CN203413032U - Elastic torsion system with double differential feedback control - Google Patents
Elastic torsion system with double differential feedback control Download PDFInfo
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- CN203413032U CN203413032U CN201320435297.5U CN201320435297U CN203413032U CN 203413032 U CN203413032 U CN 203413032U CN 201320435297 U CN201320435297 U CN 201320435297U CN 203413032 U CN203413032 U CN 203413032U
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- cylindrical mass
- mass body
- elastic torsion
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Abstract
The utility model relates to an elastic torsion system with double differential feedback control. The elastic torsion system comprises a plurality of cylindrical mass bodies with different sizes which are fixed on a U-shaped base by a central shaft and are positioned on the same horizontal line; the cylindrical mass bodies are connected by springs; the outer side of the cylindrical mass body at the outermost side on the U-shaped base is connected with a motor; a sampling speed-measuring mechanism is also connected behind each cylindrical mass body; the motor is controlled by a PID (Proportion-Integration-Differentiation) controller in a feed-forward channel; the sampling speed-measuring mechanism is connected with the motor by the differentiation controller to form a feedback circuit. The elastic torsion system has the advantages that higher steady accuracy can be obtained, and the torsion fatigue loss of the system is reduced.
Description
Technical field
The utility model relates to movement control technology field, particularly relates to the elastic torsion system that a kind of pair of derivative feedback controlled.
Background technique
Along with the development of economic construction, the requirement of energy device is improved gradually, generator set single-machine capacity is also increasing day by day, and the thing followed is that axle is the continuing to increase of continuous increase, span of length, and axle is improving constantly of lightweight requirements.Whole axle is can regard one as to have multivariant elastic qualities torsional vibration system.The increase of motor load and the factors such as diversity of load all will cause the generation of torsional vibration of shafting, and cause the torsional fatigue loss of axle system, thereby the normal operation of generator set and safety in production have been brought to many hidden danger.
Model utility content
Technical problem to be solved in the utility model is to provide the elastic torsion system that a kind of pair of derivative feedback controlled, can make multimass elastic torque system reach pre-set velocity within the extremely short time, realize the control effect of non-overshoot, obtain higher stable state accuracy, reduce the torsional fatigue loss of system.
The utility model solves the technological scheme that its technical problem adopts: the elastic torsion system that provides a kind of pair of derivative feedback to control, comprise the cylindrical mass body that several are not of uniform size, described cylindrical mass body is fixed on U-shaped base by central shaft, and be positioned on same level line, between described cylindrical mass body, by spring, be connected, on described U-shaped base, the outside of outermost cylindrical mass body is connected with motor, after each cylindrical mass body, be also connected to sampling velocity measurement mechanisms, in feedforward path, by PID controller, control motor, described sampling velocity measurement mechanisms is connected to form feedback loop by derivative controller and motor.
Described cylindrical mass body is two.
Described cylindrical mass body is three.
Described PID controller is programmable computer controller.
Described derivative controller is programmable computer controller.
Described sampling velocity measurement mechanisms is raster pattern encoder.
Beneficial effect
Owing to having adopted above-mentioned technological scheme, the utility model compared with prior art, there is following advantage and good effect: the utility model is controlled and made the output response of controlled system obviously faster than general traditional speed control system of controlling by two derivative feedback, and its Reducing overshoot and concussion is very competent, can realize non-overshoot, without the control effect of concussion.Secondly, two derivative feedback are controlled and can be made the output of DC MOTOR CONTROL amount highly stable, and basic only fluctuation in is among a small circle little to the infringement of motor, extend the working life of motor, reduce the torsional fatigue loss of system.Again, two derivative feedback control program principles are simple, control effect splendid, meet industrial control requirement completely.Finally, two derivative feedback control programs can be applied to many wheels situation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is control schematic diagram of the present utility model;
Fig. 3 is control flow chart of the present utility model;
Fig. 4 a is the two-wheel load open loop order response curve that jumps, response curve when Fig. 4 b is 2500 °s/sec of the rotating speeds of two-wheel load;
Fig. 5 a is the three-wheel load open loop order response curve that jumps, response curve when Fig. 5 b is 2500 °s/sec of the rotating speeds of three-wheel load.
Embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiments are only not used in restriction scope of the present utility model for the utility model is described.In addition should be understood that those skilled in the art can make various changes or modifications the utility model after having read the content of the utility model instruction, these equivalent form of values fall within the application's appended claims limited range equally.
Mode of execution of the present utility model relates to the elastic torsion system that a kind of pair of derivative feedback controlled, as shown in Figure 1, comprise the cylindrical mass body 3 that several are not of uniform size, described cylindrical mass body 3 is fixed on U-shaped base 8 by central shaft, and be positioned on same level line, between described cylindrical mass body 3, by spring 7, be connected, on described U-shaped base 8, the outside of outermost cylindrical mass body 3 is connected with motor 1 (through speed reducer 2), after each cylindrical mass body 3, be also connected to sampling velocity measurement mechanisms 4, by sampling velocity measurement mechanisms 4, can record in real time the rotating speed of mass body 3, in feedforward path, by PID controller 6, control motor 1, described sampling velocity measurement mechanisms 4 is connected to form feedback loop by derivative controller 5 and motor 1.The utility model can reach with the fastest acceleration the speed uniform rotation of appointment by controlling the mass body of the output voltage of motor after making, and the velocity error while making is at the uniform velocity as far as possible little.
As shown in Figure 2, the utility model adopts two derivative feedback (DDF) control programs, in feedforward path, adopt PID controller, its presetting effect has suppressed the overshoot of system, and its parameter can realize self-regulating, after dynamic response, reduce gradually the differential action of forward path, thereby when improving dynamic response, also guaranteed stable state accuracy.For the stability of Guarantee control system and desirable control characteristic, the micro component of controlled variable must be provided, in feedback loop, introduce independently derivative controller, also can be called the feedback that tests the speed, its role is to increase the damping ratio of object, improve plant characteristic.Meanwhile, also can, according to the variation of controlled volume, directly be proofreaied and correct.When controlled volume enters stable state, the differential action is just ineffective, has played the effect of dynamic calibration.
The utility model comprises controller and the sampling velocity measurement mechanisms of carrying out control algorithm.Wherein, the controller of described execution control algorithm (being PID controller and derivative controller) can adopt programmable computer controller (Programmable Computer Controller, be called for short PCC), comprise CPU, power module, motor module, I/O module and power supply, be responsible for through control algorithm, calculating controlled quentity controlled variable according to sampling numerical value, and controlled quentity controlled variable is sent to actuator's (being motor).Described sampling mechanism can adopt raster pattern encoder, and two encoders feed back to CPU by the rotating speed recording in real time via I/O module.
Described multimass elastic torque device is connected with the X20 Series PC C of Bei Jialai company, in movement process, encoder feeds back to CPU by the rotating speed recording in real time via I/O module (X20DC1976) and processes computing, CPU is by the control Voltage-output obtaining by control algorithm in the motor module (X20MM2436) of PCC, and motor module is controlled motor with certain rotational speed.PCC is connected with upper-position unit, and with after the corresponding programming software of PCC carries out communication and is connected, on the corresponding programming software AS of this PCC software, uses C Programming with Pascal Language to realize whole control program.The flow chart of this control program as shown in Figure 3.
Take two-wheel load as example, being achieved as follows of filtering algorithm of the present utility model: the clock sampling cycle of data capture and parameter processor is set as 1ms, the control cycle that DDF controls main program is set as 10ms, every 1ms, by encoder, the rotating speed of two cylindrical mass bodies is sampled, 10 numerical value that sampling in 10ms is obtained carry out mean filter operation, remove a maximum value and a minimum value, and remaining 8 numerical value are averaged, rotating speed using the average of trying to achieve as this moment wheel, the input value of feedback loop in control program namely.
