CN1162139A - Reference control system for equivalent circuit and method thereof - Google Patents

Abstract

In a technique of monitoring whether a physical system is normal or abnormal by continuously comparing a phenomenon taking place in the system and a phenomenon taking place in a model and also in a technique of control adopting evaluation functions using an error quantity in the model, the phenomena in both the physical system and model can be optimized. An equivalent electric circuit to the physical system is produced, and an input is provided to both of the system and the circuit. In this state, the output of the physical system and the reference value of the equivalent electric circuit are compared. The use of the equivalent electric circuit permits solving the problem inherent in the prior art that the time necessary for analog-to-digital conversion and numerical calculations is longer than the time of the actual phenomenon and disables real time simulation.

Description

Reference control system for equivalent circuit and method

The present invention relates to control the technology of physical system, the object of control for example be U-shaped pipe, radiator fin of the mechanical aut.eq. of single shaft, multi-spindle machining aut.eq., crank mechanism, transfer gear train, acoustic transformer, acoustic filter, sealing or the like, more particularly, relate to the technology of the input of physical system being controlled physical system output by control.For example the present invention relates to output by the input current control single shaft machinery aut.eq. that is provided to bindiny mechanism's driving motor, the position of rotation of a bindiny mechanism that for example should the machinery aut.eq., rotational speed and rotary acceleration, control the directed impulsive force of crank mechanism by momentum, control the output acoustic pressure of guide sound transducer by the input acoustic pressure, control this by one distolateral the exerting pressure of control sealing U-shaped pipe and manage another distolateral liquid level elevation, and the technology of controlling the temperature of its far-end by the root temperature of control radiator fin.

Sequence number is that the day patent text of the present disclosure of 63-23693 discloses a type in the above-mentioned technology.The step that the technology of the disclosure comprises is: analyze and to be input to one as the mutual relationship that keeps between the input quantity of the physical system of controlling object and the output quantity by its output, set up the mathematical model of this physical system according to analysis result, by utilizing this digital model, computer simulation with this physical system operation of physical system operation parallel realization simultaneously, the actual output and the Simulation result of physical system are compared, when data relatively are inconsistent, provide demonstration to abnormal conditions.This technology can detect the appearance of some dissimilar abnormal conditions, therefore makes it to become a kind of method of the voluntary insurance that breaks down.

Yet computer simulation is carried out with digital form, needs analog to digital converter.In addition, must be consistent to the definite of sampling rate of input quantity with the specification of computing machine, can not unrestrictedly increase.What is more, and the calculating that comprises in the simulation need be carried out the operation to difference equation and/or the equation solution relevant with deviation.This process is quite time taking.In addition, actual numerical value and evaluation relatively needs digital-to-analog conversion.Owing to need the aforesaid various time, often generation can not be followed the tracks of the actual phenomenon that takes place at a high speed by Computer Processing.Under such a case, can not realize failsafe processing.Particularly, the behavior of Fu Za physical system needs quite long simulated time.Even therefore actual phenomenon generation speed is not to be difficult to realize real time modelling under such high situation yet.When in fact utilizing personal computer or palmtop computer, this problem can not be ignored.

In addition, set up mathematical model and finish time and the work that simulator program need be a large amount of.The problem that further exists in the computer simulation that utilizes mathematical model is the situation that must cause occurring the mistake simulation owing to program mal or similar reason.Therefore, be not that total energy guarantees the fail-safe of process can be realized.

The objective of the invention is to solve owing in simulation, take the problem that the long time can not follow the tracks of actual phenomenon.

Another object of the present invention is the low reliability problems that solves simulation.

A further object of the present invention is to solve the problem that the establishment simulator program needs plenty of time and work.

According to the present invention, a kind of control system is provided, this control system is controlled the output quantity of this physical system to one as the input quantity of the physical system of controlling object by control.The control system that schematically illustrates in Fig. 1 comprises: an input controller 10 is used to control to the input quantity 11 as the physical system 12 of controlling object; One equivalent circuit 18, its structural equivalents is in physical system 12; One output pick-up unit 15 is used for detecting the output quantity 13 of physical system 12 having during the input quantity 11 of physical system 12; Reference value pick-up unit 17, be used for having during the input quantity of equivalent electrical circuit 18. detect the reference value of equivalent electrical circuit 18, and comparator device 16, be used for the detected value of output quantity pick-up unit 15 and the detected value of base value value detection device 17 are compared.

