engine executing mechanism adopts a method of controlling the steering engine executing mechanism in a segmented manner along with temperature, and meets performance indexes at different temperatures.
In the invention, the temperature sensor and the actuator of the steering engine are designed integrally, and meanwhile, the temperature signal is used as a control variable to set PD control parameters and compensate closed-loop control. By the method, performance indexes such as rotating speed, frequency band, dynamic process and precision of the steering engine in a low-temperature environment can be effectively improved.
The present invention will be described in detail below with an example in which the operating temperature range of the electric steering engine is-40 ℃ to 60 ℃.
The electric steering engine is placed in a temperature box, performance indexes such as rotating speed, frequency band, dynamic process and precision of the steering engine at the working temperature are tested from 60 ℃ within a working temperature range [ -40 ℃ and 60 ℃ ] specified by a task book of the electric steering engine, then the temperature is reduced according to a temperature gradient of 2 ℃, the temperature is kept for 30min in a power-off state, and then the performance indexes such as rotating speed, frequency band, dynamic process and precision are tested again until the working temperature is reduced to-40 ℃. Tests show that after the working temperature of the electric steering engine is below-22 ℃, the performance index can not meet the requirements of a task specification, namely, the corresponding working temperature range is between-40 ℃ and-22 ℃ when the performance index of the steering engine is determined to not meet the preset requirements based on the preset proportional parameter and differential parameter of the steering engine.
The steering engine is used for receiving and transmitting the steering engine data, wherein the steering engine is preset with a proportional parameter and a differential parameter, namely the proportional parameter and the differential parameter when the steering engine is delivered and received at normal temperature.
In order to reserve a certain margin, the upper limit value of the working temperature range of the parameter self-tuning is properly expanded. Therefore, the minimum working temperature T of self-tuning with-40 ℃ as a parameter min -16 ℃ as the maximum operating temperature T for the parameter self-tuning max And obtaining the working temperature range of the self-tuning of the parameters, wherein the working temperature range is between-40 ℃ and-16 ℃, and dividing the working temperature range of the self-tuning of the parameters into 12 equal temperature sections at the temperature interval of 2 ℃.
The minimum value in each equal temperature section is selected as the debugging temperature value of the corresponding temperature section to obtain 12 debugging temperature values which are respectively-40 ℃, 38 ℃, 36 ℃, … …, 20 ℃ and 18 ℃. And respectively debugging the steering engine at each debugging temperature value to obtain a proportional function value K corresponding to each equal temperature section p (-40)、K p (-38)、K p (-36)、……、K p (-20)、K p (-18) and the differential function value K D (-40)、K D (-38)、K D (-36)、……、K D (-20)、K D (-18) details of the function are shown in Table 1.
TABLE 1 functional relationship of proportional function value, differential function value and operating temperature
When T is more than or equal to-16 ℃, the preset proportional parameter K of the steering engine p ' is 0.5, and the differential parameter K preset by the steering engine D ' is0.008。
In order to ensure the rapidity and the stability of the system, under the condition that the absolute value of the deviation signal of the steering engine is greater than or equal to the critical value of the second deviation signal, the bangbang control is adopted to obtain the control rate of the control module.
In order to avoid frequent commutation and jitter of the motor, under the condition that the absolute value of a deviation signal of the steering engine is smaller than or equal to a first deviation signal critical value, dead zone control is adopted to obtain the control rate of the control module.
In order to ensure the control quality of the system and the control precision under a load, the control rate of the control module is obtained by adopting PD sectional control under the condition that the absolute value of a deviation signal of the steering engine is greater than a first deviation signal critical value and less than a second deviation signal critical value, wherein a PD control parameter changes along with the change of a working temperature.
Under the condition of PD sectional control, whether the working temperature of the steering engine is within the working temperature range of self-setting parameters of (-40) - (-16) - (-1) -based proportion function value, differential function value and steering engine deviation signal, the control rate of the control module is obtained, PWM control signal of the steering engine is calculated based on the control rate, and otherwise, the control rate of the control module is obtained based on the preset proportion parameter, differential parameter and steering engine deviation signal of the steering engine, and PWM control signal of the steering engine is calculated based on the control rate.
In general, in the initial stages of ground test, delivery acceptance and flight, the working temperature of the electric steering engine is more than or equal to-16 ℃, and the steering engine is controlled by adopting the preset proportional parameters and differential parameters. The working temperature of the electric steering engine is less than-16 ℃ only in the initial flight stage of the low-temperature test and the high and cold launching environment, and a PD sectional control method is adopted. With the wide application of missile weapon systems in alpine environments, the method provided by the invention has important scientific theoretical significance and national defense engineering application value.