PID of the present utility model adopts increment type, is shown below:
Δu
k＝k
p(e
k-e
k-1)+k
ie
k+k
d[(y
k-2y
k-1+y
k-2)]
u
k＝u
k-1+Δu
k
Wherein, k
pfor the scaling factor of PID controller, k
ifor integral coefficient, k
dfor differential coefficient, T
ifor integration time constant, T
dfor derivative time constant, Δ t is the sampling time, y
kfor the loadwheel tachometer value that k records by encoder constantly, e
kthe loadwheel tachometer value constantly recording by encoder for k and setting value poor.By the above formula calculating of programming, obtain current controlled quentity controlled variable u
k.
Adopt the utility model to control two-wheel load, getting and setting rotating speed is 2500 °s/sec, by debugging, controller parameter is got to the response curve that obtains after reasonable numerical value as shown in Fig. 4 a and Fig. 4 b, the dynamic response of system has been compared great improvement with open loop with steady-state response, effect is very good, and overshoot is about 0.The adjustment time is about 0.1s.Due to the existence of spring, finally fluctuation among a small circle of system output, error is within 2%, and the output quantity of motor is also very stable, and fluctuation in is among a small circle little to motor infringement, extends the working life of motor, extremely meets demand of industrial production.
Adopt the utility model to control three-wheel load, control design sketch as shown in Fig. 5 a and Fig. 5 b, the dynamic response of system has been compared great improvement with open loop with steady-state response, and effect is very good, and overshoot is about 0.The adjustment time is about 0.5s.Due to the existence of spring, finally fluctuation among a small circle of system output, error is within 2%.
Adopt the utility model to control multimass elastic torque device, only need finely tune parameter, just can obtain desirable control effect.This illustrates that this controller has the advantage that conventional PI control device does not have, and its Reducing overshoot and concussion very competent realized non-overshoot control.Whole control system has very strong robustness, has outstanding control performance.A whole set of control system is simple and practical, meets industrial control requirement completely.
Claims (6)
1. the elastic torsion system that two derivative feedback are controlled, comprise the cylindrical mass body (3) that several are not of uniform size, described cylindrical mass body (3) is fixed on U-shaped base (8) by central shaft, and be positioned on same level line, between described cylindrical mass body (3), by spring (7), be connected, the outside of the upper outermost cylindrical mass body (3) of described U-shaped base (8) is connected with motor (1), after each cylindrical mass body (3), be also connected to sampling velocity measurement mechanisms (4), it is characterized in that, in feedforward path, by PID controller (6), control motor (1), described sampling velocity measurement mechanisms (4) is connected to form feedback loop by derivative controller (5) and motor (1).
2. the according to claim 1 pair of elastic torsion system that derivative feedback is controlled, is characterized in that, described cylindrical mass body (3) is two.
3. the according to claim 1 pair of elastic torsion system that derivative feedback is controlled, is characterized in that, described cylindrical mass body (3) is three.
4. the according to claim 1 pair of elastic torsion system that derivative feedback is controlled, is characterized in that, described PID controller (6) is programmable computer controller.
5. the according to claim 1 pair of elastic torsion system that derivative feedback is controlled, is characterized in that, described derivative controller (5) is programmable computer controller.
6. the according to claim 1 pair of elastic torsion system that derivative feedback is controlled, is characterized in that, described sampling velocity measurement mechanisms (4) is raster pattern encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320435297.5U CN203413032U (en) | 2013-07-19 | 2013-07-19 | Elastic torsion system with double differential feedback control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320435297.5U CN203413032U (en) | 2013-07-19 | 2013-07-19 | Elastic torsion system with double differential feedback control |
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| Publication Number | Publication Date |
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| CN203413032U true CN203413032U (en) | 2014-01-29 |
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| CN201320435297.5U Expired - Fee Related CN203413032U (en) | 2013-07-19 | 2013-07-19 | Elastic torsion system with double differential feedback control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208688A (en) * | 2019-05-09 | 2019-09-06 | 石家庄科林电气股份有限公司 | A kind of failure pre-judging method of breaker energy storage motor |
-
2013
- 2013-07-19 CN CN201320435297.5U patent/CN203413032U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208688A (en) * | 2019-05-09 | 2019-09-06 | 石家庄科林电气股份有限公司 | A kind of failure pre-judging method of breaker energy storage motor |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140129 Termination date: 20160719 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |