CN113828418A - Electrical control system for parallel generator and hydraulic coupler of diesel engine - Google Patents
Electrical control system for parallel generator and hydraulic coupler of diesel engine Download PDFInfo
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Abstract
The invention provides an electrical control system for a diesel engine parallel generator and a hydraulic coupler, which comprises a controller, an engine, a generator and the hydraulic coupler, wherein the engine is connected with the generator in parallel; the work flow of the electric control system comprises the following steps: (1) initial setting; (2) determining the membership degree of the error value; (3) determining the degree of membership of the error change value; (4) obtaining four effective output rules after using the error range optimization; (5) judging an input membership function, and solving a language output membership value; (6) converting the label value of the output membership function into a membership function value; (7) and calculating the actual output value after solving the membership function value. According to the control method, the liquid level height of the clutch oil tank is intelligently monitored and controlled, so that the torque output from the engine to the main breaking motor is reduced, and the output rotating speed of the engine is kept at the set rotating speed all the time.
Description
Technical Field
The invention relates to an electrical control system for a diesel engine parallel generator and a hydraulic coupler, belonging to the field of mechanical engineering control, in particular to the field of electrical control of crushing equipment.
Background
The breaker is at the working process, if the generator uses same stable crushing speed to carry out the breakage all the time, when meetting hard or massive broken material, can cause the engine load to increase suddenly easily, leads to the engine to fall fast, flame-out easily, is difficult to guarantee that generating set, hydraulic pump can work under stable rotational speed. The unstable rotational speed of the generator set can cause the unstable voltage and frequency of the electricity generation, when serious, the motor of the equipment is burnt, even the generator set is burnt, the unstable rotational speed of the hydraulic pump can generate the pulsation of the hydraulic system, the actual production efficiency is low, but if the power of the engine is increased, the cost of the equipment is increased. In order to improve the adaptability of complex crushing working conditions, different crushing speeds and acceleration control needs to be carried out on different materials so as to improve the actual operation efficiency of the crusher.
The power system of the existing crushing equipment generally adopts the following two modes:
first, the engine drives the hydraulic pump to provide power to the hydraulic system, and all the actions of the whole equipment are driven by the hydraulic system. The hydraulic component of the power system has high cost, high requirement on the professional of a user and difficult maintenance; the energy consumption is high, and the use cost is high; the energy requirement and energy loss are relatively large. When the hydraulic system element is in failure, the engine is easily shut down and flameout; when the load of the main engine changes suddenly, the hydraulic system can generate hydraulic impact, so that the hydraulic pipeline is easy to explode, and the danger coefficient is high.
Secondly, the end part of the engine is used for taking power to drive the generator to generate power, and the generator is used for providing electric energy for the equipment motor and the electric stick; the motor drives the hydraulic pump to provide power for the hydraulic system, and the motor drives the host machine to work; the electric rod drives the equipment conveyer belt to work. The power system has more power elements, higher energy requirement and energy loss, and easy overload of the motor when the load of the main machine changes suddenly.
Disclosure of Invention
The invention aims to provide an electrical control system of a diesel engine parallel generator and a hydraulic coupler, so as to solve at least one technical problem in the prior art.
The invention provides an electrical control system for a diesel engine parallel generator and a hydraulic coupler, which comprises a controller, an engine, a generator and the hydraulic coupler, wherein the engine is connected with the generator in parallel; the hydraulic coupler is connected with an engine through a flange plate, the engine is connected with a generator through a belt, the hydraulic coupler is connected with a crusher through the belt, and the engine controls the hydraulic coupler through a controller; a torque sensor for detecting output torque is arranged at the power output end of the hydraulic coupler, a rotating speed sensor for monitoring the rotating speed of the crankshaft is arranged on the engine, and the torque sensor and the rotating speed sensor are both connected with the controller so as to transmit torque data and rotating speed data to the controller;
the work flow of the electric control system comprises the following steps:
(1) initial setting:
setting a torque upper limit value N, and when the actual torque N is greater than the set torque upper limit value N, entering a rotating speed control mode by a program; presetting an initial value F0 of the engine speed in a control program additionally arranged in a controller, setting an actual speed value to be F1, setting an error value to be e, and subtracting F0 from F1 by using e; defining Eff as a linguistic feature point of an input error, and setting the linguistic feature point as a set of 4 elements of [1.. 4], wherein the error of a first acquisition cycle is e1, and the error of a second acquisition cycle is e 2; setting de as the error rate of change, de equal to e1 minus e 2; defining Deff as a language feature point of input error change, setting the language feature point as a set of 4 elements of [1.. 4], and presetting u as an output control quantity; defining Uff as a linguistic feature point of an output control quantity, setting the linguistic feature point as a set of 7 elements of [1.. 7], defining Rule as a fuzzy Rule, and presetting a membership fuzzy Rule table as a 7 multiplied by 7 determinant of [1.. 7,1.. 7 ]; defining an output maximum value Fmax to be 100;
