CN112783003B - Amplitude-frequency characteristic index determination method for speed sensor of servo control system - Google Patents
Amplitude-frequency characteristic index determination method for speed sensor of servo control system Download PDFInfo
- Publication number
- CN112783003B CN112783003B CN202011340047.4A CN202011340047A CN112783003B CN 112783003 B CN112783003 B CN 112783003B CN 202011340047 A CN202011340047 A CN 202011340047A CN 112783003 B CN112783003 B CN 112783003B
- Authority
- CN
- China
- Prior art keywords
- amplitude
- frequency characteristic
- frequency
- servo control
- control system
- 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
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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a method for determining amplitude-frequency characteristic indexes of a speed sensor of a servo control system, which has the advantages of simple operation process, accurate calculation data and capability of being effectively applied to engineering practice. And according to the amplitude-frequency characteristic index of the servo control system, simulating the servo control system to obtain a system amplitude-frequency characteristic curve. According to the-3 db bandwidth f of the system a Selecting typical values according to set intervals, and selecting other system amplitude-frequency characteristic index values according to a system amplitude-frequency characteristic curve obtained by simulation to obtain multiple groups of system amplitude-frequency characteristic index values. And calculating the corresponding phase angle range phi of the motor. Respectively determining the corresponding phase angle phi frequency f of the speed sensor in the motor according to multiple groups of system amplitude-frequency characteristic index values θ -3db bandwidth f b Resonance peak frequency f A . F determined according to each set of system amplitude-frequency characteristic index values θ 、f b And f A The numerical values of the speed sensor are respectively and correspondingly determined in the corresponding phase angle phi frequency range, -3db bandwidth range and resonance peak value frequency range of the motor.
Description
Technical Field
The invention relates to the field of servo control systems, in particular to a method for determining amplitude-frequency characteristic indexes of a speed sensor of a servo control system.
Background
In a servo control system, a speed sensor is a key component and is mainly used for sensing the motion speed of a carrier, and indexes of the speed sensor influence performance indexes such as response speed, stability and drift of the servo control system. The amplitude-frequency characteristic of the speed sensor is an important index of the speed sensor, and how to determine the amplitude-frequency characteristic index of the speed sensor is the key of the design of a servo control system.
In the design process of the prior servo control system, an index method for determining the amplitude-frequency characteristic of the velocity sensor comprises the following steps: according to the fragrance concentration theorem and engineering experience, the indexes of the amplitude-frequency characteristic of the rate sensor provided in the way have deviation in practical application. In order to ensure the reliability of the design, it is necessary to provide a method for determining the amplitude-frequency characteristic index of the velocity sensor of the servo control system.
The Shannon sampling theorem is as follows: also known as nyquist sampling theorem, in order to recover the analog signal without distortion, the sampling frequency should be no less than 2 times the highest frequency in the analog signal spectrum. In the engineering design process, the sampling frequency is usually selected to be 3 to 5 times of the highest frequency in the analog signal spectrum. However, in practical application, the amplitude-frequency characteristic index provided by a servo system designer for the rate sensor has a certain deviation, and the rate sensor has a certain discreteness in the process of mass production of products.
At present, amplitude-frequency characteristic indexes of a rate sensor are generally extracted according to empirical values, the extraction process relates to simulation of a servo control system, many unreliable factors exist in the simulation process, and if a constructed servo control system model is not accurate enough, the actual control process of the servo control system is difficult to simulate, so that the servo control system model with high simulation accuracy needs to be constructed under the condition of insufficient engineering experience, the process is difficult, the consumed time is long, even the data calculation is not accurate enough, and the requirement on professional ability of developers is high.
Therefore, a scheme for determining the amplitude-frequency characteristic index of the speed sensor of the servo control system, which is simple in operation process, accurate in calculation data and capable of being effectively applied to engineering practice, is urgently needed.
