CN205509919U - Control system of electricity - mechanical converter - Google Patents
Control system of electricity - mechanical converter Download PDFInfo
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- CN205509919U CN205509919U CN201620223683.1U CN201620223683U CN205509919U CN 205509919 U CN205509919 U CN 205509919U CN 201620223683 U CN201620223683 U CN 201620223683U CN 205509919 U CN205509919 U CN 205509919U
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- electromechanical converter
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Abstract
The utility model discloses a control system of electricity - mechanical converter, include: including control chip, digital analog converter DAC, the hysteresis loop is the PWM modulator relatively, electric current signal conditioning circuit, difference orthogonal signal modulate circuit, the signal switch switch, H bridge drive module, the protection circuit, the machinery converter, a weighing sensor and a temperature sensor, in the current sensor, digit grating chi, incoming signal and feedback signal send entry control the chip after being handled by signal conditioning circuit, judging and operate, control chip obtain control signal after, control signal sends into H bridge driver drive electricity - mechanical converter and reaches anticipated control objective, wherein is control chip according to error signal's size at PID closed -loop control and time optimal bang switch in two kinds of control models of bang control, in order to realize high response characteristic and not to lose the control objective of precision.
Description
Technical field
This utility model relates to motor control technology field, particularly relates to one and meets moving coil electromechanical converter
The dual mode controller of high response control performance.
Background technology
Electromechanical converter (micro-linear motor) is the critical component of electrical-liquid control element, and it can be by the external world
The electric signal (curtage) of input is proportionally converted into mechanical quantity (power or displacement), the direct shadow of its dynamic characteristic continuously
Ring the key characteristic of hydraulic actuator.Moving coil electromechanical converter is with its High Linear, little stagnant ring and preferably responds spy
Property and paid close attention to widely, be a kind of driving element having very much development under high frequency sound, in high precision occasion, but due to its transport
Dynamic component inertia is big, the continuous control characteristic causing the signal of telecommunication is the best, the output low, unidirectional of poor linearity, precision, low-response,
Sensitivity is low, is used for low frequency and low precision controlling occasion.
The most widely used PID controller controls it, but PID controller is limited to response speed, overshoot
It is difficult to make its performance reach maximum performance with the contradiction such as noise jamming.Along with the high speed of automatic control technology and information technology is sent out
Exhibition, positioning precision and response speed to all kinds of automatic control systems are had higher requirement.
Utility model content
In view of this, in order to overcome above-mentioned the deficiencies in the prior art, the utility model proposes a kind of for moving-coil type
The control system of electromechanical converter, is greatly shortened the transit time under Stepped Impedance Resonators, is not sacrificing control accuracy with steady
The response time of electromechanical converter is further shorten on the premise of qualitative.
This utility model solves the problems referred to above by techniques below means:
The control system of a kind of electromechanical converter, adjusts including control chip, digital to analog converter DAC, stagnant chain rate relatively PWM
Device processed, current signal conditioning circuit, differential quadrature signals modulate circuit, signal shift switch, H bridge drive module, protection circuit,
Electromechanical converter, temperature sensor, current sensor, digital raster chi；Described control chip and digital to analog converter DAC, letter
Number switching switch, differential quadrature signals modulate circuit connect, and receive displacement commands and output displacement signal；Described digital to analog converter
DAC is connected with control chip, stagnant chain rate relatively PWM modulator, receives the digital signal of control chip output, is output as stagnant after conversion
Chain rate is compared with the acceptable voltage signal of PWM modulator；Described stagnant chain rate relatively PWM modulator and digital to analog converter DAC, current signal
Modulate circuit, signal shift switch connect, and export after the output of digital to analog converter DAC and current signal conditioning circuit
Pwm pulse；Described current signal conditioning circuit and current sensor connect, and receive the output signal of current sensor, by required
Amplify；Described differential quadrature signals modulate circuit is connected with control chip and numeral grating scale, receives what digital raster chi sent
Signal, conditioned after be converted to the acceptable single-ended coded pulse of control chip；Described signal shift switch input and control
Chip and stagnant chain rate relatively PWM modulator connect, and outfan drives module to be connected with H bridge, can be in the control incision of control chip
Change the control signal choosing needs；Described H bridge drives module and signal shift switch and electromechanical converter respectively to organize coil even
Connect, receive selected control pulse, be that power signal drives electromechanical converter work by control pulse amplifying；Described protection
Circuit drives module to be connected with current signal conditioning circuit, temperature sensor, H bridge, when an exception occurs, H bridge is driven module
Shutoff plays a protective role.