(2) determining the degree of membership of the error value:
step one, if an error value e is larger than the 4 th element of a negative error input characteristic value Eff and is smaller than or equal to the 3 rd element of the negative error input characteristic value Eff, namely-Eff [4] < e ≦ Eff [3], an error membership value Pn is-2, and the first element of an error membership set PF [1] ═ Fmax x (((-Eff [3] -e) ÷ (Eff [4] -Eff [3 ]));
step two, if the error value e is greater than the 3 rd element of the negative error input characteristic value Eff and less than or equal to the 2 nd element of the negative error input characteristic value Eff, namely-Eff [3] < e ≦ Eff [2], the error membership value Pn is-1, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [2] -e) ÷ (Eff [3] -Eff [2 ]));
step three, if the error value e is greater than the 2 nd element of the negative error input characteristic value Eff and is less than or equal to the 1 st element of the negative error input characteristic value Eff, namely-Eff [2] < e ≦ Eff [1], the error membership value Pn is 0, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [1] -e) ÷ (Eff [2] -Eff [1 ]));
step four, if the error value e is greater than the 1 st element of the error input characteristic value Eff and less than or equal to the 2 nd element of the error input characteristic value Eff, namely Eff [1] < e ≦ Eff [2], the error membership value Pn is 1, and the first element of the error membership set PF [1] ═ Fmax × ((Eff [2] -e) (Eff [2] -Eff [1 ]));
step five, if the error value e is greater than the 2 nd element of the error input characteristic value Eff and less than or equal to the 3 rd element of the error input characteristic value Eff, namely Eff [2] < e ≦ Eff [3], the error membership value Pn is 2, and the first element PF [1] ═ Fmax × ((Eff [3] -e) (separationof Eff [3] -Eff [2])) of the error membership set;
step six, if the error value e is greater than the 3 rd element of the error input characteristic value Eff and is less than or equal to the 4 th element of the error input characteristic value Eff, namely, Eff [3] < e ≦ Eff [4], the error membership value Pn is 3, and the first element PF [1] ═ Fmax × ((Eff [4] -e) (emf [4] -Eff [3])) of the error membership set;
seventhly, if the error value e is smaller than or equal to the 4 th element of the negative error input characteristic value Eff, namely e is less than or equal to-Eff [4], the error membership value Pn is 2, the first element PF [1] of the error membership set is the maximum output value FMAX, namely PF [1] is FMAX;
step eight, if the error value e is greater than the 4 th element of the error input characteristic value Eff, namely e is greater than Eff [4], the error membership value Pn is 0, and the first element PF [1] of the error membership set is 0;
step nine, a second element PF [2] of the error membership set is equal to Fmax-PF [1 ];
(3) determining the degree of membership of the error change value:
step one, if an error change rate de is larger than the 4 th element of a negative error change input characteristic value Deff and is smaller than or equal to the 3 rd element of the negative error change input characteristic value Deff, namely-Deff [4] < de ≦ Deff [3], an error change value membership value Dn ═ 2, and the first element DF [1] ═ Fmax x (((-Deff [3] -de) ÷ (Deff [4] -Deff [3])) of an error change value membership set;
step two, if the error change rate de is greater than the 3 rd element of the negative error change input characteristic value Deff and is less than or equal to the 2 nd element of the negative error change input characteristic value Deff, namely-Deff [3] < de ≦ Deff [2], the error change value membership value Dn is-1, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [2] -de) ÷ (Deff [3] -Deff [2 ]));
step three, if the error change rate de is greater than the 2 nd element of the negative error change input characteristic value Deff and is less than or equal to the 1 st element of the negative error change input characteristic value Deff, namely-Deff [2] < de ≦ Deff [1], then the error change value membership value Dn is 0, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [1] -de) ÷ (Deff [2] -Deff [1 ]));
step four, if the error change rate de is greater than the 1 st element of the error change input characteristic value Deff and is less than or equal to the 2 nd element of the error change input characteristic value Deff, namely Deff [1] < de ≦ Deff [2], the error change value membership value Dn is 1, and the first element DF [1] ═ Fmax x (((Deff [2] -de) ÷ (Deff [2] -Deff [1])) of the error change value membership set;
step five, if the error change rate de is greater than the 2 nd element of the error change input characteristic value Deff and is less than or equal to the 3 rd element of the error change input characteristic value Deff, namely Deff [2] < de ≦ Deff [3], the error change value membership value Dn is 2, and the first element DF [1] ═ Fmax x (((Deff [3] -de) ÷ (Deff [3] -Deff [2])) of the error change value membership set;
step six, if the error change rate de is greater than the 3 rd element of the error change input characteristic value Deff and is less than or equal to the 4 th element of the error change input characteristic value Deff, namely Deff [3] < de ≦ Deff [4], the error change value membership value Dn is 3, and the first element DF [1] ═ Fmax x (((Deff [4] -de) ÷ (Deff [4] -Deff [3])) of the error change value membership set;