Be input to the identical numerical value of numerical value of physical system 12 to equivalent circuit 18 inputs with this.In circuit 18, do not need to carry out analog-to-digital conversion process.This means the problem that prior art exists to occur, the restriction that promptly can not appear at holding time in the analog-digital conversion process and input quantity sampling interval may cause to the input quantity of physical system 12 with utilize mathematical model to carry out the temporal deviation of the input quantity of computer simulation.Native system is not ignored in the variation than sampling interval input value in short period.

According to the present invention, in equivalent circuit 18, take place abreast simultaneously with the phenomenon of phenomenon equivalence in the physical system 12.This just can eliminate the problem of the actual phenomenon of analog computation hysteresis in the prior art.

The output quantity that another advantage of the present invention is a physical system 12 is an analog quantity, and the reference value of equivalent electrical circuit 18 also is an analog quantity.Promptly only need two analog quantitys of comparison, neither need analog to digital conversion also not need digital-to-analog conversion.

Even an advantage more of the present invention is that the formation of equivalent electrical circuit 18 is also simple than the foundation of mathematical model when the behavior of physical system 12 is very complicated, therefore, sets up mathematical model and can need not the long time.

According to the present invention, also provide a kind of control method.As shown in Figure 1, promptly implement this control method by carrying out following steps, step 19 is by repeatedly measuring to the input quantity of physical system with by the output quantity of physical system, measure the parameter of physical system, step 20 is calculated the electrical quantity with the parameter equivalent of measuring in measuring process, and step 21, the element that has the electrical quantity of calculating by utilization constitutes equivalent circuit, by to physical system and import each input quantity to equivalent electrical circuit and carry out working control, step 22 compares the output quantity of physical system and the reference value of equivalent electrical circuit continuously.Step 19 to 21 was carried out in the preparatory stage, and step 22 is carried out in the process of working control.

In this method, in step 19 to 21, constitute equivalent circuit 18, in working control, physical system 12 and equivalent electrical circuit 18 both parallel being controlled of while.Also the result that will control compares continuously, makes it possible to the appearance of the incorrect situation and so on of control is detected in real time.

Read by the detailed introduction to the preferred embodiments of the present invention when the reference accompanying drawing, above and other objects of the present invention, feature and advantage will become more obvious, wherein:

Fig. 1 is the synoptic diagram of expression ultimate principle of the present invention;

Fig. 2 is the synoptic diagram of the expression first embodiment of the present invention;

Fig. 3 represents the equivalent circuit of the second embodiment of the present invention;

Fig. 4 (A) and 4 (B) represent crank mechanism and equivalent circuit thereof respectively;

Fig. 5 (A) and 5 (B) represent gear train and its equivalent circuit respectively;

Fig. 6 (A) and 6 (B) represent acoustic transformer and equivalent circuit thereof respectively;

Fig. 7 (A) and 7 (B) represent acoustic filter and equivalent circuit thereof respectively;

Fig. 8 (A) and 8 (B) represent the U-shaped pipe and the equivalent circuit thereof of sealing respectively; And

Fig. 9 (A) and 9 (B) represent radiator fin and equivalent circuit thereof respectively.

Fig. 2 represents to be applicable to the first embodiment of the present invention of Twin-shaft machinery aut.eq. 39.Machinery aut.eq. 39 has this pedestal 45 around first 48 first pivoted arm 44 of a rotatable supporting.The anglec of rotation of utilizing first motor 40 to regulate first pivoted arm 44 _Q1First pivoted arm 44 has this free end around second 50 second pivoted arm 46 of a rotatable supporting.The anglec of rotation of utilizing second motor 42 to regulate second pivoted arm 46 _Q2First and second motor 40 and 42 produce respectively and input current I ₁And I ₂The torque tau of ratio ₁And τ ₂(τ ₁=K ₁I ₁, τ ₂=K ₂I ₂).Utilize twin shaft controller 30 control input current I ₁And I ₂According to the working routine of mechanical aut.eq. 39, twin shaft controller 30 is according to passage of time Control current I ₁And I ₂Therefore, mechanical aut.eq. 39 is for example operated according to low speed rotation, high speed rotating or reverse rotation according to working routine.This twin shaft controller 30 comprises the digital machine of establishing interface in having and can control input current I ₁And I ₂Analog value.