Disclosure of Invention
In view of this, the invention provides a method for determining an amplitude-frequency characteristic index of a speed sensor of a servo control system, which has the advantages of simple operation process, accurate calculation data and capability of being effectively applied to engineering practice.
In order to achieve the purpose, the technical scheme of the invention comprises the following steps:
simulating the servo control system according to the amplitude-frequency characteristic index of the servo control system to obtain a system amplitude-frequency characteristic curve; the system amplitude-frequency characteristic index comprises-3 db bandwidth f of a servo control system a Phase angle margin theta a Amplitude margin B a Harmonic peak ofValue A a And resonance peak frequency f s 。
According to the-3 db bandwidth f of the system a Selecting typical values according to set intervals, and selecting other system amplitude-frequency characteristic index values according to a system amplitude-frequency characteristic curve obtained by simulation to obtain multiple groups of system amplitude-frequency characteristic index values.
And calculating the corresponding phase angle range phi of the motor according to the amplitude-frequency characteristic index of the servo control system.
Respectively determining the corresponding phase angle phi frequency f of the speed sensor in the motor according to multiple groups of system amplitude-frequency characteristic index values θ (ii) a -3db bandwidth f of rate sensor b (ii) a Rate sensor resonant peak frequency f A 。
F determined according to each set of system amplitude-frequency characteristic index values θ 、f b And f A The numerical values of the speed sensor are respectively and correspondingly determined in the corresponding phase angle phi frequency range, -3db bandwidth range and resonance peak value frequency range of the motor.
Further, the speed sensor is arranged at the frequency f of the corresponding phase angle phi of the motor θ ：
Further, the-3 db bandwidth f of the rate sensor b ：
Further, the rate sensor resonance peak frequency f A ：f A ＝f s 。
Further, according to the-3 db bandwidth f of the system a Typical values are selected according to set intervals, specifically: according to the-3 db bandwidth f of the system a The range of (1) is selected to include upper and lower limit values and a value selected at set intervals as a typical value.
Has the beneficial effects that:
according to the method for determining the amplitude-frequency characteristic index of the speed sensor of the servo control system, provided by the embodiment of the invention, index boundary simulation is carried out according to the amplitude-frequency characteristic index of the servo system provided by a task book, and the amplitude-frequency characteristic index of the speed sensor in the servo control system to be designed can be obtained by calculating according to a calculation formula given in a patent. The method has the advantages of simple implementation method, accurate calculation data, effectiveness in engineering practice and the like.
Drawings
FIG. 1 is a diagram of a simulation model of a servo control system;
fig. 2 is a bode diagram of the servo control system in embodiment 1 of the present invention, in which the amplitude-frequency characteristic indexes of the system are: bandwidth 15.6Hz, phase angle margin: 43.4 °, amplitude margin: 14.9db, resonance peak: 1.27, the frequency value corresponding to the resonance peak value is 3.1Hz;
fig. 3 is a bode diagram of a servo control system in embodiment 2 of the present invention, in which the amplitude-frequency characteristic indexes of the system are: bandwidth: 20.5; resonance peak value: 2.3; phase angle margin: 66.1 degrees; amplitude margin: 12.3; the frequency value corresponding to the resonance peak value is 4.19Hz;
fig. 4 is a schematic diagram of a method for determining an index of amplitude-frequency characteristics of a rate sensor of a servo control system according to an embodiment of the present invention. -
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a method for determining amplitude-frequency characteristic indexes of a speed sensor of a servo control system, the flow of which is shown in figure 4, and the method comprises the following steps:
step 1, simulating a servo control system according to an amplitude-frequency characteristic index of the servo control system to obtain a system amplitude-frequency characteristic curve; the system amplitude-frequency characteristic index comprises-3 db bandwidth f of a servo control system a Phase angle margin theta a Amplitude margin B a Resonance peak value A a And the resonance peak frequency f s . A simulation model of the servo control system is shown in fig. 1.
