CN203482132U - Proportional-integral controller - Google Patents
Proportional-integral controller Download PDFInfo
- Publication number
- CN203482132U CN203482132U CN201320616709.5U CN201320616709U CN203482132U CN 203482132 U CN203482132 U CN 203482132U CN 201320616709 U CN201320616709 U CN 201320616709U CN 203482132 U CN203482132 U CN 203482132U
- Authority
- CN
- China
- Prior art keywords
- resistance
- circuit
- operational amplifier
- integrated operational
- left end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The utility model discloses a proportional-integral controller comprising a proportion amplification circuit (1), a proportion integration coefficient adjusting circuit (2), an integral circuit (3), and an addition circuit (4). The proportion integration coefficient adjusting circuit (2) is respectively connected with the proportion amplification circuit (1) and the integral circuit (3). The output of the proportion amplification circuit (1) and the output of the integral circuit (3) are connected with the input of the addition circuit (4). The signal of the difference between the actual rotating speed and the determined rotating speed of the motor is respectively connected with the input of the proportion amplification circuit (1), the input of the integral circuit (3), and the input of the proportion integration coefficient adjusting circuit (2), and the addition circuit (4) can be used to output the proportional-integral controller control signal. The proportional-integral controller is the motor rotating speed proportional-integral controller having the advantages of low costs, and ability of improving control real-time performance. When the actual rotating speed of the motor is deviated from the determined rotating speed, the hardware control circuit having the low costs can change the proportional integral coefficient of the proportional-integral controller in a real-time manner, and therefore the overshooting and the pulsation of the motor rotating speed can be eliminated quickly, the motor rotating speed can be maintained in the steady state precision range, and the performance of the whole rotating speed control system can be improved.
Description
Technical field
The utility model relates to a kind of pi controller, and particularly relating to a kind of use hardware circuit, to realize proportion integral modulus dynamically adjustable, is conducive to improve realtime control, motor speed pi controller cheaply, belongs to electric machines control technology field.
Background technology
Because current motor speed pi controller is mainly based on Digital Signal Processing integrated chip, adopt fuzzy control technology, by software, repeatedly inquire about the fuzzy rule base of setting up based on expertise, the motor speed situation of changing is judged and overcome, cost is high, software overhead is large, real-time is not strong, in addition, if when motor ruuning situation changes, when fuzzy rule base does not possess the dependency rule of this situation, the control of pi controller will be dispersed, and has affected the performance of pi controller.
Utility model content
The problem existing for prior art, the utility model proposes and a kind ofly can improve realtime control, the motor speed pi controller that cost is low, when motor actual speed departs from given rotating speed, use cheap hardware control circuit to change in real time the proportion integral modulus of pi controller, eliminate fast overshoot and the pulsation of motor speed, motor speed is remained within the scope of stable state accuracy, improved the performance of whole Motor Rotating Speed Control System.
The technical solution adopted in the utility model is:
Comprise ratio amplifying circuit, integrating circuit, proportion integral modulus Circuit tuning, add circuit, proportion integral modulus Circuit tuning is connected with integrating circuit with ratio amplifying circuit respectively, the output of ratio amplifying circuit and integrating circuit is connected with the input of add circuit respectively, motor actual speed is connected with the input of ratio amplifying circuit, integrating circuit, proportion integral modulus Circuit tuning respectively with the difference signal of given rotating speed, add circuit export ratio integral controller output signal.
Described ratio amplifying circuit comprises integrated operational amplifier A1, resistance R 1, R2, R3, the left end of resistance R 1 joins with ground, the right-hand member of the in-phase input end of integrated operational amplifier A1 and resistance R 1 joins, the integrated operational amplifier A2 inverting input of the left end of resistance R 2 and proportion integral modulus Circuit tuning, after the resistance R 5 left end tandems of integrating circuit, join with the difference signal of motor actual speed and given rotating speed, the right-hand member of the inverting input of integrated operational amplifier A1 and resistance R 2, the left end of resistance R 3, the upper end of the resistance R 4 of proportion integral modulus Circuit tuning, the right-hand member of the resistance R 5 of integrating circuit, the left end of capacitor C, the inverting input tandem of integrated operational amplifier A3, the output of the right-hand member of resistance R 3 and integrated operational amplifier A1, the left end of add circuit resistance R 6 joins.