Further, described control chip includes decision logic, PID controller, Bang-Bang controller and storage
The orthogonal pulses enumerator of current displacement, described decision logic compares input displacement and the difference of output displacement all the time, and misses accordingly
Difference control signal selects switch；Described PID controller according to the size of displacement error, through ratio, integration, differentiate after
Going out correction, described correction obtains H bridge after digital to analog converter DAC and stagnant chain rate relatively PWM modulator convert and drives module
Driving signal；Described Bang-Bang controller according to the size of displacement error and controlled electromechanical converter together with it
Load-carrying machinery, electric mathematical model directly obtain H bridge after calculating and drive the control signal of module, and with shortest time be
Optimizing index.
Further, described control chip also includes auxiliary unit: electrification reset logic, external interface logic.
Preferably, described control chip uses DSP or FPGA on hardware.
Preferably, stagnant chain rate relatively PWM modulator produces pwm pulse with hysteresis loop comparator for core and removes stable and adjustment coil
Electric current.
Preferably, described stagnant chain rate relatively PWM modulator, current signal conditioning circuit, signal shift switch, H bridge drive mould
Block, protection circuit can have many groups on hardware, can concurrent working to meet the demand of multi-coil electromechanical converter.
Preferably, described temperature sensor selects critesistor, described current sensor to select Hall current sensor, described number
The measurement head of word grating scale is joined directly together with electromechanical converter, and output signal is after differential quadrature signals modulate circuit is nursed one's health
Displacement is drawn by the decoding of orthogonal pulses enumerator.
Compared with prior art, the control system of electromechanical converter of the present utility model has Bang-Bang and PID two
Set control algolithm, its decision logic in the big error stage to controlled electromechanical converter application Bang-Bang control algolithm, with
Shortest time is as controlling target；In the little error stage to controlled electromechanical converter application PID closed loop algorithm to compensate by mistake
Difference, such bi-mode control method substantially reduces the master control time, also remains precision simultaneously.
Accompanying drawing explanation
Fig. 1 is the control principle drawing of this utility model controlled device electromechanical converter；
Fig. 2 is the circuit diagram of the control system of electromechanical converter of the present utility model；
Fig. 3 is to the modified flow figure tending to operation in bacterial foraging algorithm.
Reference in figure:
10, control chip 20, digital to analog converter 30, stagnant chain rate relatively PWM modulator 40, signal shift switch 50, H bridge
Drive module 60, protection circuit 70, current signal conditioning circuit 80, differential quadrature signals modulate circuit 101, decision logic,
102, Bang-Bang controller, 103, PID controller, 104, orthogonal pulses enumerator 901, electromechanical converter, 902, temperature
Degree sensor, 903, current sensor, 904, digital raster chi
Detailed description of the invention
Understandable for enabling above-mentioned purpose of the present utility model, feature and advantage to become apparent from, below in conjunction with accompanying drawing and
The technical solution of the utility model is described in detail by specific embodiment.
Fig. 1 is the control principle drawing of controlled device electromechanical converter of the present utility model, input signal via controller
After process, be loaded into control coil, current-carrying control coil together with reel in the stationary magnetic field that permanent magnet provides, by electromagnetic force
Acting on and produce displacement, moving coil component is detected site error by position sensor, compensates input signal, to ensure moving coil component
It is maintained at required tram.
Fig. 2 shows the control system of a kind of electromechanical converter of the present utility model, including control chip 10 and
The algorithm unit included: decision logic 101, Bang-Bang controller 102, PID controller 103, store the orthogonal arteries and veins of current displacement
Rush enumerator 104, also include that digital to analog converter 20, stagnant chain rate relatively PWM modulator 30, signal shift switch 40, H bridge drive module
50, the controller that protection circuit 60, current signal conditioning circuit 70, differential quadrature signals modulate circuit 80 are formed, also includes
Controlled device electromechanical converter 901, temperature sensor 902, current sensor 903, digital raster chi 904；Described control
Chip 10 is connected with digital to analog converter 20, signal shift switch 40, differential quadrature signals modulate circuit 80, receive displacement commands and
Output displacement signal, described decision logic 101 compares input displacement and the difference of output displacement, and error controling signal accordingly all the time
Select switch 40, described PID controller 103 according to the size of displacement error, through ratio, integration, differentiate after draw and repair
Positive quantity, described correction obtains H bridge after digital to analog converter 20 and stagnant chain rate convert compared with PWM modulator 30 and drives module 50
Drive signal；Described Bang-Bang controller 102 connects according to size and the controlled electromechanical converter 901 of displacement error
With its load-carrying machinery, electric mathematical model calculate after directly obtain H bridge and drive the control signal of module 50, and with the time
The shortest for optimizing index, described digital to analog converter 20 is connected with control chip 10 and stagnant chain rate relatively PWM modulator 30, receives and controls
The digital signal of chip 10 output, is output as stagnant chain rate compared with the acceptable voltage signal of PWM modulator 30 after conversion；Described stagnant ring
Relatively PWM modulator 30 is connected with digital to analog converter 20, current signal conditioning circuit 70 and signal shift switch 40, digital-to-analogue is turned
Pwm pulse is exported after the output of parallel operation 20 and current signal conditioning circuit 70；Described current signal conditioning circuit 70 and electricity
Flow sensor 903 connects, and receives the output signal of current sensor 903, by required amplification；Described differential quadrature signals conditioning electricity
Road 80 is connected with control chip 10 and numeral grating scale 904, receives the signal that digital raster chi 904 sends, conditioned rear conversion
For the acceptable single-ended coded pulse of control chip 10；Described signal shift switch 40 input and control chip 10 and stagnant chain rate
Relatively PWM modulator 30 connects, and outfan drives module 50 to be connected with H bridge, can switch and choose under the control of control chip 10
The control signal needed；Described H bridge drives module 50 and signal shift switch 40 and electromechanical converter 901 respectively to organize coil even
Connect, receive selected control pulse, be that power signal drives electromechanical converter 901 to work by control pulse amplifying；Described guarantor
Protection circuit 60 drives module 50 to be connected, when an exception occurs, by H with current signal conditioning circuit 70, temperature sensor 902, H bridge
Bridge drives module 50 to turn off and plays a protective role.