Tech-generator 36 is contained on first motor 40, and another tech-generator 38 is contained on second motor 42.These two tech-generators 36 and 38 provide numerical value and the proportional output quantity 80 of angular velocity of rotation and 82.Or rather, the analog value of tech-generator 36 outputs and the rotating speed of first pivoted arm 44 are proportional, and the analog value of tech-generator 38 outputs and the rotating speed of second pivoted arm 46 are proportional.These and the proportional analog value of rotating speed be imported into separately operational amplifier 70 and one of them input end of 74.

Input current I by 30 controls of two axis controllers ₁And I ₂Also be input in the equivalent circuit 52.Equivalent circuit 52 comprises a pair of resistance 54 and 56.Two ends at resistance 54 produce and input current I ₁Proportional voltage K ₁I ₁, produce and input current I at the two ends of resistance 56 simultaneously ₂Proportional voltage K ₂I ₂Resistance 54 constitutes first closed-loop path 67 with resistance 62 that is connected thereto and coil 58.Resistance 56 constitutes second closed-loop path 69 with resistance 64 that is connected thereto and coil 60.Being mutually between the coil 58 and 60 is M.

First closed-loop path 67 has first current detector 66, analog value 84 of its output and the electric current I in first loop 67 ₁Proportional.Second closed-loop path 69 has one second current detector 68, its output value 86 and the electric current I in second closed-loop path 69 ₂Proportional.Will with the current i in first closed-loop path 67 ₁Proportional value 84 is input to another input end of operational amplifier 70.Equally, will be input to another input end of operational amplifier 74 with the proportional value 86 of the current i z in second closed-loop path 69.Operational amplifier 70 will with the proportional analog value 80 of the rotating speed of first pivoted arm 44 and with first closed-loop path 67 in current i ₁Proportional analog value 84 is compared, action alarm 72 when the difference between two fiducial values surpasses pre-determined amount.Operational amplifier 74 will be compared with the proportional analog value 82 of the rotating speed of second pivoted arm 46 with the proportional analog value 86 of current i z in second closed-loop path 69, action alarm 76 when the difference between two fiducial values surpasses pre-determined amount.Alarm 72 and 76 is connected to twin shaft controller 30, and when one of them alarm 72,76 action, twin shaft controller 30 stops the operation of mechanical aut.eq. 39.When changing the halted state of mechanical aut.eq. 39, the difference that can make operational amplifier 70 and 74 detect each difference and utilization detection is proofreaied and correct input current I ₁And I ₂

Represent the quality of first pivoted arm 44 with m1, use _R1Represent the barycenter of first pivoted arm 44 and the distance between the first axle 48,, use with the quality that m2 represents second pivoted arm 46 _R2Represent the barycenter of second pivoted arm 46 and the distance between second axis 50, use _L1Represent the distance between first and second axis 48 and 50, use I ₁Represent the moment of inertia of first pivoted arm 44, use I ₂Represent the moment of inertia of second pivoted arm 46, represent first axle 48 circumference friction factor, represent second axis, 50 circumference friction factor, satisfy relevant revolving and add torque K by first motor 40 with d2 with d1 ₁I ₁Fig. 2 shown in the condition of equation (1), and satisfy and relevantly apply torque K by second motor 42 ₂I ₂The condition of equation (4).Equation (1) and (4) are to eliminate the approximate function that nonlinear item obtains by Lagrangian function.

With _R1Represent the resistance of resistance 62, use L ₁Represent the inductance of coil 58, use _R2Represent the resistance of resistance 64, use L ₂Represent the inductance of coil 60, represent mutual inductance between coil 58 and 60, satisfy the condition of the equation (2) relevant with first closed-loop path 67 with M, and the satisfied equation (3) relevant with second closed-loop path 69.

Formation by equation (1), (2), (3) and (4) is obviously found out, preferably passes through inductance L ₁, L ₂With M and resistance R ₁And R ₂Value set proportionally with the coefficient in equation (1) and (4), can access rotating speed (is anglec of rotation q ₁And q ₂Each single difference) and current i ₁And i ₂Proportionate relationship each other.In other words, clearly, the behavior phenomenon of the multi-spindle machining aut.eq. of being expressed by equation (1) and (4) 39 and the electrical phenomena of equivalent circuit 52 physically are equivalences each other.

