CN115237018A - Control mode undisturbed switching method of hydraulic dynamometer - Google Patents
Control mode undisturbed switching method of hydraulic dynamometer Download PDFInfo
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- CN115237018A CN115237018A CN202210859492.4A CN202210859492A CN115237018A CN 115237018 A CN115237018 A CN 115237018A CN 202210859492 A CN202210859492 A CN 202210859492A CN 115237018 A CN115237018 A CN 115237018A
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The application discloses a control mode undisturbed switching method of a hydraulic dynamometer, which relates to the field of hydraulic dynamometers, wherein a signal processing unit converts regulating quantity acting on a regulating element into a second control signal corresponding to a second control mode according to a mode switching instruction and transmits the second control signal to a master control system, the master control system responds to the mode switching instruction and switches to the second control mode, a feedback signal is taken as an initial value, and a valve control unit of the hydraulic dynamometer is controlled based on the second control signal, so that control mode undisturbed switching is realized; the method receives the feedback signal of the current control mode as the initial value and switches to generate the control signal corresponding to the control mode, thereby realizing undisturbed switching of the control mode under the condition that the rotor of the hydraulic dynamometer operates, improving the operation stability of the hydraulic dynamometer and improving the service performance of the dynamometer.
Description
Technical Field
The application relates to the field of hydraulic dynamometer, in particular to a control mode undisturbed switching method of a hydraulic dynamometer.
Background
At present, a hydraulic dynamometer is used in a plurality of tests of power equipment, and the hydraulic dynamometer measures and absorbs power of a prime motor by using friction torque generated in a water rotation process. In order to meet various requirements of a power test, the hydraulic dynamometer has different control modes such as automatic control of rotating speed and torque besides a normal valve position control mode.
The hydraulic dynamometer is mainly controlled by a water inlet and outlet valve, when the hydraulic dynamometer works in a rotating speed and torque automatic control mode, the control quantity is correspondingly changed into rotating speed and torque, and at the moment, the water inlet and outlet valve instruction corresponding to the rotating speed and the torque is calculated according to an internal conversion formula of a control system and is transmitted to the water inlet and outlet valve to realize control. If the control quantity input of the rotating speed and the torque and the valve control quantity input are not the same element, the valve control quantity is not changed in the whole process of the rotating speed and the torque control, but the actual position of the valve is changed, and the command of the valve is suddenly changed in the switching process to generate the disturbance of the operation condition of the dynamometer. If the control quantity input of the rotating speed and the torque and the control quantity input of the valve are the same element, the actual control quantity change and the valve change are inevitably different in the rotating speed and torque control process, and the sudden change of the valve instruction still occurs during switching to generate the disturbance of the operation condition of the dynamometer. The hydraulic dynamometer, especially the high-speed hydraulic dynamometer, causes the change of the rotating speed even if slight valve disturbance occurs in the running process of the prime mover, and influences the stability of the running state.
Disclosure of Invention
In view of the above problems and technical needs, the present applicant proposes a method for undisturbed switching of control modes of a hydraulic dynamometer, and the technical scheme of the present application is as follows:
a method for undisturbed switching of control modes of a hydraulic dynamometer, the method comprising:
when the main control system controls a valve control unit of the hydraulic dynamometer based on a first control signal according to a first control mode, receiving a mode switching instruction for indicating switching from the first control mode to a second control mode and forwarding the mode switching instruction to the signal processing unit, wherein the first control signal is a signal corresponding to the regulating variable acting on the regulating element in the first control mode;
the signal processing unit converts the regulating quantity acting on the regulating element into a second control signal corresponding to a second control mode according to the mode switching instruction and transmits the second control signal to the master control system;
the main control system responds to a mode switching instruction to switch to a second control mode, a feedback signal is used as an initial value to control a valve control unit of the hydraulic dynamometer based on the second control signal, the undisturbed switching of the control modes is achieved, and the feedback signal is a real-time feedback value of a control quantity corresponding to the hydraulic dynamometer and the second control mode when the first control mode is switched to the second control mode.