Step 2, according to the-3 db bandwidth f of the system a Selecting typical values according to set intervals, selecting other system amplitude-frequency characteristic index values according to a system amplitude-frequency characteristic curve obtained by simulation, and obtaining multiple groups of system amplitude-frequency characteristic index valuesAnd (4) a system amplitude-frequency characteristic index value. E.g. according to the-3 db bandwidth f of the system a Range of [ famin, famax ]]Values including or close to the upper and lower limits famin and famax are selected as typical values, and the selected intervals may be set based on empirical values. More than one set of system amplitude-frequency characteristic index values can be selected.
Step 3, calculating a corresponding phase angle range phi of the motor according to the amplitude-frequency characteristic index of the servo control system; the method for calculating the corresponding phase angle range of the motor is a known technical means.
Step 4, respectively determining the corresponding phase angle phi frequency f of the speed sensor in the motor according to a plurality of groups of system amplitude-frequency characteristic index values θ ：
-3db bandwidth f of rate sensor b ：
Rate sensor resonant peak frequency f A ：f A ＝f s 。
Step 5, f determined according to each set of system amplitude-frequency characteristic index values θ 、f b And f A The numerical values of the speed sensor are respectively and correspondingly determined in the corresponding phase angle phi frequency range, -3db bandwidth range and resonance peak value frequency range of the motor.
For example, the servo control system aimed at by the invention is an infrared imaging seeker optical cabin, and the amplitude-frequency characteristic indexes in a task book are as follows:
-3db bandwidth: not less than 12Hz;
phase angle margin: 40-70 degrees;
amplitude margin: not less than 6;
resonance peak value: less than or equal to 2.3;
in embodiment 1, the amplitude-frequency characteristic index of the servo control system includes: bandwidth 15.6Hz, phase angle margin: 43.4 °, amplitude margin: 14.9db, resonance peak: 1.27, the frequency value corresponding to the resonance peak value is 3.1Hz; i.e. theta a ＝4.34°； A a ＝1.27；B a ＝14.9；f a ＝15.6Hz；f s =3.1Hz. The bode plot of the servo control system is shown in fig. 2.
1) Calculating a corresponding phase angle range phi of the motor according to the amplitude-frequency characteristic index of the mission book servo control system;
φ＝-100°～0°。
the calculation method for calculating the corresponding phase angle of the motor according to the amplitude-frequency characteristic index of the servo control system is a known technical means.
2) Bandwidth f of speed sensor at corresponding phase angle phi of motor θ ：
3) Bandwidth f of rate sensor under-3 db b
f b ＝f θ ×(f s /A a )
＝40.32×(3.1/1.27 2 )
＝77Hz
4) Rate sensor resonant peak frequency f A
f A ＝f s ＝3.1Hz；
Therefore, the amplitude-frequency characteristic indexes of the rate sensor in the servo control system are as follows:
a phase angle frequency of-100 DEG of 40 +/-5 Hz
-3db bandwidth of 75 + -5 Hz
Resonance peak corresponding to frequency of <10Hz
Embodiment 2, the amplitude-frequency characteristic index of the servo control system includes: bandwidth: 20.5; resonance peak value: 2.3; phase angle margin: 66.1 degrees; amplitude margin: 12.3; the frequency value corresponding to the resonance peak value is 4.19Hz; i.e. theta a ＝1.6°；A a ＝2.3；B a ＝12.3；f a ＝20.5Hz；f s =4.19Hz. The bode plot of the servo control system is shown in fig. 3.
1) Calculating a corresponding phase angle range phi of the motor according to the amplitude-frequency characteristic index of the mission book servo control system;
φ＝-100°～0°；
2) Bandwidth f of speed sensor in corresponding phase angle phi of motor θ
3) Bandwidth f of rate sensor under-3 db b
f b ＝f θ ×(f s /A a )
＝47.89×(4.19/2.3 2 )
＝87.25Hz
4) Frequency f corresponding to resonance peak of rate sensor A
f A ＝f s ＝4.19Hz
Therefore, the amplitude-frequency characteristic indexes of the rate sensor in the servo control system are as follows:
a final range of-100 phase angle frequency of 45 + -5 Hz
-3db bandwidth of 85 + -5 Hz
Resonance peak corresponding to frequency of <10Hz
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. 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 (1)
1. A method for determining amplitude-frequency characteristic indexes of a speed sensor of a servo control system is characterized by comprising the following steps:
simulating the servo control system according to the amplitude-frequency characteristic index of the servo control system to obtain a system amplitude-frequency characteristic curve; the system amplitude-frequency characteristic index comprises-3 db bandwidth f of a servo control system a Phase angle margin theta a Amplitude margin B a Resonance peak value A a And resonance peak frequency f s ；
According to the-3 db bandwidth f of the system a In accordance with a set intervalSelecting typical values, and selecting other system amplitude-frequency characteristic index values according to a system amplitude-frequency characteristic curve obtained by simulation to obtain multiple groups of system amplitude-frequency characteristic index values; -3db bandwidth f according to the system a Typical values are selected according to set intervals, specifically: according to the-3 db bandwidth f of the system a Selecting values including upper and lower limit values and selected at set intervals as typical values;
calculating a corresponding phase angle range phi of the motor according to the amplitude-frequency characteristic index of the servo control system;
respectively determining the corresponding phase angle phi frequency f of the speed sensor in the motor according to multiple groups of system amplitude-frequency characteristic index values θ (ii) a -3db bandwidth f of rate sensor b (ii) a Rate sensor resonant peak frequency f A (ii) a The speed sensor is used for measuring the frequency f of the corresponding phase angle phi of the motor θ ：
-3db bandwidth f of said rate sensor b ：
The rate sensor resonant peak frequency f A ：f A ＝f s ；
F determined according to each set of system amplitude-frequency characteristic index values θ 、f b And f A The numerical values of the speed sensor are respectively and correspondingly determined in the corresponding phase angle phi frequency range, -3db bandwidth range and resonance peak value frequency range of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011340047.4A CN112783003B (en) | 2020-11-25 | 2020-11-25 | Amplitude-frequency characteristic index determination method for speed sensor of servo control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011340047.4A CN112783003B (en) | 2020-11-25 | 2020-11-25 | Amplitude-frequency characteristic index determination method for speed sensor of servo control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112783003A CN112783003A (en) | 2021-05-11 |
| CN112783003B true CN112783003B (en) | 2022-12-02 |
Family
ID=75750607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011340047.4A Active CN112783003B (en) | 2020-11-25 | 2020-11-25 | Amplitude-frequency characteristic index determination method for speed sensor of servo control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112783003B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495622A (en) * | 2011-11-30 | 2012-06-13 | 电子科技大学 | Position loop performance test method of positional servo system and test system thereof |
| CN102830249A (en) * | 2012-08-17 | 2012-12-19 | 长春工业大学 | Method for identifying transfer function of acceleration transducer |
| CN105182800A (en) * | 2015-10-09 | 2015-12-23 | 宁波罗杰克智能科技有限公司 | Amplitude frequency characteristic curve drafting method |
| CN109406258A (en) * | 2018-10-26 | 2019-03-01 | 杭州亿恒科技有限公司 | Oscillation Amplitude transmission diversity weighting control method based on multisensor |
| CN111835434A (en) * | 2019-04-19 | 2020-10-27 | 深圳市鼎阳科技有限公司 | Method and device for measuring broadband frequency response |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050267925A1 (en) * | 2004-05-28 | 2005-12-01 | Clue Vladimir I | Methods and apparatus for transforming amplitude-frequency signal characteristics and interpolating analytical functions using circulant matrices |
| CN105842566B (en) * | 2016-05-19 | 2018-09-21 | 中国第一汽车股份有限公司 | The system and its mapping method of automation mapping digital filter amplitude-versus-frequency curve |
| CN110797883B (en) * | 2019-08-16 | 2022-09-06 | 南京理工大学 | Wind power plant flexible direct grid-connected system subsynchronous oscillation suppression method based on impedance method |
-
2020
- 2020-11-25 CN CN202011340047.4A patent/CN112783003B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495622A (en) * | 2011-11-30 | 2012-06-13 | 电子科技大学 | Position loop performance test method of positional servo system and test system thereof |
| CN102830249A (en) * | 2012-08-17 | 2012-12-19 | 长春工业大学 | Method for identifying transfer function of acceleration transducer |
| CN105182800A (en) * | 2015-10-09 | 2015-12-23 | 宁波罗杰克智能科技有限公司 | Amplitude frequency characteristic curve drafting method |
| CN109406258A (en) * | 2018-10-26 | 2019-03-01 | 杭州亿恒科技有限公司 | Oscillation Amplitude transmission diversity weighting control method based on multisensor |
| CN111835434A (en) * | 2019-04-19 | 2020-10-27 | 深圳市鼎阳科技有限公司 | Method and device for measuring broadband frequency response |
Non-Patent Citations (3)
| Title |
|---|
| Amplitudes of characteristic frequencies for fault diagnosis of planetary gearbox;MianZhang;《Journal of Sound and Vibration》;20181031;第432卷(第13期);全文 * |
| 电液伺服阀动态特性数据处理方法的研究;李晓涛;《液压与气动》;20181231(第8期);全文 * |
| 采样控制系统幅频特性的一种计算方法;马杰;《哈尔滨工业大学学报》;20000228;第32卷(第1期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112783003A (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108646574B (en) | Discrete repetitive controller based on power attraction law and control method thereof | |
| EP2919018B1 (en) | Airspeed calculation system for an aircraft | |
| CN111433612A (en) | Neural network system for estimating combined training of aircraft aerial data based on model and flight information | |
| CN108594837A (en) | Model-free quadrotor drone contrail tracker and method based on PD-SMC and RISE | |
| KR102021498B1 (en) | Design method of attitude control system for flight vehicle and computer program | |
| CN109254533A (en) | The quick track optimizing method of gradient based on State integral-reparation algorithm hypersonic aircraft | |
| CN114061559B (en) | Compensation method, system and computer storage medium for zero offset drift of fiber optic gyroscope | |
| US9481456B2 (en) | Relative acceleration blade position measurement | |
| EP3570135A1 (en) | Optimized trajectory to noise improvement with auto-takeoff | |
| US20170210466A1 (en) | Initial rotor state compensation for a rotorcraft | |
| CN104677360A (en) | Redundancy management algorithm for attitude and course angles | |
| CN112783003B (en) | Amplitude-frequency characteristic index determination method for speed sensor of servo control system | |
| CN107908101A (en) | A kind of simulating turntable control system based on Fuzzy Neural PID control | |
| EP3467836A3 (en) | Particle simulation method, simulation apparatus, and program | |
| Stamate et al. | Improvement of hexacopter UAVs attitude parameters employing control and decision support systems | |
| CN104180823A (en) | Temperature compensation method and device | |
| Licitra et al. | Aerodynamic model identification of an autonomous aircraft for airborne wind energy | |
| Baretter et al. | Experimental and numerical analysis of a compressor stage under flow distortion | |
| CN106773782B (en) | Pneumatic servo elastic hybrid modeling method | |
| Tahir et al. | Control algorithms, Kalman estimation and near actual simulation for UAVs: state of art perspective | |
| Samy et al. | A comparative study of NN-and EKF-based SFDA schemes with application to a nonlinear UAV model | |
| CN105953816A (en) | Distributed atmosphere data system | |
| CN109709821B (en) | Method for measuring delay of on-board communication | |
| CN111177848B (en) | Method and device for acquiring strain theoretical value based on finite element model | |
| RU2592705C2 (en) | Onboard system for measuring parameters of wind velocity vector during parking, takeoff and landing of helicopter |
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 |