In control chip 10, orthogonal pulses enumerator 104 storage real-time update the output displacement of digital raster chi 904,
Decision logic 101 compares input displacement and the size of the difference of output displacement, i.e. displacement error all the time, and control signal selects accordingly
Switch 40, when more than when setting threshold value, switches to the outfan of Bang-Bang controller 102, now by signal selecting switch 40
Controlled device is under the control of Bang-Bang controller 102；Otherwise, then switch to the outfan of PID controller 103, now by
Control object is under the control of PID controller 103.
Described control chip 10 also includes auxiliary unit: electrification reset logic, external interface logic.
Described control chip 10 uses DSP or the higher FPGA of parallel processing capability on hardware.
Stagnant chain rate is to be the PWM modulator of main element by hysteresis loop comparator compared with PWM modulator 30, by comparison object electricity
Stream and actual output current closed loop ground stablize coil current in controlling value.
Described stagnant chain rate relatively PWM modulator 30, current signal conditioning circuit 70, signal shift switch 40, H bridge drive module
50, protection circuit 60 can have many groups on hardware, can concurrent working to meet the demand of multi-coil electromechanical converter 901.
The preferred critesistor of temperature sensor 902, the preferred Hall current sensor of current sensor 903.Digital raster chi
The measurement head of 904 is joined directly together with controlled device, output signal through differential quadrature signals modulate circuit 80 nurse one's health after by orthogonal arteries and veins
Rush enumerator 104 decoding and draw displacement.
Bang-Bang controller 102 needs to predict system performance and the load characteristic of controlled device, when providing controlled device
Whole story after state, algorithm can export control signal with shortest time for optimization aim, and its control signal feature is positive maximum
Value and negative maximum jump value repeatedly, so signal directly can go to control H bridge by signal shift switch 40 drives module 50
And change without other signals.
A kind of time optimal Bang-Bang controller 102 utilizing bacterial foraging algorithm to realize of brief description:
Firstly the need of each characterisitic parameter of known controlled device, as coil inductance, resistance, force constant and load quality,
Damped coefficient.System differential equation group is set up according to these parameters, for linear time invariant system, can by above-mentioned differential equation group
Obtain analytic solutions.According to systematic education and Bang-Bang Volume control, we set the t1 time and are just taking (bearing) maximum, t2 time
Take negative (just) maximum, the like alternately take positive and negative maximum to tn, wherein n is systematic education.Obviously t1+t2+ ...+tn is
Required total time, the response of the least then controlled system is the fastest, as optimizing index.The displacement of system, speed and acceleration can be by upper
State analytic solutions to represent, as binding target.Target function can be constructed, when target function takes by above-mentioned optimizing index and binding target
It it is timing-optimal control during minima.T1, t2 when then utilizing bacterial foraging algorithm search to make target function take minimum ..., tn
Value.
In order to accelerate search speed and the precision of bacterial foraging algorithm, trend operation therein is made that by this utility model
Such as the improvement of Fig. 3, the most mobile and step-length wherein set up shortens behavior and can reach above-mentioned purpose.
Embodiment described above only have expressed several embodiments of the present utility model, and it describes more concrete and detailed,
But therefore can not be interpreted as the restriction to this utility model the scope of the claims.It should be pointed out that, common for this area
For technical staff, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be as the criterion with claims.