Described integrating circuit comprises integrated operational amplifier A3, resistance R 5, capacitor C, the left end of the resistance R 2 of the left end of resistance R 5 and ratio amplifying circuit, after the integrated operational amplifier A2 inverting input tandem of proportion integral modulus Circuit tuning, join with the difference signal of motor actual speed and given rotating speed, the inverting input of integrated operational amplifier A3 and capacitor C left end, the right-hand member of resistance R 5, the upper end of the resistance R 4 of proportion integral modulus Circuit tuning, resistance R 3 left ends of ratio amplifying circuit, the right-hand member of resistance R 2, the inverting input tandem of integrated operational amplifier A1, the in-phase input end of integrated operational amplifier A3 joins with ground, the output of the right-hand member of capacitor C and integrated operational amplifier A3, the left end tandem of the resistance R 7 of add circuit.
Described proportion integral modulus Circuit tuning comprises integrated operational amplifier A2, resistance R 4, triode T, triangular signal generator based, the difference signal of the inverting input of integrated operational amplifier A2 and motor actual speed and given rotating speed, the left end of the resistance R 5 of integrating circuit, the left end of the resistance R 2 of ratio amplifying circuit joins, the in-phase input end of integrated operational amplifier A2 and triangular signal generator based output join, the output of the base stage B of triode T and integrated operational amplifier A2 joins, ground joins with the emitter E of triode T, the collector electrode C of triode T and the lower end of resistance R 4 join, the upper end of resistance R 4 respectively with the inverting input of the integrated operational amplifier A1 of ratio amplifying circuit, the right-hand member of resistance R 2, the right-hand member of the left end of resistance R 3 and the resistance R of integrating circuit 5, the left end of capacitor C, the inverting input tandem of integrated operational amplifier A3.
Described add circuit comprises integrated operational amplifier A4, resistance R 6, R7, R8, R9, the inverting input of integrated operational amplifier A4 and resistance R 6, the right-hand member of R7, the left end tandem of resistance R 9, the upper end of the in-phase input end of integrated operational amplifier A4 and resistance R 8 joins, the lower end of resistance R 8 joins with ground, the output of the integrated operational amplifier A1 of the left end of resistance R 6 and ratio amplifying circuit, the right-hand member of resistance R 3 joins, the output of the integrated operational amplifier A3 of the left end of resistance R 7 and integrating circuit, the left end of capacitor C joins, the right-hand member of the output of integrated operational amplifier A4 and resistance R 9 joins and export ratio integral controller output signal.
The utility model pi controller, by the real-time control ratio integral coefficient of cheap hardware circuit, can accelerate system response time, eliminate fast overshoot and the pulsation of motor speed, system is remained within the scope of stable state accuracy, with respect to background technology, cost is low, in real time controlled strong.
Accompanying drawing explanation
Fig. 1 is the utility model block diagram.
Fig. 2 is the circuit connection diagram of an embodiment of the present utility model.
In Fig. 1: 1, ratio amplifying circuit, 2, proportion integral modulus Circuit tuning, 3, integrating circuit, 4, add circuit.
Embodiment
Below in conjunction with accompanying drawing 1 and embodiment, the utility model is described in further detail.
As shown in Figure 1, the utility model is a kind of pi controller, comprise: ratio amplifying circuit (1), proportion integral modulus Circuit tuning (2), integrating circuit (3), add circuit (4), proportion integral modulus Circuit tuning (2) is connected with integrating circuit (3) with ratio amplifying circuit (1) respectively, the output of ratio amplifying circuit (1) and integrating circuit (3) is connected with the input of add circuit (4) respectively, the difference signal of motor actual speed and given rotating speed respectively with ratio amplifying circuit (1), integrating circuit (3), the input of proportion integral modulus Circuit tuning (2) is connected, add circuit (4) export ratio integral controller output signal.
