CN115420301A - Digital control method of angular vibration table - Google Patents
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Abstract
The invention discloses a digital control method of an angular vibration table, which comprises the following steps: s1, acquiring a position instruction U 1 And is instructed by the position U 1 Obtaining required instruction parameters including vibration speed peak-to-peak value V cpp And a vibration frequency f; s2, obtaining real-time position feedback W of the angular vibration table through a photoelectric encoder f And based on real-time position feedback W f Differentiating to obtain speed feedback, and further obtaining feedback speed peak-to-peak value V fpp (ii) a S3, comparing the vibration frequency f in the command parameter with a preset frequency switching point f c Selecting PI regulation algorithm or self-adaptive regulation algorithm to obtain speed control quantity U v Controlling the speed by a quantity U v Output to the motor driver according to U v And controlling the motor so as to vibrate the angular vibration table. The invention can realize control parameters aiming at new working frequency or load weightThe rapid automatic adjustment of the number greatly improves the debugging efficiency of the control parameters of the angular vibration table.
Description
Technical Field
The invention relates to the field of angular vibration tables, in particular to a method for quickly and automatically adjusting control parameters of an angular vibration table working under different loads and different vibration frequencies.
Background
The angular vibration table is a high-precision test device for testing the dynamic performance of an inertial instrument and an inertial system, and the output requirement of the angular vibration table meets the characteristics of high reliability, high precision and wide frequency band. In order to simulate various vibrations in the environment to be used as the input of the inertial instrument, the dynamic characteristics of the inertial instrument are measured to further establish a dynamic model, error compensation is realized, and the performance of the inertial instrument is improved.
The angular vibration table developed for the all-solid-state angular rate sensor such as the fiber optic gyroscope is required to output a high-precision sinusoidal angular rate analog signal, and no specific requirement is made on the phase. However, the operating frequency of an angular vibration table is generally relatively high, and some operating frequencies reach hundreds of hertz, even kilohertz. Furthermore, if the weight of the load is such that there are many gear positions, then a number of different operating conditions will result, in combination with different vibration frequencies and different loads. At present, a controller under the condition generally adopts PID control, control parameters of the controller are mostly required to be manually adjusted, and under the condition that a simulated load with enough gear weight is made in advance, the control parameters under different working conditions are required to be manually adjusted and built in before an angular vibration table leaves a factory, so that the workload is huge, and once a new load gear requirement exists, particularly after the angular vibration table is delivered to a user for use, a debugging worker is required to go to the site to debug the parameters again, so that the cost is greatly increased.
Therefore, the research on the digital control method of the angular vibration table is an urgent need.
Disclosure of Invention
In view of the above disadvantages, the present invention provides a digital control method for an angular vibration table, which can greatly reduce the workload of debugging, and can realize rapid automatic adjustment of parameters for different loads and different vibration frequencies.
In order to achieve the aim, the invention provides a digital control method of an angular vibration table, which comprises the following steps:
s1, obtaining a position instruction U of vibration of an angular vibration table 1 And is instructed by the position U 1 Obtaining required instruction parameters, wherein the instruction parameters comprise instruction speed peak-to-peak value V cpp And a vibration frequency f;
s2, obtaining real-time position feedback W of the angular vibration table through a photoelectric encoder f And based on real-time position feedback W f Differentiating to obtain speed feedback and further obtain the peak-to-peak value V of feedback speed fpp ；
S3, comparing the vibration frequency f in the command parameter with a preset frequency switching point f c Selecting PI regulation algorithm or self-adaptive regulation algorithm to obtain speed control quantity U v Controlling the speed by a control amount U v Output to the motor driver according to U v And controlling the motor so as to vibrate the angular vibration table.
Further, the step S1 specifically includes the following steps:
s11, the angular vibration table moves according to sine, and the position instruction U 1 Can be expressed as: u shape 1 Where = Asin (2 pi ft), that is, the angular vibration table performs periodic vibration with amplitude a and frequency f according to the formula, and T is continuous time with control period T as time interval;
s12, the position instruction U 1 Differentiating to obtain speed command V 1 = Ax 2 pi f × cos (2 pi ft), and further obtains the command parameter, command speed peak-to-peak value V cpp =4A × pi f, vibration frequency f.
