CN202602556U - Chaos control system of ultrasonic motor - Google Patents
Chaos control system of ultrasonic motor Download PDFInfo
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- CN202602556U CN202602556U CN 201220016100 CN201220016100U CN202602556U CN 202602556 U CN202602556 U CN 202602556U CN 201220016100 CN201220016100 CN 201220016100 CN 201220016100 U CN201220016100 U CN 201220016100U CN 202602556 U CN202602556 U CN 202602556U
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Abstract
The utility model relates to a chaos control system of an ultrasonic motor. On-line adaptive adjustment is carried out on the delay time by fuzzy logic reasoning and thus the value of the delay time is not only limited in a periodic value or a neighborhood range of the periodic value, thereby obtaining an effective chaos control system of an ultrasonic motor. According to the utility model, the delay time is adaptively adjusted in an on-line mode by fuzzy logic reasoning and thus the value of the delay time is not only limited in the periodic value or the neighborhood range of the periodic value, so that the effective chaos control system of the ultrasonic motor is obtained.
Description
Technical field
The utility model relates to supersonic motor, relates in particular to the Drive Control Technique field of supersonic motor.
Background technology
Supersonic motor (USM) is a kind of novel motion control executive component, has the operation principle and the structure that are different from the traditional electrical magneto.The characteristics of USM make it all have a wide range of applications in high-end and ordinary movement control field.
The supersonic motor revolution speed control system chaotic behavior can occur in certain parameter area, thereby influences the stable operation of supersonic motor.In order to suppress the chaotic behavior in the supersonic motor revolution speed control system, need carry out chaos controlling.The time-delay feedback is simple in structure, is easy to realize, is traditional electrical magneto chaotic control method commonly used, about the time-delay feedback, belongs to existing mature technology, repeats no more at this.When the time-delay feedback is used for the chaos controlling of supersonic motor revolution speed control system; Because supersonic motor is different from the nonlinear characteristic and the more complicated chaotic characteristic of traditional electrical magneto, existing time-delay feedback is difficult to obtain good result.
Delay time T is a most important Control Parameter in the time-delay FEEDBACK CONTROL, and its value directly determines the effect of chaos controlling.Usually there are two kinds of methods to confirm delay time T, the one, make τ equal cycle of i unstable periodic orbits (UPO), the 2nd, make τ equal to export the time interval between two maximum of signal.These two kinds of methods when selecting delay time T, just make delay time T near or equal certain periodic quantity, and do not consider the value beyond the periodic quantity neighborhood, so two kinds of determined τ of method possibly not be optimum delay times; And because supersonic motor becomes non-linear and close coupling characteristic when tangible, this " optimum delay time " also can be to change.If can be online the value of adjustment τ, possibly more be applicable to the time-delay Feedback Chaos Control of Real strategy of this type of supersonic motor complex nonlinear object.
Based on above-mentioned design, the utility model has provided the time-delay Feedback Chaos Control of Real device based on fuzzy logic, and come online adaptive to regulate through fuzzy logic inference its time of delay.The checking result shows that this method had both reduced the oscillation amplitude of motor speed and driving voltage effectively, has obviously shortened again from the chaos to the cycle or the settling time of fixing point.
The utility model content
The purpose of the utility model is supersonic motor chaos controlling scheme and the concrete system that proposes a kind of novelty, in order to improve the validity and the reliability of supersonic motor chaos controlling.
For realizing above-mentioned purpose; The system schema of the utility model is: a kind of supersonic motor chaos controlling system; Comprise voltage-rotational speed governor, frequency rotational speed governor and chaos controlling device, the chaos controlling device is input for adopting the chaos controlling device of time-delay feedback with the motor driven voltage amplitude; Output also is provided with a Fuzzy Controller that is used for the online control lag time as the disturbing signal that puts on voltage-rotational speed governor input in the said chaos controlling device.