seventhly, if the error change rate de is less than or equal to the 4 th element of the negative error change input characteristic value Deff, namely de is less than or equal to-Deff [4], the error change value membership value Dn is 2, and the first element DF [1] of the error change value membership set is the maximum output value Fmax, namely DF [1] is Fmax;
step eight, if the error change rate de is greater than the 4 th element of the error change input characteristic value Deff, that is, de > Deff [4], the error change value membership value Dn is 0, and the first element DF [1] of the error change value membership set is zero, that is, DF [1] is 0;
step nine, a second element DF [2] of the error variation value membership degree set is equal to Fmax-DF [1 ];
(4) four output validity rules are obtained after using error range optimization:
rule 1, Un [1] ═ rule [ Pn +2, Dn +2 ];
rule 2, Un [2] ═ rule [ Pn +3, Dn +2 ];
rule 3, Un [3] ═ rule [ Pn +2, Dn +3 ];
rule 4, Un [4] ═ rule [ Pn +3, Dn +3 ];
solving the values of the rule 1 to the rule 4 through a fuzzy rule table;
(5) judging an input membership function, and solving a language output membership value:
step one, if PF [1] is less than or equal to DF [1], outputting a first element UF [1] of a membership grade set to be PF [1], otherwise, UF [1] to be DF [1 ];
step two, if PF [2] is less than or equal to DF [1], outputting a second element UF [2] of the membership grade set to PF [2], otherwise, UF [2] to DF [1 ];
step three, if PF [1] is less than or equal to DF [2], outputting a third element UF [3] of the membership grade set to PF [1], otherwise UF [3] to DF [2 ];
step four, if PF [2] is less than or equal to DF [2], outputting a fourth element UF [4] of the membership grade set to PF [2], otherwise UF [4] to DF [2 ];
when Un [1] ═ Un [2], UF [1] > UF [2], then UF [2] ═ 0, otherwise UF [1] ═ 0;
when Un [1] ═ Un [3], UF [1] > UF [3], then UF [3] ═ 0, otherwise UF [1] ═ 0;
when Un [1] ═ Un [4], UF [1] > UF [4], then UF [4] ═ 0, otherwise UF [1] ═ 0;
when Un [2] ═ Un [3], UF [2] > UF [3], UF [3] ═ 0, otherwise UF [2] ═ 0;
when Un [2] ═ Un [4], UF [2] > UF [4], then UF [4] ═ 0, otherwise UF [2] ═ 0;
when Un [3] ═ Un [4], UF [3] > UF [4], then UF [4] ═ 0, otherwise UF [3] ═ 0;
(6) converting the label value of the output membership function into a membership function value:
step one, if a rule 1 is greater than or equal to 0, namely Un [1] is greater than or equal to 0, a function value converted by the rule 1 is equal to a numerical value of an element corresponding to a numerical value of a fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ Un [1] ], otherwise, the function value converted by the rule 1 is equal to a negative value of an element numerical value of a negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ -Un [1] ];
step two, if the rule 2 is greater than or equal to 0, namely Un [2] is greater than or equal to 0, the function value converted by the rule 2 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ Un [2] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ -Un [2] ];
step three, if the rule 3 is greater than or equal to 0, namely Un [3] is greater than or equal to 0, the function value converted by the rule 3 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ Un [3] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ -Un [3] ];
step four, if the rule 4 is greater than or equal to 0, namely Un [4] is greater than or equal to 0, the function value converted by the rule 4 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ Un [4] ], otherwise, the function value converted by the rule 4 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ -Un [4] ];
(7) calculating a membership function value and then calculating an actual output value U:
defining intermediate variable 1 as Temp1 and intermediate variable 2 as Temp 2, then Temp1 ═ UF [1] × Un [1] + UF [2] × Un [2] + UF [3] × Un [3] + UF [4] × Un [4 ]; temp 2 ═ UF [1] + UF [2] + UF [3] + UF [4 ]; and the actual output value U is equal to the intermediate variable 1 divided by the intermediate variable 2, namely U is Temp 1/Temp 2, and after the actual output value is obtained, the output value U is converted into a controller output analog quantity so as to control the liquid level height of the clutch oil tank.
The invention intelligently monitors and controls the liquid level height of the clutch oil tank through the control method, thereby reducing the torque output from the engine to the main breaking motor and keeping the output rotating speed of the engine to be always maintained at the set rotating speed.
Drawings
Fig. 1 is a structural connection diagram of the control system of the present invention.
Detailed Description
As shown in FIG. 1, the invention discloses an electrical control system for a parallel generator and a hydraulic coupler of a diesel engine, which comprises a controller, an engine, a generator and a hydraulic coupler, wherein the engine is connected with the controller; the hydraulic coupler is connected with an engine through a flange plate, the engine is connected with a generator through a belt, and the hydraulic coupler is connected with a crusher through a belt; a torque sensor for detecting output torque is arranged at the power output end of the hydraulic coupler, a rotating speed sensor for monitoring the rotating speed of the crankshaft is arranged on the engine, and the torque sensor and the rotating speed sensor are both connected with the controller so as to transmit torque data and rotating speed data to the controller; the driving parameters (such as rotating speed, oil consumption, torque, start-stop control and the like) of the engine are communicated with the control unit through the CAN bus, and the specific work control process is carried out according to the following steps:
the above corresponding initial value parameters are all written into the program in the control program, namely e ═ 0,12,24,48], de ═ 0,16,32,64], u ═ 0,15,30,45,60,75, 90; setting the rated rotating speed of the engine to be 1500rmp in the control panel; the upper torque limit is set to 1050N/m and the lower torque limit is set to 500N/m.