In this embodiment, the anglec of rotation of multi-spindle machining aut.eq. 39, speed and acceleration are by the input current of various numerical value is provided to mechanical aut.eq. 39 _I1And I ₂And measure in advance.Coefficient in equation (1) and (4) is to utilize least square method to obtain by input current and output quantity in this case.Coil 58 and 60, resistance 62 and 64 etc. electrical quantity are by selecting in the coefficient that obtains in such a way.In this case, set the analog value 80 and 84 that is input to operational amplifier 70 to such an extent that be equal to each other, the analog value 82 and 86 that also will be input to operational amplifier 74 is set to such an extent that be equal to each other.Can be provided with and be used for each single operational amplifier that analog value is regulated.Personnel in the art can confirm well that the behavior phenomenon that takes place and the phenomenon that takes place can accomplish equivalence each other in electric system in mechanical system.

In the preparatory stage, measure the coefficient (or parameter) in describing physical system Equation of Motion (1) and (4), and be configured for producing the equivalent electrical circuit 52 of equivalent electric phenomenon.Promptly set up in advance in the system shown in Fig. 2 first half.

When working control, with input current I ₁And I ₂Be input to continuously in the equivalent electrical circuit 52.During this, tech-generator 36 and 38 detects the output quantity (being rotating speed) from physical system continuously, and current detector 66 and 68 detects the reference value (i.e. electric current in this example) in equivalent electrical circuit 52 continuously simultaneously.Each operational amplifier 70,74 detects two values that are input on it continuously.

When in control system, not producing abnormal conditions, be created in the equivalent electrical circuit 52 with phenomenon in the phenomenon equivalence of physical system, two analog values that are input on each operational amplifier 70,74 equate, can not move alarm 72 and 76.When producing certain abnormal conditions for example when a barrier and mechanical aut.eq. 39 collide,, make the behavior phenomenon in physical system consistent no longer each other with phenomenon in the equivalent electrical circuit 52 for the operation that prevents to be scheduled to.For example, when the motion of first pivoted arm 44 unpredictably is restricted, the electric current in the rotating speed of first pivoted arm 44 and first closed-loop path 67 is no longer proportional.This just causes to the value of two input quantities of operational amplifier 70 no longer consistent, therefore causes alarm 72 actions.Same when the motion of second pivoted arm 46 unpredictably is restricted, the electric current of the rotating speed of second pivoted arm 46 in second closed-loop path 69 is no longer proportional, makes to the value of two input quantities of second operational amplifier 74 no longer consistently, and alarm 76 is moved.

In this embodiment, when working control, identical input data are provided in physical system and the equivalent electrical circuit 52 as mentioned above, so that produce the phenomenon of equivalence simultaneously abreast.Therefore, can monitor in real time, perhaps monitoring operation according to plan any abnormal conditions.

In Fig. 2, the phenomenon that occurs in twin shaft controller 30 outsides all utilizes analog value to embody, and observation process is without any need for modulus or digital-to-analog conversion.Equivalent electrical circuit 52 is mimic channels, in this circuit, obtains abreast simultaneously and behavior in the phenomenon equivalence of mechanical aut.eq. 39.In other words, in this embodiment, equivalent phenomenon be maintainable.In addition, in the mathematical model analogue technique of prior art, when input current I is compared when very fast in the variation of input current with sampling rate ₁And I ₂Quick variation be left in the basket.And in this embodiment, even input current I ₁And I ₂Change fast, equivalent circuit 52 also can be kept the behavior equivalence with mechanical aut.eq. 39.

As mentioned above, equation (1) and (4) are the approximate functions of no nonlinear terms.The circuit table of representing among Fig. 2 is shown in approximately equivalent circuit in this case, and what represent in Fig. 3 is the wherein fine equivalent electrical circuit of considering nonlinear terms.Utilize hereinafter with the coefficient of the equation (5) of the expression equation (5) in (13) in (7), by the motion of equation (8) expression, by the motion of equation (9) expression around second axis around first axle.The equation of motion (8) and (9) comprise nonlinear terms and have reflected Coriolis (Coriolis) power, and the attitude of centrifugal force and mechanical aut.eq. 39 changes.Equation (10) is the conversion of equation (8), and equation (13) is the conversion of equation (9).Utilize circuit shown in Figure 3 to satisfy equation (11) and (12), promptly this circuit has self-induction L for first loop wherein ₃, mutual inductance M ₂, resistance R ₃The electrical quantity and second loop have self-induction L ₄, mutual inductance M ₂And resistance R ₄Parameter.

C ₁＝I ₁+I ₂+m ₁r ₁ ²+m ₂l ₁ ²+m ₂r ₂ ²?………………………………………(5)

C ₂＝I ₂+m ₂r ₂ ²………………………………………………………………(6)

C ₃＝m ₂l ₁r ₂………………………………………………………………(7) $\mathrm{\&tau;i}=({\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">C</figure-callout>}}_1+2C_3{\cos q}_2){\stackrel{..}{q}}_1+({\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">C</figure-callout>}}_2+C_3{\cos q}_2){\stackrel{..}{q}}_2+(d_1-2C_3{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">q</figure-callout>}}_2{\sin q}_2){\stackrel{.}{q}}_1-\left(C_3{\sin q}_2\right){\stackrel{.}{q}}_2^2---\left(8\right)$ $\mathrm{\&tau;}2=\left(C_2\right){\stackrel{..}{q}}_2+\left(C_3{\cos q}_2\right){\stackrel{..}{q}}_1+\left(d_2\right){\stackrel{.}{q}}_2+\left(C_3{\sin q}_2\right){\stackrel{.}{q}}_{1-----\left(9\right)}^2$ $k_1{\mathrm{<figure-callout\; id="1"\; label="I"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">I</figure-callout>}}_1+\left(C_3{\sin q}_2\right){\stackrel{.}{q}}_2^2=({\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">C</figure-callout>}}_1+2C_3{\cos q}_2){\stackrel{..}{q}}_1+({\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">C</figure-callout>}}_2+C_3{\cos q}_2){\stackrel{..}{q}}_2+(d_1-2C_3{\stackrel{.}{q}}_2{\sin q}_2){\stackrel{.}{q}}_1---\left(10\right)$ ${\mathrm{<figure-callout\; id="1"\; label="V"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">V</figure-callout>}}_1=L_3{\stackrel{.}{i}}_1+M_2{\stackrel{.}{i}}_2+R_3{i}_1-----------\left(11\right)$ ${\mathrm{<figure-callout\; id="2"\; label="V"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">V</figure-callout>}}_2=L_4{\stackrel{.}{i}}_2+M_2{\stackrel{.}{i}}_1+R_4{i}_2--------\left(12\right)$ $k_2{I}_2-\left(C_3{\sin q}_2\right){\stackrel{.}{q}}_1^2=C_2{\stackrel{.}{q}}_2+({\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="A9610274800191.png"\; state="\{\{state\}\}">C</figure-callout>}}_2+{\cos q}_2){\stackrel{..}{q}}_1+d_2{i}_2----\left(13\right)$

As mentioned above, suppose that the coefficient in the equation of motion of mechanical aut.eq. is proportional with the coefficient in circuit, mechanical behavior that takes place in the then mechanical aut.eq. and the electrical phenomena in circuit are equivalent each other.In this case, around the rotational speed of first axle with in first current in loop _I1Being equivalent, is equivalent around the rotational speed of second axis with at the second current in loop i2.

When considering non-sex-limited, the electrical quantity in one of them loop must be changed according to the electric current in another loop.In order to satisfy this requirement, use a reactance transistor (reactance transistor) for resistance in first loop 102 and coil 104.Use a reactance transistor as mutual inductance for coil 106.These reactance transistors have such characteristic, and promptly their resistance and inductance change according to input current.They make the circuit that forms as shown in Figure 3 by setting each input current, and the phenomenon of its generation is equivalent to utilizes equation (10) and (13) represented phenomenon.

Electric current one voltage changer 108 among Fig. 3 and 110 Current Control according to input are applied to the voltage on first and second loops.The current signal as electrical quantity control in circuit shown in Figure 3 is controlled.(it is equivalent at the second current in loop i2 in current detector n2 detection _Q2Single differential).Integration is carried out in the output of 114 pairs of current detectors 112 of integrator.The output quantity of integrator 114 is input to reactance transistor, makes the inductance of coil 104 and 106 be controlled according to the cosine of the current integration in squaring circuit.Be shown with " SQUARE " each element each output current corresponding to input quantity square.Be shown with " MULTIPLY " each element each all two input currents are multiplied each other each other, and export its product.The element that is shown with " Sin " is exported the sine of this input quantity.Therefore, the coefficient in equation (10) and (11) is proportional to one another, and the coefficient in equation (12) and (13) is proportional to one another.This means, utilize circuit shown in Figure 3, can make the equivalence each other of mechanical aut.eq. and circuit.

Therefore can make in first current in loop _I1With rotational speed equivalence each other, also make at the second current in loop iz and equivalent each other around the rotational speed of second axis around first axle.By utilizing relatively these data of operational amplifier shown in Figure 2 70 and 74, can realize to whether according to predetermined generation equivalent phenomenon or produce some abnormal conditions monitoring.Equivalent electrical circuit among Fig. 3 is realized more approaching being similar to than the equivalent electrical circuit among Fig. 2.

Yet, shown in the various result of experiment of carrying out as the inventor, the approximate equivalent circuit that has confirmed Fig. 2 promptly can produce the phenomenon that can actually accomplish equivalence without any the circuit 52 of nonlinear terms corresponding elements, and can utilize a kind of the device to make alarm 72 and 76 of being failure to actuate when the difference that is input to operational amplifier 70 and 74 respectively is in the preset range to the monitoring method whether any abnormal conditions takes place.

Fig. 4 (A) and (4B) represent the equivalent electrical circuit of a crank mechanism and it respectively.In this example, proportional by the torque M 1 that makes the voltage that is applied on first closed-loop path 102 and bent axle, make the voltage that is applied on second closed-loop path 104 and impulsive force F2 proportional and make the mechanical parameter of the electrical quantity of first and second closed- loop paths 102 and 104 corresponding to crank mechanism, can realize such relation, be that the speed of bent axle or rotation are equivalent to the electric current in first closed-loop path 102, impact velocity is equivalent to the electric current in second closed-loop path 104.In this example,, can realize whether crank mechanism is monitored normally also as at Fig. 2 example.

Fig. 5 (A) and 5 (B) represent transfer gear train and equivalent electrical circuit thereof respectively, in this example, proportional by the torque that makes the voltage that is applied on first closed-loop path 106 and first gear 110, make the torque of the voltage that is applied on the second closed road 108 and second gear 112 proportional, and make the mechanical parameter of the electrical quantity of first and second closed- loop paths 106 and 108 corresponding to transfer gear train, accomplish to make the rotational speed of first gear 110 and the electric current equivalence in first closed circuit 106, and accomplish to make the rotational speed of second gear 112 and the electric current equivalence in second closed-loop path 108.These example image pattern 2 example illustrated are the same, can realize whether transfer gear train is monitored normally.

Fig. 6 (A) and 6 (B) represent that respectively one comprises the acoustic transformer and the equivalent electrical circuit thereof of large diameter cylinder and small diameter cylinder.In this example, the mechanical parameter by setting physical system (being acoustic transformer) is to the circuit parameter relation of equivalent electrical circuit, and between link A and B, apply one with acoustic pressure q in the large diameter cylinder porch ₁Proportional voltage can make the acoustic pressure q in the small diameter cylinder exit ₂Be equivalent to the voltage between link C and D.In this example, can make phenomenon in physical system and the phenomenon in equivalent electrical circuit accomplish equivalence equally.Because the example of image pattern 2 is the same,, can realize whether acoustic transformer is monitored normally by comparing two kinds of phenomenons.

Fig. 7 (A) and 7 (B) represent a kind of acoustic filter and equivalent electrical circuit thereof respectively.In this example, by between link E and F, apply one with input acoustic pressure P ₁Proportional voltage is in link G and H generation one and output acoustic pressure P ₂Proportional voltage.

Fig. 8 (A) and 8 (B) represent the U-shaped pipe and the equivalent electrical circuit of a sealing respectively.In this example, by between link I and J, apply one be applied to the proportional voltage of pressure P of an end of pipe, make the liquid level elevation at other end place of the electric current that in circuit, flows through and pipe proportional.

Fig. 9 (A) and 9 (B) represent a radiator fin and equivalent electrical circuit thereof respectively.In this example, by apply one with the root temperature T of heat radiator ₁Proportional voltage, the far-end temperature T of generation one and heat radiator between link M and N ₂Proportional voltage.

The various examples of physical system and equivalent electrical circuit thereof have been introduced above with mode word.

According to the present invention, in physical system and equivalent electrical circuit thereof, produce simultaneously the phenomenon of equivalence mutually, can make and carry out the actual comparison of equivalence can be kept, therefore can monitor in real time whether producing abnormal conditions in physical system.Can eliminate the shared time of analog to digital conversion, sampling and digital computation of utilizing mathematical model simulation required in addition, therefore eliminate simulation and lag behind in actual phenomenon and the possibility of utilizing different input quantities to simulate.According to the present invention, can realize the behavior of complicated physical system is monitored in real time.In addition, compare with utilizing the mathematical Model Development simulator program, the advantage that equivalent electrical circuit constitutes is that required time will be lacked.In addition, can improve reliability.

Some preferred embodiment of the present invention is introduced in the above, be should be appreciated that under the prerequisite that does not break away from the design that is defined by the following claims and protection domain, can carry out various changes and modifications the details of design.

Claims (3)

1. reference control system for equivalent circuit, it, comprises to the output quantity of controlling this physical system as the input quantity of the physical system of controlling object by control:

The input controller is used to control the input quantity to physical system;

One equivalent circuit is equivalent to physical system;

The output pick-up unit is used to detect the input quantity of the frequent simultaneously generation of output quantity of physical system to physical system;

The reference value pick-up unit is used to detect the input quantity of the frequent simultaneously generation of reference value of equivalent electrical circuit to equivalent electrical circuit; And

Comparator device is used for the detection value of output pick-up unit and the detection value of reference value pick-up unit are compared.

2. equivalent electrical circuit reference model control method, it, comprises to the output quantity of controlling this physical system as the input quantity of the physical system of controlling object by control:

In the preparatory stage, input quantity and the output quantity step of measuring the parameter of physical system of execution by repeatedly measuring a physical system calculated the step that constitutes equivalent electrical circuit in the parameter measurement step with the step of the electrical quantity of the parameter equivalent of measuring and the element that has the electrical quantity of calculating by utilization; And

In the working control stage, carry out and to import each input quantity, in this state the step that the benchmark value of the output quantity of physical system and equivalent electrical circuit is compared continuously to physical system and to equivalent electrical circuit.

3. system that is used to control the Twin-shaft machinery aut.eq., this machinery aut.eq. has a pedestal, second motor that be installed in also relative rotatable first pivoted arm of pedestal, the free end that is installed in first pivoted arm and rotatable second pivoted arm of relative first pivoted arm on the pedestal, is used to rotate first motor of first pivoted arm and is used to rotate second pivoted arm, this system comprises:

One first closed-loop path (67) comprises that one has the resistance (54) of earth terminal, the electric current (I in one and first motor ₁) proportional electric current is by resistance (54); And the resistance (62) and the coil (58) of series connection, they are connected between two opposite ends of resistance (54),

One second closed-loop path (69) comprises that one has the resistance (56) of earth terminal, with the electric current (I in second motor ₂) proportional electric current is by resistance (56); And the resistance (64) and the coil (60) of series connection, they are connected between two opposite ends of resistance (56);

First current detector (66) is used for detecting the electric current of first closed-loop path (67);

Second current detector (68) is used for detecting the electric current of second closed-loop path (69);

First tech-generator (36) is used to export and the proportional analog value of the rotating speed of first pivoted arm;

Second tech-generator (38) is used to export and the proportional analog value of the rotating speed of second pivoted arm;

First comparer (70) is used for the output quantity of first current detector (66) and the output quantity of first tech-generator (36) are compared; And

Second comparer (74) is used for the output quantity of second current detector (68) and the output quantity of second tech-generator (38) are compared;

Wherein, the resistance R of resistance (62) ₁, coil (58) inductance L ₁, resistance (64) resistance R ₂, coil (60) inductance L ₂And the mutual inductance M between coil (58) and (60), specify as follows:

R ₁＝d ₁，

L ₁＝I ₁+I ₂+m ₁r ₁ ²+m ₂l ₁ ²+m ₂r ₂ ²，

R ₂＝d ₂，

L ₂＝I ₂+m ₂r ₂ ²，and

M＝I ₂+m ₂r ₂ ²，

D wherein ₁Be the friction system of first pivoted arm, d ₂Be the friction system of second pivoted arm, I ₁Be moment of inertia, the I of first pivoted arm ₂Be the moment of inertia of second pivoted arm, m ₁Be the quality of first pivoted arm, m ₂Be the quality of second pivoted arm, li is the spacing of the rotation center of the rotation center of first pivoted arm and second pivoted arm, and ri is the rotation center of first pivoted arm and the spacing between its barycenter, r ₂Be the rotation center of second pivoted arm and the spacing between its barycenter.

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