Said Fuzzy Controller is the Fuzzy Controller of the single output of dual input, and input variable is amount of delay e=u (the t-T)-u (t) and the derivative ec thereof of motor driven voltage amplitude; Wherein, u (t) and u (t-T) are respectively t, t-T driving voltage amplitude constantly; The Fuzzy Controller output variable is the increment size Δ T of time of delay, obtains time of delay through integral element; Time of delay, initial value was taken as 0.
The basic principle of the fuzzy rule of said Fuzzy Controller is following: 1) if e and ec are 0, then keep present controlled quentity controlled variable constant, i.e. Δ τ=0; 2) if e is non-vanishing, but approaching zero with desirable speed, keep present controlled quentity controlled variable constant, i.e. Δ τ=0; 3) if e be on the occasion of, ec be on the occasion of, e is described gradually away from 0, the value of delay time T is bigger than normal, controller output Δ τ＜0; 4) if e is a negative value, ec is a negative value, e is described gradually away from 0, and the value of delay time T is less than normal, controller output Δ τ＞0.
The utility model has designed the supersonic motor chaos controlling system based on fuzzy time-delay feedback; Come online adaptive to regulate through fuzzy logic inference its time of delay; The value of time of delay not only is confined in the neighborhood scope of periodic quantity or periodic quantity, thereby has obtained more effective supersonic motor chaos controlling system.
Description of drawings
Fig. 1 is the fuzzy chaos controlling system block diagram of the supersonic motor of the utility model;
Fig. 2 is the fuzzy chaos controlling device of specializing;
Fig. 3 is the membership function of Fuzzy Controller output variable Δ τ;
Fig. 4 a is the fixing point rotating speed time control result of fuzzy control method;
Fig. 4 b is the fixing point voltage time control result of fuzzy control method;
Fig. 5 is change procedure time of delay from chaos to fixing point running status process.
Embodiment
Below in conjunction with accompanying drawing the utility model is done further detailed explanation.
It is as shown in Figure 1 that the utility model has designed the supersonic motor revolution speed control system.Each link and interaction relationship thereof among this figure below make introductions all round.This system comprises two rotational speed governors, adopts voltage magnitude and frequency as control variables respectively.Frequency-rotational speed governor is used for accomplishing fast the adjusting on a large scale of rotating speed, improves response speed.Voltage-rotational speed governor regulation voltage amplitude is realized the rotating speed Steady-State Control, eliminates steady-state error.Here, frequency-rotational speed governor and voltage-rotational speed governor all adopt PI control.The chaos controlling device is input with the motor driven voltage amplitude, is output as the perturbation signal that puts on voltage-rotational speed governor input, in order to eliminate chaos.Among Fig. 1, rotary encoder E and motor coaxle are rigidly connected, and provide the square-wave signal that frequency is directly proportional with motor speed, and this signal provides tachometer value after treatment, offer " rotational speed governor " as speed feedback signal.
In order to adapt to the chaos controlling characteristics of supersonic motor, the utility model provides time-delay Feedback Chaos Control of Real device based on fuzzy logic, its delay time T comes online adaptive to regulate through fuzzy logic inference.Basic delay FEEDBACK CONTROL is a common method, no longer details here.Explanation is based on online adaptive control method time of delay of fuzzy logic below.
Fig. 1 is repainted like Fig. 2, wherein careful described the Fuzzy Controller that is used for the control lag time and with the relation of time-delay Feedback Chaos Control of Real device.Fuzzy Controller is to carrying out online adjusting time of delay, and hopes to be stabilized on the fixing point through the chaos state of this regulating action with the supersonic motor rotating speed.Fuzzy Controller is designed to the single output form of dual input.Input variable is amount of delay e=u (t-the τ)-u (t) and the derivative ec thereof of motor driven voltage amplitude.Wherein, u (t) and u (t-τ) are respectively t, t-τ driving voltage amplitude constantly.The Fuzzy Controller output variable is the increment size Δ τ of time of delay, obtains time of delay through integral element.Time of delay, initial value was taken as 0.