(1) Initial setting:
setting a torque upper limit value N1050, and when the actual torque N is greater than the set torque upper limit value N, entering a rotating speed control mode by the program; presetting an initial value F0 of the engine speed in a control program additionally arranged in a controller to be 1500rmp, setting an actual speed value to be F1, setting an error value to be e, and subtracting F0 from F1; defining Eff as a linguistic feature point of an input error, and setting the linguistic feature point as a set of 4 elements of [1.. 4], wherein the error of a first acquisition cycle is e1, and the error of a second acquisition cycle is e 2; setting de as the error rate of change, de equal to e1 minus e 2; defining Deff as a language feature point of input error change, setting the language feature point as a set of 4 elements of [1.. 4], and presetting u as an output control quantity; defining Uff as a language feature point of an output control quantity, setting the language feature point as a set of 7 elements of [1.. 7], defining Rule as a fuzzy Rule, and presetting the fuzzy Rule as a 7 multiplied by 7 determinant of [1.. 7,1.. 7 ]; defining an output maximum value Fmax to be 100;
the error value e is divided into 7 fuzzy sets, negative large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and Positive Large (PL), the range of values of e is set to [ -48, -24, -12, 0,12,24,48], 4 elements of Eff are [0,12,24,48], and similarly, the error change rate de is divided into 7 fuzzy sets, negative large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and Positive Large (PL), the range of values of de is set to [ -64, -32, -16, 0,16,32,64], 4 elements of Deff are [0,16,32,64], and similarly, the output control amount is divided into 7 fuzzy sets, and 7 elements of Uff may be [0,15,30,45,60,75,90, 30 ], fuzzy rule table, as shown in the following table:
| -6 | -5 | -4 | -4 | -2 | 1 | 4 |
| -b | -4 | -3 | -3 | -1 | 2 | 5 |
| -6 | -4 | -2 | -1 | 0 | 2 | 5 |
| -5 | -3 | 0 | 0 | 1 | 3 | 5 |
| -5 | -2 | 1 | 1 | 2 | 4 | 6 |
| -5 | -2 | 2 | 3 | 3 | 4 | 6 |
| -4 | -1 | 3 | 4 | 4 | 5 | 6 |
(2) determining the degree of membership of the error value:
step one, if an error value e is larger than the 4 th element of a negative error input characteristic value Eff and is smaller than or equal to the 3 rd element of the negative error input characteristic value Eff, namely-Eff [4] < e ≦ Eff [3], an error membership value Pn is-2, and the first element of an error membership set PF [1] ═ Fmax x (((-Eff [3] -e) ÷ (Eff [4] -Eff [3 ]));
step two, if the error value e is greater than the 3 rd element of the negative error input characteristic value Eff and less than or equal to the 2 nd element of the negative error input characteristic value Eff, namely-Eff [3] < e ≦ Eff [2], the error membership value Pn is-1, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [2] -e) ÷ (Eff [3] -Eff [2 ]));
step three, if the error value e is greater than the 2 nd element of the negative error input characteristic value Eff and is less than or equal to the 1 st element of the negative error input characteristic value Eff, namely-Eff [2] < e ≦ Eff [1], the error membership value Pn is 0, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [1] -e) ÷ (Eff [2] -Eff [1 ]));
step four, if the error value e is greater than the 1 st element of the error input characteristic value Eff and less than or equal to the 2 nd element of the error input characteristic value Eff, namely Eff [1] < e ≦ Eff [2], the error membership value Pn is 1, and the first element of the error membership set PF [1] ═ Fmax × ((Eff [2] -e) (Eff [2] -Eff [1 ]));
step five, if the error value e is greater than the 2 nd element of the error input characteristic value Eff and less than or equal to the 3 rd element of the error input characteristic value Eff, namely Eff [2] < e ≦ Eff [3], the error membership value Pn is 2, and the first element PF [1] ═ Fmax × ((Eff [3] -e) (separationof Eff [3] -Eff [2])) of the error membership set;
step six, if the error value e is greater than the 3 rd element of the error input characteristic value Eff and is less than or equal to the 4 th element of the error input characteristic value Eff, namely, Eff [3] < e ≦ Eff [4], the error membership value Pn is 3, and the first element PF [1] ═ Fmax × ((Eff [4] -e) (emf [4] -Eff [3])) of the error membership set;
seventhly, if the error value e is smaller than or equal to the 4 th element of the negative error input characteristic value Eff, namely e is less than or equal to-Eff [4], the error membership value Pn is 2, the first element PF [1] of the error membership set is the maximum output value FMAX, namely PF [1] is FMAX;
step eight, if the error value e is greater than the 4 th element of the error input characteristic value Eff, namely e is greater than Eff [4], the error membership value Pn is 0, and the first element PF [1] of the error membership set is 0;
step nine, a second element PF [2] of the error membership set is equal to Fmax-PF [1 ];
the fuzzy table corresponding to the error value e is as follows:
(3) determining the degree of membership of the error change value:
step one, if an error change rate de is larger than the 4 th element of a negative error change input characteristic value Deff and is smaller than or equal to the 3 rd element of the negative error change input characteristic value Deff, namely-Deff [4] < de ≦ Deff [3], an error change value membership value Dn ═ 2, and the first element DF [1] ═ Fmax x (((-Deff [3] -de) ÷ (Deff [4] -Deff [3])) of an error change value membership set;
step two, if the error change rate de is greater than the 3 rd element of the negative error change input characteristic value Deff and is less than or equal to the 2 nd element of the negative error change input characteristic value Deff, namely-Deff [3] < de ≦ Deff [2], the error change value membership value Dn is-1, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [2] -de) ÷ (Deff [3] -Deff [2 ]));
step three, if the error change rate de is greater than the 2 nd element of the negative error change input characteristic value Deff and is less than or equal to the 1 st element of the negative error change input characteristic value Deff, namely-Deff [2] < de ≦ Deff [1], then the error change value membership value Dn is 0, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [1] -de) ÷ (Deff [2] -Deff [1 ]));
step four, if the error change rate de is greater than the 1 st element of the error change input characteristic value Deff and is less than or equal to the 2 nd element of the error change input characteristic value Deff, namely Deff [1] < de ≦ Deff [2], the error change value membership value Dn is 1, and the first element DF [1] ═ Fmax x (((Deff [2] -de) ÷ (Deff [2] -Deff [1])) of the error change value membership set;
step five, if the error change rate de is greater than the 2 nd element of the error change input characteristic value Deff and is less than or equal to the 3 rd element of the error change input characteristic value Deff, namely Deff [2] < de ≦ Deff [3], the error change value membership value Dn is 2, and the first element DF [1] ═ Fmax x (((Deff [3] -de) ÷ (Deff [3] -Deff [2])) of the error change value membership set;
step six, if the error change rate de is greater than the 3 rd element of the error change input characteristic value Deff and is less than or equal to the 4 th element of the error change input characteristic value Deff, namely Deff [3] < de ≦ Deff [4], the error change value membership value Dn is 3, and the first element DF [1] ═ Fmax x (((Deff [4] -de) ÷ (Deff [4] -Deff [3])) of the error change value membership set;
seventhly, if the error change rate de is less than or equal to the 4 th element of the negative error change input characteristic value Deff, namely de is less than or equal to-Deff [4], the error change value membership value Dn is 2, and the first element DF [1] of the error change value membership set is the maximum output value Fmax, namely DF [1] is Fmax;
step eight, if the error change rate de is greater than the 4 th element of the error change input characteristic value Deff, that is, de > Deff [4], the error change value membership value Dn is 0, and the first element DF [1] of the error change value membership set is zero, that is, DF [1] is 0;
step nine, subtracting a first element DF [1] of the membership grade set from a second element DF [2] of the error variation value membership grade set which is the maximum output value Fmax, namely DF [2] is Fmax-DF [1 ];
the fuzzy table corresponding to the error change value De is as follows:
(4) four output validity rules are obtained after using error range optimization:
rule 1, Un [1] ═ rule [ Pn +2, Dn +2 ];
rule 2, Un [2] ═ rule [ Pn +3, Dn +2 ];
rule 3, Un [3] ═ rule [ Pn +2, Dn +3 ];
rule 4, Un [4] ═ rule [ Pn +3, Dn +3 ];
solving the values of the rule 1 to the rule 4 through a fuzzy rule table;
(5) judging an input membership function, and solving a language output membership value:
step one, if a first element PF [1] of an input error membership set is less than or equal to a first element DF [1] of an input error variation value membership set, namely PF [1] is less than or equal to DF [1], a first element UF [1] of an output membership set is equal to the first element PF [1] of the input error membership set, namely UF [1] ═ PF [1], otherwise, the first element UF [1] of the output membership set is equal to the first element DF [1] of the input error variation value membership set, namely UF [1] ═ DF [1 ];
step two, if a second element PF [2] of the input error membership set is less than or equal to a first element DF [1] of the input error variation value membership set, namely PF [2] is less than or equal to DF [1], a second element UF [2] of the output membership set is equal to the second element PF [2] of the input error membership set, namely UF [2] ═ PF [2], otherwise, the second element UF [2] of the output membership set is equal to the first element DF [1] of the input error variation value membership set, namely UF [2] ═ DF [1 ];
step three, if the first element PF [1] of the input error membership set is less than or equal to the second element DF [2] of the input error variation value membership set, namely PF [1] is less than or equal to DF [2], the third element UF [3] of the output membership set is equal to the first element PF [1] of the input error membership set, namely UF [3] ═ PF [1], otherwise, the third element UF [3] of the output membership set is equal to the second element DF [2] of the input error variation value membership set, namely UF [3] ═ DF [2 ];
step four, if the second element PF [2] of the input error membership set is less than or equal to the second element DF [2] of the input error variation value membership set, namely PF [2] is less than or equal to DF [2], then the fourth element UF [4] of the output membership set is equal to the second element PF [2] of the input error membership set, namely UF [4] ═ PF [2], otherwise the fourth element UF [4] of the output membership set is equal to the second element DF [2] of the input error variation value membership set, namely UF [4] ═ DF [2 ];
if the rule 1 matrix Un [1] is equal to the rule 2 matrix Un [2], i.e. Un [1] ═ Un [2], the first element of the output membership set UF [1] is greater than if the second element of the output membership set UF [2], i.e. UF [1] > UF [2], then the second element of the output membership set UF [2] is equal to zero, i.e. UF [2] ═ 0, else the first element of the output membership set UF [1] is equal to zero, i.e. UF [1] ═ 0;
if the rule 1 matrix Un [1] is equal to the rule 3 matrix Un [3], i.e. Un [1] ═ Un [3], the first element of the output membership set UF [1] is greater than if the third element of the output membership set UF [3], i.e. UF [1] > UF [3], then the third element of the output membership set UF [3] is equal to zero, i.e. UF [3] ═ 0, else the first element of the output membership set UF [1] is equal to zero, i.e. UF [1] ═ 0;