Further, the step S2 specifically includes the following steps:
s21, the angular vibration table moves according to sine, and real-time position feedback W of the angular vibration table is obtained through a photoelectric encoder f Said real-time position feedback W f Can be expressed as: w f = A 'sin (2 π ft), where A' represents the amplitude of the actual motion;
s22, feeding back W to the real-time position acquired based on the photoelectric encoder f Differentiating to obtain velocity feedback V f ＝A'×2πf×cos(2πft)；
S23, acquiring V in the first n movement periods including the current movement period in each control period T f Maximum value of (V) fmax And minimum value V fmin Obtaining the peak value V of the feedback speed fpp ＝V fmax -V fmin 。
Further, in the step S3, the point f is switched according to the input vibration frequency f and the preset frequency c Performs different steps:
if f is less than or equal to f c I.e. the vibration is in the low frequency band, step S31 is executed: the speed control quantity U is obtained by adopting a PI regulation algorithm v ；
If f > f c I.e. the vibration is in the high frequency band, step S32 is executed: obtaining a speed control quantity U by adopting an adaptive adjustment algorithm v 。
Specifically, the PI adjustment algorithm is: PI operation is carried out by adopting a preset PI regulator parameter, the PI operation comprises proportional operation and integral operation, and the speed control quantity output to the driver at the time t is obtained through the operation of the current control period
In the formula, T is a control period; k p To proportional gain, T i Is an integration time constant; e (t) is a position instruction U in the current period 1 And position feedback W f A difference of (d); j =0,1,2, \8230;, t, e (j) is the position instruction U at the time of j in the current control cycle 1 And position feedback W f A difference of (d); wherein, K p And T i And adopting parameters fixed in advance.
Specifically, the adaptive adjustment algorithm in step S32 includes the following steps:
s321, setting the speed control quantity output to the driver at the time t obtained by the calculation of the current control period as U v (t)＝K×V 1 (t) in the formula, K is an instructionAmplification factor, obtained from driver parameters;
s322, in the current control cycle, comparing the peak value V of the instruction speed cpp And feedback velocity peak-to-peak value V fpp To obtain the speed control amount U output to the driver at the next time (t + 1) v (t+1)：
If V cpp ＞V fpp Then U is v (t+1)＝U v (t)+α×U v (t)；
If V cpp ≤V fpp Then U is v (t+1)＝U v (t)-α×U v (t)；
Wherein alpha is an adjusting step length coefficient of the control quantity, and a parameter which is fixed in advance is adopted;
s323, the angular vibration table performs closed-loop operation by taking the control period T as a cycle, and then iteratively updates the speed control quantity in each control period to obtain the speed control quantity U at the (T + n) moment in each control period v (t + n) as the updated speed control amount U v And the updated speed control quantity U is updated v Output to a driver according to U v And controlling the motor so as to vibrate the angular vibration table.
Further, the step S322 is referred to as a primary automatic adjustment.
Further, when the feedback velocity peak-to-peak value V fpp And peak-to-peak commanded velocity value V cpp Absolute value | V of the difference of fpp -V cpp L is less than or equal to e v If the adaptive adjustment algorithm reaches a steady state and no adjustment is performed, namely the output waveform of the angular vibration table meets the input position instruction, otherwise, the adaptive adjustment algorithm is continuously executed in the next period.
Further, e v As error threshold value, e v ＝0.1°/s。
Compared with the prior art, the invention has the following beneficial effects:
1. aiming at the problem of low debugging efficiency of control parameters caused by wide working frequency band and heavy load of the angular vibration table, the invention adopts a method of adopting different control and regulation algorithms aiming at different frequency points.
2. The invention provides a self-adaptive adjusting algorithm aiming at a high frequency band, namely a working frequency point is higher than a switching frequency point, and the adjusting algorithm greatly improves the debugging efficiency of the control parameters of the angular vibration table.
3. The invention can realize the quick automatic adjustment of new control parameters based on the existing control parameters of the frequency points or the loads aiming at the new working frequency points or the load weights.
Drawings
FIG. 1 is a block diagram of an angular vibration table control according to an embodiment of the present invention;
fig. 2 is a flowchart of an adaptive adjustment algorithm according to an embodiment of the present invention.
Detailed Description
The technical contents, construction features, attained objects and effects of the present invention will be described in detail through preferred embodiments with reference to the accompanying drawings.
It should be noted that the drawings are simplified in form and not to precise scale, and are only used for convenience and clarity to assist in describing the embodiments of the present invention, but not for limiting the conditions of the embodiments of the present invention, and therefore, the present invention is not limited by the technical spirit, and any structural modifications, changes in the proportional relationship, or adjustments in size, should fall within the scope of the technical content of the present invention without affecting the function and the achievable purpose of the present invention.
It is to be noted that, in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a digital control method of an angular vibration table, which comprises the following specific steps as shown in figure 1:
s1, obtaining a position instruction U of vibration of an angular vibration table 1 And is instructed by the position U 1 Obtaining required instruction parameters, wherein the instruction parameters comprise instruction speed peak-to-peak value V cpp And a vibration frequency f.
Further, the step S1 specifically includes the following steps:
s11, the angular vibration table moves according to sine, and the position instruction U 1 Can be expressed as: u shape 1 Where = Asin (2 pi ft), that is, the angular vibration table performs periodic vibration with amplitude a and frequency f according to the formula, and T is continuous time with control period T as time interval;
s12, the position instruction U 1 Differentiating to obtain speed command V 1 = Ax 2 pi f × cos (2 pi ft), and further obtains the command parameter, i.e. the command speed peak-to-peak value V cpp =4A × pi f, vibration frequency f.
In the preferred embodiment, if the angular vibration table is required to perform sinusoidal motion with amplitude of 0.004 ° and frequency of 100Hz, the position command of the angular vibration table is U 1 Where = Asin (2 pi ft) =0.004 × sin (2 pi × 100 × T), the angular vibration table performs periodic vibration with an amplitude of 0.004 ° and a frequency of 100Hz according to this formula, and T is a continuous time with a control period T as a time interval.
S2, obtaining real-time position feedback W of the angular vibration table through a photoelectric encoder f And based on real-time position feedback W f Differentiating to obtain speed feedback and further obtain the peak-to-peak value V of feedback speed fpp 。
Further, the step S2 specifically includes the following steps:
s21, the angular vibration table moves according to sine, and real-time position feedback W of the angular vibration table is obtained through a photoelectric encoder f Said real-time position feedback W f Can be expressed as: w f = a 'sin (2 pi ft), where a' represents the amplitude of the actual movement;
s22, feeding back W to the real-time position acquired based on the photoelectric encoder f Differentiating to obtain speed feedbackV f ＝A'×2πf×cos(2πft)；
S23, acquiring V in the first n movement periods including the current movement period in each control period T f Are respectively: maximum value V fmax And a minimum value V fmin Obtaining the peak value V of the feedback speed fpp ＝V fmax -V fmin 。
In the preferred embodiment, the position data is processed by a discretization method to obtain the speed data when the actual code programming is implemented, assuming that the control period T =0.05ms, that is, the iteration period of the algorithm is 0.05ms, n =10, and according to the vibration frequency f obtained in the step S1, the motion period of the angular vibration table is
The current time T and before (10 × T) are taken within 0.05ms each f ) Real-time position feedback W for each motion cycle f (t) obtaining a velocity feedback V at the current time by differentiation f Continuously calculating 10 movement periods (10 × T) f ) Internal velocity feedback V f Then V can be obtained f Maximum value V of fmax And a minimum value V fmin 。
S3, inputting the vibration frequency f obtained in the step S1 into an algorithm switcher, and comparing the input vibration frequency f with a preset frequency switching point f in the algorithm switcher c The algorithm switcher selects a PI (proportional integral) regulation algorithm or a self-adaptive regulation algorithm according to different results, and then obtains a speed control quantity U v And controlling the speed by a control amount U v Output to the motor driver according to U v And controlling the motor so as to vibrate the angular vibration table.
Further, in the step S3, the point f is switched according to the input vibration frequency f and the preset frequency c The different size relationships of (2) perform different steps, specifically:
if f is less than or equal to f c I.e. the vibration is in the low frequency band, step S31 is executed: the speed control quantity U is obtained by adopting a PI regulation algorithm v ；
If f > f c I.e. the vibration is in the high frequency band, step S32 is executed: obtaining a speed control quantity U by adopting an adaptive adjustment algorithm v 。
In the preferred embodiment, f c ＝30Hz。
Further, the PI regulation algorithm comprises the following specific steps:
PI operation is carried out by adopting a preset PI regulator parameter, the PI operation comprises proportional operation and integral operation, and the speed control quantity output to the driver at the time t is obtained through the operation of the current control period
Wherein T is a control period, K p To proportional gain, T i Is an integration time constant; e (t) is a position instruction U at the time of t in the current control period 1 And position feedback W f A difference value of (a); j =0,1,2, \8230;, t, e (j) is the position instruction U at the time of j in the current control cycle 1 And position feedback W f A difference of (d); wherein, K p And T i And adopting parameters fixed in advance.