As shown in Figure 2, ratio amplifying circuit (1) comprises integrated operational amplifier A1, resistance R 1, R2, R3, the left end of resistance R 1 joins with ground, the right-hand member of the in-phase input end of integrated operational amplifier A1 and resistance R 1 joins, the integrated operational amplifier A2 inverting input of the left end of resistance R 2 and proportion integral modulus Circuit tuning, after the resistance R 5 left end tandems of integrating circuit, join with the difference signal of motor actual speed and given rotating speed, the right-hand member of the inverting input of integrated operational amplifier A1 and resistance R 2, the left end of resistance R 3, the upper end of the resistance R 4 of proportion integral modulus Circuit tuning, the right-hand member of the resistance R 5 of integrating circuit, the left end of capacitor C, the inverting input tandem of integrated operational amplifier A3, the output of the right-hand member of resistance R 3 and integrated operational amplifier A1, the left end of add circuit resistance R 6 joins, integrating circuit (3) comprises integrated operational amplifier A3, resistance R 5, capacitor C, the left end of the resistance R 2 of the left end of resistance R 5 and ratio amplifying circuit, after the integrated operational amplifier A2 inverting input tandem of proportion integral modulus Circuit tuning, join with the difference signal of motor actual speed and given rotating speed, the inverting input of integrated operational amplifier A3 and capacitor C left end, the right-hand member of resistance R 5, the upper end of the resistance R 4 of proportion integral modulus Circuit tuning, resistance R 3 left ends of ratio amplifying circuit, the right-hand member of resistance R 2, the inverting input tandem of integrated operational amplifier A1, the in-phase input end of integrated operational amplifier A3 joins with ground, the output of the right-hand member of capacitor C and integrated operational amplifier A3, the left end tandem of the resistance R 7 of add circuit, proportion integral modulus Circuit tuning (2) comprises integrated operational amplifier A2, resistance R 4, triode T, triangular signal generator based, the difference signal of the inverting input of integrated operational amplifier A2 and motor actual speed and given rotating speed, the left end of the resistance R 5 of integrating circuit, the left end of the resistance R 2 of ratio amplifying circuit joins, the in-phase input end of integrated operational amplifier A2 and triangular signal generator based output join, the output of the base stage B of triode T and integrated operational amplifier A2 joins, ground joins with the emitter E of triode T, the collector electrode C of triode T and the lower end of resistance R 4 join, the upper end of resistance R 4 respectively with the inverting input of the integrated operational amplifier A1 of ratio amplifying circuit, the right-hand member of resistance R 2, the right-hand member of the left end of resistance R 3 and the resistance R of integrating circuit 5, the left end of capacitor C, the inverting input tandem of integrated operational amplifier A3, add circuit (4) comprises integrated operational amplifier A4, resistance R 6, R7, R8, R9, the inverting input of integrated operational amplifier A4 and resistance R 6, the right-hand member of R7, the left end tandem of resistance R 9, the upper end of the in-phase input end of integrated operational amplifier A4 and resistance R 8 joins, the lower end of resistance R 8 joins with ground, the output of the integrated operational amplifier A1 of the left end of resistance R 6 and ratio amplifying circuit, the right-hand member of resistance R 3 joins, the output of the integrated operational amplifier A3 of the left end of resistance R 7 and integrating circuit, the left end of capacitor C joins, the right-hand member of the output of integrated operational amplifier A4 and resistance R 9 joins and export ratio integral controller output signal.
Implementation process of the present utility model is:
As shown in Figure 2, when pi controller input receives after the difference signal of motor actual speed and given rotating speed, the integrated operational amplifier A2 of proportion integral modulus Circuit tuning is output pulse width modulation signal under the acting in conjunction of the difference signal of motor actual speed and given rotating speed and the triangular signal of triangular signal generator based generation, control the conducting state of triode T, thereby the collector electrode output resistance of triode T is changed, because the resistance R 2 of this output resistance and ratio amplifying circuit is in parallel, the proportionality coefficient of ratio amplifying circuit is changed, simultaneously, because the collector electrode output resistance of triode T and the integrating resistor R5 of integrating circuit are in parallel, cause the variation of integrating resistor, the variation of integrating circuit time constant is controlled in the variation of integrating resistor, integral coefficient is changed, therefore, proportion integral modulus dynamically changes fast with the difference signal of motor actual speed and given rotating speed, ratio is amplified and integrating circuit changes output signal separately in time according to the variation of proportion integral modulus, pi controller is exported corresponding pi controller output signal fast according to the exporting change of ratio amplification and integrating circuit subsequently, adjust in time motor speed, and eliminate fast overshoot and the pulsation of motor speed.
Claims (5)
1. a pi controller, it is characterized in that: comprising: ratio amplifying circuit (1), proportion integral modulus Circuit tuning (2), integrating circuit (3), add circuit (4), proportion integral modulus Circuit tuning (2) is connected with integrating circuit (3) with ratio amplifying circuit (1) respectively, the output of ratio amplifying circuit (1) and integrating circuit (3) is connected with the input of add circuit (4) respectively, the difference signal of motor actual speed and given rotating speed respectively with ratio amplifying circuit (1), integrating circuit (3), the input of proportion integral modulus Circuit tuning (2) is connected, add circuit (4) export ratio integral controller output signal.
2. pi controller according to claim 1, it is characterized in that: described ratio amplifying circuit (1) comprises integrated operational amplifier A1, resistance R 1, R2, R3, the left end of resistance R 1 joins with ground, the right-hand member of the in-phase input end of integrated operational amplifier A1 and resistance R 1 joins, the integrated operational amplifier A2 inverting input of the left end of resistance R 2 and proportion integral modulus Circuit tuning, after the resistance R 5 left end tandems of integrating circuit, join with the difference signal of motor actual speed and given rotating speed, the right-hand member of the inverting input of integrated operational amplifier A1 and resistance R 2, the left end of resistance R 3, the upper end of the resistance R 4 of proportion integral modulus Circuit tuning, the right-hand member of the resistance R 5 of integrating circuit, the left end of capacitor C, the inverting input tandem of integrated operational amplifier A3, the output of the right-hand member of resistance R 3 and integrated operational amplifier A1, the left end of add circuit resistance R 6 joins.
3. pi controller according to claim 1, it is characterized in that: described integrating circuit (3) comprises integrated operational amplifier A3, resistance R 5, capacitor C, the left end of the resistance R 2 of the left end of resistance R 5 and ratio amplifying circuit, after the integrated operational amplifier A2 inverting input tandem of proportion integral modulus Circuit tuning, join with the difference signal of motor actual speed and given rotating speed, the inverting input of integrated operational amplifier A3 and capacitor C left end, the right-hand member of resistance R 5, the upper end of the resistance R 4 of proportion integral modulus Circuit tuning, resistance R 3 left ends of ratio amplifying circuit, the right-hand member of resistance R 2, the inverting input tandem of integrated operational amplifier A1, the in-phase input end of integrated operational amplifier A3 joins with ground, the output of the right-hand member of capacitor C and integrated operational amplifier A3, the left end tandem of the resistance R 7 of add circuit.
4. pi controller according to claim 1, it is characterized in that: described proportion integral modulus Circuit tuning (2) comprises integrated operational amplifier A2, resistance R 4, triode T, triangular signal generator based, the difference signal of the inverting input of integrated operational amplifier A2 and motor actual speed and given rotating speed, the left end of the resistance R 5 of integrating circuit, the left end of the resistance R 2 of ratio amplifying circuit joins, the in-phase input end of integrated operational amplifier A2 and triangular signal generator based output join, the output of the base stage B of triode T and integrated operational amplifier A2 joins, ground joins with the emitter E of triode T, the collector electrode C of triode T and the lower end of resistance R 4 join, the upper end of resistance R 4 respectively with the inverting input of the integrated operational amplifier A1 of ratio amplifying circuit, the right-hand member of resistance R 2, the right-hand member of the left end of resistance R 3 and the resistance R of integrating circuit 5, the left end of capacitor C, the inverting input tandem of integrated operational amplifier A3.
5. pi controller according to claim 1, it is characterized in that: described add circuit (4) comprises integrated operational amplifier A4, resistance R 6, R7, R8, R9, the inverting input of integrated operational amplifier A4 and resistance R 6, the right-hand member of R7, the left end tandem of resistance R 9, the upper end of the in-phase input end of integrated operational amplifier A4 and resistance R 8 joins, the lower end of resistance R 8 joins with ground, the output of the integrated operational amplifier A1 of the left end of resistance R 6 and ratio amplifying circuit, the right-hand member of resistance R 3 joins, the output of the integrated operational amplifier A3 of the left end of resistance R 7 and integrating circuit, the left end of capacitor C joins, the right-hand member of the output of integrated operational amplifier A4 and resistance R 9 joins and export ratio integral controller output signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320616709.5U CN203482132U (en) | 2013-09-27 | 2013-09-27 | Proportional-integral controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320616709.5U CN203482132U (en) | 2013-09-27 | 2013-09-27 | Proportional-integral controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203482132U true CN203482132U (en) | 2014-03-12 |
Family
ID=50230379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320616709.5U Expired - Fee Related CN203482132U (en) | 2013-09-27 | 2013-09-27 | Proportional-integral controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203482132U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018205973A1 (en) * | 2017-05-12 | 2018-11-15 | 联合汽车电子有限公司 | Control device and method for motor of power-operated tailgate of automobile |
-
2013
- 2013-09-27 CN CN201320616709.5U patent/CN203482132U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018205973A1 (en) * | 2017-05-12 | 2018-11-15 | 联合汽车电子有限公司 | Control device and method for motor of power-operated tailgate of automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102122187B (en) | Method and device for quickly debugging avalanche diode in optical module production | |
| CN203882224U (en) | Program-controlled constant-current source circuit | |
| CN108494418B (en) | Big data signal calibration circuit | |
| CN103618486A (en) | Fuzzy-control direct-current motor speed control method | |
| CN103323653B (en) | A kind of low limit sample circuit | |
| CN110134168B (en) | Engine power compensation system of air automobile | |
| CN107707210B (en) | Self-zeroing high-gain differential amplifying circuit | |
| CN203482132U (en) | Proportional-integral controller | |
| CN103631307B (en) | The power control circuit of radio-frequency power amplifier | |
| CN204964074U (en) | Single scale intergration pressure sensor signal modulate circuit | |
| CN203799290U (en) | Current expanding circuit of three-terminal integrated voltage stabilizer | |
| CN103560743A (en) | Method and device for detecting rotating speed of motor | |
| CN103472751B (en) | Pure electric automobile AD sample circuit | |
| CN204539123U (en) | Novel VI converts analogue quantity output circuit | |
| CN102789251B (en) | Current adjustable constant current circuit | |
| CN103529096A (en) | Oxygen partial pressure sensor signal processing circuit | |
| CN203689051U (en) | Novel excitation control circuit suitable for two-wire system electromagnetic flowmeter | |
| CN202735878U (en) | Heavy-current adjustable voltage stabilizer | |
| CN206059906U (en) | Distributed feedback laser driving means | |
| CN103051263B (en) | Based on the servo-controlled DC motor rotation speed control circuit of bridge-type | |
| CN208092579U (en) | A kind of output device of high-precision control voltage | |
| CN110244694B (en) | Power deviation correction system for air automobile engine | |
| CN107302321B (en) | A kind of pulse current source based on combined method | |
| CN203596743U (en) | Power supply control circuit and device | |
| CN103455062B (en) | A kind of automatic temp. controlling circuit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20140927 |
|
| EXPY | Termination of patent right or utility model |