In a-40 ℃ incubator environment, the traditional PD control method and the PD segmented control method are respectively adopted to control the electric steering engine, the performance indexes of the electric steering engine in a low-temperature environment are tested, and the comparison result is shown in table 2. Wherein, the performance index comprises rotation speed, frequency band, dynamic process and precision.
TABLE 2 test results of conventional PD control method and PD segment control method
Where δ is an angle converted from the command input signal.
As can be seen from the test results in Table 2, the performance indexes of the steering engine, such as rotating speed, frequency band, dynamic process, precision and the like, in a low-temperature environment can be effectively improved by the method provided by the invention.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An electric steering engine control method suitable for a low-temperature environment is characterized by comprising the following steps:
testing the performance index of the steering engine at each working temperature, and determining a corresponding working temperature range when the performance index of the steering engine does not meet the preset requirement based on a proportion parameter and a differential parameter preset by the steering engine;
taking the lower limit value of the corresponding working temperature range when the performance index does not meet the preset requirement as the minimum working temperature T for parameter self-tuning min Multiplying the upper limit value of the corresponding working temperature range when the performance index does not meet the preset requirement by the preset percentage to serve as the maximum working temperature T of the parameter self-tuning max Obtaining the working temperature range [ T ] of the parameter self-tuning min ,T max ]And an operating temperature range [ T ] within which the parameter is self-tuned at a predetermined temperature interval [ Delta ] T min ,T max ]Dividing the temperature into n equal temperature sections;
selecting the minimum value in each equal temperature section as a debugging temperature value of the corresponding temperature section to obtain n debugging temperature values, and respectively debugging the steering engine at each debugging temperature value to obtain a proportional function value and a differential function value corresponding to each equal temperature section;
acquiring a feedback position signal of the steering engine and the working temperature of the steering engine in real time;
acquiring a deviation signal of the steering engine based on a feedback position signal of the steering engine and an instruction input signal of the steering engine;
under the condition that the absolute value of the deviation signal of the steering engine is smaller than or equal to the first deviation signal critical value, acquiring the control rate of the control module by adopting dead zone control, and calculating a PWM control signal of the steering engine based on the control rate;
under the condition that the absolute value of the deviation signal of the steering engine is greater than or equal to the second deviation signal critical value, adopting bangbang control to obtain the control rate of the control module, and calculating the PWM control signal of the steering engine based on the control rate;
under the condition that the absolute value of the deviation signal of the steering engine is larger than the first deviation signal critical value and smaller than the second deviation signal critical value, whether the working temperature of the steering engine is in the working temperature range [ T ] with self-adjusted parameters or not is judged min ,T max ]And if so, acquiring the control rate of the control module based on the proportional function value and the differential function value corresponding to the working temperature of the steering engine and the deviation signal of the steering engine, and resolving the PWM control signal of the steering engine based on the control rate, otherwise, acquiring the control rate of the control module based on the proportional parameter and the differential parameter preset by the steering engine and the deviation signal of the steering engine, and resolving the PWM control signal of the steering engine based on the control rate.
2. The method of claim 1, wherein the steering engine bias signal is obtained by:
e(k)＝U i (k)-U f (k)；
in the formula of U i (k) For the command input signal at the k-th instant, U f (k) The feedback position signal at the k-th time, e (k), is a deviation signal at the k-th time.
3. The method of claim 1, wherein the control rate of the control module is obtained based on the proportional function value and the differential function value corresponding to the operating temperature of the steering engine, and the deviation signal of the steering engine by:
U(k)＝K p (T)e(k)+K D (T)(e(k)-e(k-1))；
wherein e (K) is the deviation signal at the K-th time, e (K-1) is the deviation signal at the K-1-th time, K p (T) is a proportional function value corresponding to the operating temperature T, K D (T) is a differential function value corresponding to the operating temperature T, and u (k) is a control rate at the k-th timing.