Further, as shown in fig. 2, the adaptive adjustment algorithm in step S32 includes the following steps:
s321, setting the speed control quantity output to the driver at the time t obtained by the calculation of the current control period as U v (t)＝K×V 1 (t), wherein K is a command amplification factor, obtained from driver parameters;
s322, in the current control period, comparing the peak value V of the command speed cpp And feedback velocity peak-to-peak value V fpp To obtain the speed control amount U outputted to the driver at the next time (t + 1) v (t+1)：
If V cpp ＞V fpp Then U is v (t+1)＝U v (t)+α×U v (t)；
If V cpp ≤V fpp Then U is determined v (t+1)＝U v (t)-α×U v (t)；
The method is called one-time automatic adjustment, wherein alpha is an adjustment step coefficient of a control quantity, and a parameter which is fixed in advance is adopted;
s323, the angular vibration table performs closed-loop operation by taking the control period T as a cycle, and then iteratively updates the speed control quantity in each control period to obtain the speed control quantity U at the (T + n) moment in each control period v (t + n) as the updated speed control amount U v And the updated speed control quantity U is used v Output to a driver according to U v And controlling the motor so as to vibrate the angular vibration table.
In the present preferred embodiment, T =0.05ms, k =10, and α =0.2.
When the feedback velocity peak-to-peak value V fpp And peak-to-peak commanded velocity value V cpp Absolute value of difference of (c) | V fpp -V cpp Is less than or equal to an error threshold e v ，e v If the self-adaptive adjusting algorithm is obtained by experience, the self-adaptive adjusting algorithm reaches a steady state and is not adjusted any more, namely the output waveform of the angular vibration table is considered to meet the input position instruction, otherwise, the self-adaptive adjusting algorithm is continuously executed in the next period.
In the preferred embodiment, e v ＝0.1°/s。
Further, if a new load requirement exists or a new vibration frequency exists, new self-adaptive algorithm adjustment can be carried out based on the existing control parameters of the latest load or the latest vibration frequency, and the adjustment efficiency is greatly improved.
In conclusion, the digital control method for the angular vibration table provided by the invention can realize the rapid automatic adjustment of the new control parameters of the angular vibration table, and greatly improve the adjustment efficiency.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (9)
1. A digital control method of an angular vibration table is characterized by comprising the following steps:
s1, obtaining a position instruction U of vibration of an angular vibration table 1 And is instructed by the position U 1 Obtaining required instruction parameters including instruction speed peak-to-peak value V cpp And a vibration frequency f;
s2, obtaining real-time position feedback W of the angular vibration table through a photoelectric encoder f And based on real-time position feedback W f Differentiating to obtain speed feedback, and further obtaining feedback speed peak-to-peak value V fpp ；
S3, comparing the vibration frequency f in the command parameter with a preset frequency switching point f c Selecting PI regulation algorithm or self-adaptive regulation algorithm to obtain speed control quantity U v Controlling the speed by a quantity U v Output to the motor driver according to U v And controlling the motor so as to vibrate the angular vibration table.
2. The method of digital control of an angular vibration table according to claim 1, characterized in that said steps
S1 specifically comprises the following steps:
s11, the angular vibration table moves according to sine, and the position instruction U 1 Can be expressed as: u shape 1 Asin (2 pi ft), namely, the angular vibration table performs periodic vibration with amplitude A and frequency f according to the formula, and T is continuous time taking the control period T as a time interval;
s12, the position instruction U 1 Differentiating to obtain speed command V 1 = Ax 2 pi f × cos (2 pi ft), and further obtains the command parameter, command speed peak-to-peak value V cpp =4A × pi f, vibration frequency f.