if the rule 1 matrix Un [1] is equal to the rule 4 matrix Un [4], i.e. Un [1] ═ Un [4], the first element of the output membership set UF [1] is greater than if the fourth element of the output membership set UF [4], i.e. UF [1] > UF [4], then the fourth element of the output membership set UF [4] is equal to zero, i.e. UF [4] ═ 0, else the first element of the output membership set UF [1] is equal to zero, i.e. UF [1] ═ 0;
if the rule 2 matrix Un [2] is equal to the rule 3 matrix Un [3], i.e. Un [2] ═ Un [3], the second element of the output membership set UF [2] is greater than if the third element of the output membership set UF [3], i.e. UF [2] > UF [3], then the third element of the output membership set UF [3] is equal to zero, i.e. UF [3] ═ 0, else the second element of the output membership set UF [2] is equal to zero, i.e. UF [2] ═ 0;
if the rule 2 matrix Un [2] is equal to the rule 4 matrix Un [4], i.e. Un [2] ═ Un [4], the second element of the output membership set UF [2] is greater than if the fourth element of the output membership set UF [4], i.e. UF [2] > UF [4], then the fourth element of the output membership set UF [4] is equal to zero, i.e. UF [4] ═ 0, else the second element of the output membership set UF [2] is equal to zero, i.e. UF [2] ═ 0;
if the rule 3 matrix Un [2] is equal to the rule 4 matrix Un [4], i.e. Un [3] ═ Un [4], the third element of the output membership set UF [3] is greater than if the fourth element of the output membership set UF [4], i.e. UF [3] > UF [4], then the fourth element of the output membership set UF [4] is equal to zero, i.e. UF [4] ═ 0, else the third element of the output membership set UF [3] is equal to zero, i.e. UF [3] ═ 0;
(6) converting the label value of the output membership function into a membership function value:
step one, if a rule 1 is greater than or equal to 0, namely Un [1] is greater than or equal to 0, a function value converted by the rule 1 is equal to a numerical value of an element corresponding to a numerical value of a fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ Un [1] ], otherwise, the function value converted by the rule 1 is equal to a negative value of an element numerical value of a negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ -Un [1] ];
step two, if the rule 2 is greater than or equal to 0, namely Un [2] is greater than or equal to 0, the function value converted by the rule 2 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ Un [2] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ -Un [2] ];
step three, if the rule 3 is greater than or equal to 0, namely Un [3] is greater than or equal to 0, the function value converted by the rule 3 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ Un [3] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ -Un [3] ];
step four, if the rule 4 is greater than or equal to 0, namely Un [4] is greater than or equal to 0, the function value converted by the rule 4 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ Un [4] ], otherwise, the function value converted by the rule 4 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ -Un [4] ];
the fuzzy table corresponding to the output value u is as follows:
(7) calculating a membership function value and then calculating an actual output value U:
define intermediate variable 1 as Temp1 and intermediate variable 2 as Temp 2.
The intermediate variable 1 is equal to the first element of the output membership set UF [1] times the rule 1Un [1] plus the second element of the output membership set UF [2] times the rule 2Un [2[ plus the third element of the output membership set UF [3] times the rule 3Un [3[ plus the fourth element of the output membership set UF [4] times the rule 4Un [4], i.e., Temp1 ═ UF [1] × Un [1] + UF [2] × Un [2] + UF [3] × Un [3] + UF [4] × Un [4 ].
The intermediate variable 2 is equal to the first element of the output membership set UF [1] plus the second element of the output membership set UF [2] plus the 3 rd element of the output membership set UF [3] plus the fourth element of the output membership set UF [4], i.e. Temp 2 ═ UF [1] + UF [2] + UF [3] + UF [4 ].
And the actual output value U is equal to the intermediate variable 1 divided by the intermediate variable 2, namely U is Temp 1/Temp 2, the actual output value is obtained, and then the output value U is converted into a controller output analog quantity to control the liquid level height of a clutch oil tank, so that the torque output from the engine to the main breaking motor is reduced, and the output rotating speed of the engine is kept at the set rotating speed all the time.
The control principle is as follows: the opening degree value of 0-100 corresponding to the output value U is first converted into an analog value recognizable by the controller, i.e. 0-27648 or 5530 + 27648, wherein 0-27648 corresponds to the controller for output control in the voltage mode of 0-10V or the current mode of 0-20mA, and 5530 + 27648 corresponds to the output control in the current mode of 4-20 Ma.
Although the foregoing embodiments have described the present invention in detail, it will be apparent to those skilled in the art that the foregoing embodiments may be modified only by those skilled in the art, or may be modified only by those skilled in the art; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention. That is, the present invention is not limited to the details of the above-described exemplary embodiments, and those skilled in the art can implement the present invention in other specific forms without departing from the spirit or essential characteristics thereof. The invention is intended to cover all modifications which come within the meaning and range of equivalency of the claims.