Statistics shows that the actual domain of input variable e is [15,20], and the actual domain of ec is [1000,800].It is carried out quantification treatment respectively, and domain [1,1] blurs in the unit of obtaining.The quantizing factor k of e and ec
e, k
EcTentatively be given as k
e=0.05, k
Ec=0.001.The quantizing factor k of output variable Δ τ
Δ τIn simulation process, confirm.The fuzzy reasoning of Fuzzy Controller adopts the Mamdani method, and the ambiguity solution method is a gravity model appoach.
Input variable e and ec all get 3 fuzzy language value N (bearing), Z (zero), P (just), and output variable Δ τ gets 5 fuzzy language value NB (negative big), NS (negative little), Z (zero), PS (just little), PB (honest).The membership function of all fuzzy language values all is taken as triangle, and its distribution is as shown in Figure 3.
Fuzzy rule is the core of Fuzzy Controller.According to the basic experience of chaos controlling, can formulate the basic principle of fuzzy rule:
1), then keep present controlled quentity controlled variable constant, i.e. Δ τ=0 if e and ec are 0;
2) if e is non-vanishing, but approaching zero with desirable speed, keep present controlled quentity controlled variable constant, i.e. Δ τ=0;
3) if e be on the occasion of, ec be on the occasion of, e is described gradually away from 0, the value of delay time T is bigger than normal, controller output Δ τ＜0;
4) if e is a negative value, ec is a negative value, e is described gradually away from 0, and the value of delay time T is less than normal, controller output Δ τ＞0.
According to mentioned above principle, can obtain initial fuzzy reasoning table.In design process, also need constantly fuzzy rule, quantizing factor and membership function suitably to be adjusted, to obtain better to control effect.Concrete adjustment process is following.
1) fuzzy set and the membership function shape of at first preliminary given each variable make membership function near zero, compare comparatively dense;
2) given k
eAnd k
EcInitial value, and temporarily remain unchanged, k regulated
Δ τ, any given k
Δ τA value keeps k
Δ τBe the integral multiple of integration step, according to the waveform of output voltage amplitude and the change curve of τ, adjusted.Work as k
Δ τValue hour, the increment size of τ is less, add controller after, the voltage magnitude wave form varies is not obvious in the long time, the adjustment process of τ is longer; k
Δ τValue when bigger than normal, it is big that the increment size of τ becomes, bigger increment size can be skipped the optimum delay time value, can not realize the control from the chaos to the fixing point.Select a suitable k according to above experience
Δ τ, make the transit time from the chaos to the fixing point the shortest.k
Δ τAfter confirming, keep k
Δ τAnd k
EcConstant, regulate k
e, with k
Δ τAdjustment process similar, with the mode of souning out, at k
eThe both sides of initial value are chosen different values and are probed into, and observe output waveform, select the k that oscillation amplitude reduces obviously and τ restrains of a voltage magnitude then
eValue, and remain unchanged;
3) reach above requirement if can not find suitable quantizing factor, then suitably adjust the distribution of the shape and the fuzzy set of membership function, and then repeating step 2), till searching out the quantizing factor that satisfies above-mentioned condition;
4) if through step 2), 3), still can not realize the control from the chaos to the fixing point, need suitably adjusting fuzzy rule this moment.According to the output waveform of τ and voltage magnitude, confirm that fuzzy rule makes the τ convergence, promptly when system got into period zones, the τ value remained unchanged in a very little zone.After the fuzzy rule change, possibly still will change the quantizing factor of each variable, the shortest to guarantee the transit time from the chaos state to the fixing point, the oscillation amplitude of voltage magnitude is minimum.This moment will repeating step 2), 3).Confirm that at last fuzzy rule is as shown in table 1.
Table 1 fuzzy control rule table
Research shows, as voltage-rotational speed governor integral coefficient k
Iv=15.02 o'clock, system will show chaotic behavior.For verifying the above-mentioned validity of carrying the chaos controlling device, at first keep k
Iv=15.02, make system works under chaos state, when t=0.15s, add the fuzzy chaos controlling device that is designed then.Quantizing factor, chaos controlling device output threshold value F through suitable each variable of adjustment fuzzy controller
0With weight coefficient K
0, under the situation that does not change original supersonic motor revolution speed control system parameter, can the chaotic behavior of system be stabilized on the fixing point, the control effect is shown in Fig. 4 a and Fig. 4 b.Each parameter that situation is set is as shown in table 2.
By finding out among Fig. 4 a and Fig. 4 b, the supersonic motor output speed has got into fixing point rapidly from chaos state after 0.15s adds the chaos controlling device, and transit time is short, and has obviously reduced the oscillation amplitude of voltage and rotating speed.The delay time T change procedure of Fuzzy Controller output is as shown in Figure 5.After system got into stable state, the fuzzy controller output delay time remained unchanged in certain zone, and the chaos controlling system is relatively stable.
Parameter setting when table 2 fuzzy control chaos arrives fixing point
Respectively the utility model institute extracting method and tradition are postponed the chaos controlling that feedback method is used for the supersonic motor revolution speed control system, its control effect comparison is as shown in table 3.From table 3, can find out; Chaos controlling as far as the supersonic motor revolution speed control system; The utility model institute extracting method has merged the advantage of traditional delay feedback; Overcome the shortcoming of traditional delay feedback, electric system was significantly shortened from the transit time that chaos is converted into stable motion, and obviously reduced the oscillation amplitude of system's output speed.
The comparison of table 3 institute of the present invention extracting method and conventional method
The utility model has designed the supersonic motor chaos controlling system based on fuzzy time-delay feedback; Come online adaptive to regulate through fuzzy logic inference its time of delay; The value of time of delay not only is confined in the neighborhood scope of periodic quantity or periodic quantity, thereby has obtained more effective supersonic motor chaos controlling system.
Claims (2)
1. supersonic motor chaos controlling system; Comprise voltage-rotational speed governor, frequency rotational speed governor and chaos controlling device; The chaos controlling device is input for adopting the chaos controlling device of time-delay feedback with the motor driven voltage amplitude, and output is as the disturbing signal that puts on voltage-rotational speed governor input; It is characterized in that, also be provided with a Fuzzy Controller that is used for the online control lag time in the said chaos controlling device.
2. a kind of supersonic motor chaos controlling according to claim 1 system; It is characterized in that; Said Fuzzy Controller is the Fuzzy Controller of the single output of dual input, and input variable is amount of delay e=u (the t-T)-u (t) and the derivative ec thereof of motor driven voltage amplitude; Wherein, u (t) and u (t-T) are respectively t, t-T driving voltage amplitude constantly; The Fuzzy Controller output variable is the increment size Δ T of time of delay, obtains time of delay through integral element; Time of delay, initial value was taken as 0.
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| CN 201220016100 CN202602556U (en) | 2012-01-14 | 2012-01-14 | Chaos control system of ultrasonic motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694484A (en) * | 2012-01-14 | 2012-09-26 | 河南科技大学 | Ultrasonic motor chaos control system and method |
| CN104062939A (en) * | 2013-03-20 | 2014-09-24 | 王少夫 | Numerically-controlled machine tool ball-feeding screw system chaotic phenomenon elimination method |
-
2012
- 2012-01-14 CN CN 201220016100 patent/CN202602556U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694484A (en) * | 2012-01-14 | 2012-09-26 | 河南科技大学 | Ultrasonic motor chaos control system and method |
| CN104062939A (en) * | 2013-03-20 | 2014-09-24 | 王少夫 | Numerically-controlled machine tool ball-feeding screw system chaotic phenomenon elimination method |
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