3. The method of digitally controlling an angular vibration table according to claim 2, wherein said steps are performed by
S2 specifically comprises the following steps:
s21, the angular vibration table moves according to sine, and real-time position feedback W of the angular vibration table is obtained through a photoelectric encoder f The real-time positionFeedback W f Can be expressed as: w f = a 'sin (2 pi ft), where a' represents the amplitude of the actual movement;
s22, feeding back W to the real-time position acquired based on the photoelectric encoder f Differentiating to obtain velocity feedback V f ＝A'×2πf×cos(2πft)；
S23, acquiring V in the first n movement periods including the current movement period in each control period T f Maximum value of (V) fmax And a minimum value V fmin Obtaining a peak-to-peak value V of the feedback velocity fpp ＝V fmax -V fmin 。
4. The digital control method of angular vibration table according to claim 2, wherein said step S3 is performed by switching the point f according to the inputted vibration frequency f and the preset frequency c Performs different steps:
if f is less than or equal to f c I.e. the vibration is in the low frequency band, step S31 is executed: the speed control quantity U is obtained by adopting a PI regulation algorithm v ；
If f > f c I.e. the vibration is in the high frequency band, step S32 is executed: obtaining a speed control quantity U by adopting an adaptive adjustment algorithm v 。
5. The digital control method of the angular vibration table according to claim 4, wherein the PI regulation algorithm comprises the specific steps of:
PI operation is carried out by adopting a preset PI regulator parameter, the PI operation comprises proportional operation and integral operation, and the speed control quantity output to the driver at the time t is obtained through the operation of the current control period
Wherein T is a control period, K p To proportional gain, T i Is an integration time constant; e (t) is a position instruction U in the current control cycle 1 And position feedback W f A difference of (d); j =0,1,2, \8230;, t, e (j) is the position command U at time j in the current control cycle 1 And positionFeedback W f A difference value of (a); wherein, K p And T i And adopting parameters fixed in advance.
6. The method of digitally controlling an angular vibratory table as set forth in claim 5, characterized in that said steps
The adaptive adjustment algorithm in S32 includes the following steps:
s321, setting the speed control quantity output to the driver at the time t obtained by the calculation of the current control period as U v (t)＝K×V 1 (t), wherein K is a command amplification factor, obtained from driver parameters;
s322, in the current control period, comparing the peak value V of the command speed cpp And feedback velocity peak-to-peak value V fpp To obtain the speed control amount U output to the driver at the next time (t + 1) v (t+1)：
If V cpp ＞V fpp Then U is v (t+1)＝U v (t)+α×U v (t)；
If V cpp ≤V fpp Then U is v (t+1)＝U v (t)-α×U v (t)；
In the formula, alpha is an adjusting step length coefficient of the control quantity, and a parameter which is fixed in advance is adopted;
s323, the angular vibration table performs closed-loop operation by taking the control period T as a cycle, and then iteratively updates the speed control quantity in each control period to obtain the speed control quantity U at the (T + n) moment in each control period v (t + n) as the updated speed control amount U v And the updated speed control amount U is used v Output to a driver according to U v And controlling the motor so as to vibrate the angular vibration table.
7. The method for digitally controlling an angular vibration table according to claim 6, wherein said step S322 is called a one-time auto-adjustment.
8. A method of digitally controlling an angular vibration table as claimed in claim 7, wherein the method is carried out in a single operationPeak-to-peak feedback velocity V fpp And the peak-to-peak commanded velocity value V cpp Absolute value | V of the difference of fpp -V cpp L is less than or equal to e v If the adaptive adjustment algorithm reaches a steady state and no adjustment is performed, namely the output waveform of the angular vibration table meets the input position instruction, otherwise, the adaptive adjustment algorithm is continuously executed in the next period.
9. The method of digitally controlling an angular vibration table as claimed in claim 8, wherein e v As error threshold, e v ＝0.1°/s。
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| WO2013161367A1 (en) * | 2012-04-27 | 2013-10-31 | 株式会社日立産機システム | Electric motor control device and method for automatically adjusting same |
| CN112684710A (en) * | 2021-01-22 | 2021-04-20 | 中国科学院光电技术研究所 | Light beam jitter suppression method based on LQG + PI mixed control strategy |
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| CN1448815A (en) * | 2002-03-29 | 2003-10-15 | 松下电器产业株式会社 | Position controller for motor |
| JP2004005469A (en) * | 2002-03-29 | 2004-01-08 | Matsushita Electric Ind Co Ltd | Control method and control device for electric motor |
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