Claims (2)
1. An electrical control system for a diesel engine parallel generator and a hydraulic coupler is characterized in that the working process of the electrical control system comprises the following steps:
(1) initial setting:
setting a torque upper limit value N, and when the actual torque N is greater than the set torque upper limit value N, entering a rotating speed control mode by a program; presetting an initial value F0 of the engine speed in a control program additionally arranged in a controller, setting an actual speed value to be F1, setting an error value to be e, and subtracting F2 from F1 by using e; defining Eff as a linguistic feature point of an input error, and setting the linguistic feature point as a set of 4 elements of [1.. 4], wherein the error of a first acquisition cycle is e1, and the error of a second acquisition cycle is e 2; setting de as the error rate of change, de equal to e1 minus e 2; defining Deff as a language feature point of input error change, setting the language feature point as a set of 4 elements of [1.. 4], and presetting u as an output control quantity; defining Uff as a language feature point of an output control quantity, setting the language feature point as a set of 7 elements of [1.. 7], defining Rule as a fuzzy Rule, and presetting the fuzzy Rule as a 7 multiplied by 7 determinant of [1.. 7,1.. 7 ]; defining an output maximum value Fmax to be 100;
(2) determining the degree of membership of the error value:
step one, if an error value e is larger than the 4 th element of a negative error input characteristic value Eff and is smaller than or equal to the 3 rd element of the negative error input characteristic value Eff, namely-Eff [4] < e ≦ Eff [3], an error membership value Pn is-2, and the first element of an error membership set PF [1] ═ Fmax x (((-Eff [3] -e) ÷ (Eff [4] -Eff [3 ]));
step two, if the error value e is greater than the 3 rd element of the negative error input characteristic value Eff and less than or equal to the 2 nd element of the negative error input characteristic value Eff, namely-Eff [3] < e ≦ Eff [2], the error membership value Pn is-1, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [2] -e) ÷ (Eff [3] -Eff [2 ]));
step three, if the error value e is greater than the 2 nd element of the negative error input characteristic value Eff and is less than or equal to the 1 st element of the negative error input characteristic value Eff, namely-Eff [2] < e ≦ Eff [1], the error membership value Pn is 0, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [1] -e) ÷ (Eff [2] -Eff [1 ]));
step four, if the error value e is greater than the 1 st element of the error input characteristic value Eff and less than or equal to the 2 nd element of the error input characteristic value Eff, namely Eff [1] < e ≦ Eff [2], the error membership value Pn is 1, and the first element of the error membership set PF [1] ═ Fmax × ((Eff [2] -e) (Eff [2] -Eff [1 ]));
step five, if the error value e is greater than the 2 nd element of the error input characteristic value Eff and less than or equal to the 3 rd element of the error input characteristic value Eff, namely Eff [2] < e ≦ Eff [3], the error membership value Pn is 2, and the first element PF [1] ═ Fmax × ((Eff [3] -e) (separationof Eff [3] -Eff [2])) of the error membership set;
step six, if the error value e is greater than the 3 rd element of the error input characteristic value Eff and is less than or equal to the 4 th element of the error input characteristic value Eff, namely, Eff [3] < e ≦ Eff [4], the error membership value Pn is 3, and the first element PF [1] ═ Fmax × ((Eff [4] -e) (emf [4] -Eff [3])) of the error membership set;
seventhly, if the error value e is smaller than or equal to the 4 th element of the negative error input characteristic value Eff, namely e is less than or equal to-Eff [4], the error membership value Pn is 2, the first element PF [1] of the error membership set is the maximum output value FMAX, namely PF [1] is FMAX;
step eight, if the error value e is greater than the 4 th element of the error input characteristic value Eff, namely e is greater than Eff [4], the error membership value Pn is 0, and the first element PF [1] of the error membership set is 0;
step nine, a second element PF [2] of the error membership set is equal to Fmax-PF [1 ];
(3) determining the degree of membership of the error change value:
step one, if an error change rate de is larger than the 4 th element of a negative error change input characteristic value Deff and is smaller than or equal to the 3 rd element of the negative error change input characteristic value Deff, namely-Deff [4] < de ≦ Deff [3], an error change value membership value Dn ═ 2, and the first element DF [1] ═ Fmax x (((-Deff [3] -de) ÷ (Deff [4] -Deff [3])) of an error change value membership set;
step two, if the error change rate de is greater than the 3 rd element of the negative error change input characteristic value Deff and is less than or equal to the 2 nd element of the negative error change input characteristic value Deff, namely-Deff [3] < de ≦ Deff [2], the error change value membership value Dn is-1, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [2] -de) ÷ (Deff [3] -Deff [2 ]));
step three, if the error change rate de is greater than the 2 nd element of the negative error change input characteristic value Deff and is less than or equal to the 1 st element of the negative error change input characteristic value Deff, namely-Deff [2] < de ≦ Deff [1], then the error change value membership value Dn is 0, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [1] -de) ÷ (Deff [2] -Deff [1 ]));
step four, if the error change rate de is greater than the 1 st element of the error change input characteristic value Deff and is less than or equal to the 2 nd element of the error change input characteristic value Deff, namely Deff [1] < de ≦ Deff [2], the error change value membership value Dn is 1, and the first element DF [1] ═ Fmax x (((Deff [2] -de) ÷ (Deff [2] -Deff [1])) of the error change value membership set;
step five, if the error change rate de is greater than the 2 nd element of the error change input characteristic value Deff and is less than or equal to the 3 rd element of the error change input characteristic value Deff, namely Deff [2] < de ≦ Deff [3], the error change value membership value Dn is 2, and the first element DF [1] ═ Fmax x (((Deff [3] -de) ÷ (Deff [3] -Deff [2])) of the error change value membership set;
step six, if the error change rate de is greater than the 3 rd element of the error change input characteristic value Deff and is less than or equal to the 4 th element of the error change input characteristic value Deff, namely Deff [3] < de ≦ Deff [4], the error change value membership value Dn is 3, and the first element DF [1] ═ Fmax x (((Deff [4] -de) ÷ (Deff [4] -Deff [3])) of the error change value membership set;
seventhly, if the error change rate de is less than or equal to the 4 th element of the negative error change input characteristic value Deff, namely de is less than or equal to-Deff [4], the error change value membership value Dn is 2, and the first element DF [1] of the error change value membership set is the maximum output value Fmax, namely DF [1] is Fmax;
step eight, if the error change rate de is greater than the 4 th element of the error change input characteristic value Deff, that is, de > Deff [4], the error change value membership value Dn is 0, and the first element DF [1] of the error change value membership set is zero, that is, DF [1] is 0;
step nine, a second element DF [2] of the error variation value membership degree set is equal to Fmax-DF [1 ];
(4) four output validity rules are obtained after using error range optimization:
rule 1, Un [1] ═ rule [ Pn +2, Dn +2 ];
rule 2, Un [2] ═ rule [ Pn +3, Dn +2 ];
rule 3, Un [3] ═ rule [ Pn +2, Dn +3 ];
rule 4, Un [4] ═ rule [ Pn +3, Dn +3 ];
solving the values of the rule 1 to the rule 4 through a fuzzy rule table;
(5) judging an input membership function, and solving a language output membership value:
step one, if PF [1] is less than or equal to DF [1], outputting a first element UF [1] of a membership grade set to be PF [1], otherwise, UF [1] to be DF [1 ];
step two, if PF [2] is less than or equal to DF [1], outputting a second element UF [2] of the membership grade set to PF [2], otherwise, UF [2] to DF [1 ];
step three, if PF [1] is less than or equal to DF [2], outputting a third element UF [3] of the membership grade set to PF [1], otherwise UF [3] to DF [2 ];
step four, if PF [2] is less than or equal to DF [2], outputting a fourth element UF [4] of the membership grade set to PF [2], otherwise UF [4] to DF [2 ];
when Un [1] ═ Un [2], UF [1] > UF [2], then UF [2] ═ 0, otherwise UF [1] ═ 0;
when Un [1] ═ Un [3], UF [1] > UF [3], then UF [3] ═ 0, otherwise UF [1] ═ 0;
when Un [1] ═ Un [4], UF [1] > UF [4], then UF [4] ═ 0, otherwise UF [1] ═ 0;
when Un [2] ═ Un [3], UF [2] > UF [3], UF [3] ═ 0, otherwise UF [2] ═ 0;
when Un [2] ═ Un [4], UF [2] > UF [4], then UF [4] ═ 0, otherwise UF [2] ═ 0;
when Un [3] ═ Un [4], UF [3] > UF [4], then UF [4] ═ 0, otherwise UF [3] ═ 0;
(6) converting the label value of the output membership function into a membership function value:
step one, if Un [1] is more than or equal to 0, the function value converted by the rule 1 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 1 corresponding to the output quantity characteristic value UFF, namely Un [1] ═ UFF [ Un [1] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 1 corresponding to the output quantity characteristic value UFF, namely Un [1] ═ UFF [ -Un [1] ];
step two, if the rule 2 is greater than or equal to 0, namely Un [2] is greater than or equal to 0, the function value converted by the rule 2 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ Un [2] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ -Un [2] ];
step three, if the rule 3 is greater than or equal to 0, namely Un [3] is greater than or equal to 0, the function value converted by the rule 3 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ Un [3] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ -Un [3] ];
step four, if the rule 4 is greater than or equal to 0, namely Un [4] is greater than or equal to 0, the function value converted by the rule 4 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ Un [4] ], otherwise, the function value converted by the rule 4 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ -Un [4] ];
(7) calculating a membership function value and then calculating an actual output value U:
defining an intermediate variable 1 as Temp1 and an intermediate variable 2 as Temp 2; then Temp1 ═ UF [1] × Un [1] + UF [2] × Un [2] + UF [3] × Un [3] + UF [4] × Un 4; temp 2 ═ UF [1] + UF [2] + UF [3] + UF [4 ]; and the actual output value U is Temp 1/Temp 2, and the output value U is converted into a controller output analog quantity after the actual output value U is obtained so as to control the liquid level height of the clutch oil tank.
2. The diesel parallel generator and fluid coupling electrical control system of claim 1, wherein the electrical control system comprises a controller, an engine, a generator, and a fluid coupling; the hydraulic coupler is connected with an engine through a flange plate, the engine is connected with a generator through a belt, the hydraulic coupler is connected with a crusher through the belt, and the engine controls the hydraulic coupler through a controller; the power output of the hydraulic coupler is provided with a torque sensor for detecting output torque, the engine is provided with a rotating speed sensor for monitoring the rotating speed of the crankshaft, and the torque sensor and the rotating speed sensor are both connected with the controller so as to transmit torque data and rotating speed data to the controller.
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