Claims (7)
1. the control system of an electromechanical converter, it is characterised in that include control chip, digital to analog converter DAC, stagnant ring
Relatively PWM modulator, current signal conditioning circuit, differential quadrature signals modulate circuit, signal shift switch, H bridge drive module,
Protection circuit, electromechanical converter, temperature sensor, current sensor, digital raster chi；Described control chip turns with digital-to-analogue
Parallel operation DAC, signal shift switch, differential quadrature signals modulate circuit connect, and receive displacement commands and output displacement signal；Described
Digital to analog converter DAC is connected with control chip, stagnant chain rate relatively PWM modulator, receives the digital signal of control chip output, conversion
After be output as stagnant chain rate compared with the acceptable voltage signal of PWM modulator；Described stagnant chain rate relatively PWM modulator and digital to analog converter
DAC, current signal conditioning circuit, signal shift switch connect, by digital to analog converter DAC and the output of current signal conditioning circuit
After export pwm pulse；Described current signal conditioning circuit and current sensor connect, and receive the output letter of current sensor
Number, by required amplification；Described differential quadrature signals modulate circuit is connected with control chip and numeral grating scale, receives digital raster
The signal that chi sends, conditioned after be converted to the acceptable single-ended coded pulse of control chip；Described signal shift switch inputs
End is connected with control chip and stagnant chain rate relatively PWM modulator, and outfan drives module to be connected with H bridge, can be at control chip
Control lower switching and choose the control signal of needs；Described H bridge drives module and signal shift switch and each group of electromechanical converter
Coil connects, and receives selected control pulse, is that power signal drives electromechanical converter work by control pulse amplifying；Institute
Stating protection circuit drives module to be connected with current signal conditioning circuit, temperature sensor, H bridge, when an exception occurs, is driven by H bridge
Dynamic model block turns off and plays a protective role.
The control system of electromechanical converter the most according to claim 1, it is characterised in that described control chip includes
Decision logic, PID controller, Bang-Bang controller and store the orthogonal pulses enumerator of current displacement, described decision-making
Logic compares input displacement and the difference of output displacement all the time, and error controling signal selects switch accordingly；Described PID controller root
According to the size of displacement error, through ratio, integration, differentiate after draw correction, described correction is through digital to analog converter
DAC and stagnant chain rate obtain H bridge after converting compared with PWM modulator and drive the driving signal of module；Described Bang-Bang controller according to
After the size of displacement error and controlled electromechanical converter calculate together with its load-carrying machinery, electric mathematical model
Directly obtain H bridge and drive the control signal of module, and with shortest time as optimizing index.
The control system of electromechanical converter the most according to claim 1, it is characterised in that described control chip also wraps
Include auxiliary unit: electrification reset logic, external interface logic.
The control system of electromechanical converter the most according to claim 1, it is characterised in that described control chip is firmly
DSP or FPGA is used on part.
The control system of electromechanical converter the most according to claim 1, it is characterised in that stagnant chain rate relatively PWM
Device produces pwm pulse with hysteresis loop comparator for core and goes stable and adjust coil current.
The control system of electromechanical converter the most according to claim 1, it is characterised in that described stagnant chain rate relatively PWM
Manipulator, current signal conditioning circuit, signal shift switch, H bridge drive module, protection circuit can have many groups on hardware, can
Concurrent working is to meet the demand of multi-coil electromechanical converter.
The control system of electromechanical converter the most according to claim 1, it is characterised in that described temperature sensor is selected
Critesistor, described current sensor selects Hall current sensor, the measurement head of described digital raster chi and electromechanical converter
Being joined directly together, output signal is drawn displacement by the decoding of orthogonal pulses enumerator after differential quadrature signals modulate circuit is nursed one's health.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620223683.1U CN205509919U (en) | 2016-03-21 | 2016-03-21 | Control system of electricity - mechanical converter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620223683.1U CN205509919U (en) | 2016-03-21 | 2016-03-21 | Control system of electricity - mechanical converter |
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| Publication Number | Publication Date |
|---|---|
| CN205509919U true CN205509919U (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620223683.1U Expired - Fee Related CN205509919U (en) | 2016-03-21 | 2016-03-21 | Control system of electricity - mechanical converter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113960952A (en) * | 2021-12-22 | 2022-01-21 | 四川承天翼航空科技有限公司 | Contactless electromagnetic control and execution system |
| TWI767735B (en) * | 2021-06-03 | 2022-06-11 | 大陸商北海建準電子有限公司 | Motor control circuit |
-
2016
- 2016-03-21 CN CN201620223683.1U patent/CN205509919U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI767735B (en) * | 2021-06-03 | 2022-06-11 | 大陸商北海建準電子有限公司 | Motor control circuit |
| CN113960952A (en) * | 2021-12-22 | 2022-01-21 | 四川承天翼航空科技有限公司 | Contactless electromagnetic control and execution system |
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| 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: 20160824 |
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| CF01 | Termination of patent right due to non-payment of annual fee |