The main control system responds to a mode switching command in the rotation process of a rotor of the hydraulic dynamometer to switch from a first control mode to a second control mode without disturbance.
The further technical scheme is that the adjusting element is realized based on an incremental rotary encoder, and the incremental rotary encoder can rotate infinitely.
The further technical scheme is that the signal processing unit converts the regulating variable acting on the regulating element into a second control signal corresponding to a second control mode according to the mode switching instruction, and the method comprises the following steps:
the signal processing unit resets the adjustment amount of the adjustment element in response to the mode switching instruction, and obtains a second control signal according to the adjustment amount acting on the adjustment element after the resetting in combination with a parameter change rate corresponding to a second control mode, the adjustment amount acting on the adjustment element indicates an angle by which the adjustment element is rotated, the parameter change rate indicates an amount of change in a control amount corresponding to the second control mode generated per unit angle of rotation of the adjustment element, and the second control signal indicates a total amount of change in the control amount corresponding to the second control mode with respect to a start value.
The control mode of the main control system comprises at least two of a valve position control mode, a rotating speed control mode and a torque control mode, wherein the control quantity corresponding to the valve position control mode is a valve position, the control quantity corresponding to the rotating speed control mode is a rotating speed, and the control quantity corresponding to the torque control mode is a torque.
The further technical scheme is that the parameter change rates of different control modes are different.
The further technical scheme is that the control mode of the main control system comprises at least two of a valve position control mode, a rotating speed control mode and a torque control mode:
when the second control mode is the valve position control mode, the second control signal is a valve position control signal, and the feedback signal is a real-time valve position feedback value; the main control system outputs a valve position control signal to a valve control unit of the hydraulic dynamometer according to a valve position control mode;
when the second control mode is a rotating speed control mode, the second control signal is a rotating speed control signal, and the feedback signal is a real-time rotating speed feedback value; the main control system generates a corresponding valve position control signal based on the rotating speed control signal by taking the real-time rotating speed feedback value as an initial value and outputs the corresponding valve position control signal to a valve control unit of the hydraulic dynamometer;
when the second control mode is a torque control mode, the second control signal is a torque control signal, and the feedback signal is a real-time torque feedback value; the main control system takes the real-time torque feedback value as an initial value and generates a corresponding valve position control signal based on the torque control signal and outputs the valve position control signal to a valve control unit of the hydraulic dynamometer.
The further technical scheme is that a water inlet valve and a water discharge valve in a valve control unit of the hydraulic dynamometer are in a linkage state in a rotating speed control mode and a torque control mode.
The beneficial technical effect of this application is:
the method responds to a mode switching command to reset the adjustment quantity of an adjusting element and switch the parameter change rate, and receives a feedback signal of the current control mode as an initial value, so that the undisturbed switching of the control mode can be realized under the condition that a rotor of the hydraulic dynamometer operates, the operation stability of the hydraulic dynamometer is improved, and the use performance of the dynamometer is improved.
The method can be used for randomly changing the control mode in the rotation process of the rotor of the hydraulic dynamometer, the control mode of the hydraulic dynamometer is not selected before operation, and the hydraulic dynamometer is applicable to both low-speed and high-speed states, so that the application range of the hydraulic dynamometer can be greatly expanded, the hydraulic dynamometer can better follow a prime motor to perform related tests, and the test requirements of using various control modes in one test are met.
The input of the control quantity of the control mode comes from the same adjusting element, an operator does not need to select different adjusting elements for different control modes, so that the operation of the dynamometer cannot be unfamiliar due to the replacement of the adjusting elements, and the operation of the same adjusting element is more beneficial to the learning and use of the operator.
Drawings
FIG. 1 is a system architecture diagram of a control system implementing the control mode bumpless switching method of the present application in one embodiment.
FIG. 2 is a flow diagram of a method for controlling a bumpless switching of modes in one embodiment.
FIG. 3 is a control flow diagram of a hydraulic dynamometer implemented based on the control mode bumpless switching method of the present application in one example.
Detailed Description
The following description of the embodiments of the present application will be made with reference to the accompanying drawings.
The application discloses a control mode undisturbed switching method of a hydraulic dynamometer, which is executed by a control system of the hydraulic dynamometer, the control system of the hydraulic dynamometer is shown in figure 1, the control system of the hydraulic dynamometer comprises a main control system, a signal processing unit, an adjusting element and a feedback unit, and the main control system is connected with the signal processing unit and the feedback unit. The adjusting element is connected with the signal processing unit and is used for receiving adjusting operation aiming at the control quantity of the hydraulic dynamometer, and the hydraulic dynamometer shares the same adjusting element in each control mode. In the present application, the adjustment element is implemented using a knob, and further, using a knob based incremental rotary encoder, and the incremental rotary encoder can be rotated infinitely without mechanical limitation. The signal processing unit can be realized by a singlechip or a processor with a signal processing function. The main control system can be a main control system of a conventional hydraulic dynamometer, is connected with and controls a valve control unit of the hydraulic dynamometer, and the valve control unit is arranged on a water inlet valve and a water discharge valve of the hydraulic dynamometer and is used for controlling the actions of the water inlet valve and the water discharge valve. The feedback unit is used for acquiring feedback signals of the hydraulic dynamometer, the feedback signals comprise real-time feedback values of various control quantities of the hydraulic dynamometer, the control quantities comprise valve positions, rotating speeds and torques, and the feedback signals comprise real-time valve position feedback values, real-time rotating speed feedback values and real-time torque feedback values.
Referring to the flowchart shown in fig. 2, the control mode undisturbed switching method executed by the present application includes:
step 210, when the hydraulic dynamometer works in the first control mode, the signal processing unit converts the adjustment quantity acting on the adjusting element into a first control signal corresponding to the first control signal and transmits the first control signal to the main control system, and the main control system controls the valve control unit of the hydraulic dynamometer based on the first control signal according to the first control mode. The control modes of the main control system in the present application include at least two of a valve position control mode, a rotational speed control mode and a torque control mode, and generally include three modes at the same time, and the first control mode is any one of the three control modes.
The signal processing unit obtains a first control signal according to the adjustment quantity acting on the adjusting element and the parameter change rate corresponding to the first control mode. Wherein the adjustment amount acting on the adjustment member is indicative of the angle of rotation of the adjustment member, the adjustment amount being freely controllable by the user. The parameter change rate indicates an amount of change in a control amount corresponding to the first control mode generated per unit angle of rotation of the adjustment member.
The parameter change rates of different control modes are different, and the difference includes that the physical quantity type and the physical quantity value of the control quantity are different. The control amount corresponding to the valve position control mode is a valve position, the control amount corresponding to the rotation speed control mode is a rotation speed, and the control amount corresponding to the torque control mode is a torque.
Specifically, the parameter change rate of the valve position control mode indicates the valve position change rate generated by the adjusting element per unit angle of rotation, for example, the parameter change rate of the valve position control mode indicates that the valve position change rate generated by the adjusting element per 360 ° of rotation is 1 degree. The parameter change rate of the rotation speed control mode indicates a rotation speed change rate generated by the adjusting element per unit angle of rotation, for example, the parameter change rate of the rotation speed control mode indicates a rotation speed change rate of 100RPM generated by the adjusting element per 360 ° of rotation. The parameter change rate of the torque control mode indicates a torque change rate generated per unit angle of rotation of the adjustment member, for example, the parameter change rate of the torque control mode indicates a torque change rate of 10KNm generated per 360 ° of rotation of the adjustment member.
The first control signal indicating the total amount of change in the control amount corresponding to the first control mode can be obtained by multiplying the angle by which the adjustment element is rotated by the amount of change in the control amount corresponding to the first control mode per unit angle of rotation. For example, if the adjustment element is rotated through an angle of 180 °, the first control signal, which is multiplied by the rate of change of the parameter of the valve position control mode, indicates that the total valve position has changed by 0.5 degrees.
And step 220, in the working process of the hydraulic dynamometer in the first control mode, if the mode switching instruction is not received, the main control system continuously controls the valve control unit of the hydraulic dynamometer according to the first control mode. The master control system forwards a mode switch instruction indicating a switch from the first control mode to the second control mode to the signal processing unit when receiving it.
The mode switch command may be operated using a switch component connected to the master control system or a trigger may be operated on an operating interface of the master control system.
In step 230, the signal processing unit converts the adjustment amount applied to the adjustment element into a second control signal corresponding to a second control mode according to the mode switching instruction and transmits the second control signal to the main control system.
The signal processing unit resets the adjustment amount of the adjustment element in response to the mode switching instruction, i.e., clears the previously recorded angle of rotation of the adjustment element. After the mode switching instruction is triggered, the user can immediately operate the adjusting element to adjust the control quantity corresponding to the second control mode, and then the signal processing unit obtains a second control signal according to the adjustment quantity acting on the adjusting element and the parameter change rate corresponding to the second control mode after resetting. Similarly to the first control signal, the adjustment amount acting on the adjustment element indicates the angle by which the adjustment element is rotated, the parameter change rate indicates the amount of change in the control amount corresponding to the second control mode generated per unit angle of rotation of the adjustment element, and the resultant second control signal indicates the total amount of change in the control amount corresponding to the second control mode.
When the second control mode is the valve position control mode, the second control signal is a valve position control signal, and the second control signal indicates the total variation of the valve position. When the second control mode is the rotating speed control mode, the second control signal is a rotating speed control signal, and the second control signal indicates the total variation of the rotating speed. When the second control mode is the torque control mode, the second control signal is a torque control signal indicating a total amount of change in torque.
The signal processing unit can quickly realize the resetting of the regulating quantity and the switching of the parameter change rate in response to the mode switching instruction, the switching and changing time is less than 5ms, and the response is quick.
Step 240, the main control system switches to operate according to the second control mode in response to the mode switching instruction, and since the control quantities corresponding to the control modes are different, the control characteristics of the different control quantities are different, and the corresponding automatic control PID parameters are also different, the control parameters of the main control system in different control modes are different, and the specific control parameters may be preconfigured, which is not described in detail in this application. And to prevent control modes from conflicting with each other, one and only one control mode is activated at a time.
The main control system utilizes the feedback unit to acquire a real-time feedback value of the control quantity corresponding to the hydraulic dynamometer and the second control mode as a feedback signal. And the feedback signal is used as an initial value to control a valve control unit of the hydraulic dynamometer based on the second control signal, so that the control mode is switched without disturbance.
When the second control mode is the valve position control mode, the second control signal is a valve position control signal, the feedback signal is a real-time valve position feedback value, and at the moment, the main control system directly outputs the valve position control signal to a valve control unit of the hydraulic dynamometer according to the valve position control mode.
And when the second control mode is a rotating speed control mode, the second control signal is a rotating speed control signal, and the feedback signal is a real-time rotating speed feedback value. At the moment, the main control system can obtain the target rotating speed by taking the real-time rotating speed feedback value as an initial value and combining the total variation of the rotating speed indicated by the rotating speed control signal, and generates a corresponding valve position control signal according to the preset corresponding relation between the valve position and the rotating speed and outputs the corresponding valve position control signal to a valve control unit of the hydraulic dynamometer.
And when the second control mode is a torque control mode, the second control signal is a torque control signal, and the feedback signal is a real-time torque feedback value. At the moment, the main control system can obtain the target torque by taking the real-time torque feedback value as an initial value and combining the total variation of the torque indicated by the torque control signal, and generates a corresponding valve position control signal according to the preset corresponding relation between the valve position and the torque and outputs the valve position control signal to the valve control unit of the hydraulic dynamometer.
In the control mode switching process, a water inlet valve and a water discharge valve in a valve control unit of the hydraulic dynamometer are in a linkage state under a rotating speed control mode and a torque control mode.
The method based on the application can realize the switching of the control modes in the rotation process of the rotor of the hydraulic dynamometer, so that a plurality of different control modes can be adopted in sequence in the process of executing one test by the hydraulic dynamometer, and the test process requirement of a prime motor can be better met. The method can randomly change the control mode in the rotation process of the hydraulic dynamometer without selecting the control mode before operation, and can be realized when the hydraulic dynamometer operates at low speed and high speed, so that the application range of the hydraulic dynamometer can be greatly improved, and the hydraulic dynamometer can better follow a prime motor to perform related tests. And basically does not disturb the running state of the hydraulic dynamometer when switching between different control modes. After the operation is finished, after the rotating speed is reduced to 0, the power supply system can be directly closed without resetting a valve and the like.
Based on the method of the present application, the control process for the hydraulic dynamometer in one example is as follows, please refer to the flow chart shown in fig. 3:
1. initializing a system: starting each system of the hydraulic dynamometer, starting a control system, initializing each system, setting the control mode as a valve position control mode, and reading a real-time valve position feedback value as an initial value after starting.
2. Operator status confirmation: after the hydraulic dynamometer is started, the state of an operator is confirmed, and the operator state is mainly confirmed to check whether the operation state of the whole system is normal. And (3) confirming the state before starting water supply by an operator, carrying out valve position control through the regulating element, observing whether the valve position feedback is consistent with the control instruction, paying attention to the action, and confirming that the valve action is normal, wherein the valve position does not exceed 20%.
3. And (5) running the hydraulic dynamometer. If the master control system receives the mode switching instruction, the corresponding control mode is switched, and if the mode switching instruction does not exist, the master control system continues to operate according to the current control mode.
If switching from the arbitrary control mode to the valve position control mode: the main control system is switched to a valve position control mode, a real-time valve position feedback value is obtained through the feedback unit and serves as an initial value, and the signal processing unit resets the adjustment quantity of the adjusting element and switches to the valve position change rate. The user can operate the adjusting element to control the hydraulic dynamometer, the signal processing unit generates a valve position control signal accordingly, and the main control system directly outputs the valve position control signal to the valve control unit to complete switching to a valve position control mode and continue to control the hydraulic dynamometer.
If switching from any control mode to the rotation speed control mode: the main control system is switched to a rotating speed control mode, and a real-time rotating speed feedback value is obtained through a feedback unit and is used as an initial value, and the rotating speed control is automatic control, so that the real-time rotating speed feedback value at the switching moment is used as a current automatic control target value. The signal processing unit resets the adjustment amount of the adjustment element and switches to the rotation speed change rate. The user can operate the adjusting element to control the hydraulic dynamometer, the signal processing unit generates a rotating speed control signal, the main control system generates a corresponding valve position control signal according to the preset corresponding relation between the valve position and the rotating speed and outputs the corresponding valve position control signal to the valve control unit of the hydraulic dynamometer, and the hydraulic dynamometer is switched to a rotating speed control mode and is continuously controlled.
If switching from the arbitrary control mode to the torque control mode: the main control system is switched to a torque control mode, and a real-time torque feedback value is obtained through a feedback unit and is used as an initial value, and the real-time torque feedback value at the switching moment is used as a current automatic control target value because the torque control is automatic control. The signal processing unit resets the adjustment amount of the adjustment element and switches to the torque change rate. The main control system generates corresponding valve position control signals according to the preset corresponding relation between the valve position and the torque and outputs the valve position control signals to the valve control unit of the hydraulic dynamometer, so that the hydraulic dynamometer is switched to a torque control mode and is continuously controlled.
It should be noted here that the valve is relatively simple to control due to stable valve position feedback, and in the rotation speed and torque control mode, the rotation speed and torque have certain fluctuation due to the operation state of the hydraulic dynamometer, so in the control process, according to the relevant characteristics of the rotation speed and torque of the dynamometer, matching of control parameters in the control function module is needed.
4. And finally, after the operation is finished and the rotating speed is reduced to 0, the power supply system is directly closed without resetting a valve and the like.
What has been described above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations directly derived or suggested to those skilled in the art without departing from the spirit and concepts of the present application are to be considered as included within the scope of the present application.
Claims (8)
1. A method for undisturbed switching of control modes for a hydraulic dynamometer, the method comprising:
when the main control system controls a valve control unit of the hydraulic dynamometer based on a first control signal according to a first control mode, receiving a mode switching command indicating switching from the first control mode to a second control mode and forwarding the mode switching command to a signal processing unit, wherein the first control signal is a signal corresponding to a regulating variable acting on a regulating element in the first control mode;
the signal processing unit converts the regulating quantity acting on the regulating element into a second control signal corresponding to the second control mode according to the mode switching instruction and transmits the second control signal to the master control system;
and the master control system responds to the mode switching instruction and switches to a second control mode, a feedback signal is used as an initial value to control a valve control unit of the hydraulic dynamometer based on the second control signal, and the control mode is switched without disturbance, wherein the feedback signal is a real-time feedback value of a control quantity corresponding to the second control mode of the hydraulic dynamometer when the first control mode is switched to the second control mode.
2. The method of claim 1, wherein the master control system switches from the first control mode to the second control mode undisturbed in response to the mode switch command during rotation of a rotor of the hydraulic dynamometer.
3. The method of claim 1, wherein the adjustment element is implemented based on an incremental rotary encoder, and the incremental rotary encoder is infinitely rotatable.
4. The method according to claim 3, wherein the signal processing unit converts the adjustment amount applied to the adjustment element into a second control signal corresponding to the second control mode according to the mode switching instruction, and comprises:
the signal processing unit resets the adjustment amount of the adjustment element in response to the mode switching instruction, and obtains the second control signal according to the adjustment amount acting on the adjustment element in combination with a parameter change rate corresponding to the second control mode after the resetting, the adjustment amount acting on the adjustment element indicating an angle by which the adjustment element is rotated, the parameter change rate indicating an amount of change in the control amount corresponding to the second control mode generated per unit angle of rotation of the adjustment element, and the second control signal indicating a total amount of change in the control amount corresponding to the second control mode with respect to the start value.
5. The method of claim 4, wherein the control modes of the master control system include at least two of a valve position control mode, a rotational speed control mode, and a torque control mode, wherein the control amount corresponding to the valve position control mode is a valve position, the control amount corresponding to the rotational speed control mode is a rotational speed, and the control amount corresponding to the torque control mode is a torque.
6. The method of claim 4, wherein the rate of change of the parameter is different for different control modes.
7. The method of claim 1, wherein the control modes of the master control system include at least two of a valve position control mode, a speed control mode, and a torque control mode:
when the second control mode is a valve position control mode, the second control signal is a valve position control signal, and the feedback signal is a real-time valve position feedback value; the main control system outputs a valve position control signal to a valve control unit of the hydraulic dynamometer according to a valve position control mode;
when the second control mode is a rotating speed control mode, the second control signal is a rotating speed control signal, and the feedback signal is a real-time rotating speed feedback value; the main control system takes the real-time rotating speed feedback value as an initial value and generates a corresponding valve position control signal based on the rotating speed control signal and outputs the valve position control signal to a valve control unit of the hydraulic dynamometer;
when the second control mode is a torque control mode, the second control signal is a torque control signal, and the feedback signal is a real-time torque feedback value; and the main control system takes the real-time torque feedback value as an initial value, generates a corresponding valve position control signal based on the torque control signal and outputs the valve position control signal to a valve control unit of the hydraulic dynamometer.
8. The method of claim 7, wherein a water inlet valve and a water discharge valve in a valve control unit of the hydraulic dynamometer are in linkage in a rotational speed control mode and a torque control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210859492.4A CN115237018A (en) | 2022-07-21 | 2022-07-21 | Control mode undisturbed switching method of hydraulic dynamometer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210859492.4A CN115237018A (en) | 2022-07-21 | 2022-07-21 | Control mode undisturbed switching method of hydraulic dynamometer |
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| CN115237018A true CN115237018A (en) | 2022-10-25 |
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| CN202210859492.4A Pending CN115237018A (en) | 2022-07-21 | 2022-07-21 | Control mode undisturbed switching method of hydraulic dynamometer |
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