4. The method according to claim 1, wherein the control rate of the control module is obtained based on a proportional parameter and a differential parameter preset by the steering engine and a deviation signal of the steering engine by the following formula:
U(k)＝K p ′e(k)+K D ′(e(k)-e(k-1))；
wherein e (K) is the deviation signal at the K-th time, e (K-1) is the deviation signal at the K-1-th time, K p ' proportional parameters preset for steering engine, K D ' is a differential parameter preset by the steering engine, and U (k) is a control rate at the kth moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010985804.7A CN112202386B (en) | 2020-09-18 | 2020-09-18 | Electric steering engine control method suitable for low-temperature environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010985804.7A CN112202386B (en) | 2020-09-18 | 2020-09-18 | Electric steering engine control method suitable for low-temperature environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112202386A CN112202386A (en) | 2021-01-08 |
| CN112202386B true CN112202386B (en) | 2022-08-16 |
Family
ID=74015474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010985804.7A Active CN112202386B (en) | 2020-09-18 | 2020-09-18 | Electric steering engine control method suitable for low-temperature environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112202386B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112666827B (en) * | 2021-01-19 | 2022-08-02 | 四川阿泰因机器人智能装备有限公司 | Method for controlling liquid distribution in grading manner based on PID |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5325288A (en) * | 1992-07-16 | 1994-06-28 | Sato Nobuyasu | Automatic PID controller in which the ratio of the control target value to the control signal is used to optimize performance |
| CN106610582A (en) * | 2015-10-27 | 2017-05-03 | 哈尔滨建成集团有限公司 | Compensation method for performance change, caused by ambient temperature change, of electric steering engine |
| CN110618705A (en) * | 2019-10-23 | 2019-12-27 | 北京机械设备研究所 | Digital electric steering engine environment temperature compensation method and device |
-
2020
- 2020-09-18 CN CN202010985804.7A patent/CN112202386B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5325288A (en) * | 1992-07-16 | 1994-06-28 | Sato Nobuyasu | Automatic PID controller in which the ratio of the control target value to the control signal is used to optimize performance |
| CN106610582A (en) * | 2015-10-27 | 2017-05-03 | 哈尔滨建成集团有限公司 | Compensation method for performance change, caused by ambient temperature change, of electric steering engine |
| CN110618705A (en) * | 2019-10-23 | 2019-12-27 | 北京机械设备研究所 | Digital electric steering engine environment temperature compensation method and device |
Non-Patent Citations (1)
| Title |
|---|
| 电动舵机专家PID控制系统设计;李琦 等;《电子测量技术》;20200723;第43卷(第14期);165-170 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112202386A (en) | 2021-01-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Akhtaruzzaman et al. | Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis | |
| CN112202386B (en) | Electric steering engine control method suitable for low-temperature environment | |
| CN110794864B (en) | Aircraft stability control method based on attitude angle rate and attack angle measurement | |
| RU2713261C2 (en) | System for controlling a controlled parameter | |
| CN101997471B (en) | PID prediction function-based excitation control method | |
| CN104391497A (en) | On-line joint servo system parameter identification and controller parameter optimization method | |
| CN106354013B (en) | Linear active disturbance rejection control method for attack angle | |
| CN105043774A (en) | Method for calculating power consumption of steering engine by interpolation | |
| Lurie et al. | Classical Feedback Control with Nonlinear Multi-Loop Systems: With MATLAB® and Simulink® | |
| CN105978400A (en) | Ultrasonic motor control method | |
| CN110103776B (en) | Fuel cell whole vehicle power demand change prediction method based on intelligent iterative learning | |
| CN113900373B (en) | Global nonsingular rapid terminal sliding mode control method for structural thermal test | |
| US10082184B2 (en) | System and method for eliminating adverse clutch vibratory responses | |
| CN111752158A (en) | Second-order sliding mode control method for finite time convergence | |
| CN115826412A (en) | Undisturbed control method, device and system for aircraft engine and storage medium | |
| CN110011583B (en) | Permanent magnet synchronous motor sliding mode control system based on singular perturbation theory and modeling method | |
| CN112855354A (en) | Engine environment self-adaptive control method and device, controller and flight system | |
| JPH0567898B2 (en) | ||
| Huang et al. | A hardware-in-the-loop simulation method for the evaluation of flight control systems | |
| CN109188893B (en) | Motion dynamic loading method | |
| Başak et al. | Low order H∞ controllers for a quadrotor UAV | |
| CN113761651B (en) | Method, system, equipment and storage medium for automatically controlling NG (natural gas) rotating speed of turboshaft engine in ground test | |
| CN111650838B (en) | Aircraft pitching channel stabilizing method adopting adaptive observer | |
| CN105656376A (en) | Servo controller of high-precision tri-axial rotary table | |
| CN115987156B (en) | Sliding mode control method and system for propulsion frequency converter |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |