CN207198575U - A kind of system angular acceleration realizes the signal transacting and real-time controller of inertia simulation - Google Patents
A kind of system angular acceleration realizes the signal transacting and real-time controller of inertia simulation Download PDFInfo
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- CN207198575U CN207198575U CN201720925385.1U CN201720925385U CN207198575U CN 207198575 U CN207198575 U CN 207198575U CN 201720925385 U CN201720925385 U CN 201720925385U CN 207198575 U CN207198575 U CN 207198575U
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Abstract
The utility model belongs to the driving control system of inertia brake testing stand, discloses signal transacting and real-time controller that a kind of system angular acceleration realizes inertia simulation.Including AC/DC motor (1), shaft coupling (2), encoder (3) and driver (6), it is characterised in that：It further comprises signal processor (4) and real-time controller (5)；The utility model is by directly controlling the angular acceleration of main shaft, more consideration rotating speed control methods or system overall drag and motor torque error in direct torque method are not just had to again in whole controling parameter, go to realize the amendment of whole error according to the adjustment of the dynamic of PID controller, more actually change relative to other control method control points, directly perceivedization.
Description
Technical field
The utility model belongs to the driving control system of inertia brake testing stand, is related to a kind of system angular acceleration and realizes
The signal processor and real-time controller of inertia simulation.
Background technology
It is examination road, rail traffic vehicles pneumatic braking device performance, it is necessary in the inertia-type to be made a service test to it
Braking ability test is carried out on test-bed, but traditional brake tester uses pure mass flywheel simulating vehicle inertia, tool
Have the shortcomings that testing stand volume is big, the adjustment of inertia size is difficult, automaticity and simulation precision be not high.In order to overcome these to lack
Point, a kind of new inertia simulation method had been risen in recent years --- electrical analogue inertia method.By in braking procedure according to certain
Rule control motor rotating speed or electromagnetic torque realize that inertia simulation is immature, current existing control method is also present
Some defects.
Rotating speed control methods are the inertia electric simulation methods occurred earliest, also once enjoy the concern of domestic and international researcher, but
The inherent defect of its own limits its application in practice.As can be seen that control from the control principle of rotating speed control methods
Cross range request actual speed has the high followability of comparison to calculating rotating speed, due to calculating rotation speed change very in braking procedure
It hurry up, and the control of rotating speed is realized by the control of motor torque.The response speed of method for indirectly controlling can be by control parameter
Limitation, so ensure actual speed followability turn into rotating speed control methods technological difficulties.
PID control can ensure rotating speed control accuracy in the case where braking torque is certain, but during control frequency change,
Set pid parameter can cause rotating speed control overshoot or hysteresis, and both of these case can all cause speed error, and rotating speed control
Error can directly result in the error of inertia simulation.In a word, it is quick to require that governing system has for electrical analogue inertia rotating speed control methods
Dynamic response, this is difficult in the case where having determined proportional integration parameter, thus rotating speed control methods rarely have in practice
Use.
The content of the invention
The purpose of this utility model is：A kind of system angular acceleration that is related to realizes the signal transacting of inertia simulation and control in real time
Device processed, sensor signal is gathered and controlled after Digital Signal Processing, utilize real-time control dynamic implement inertia simulation.Therefore
Signal processor and real-time controller based on CPLD, add real time signal aquisition and PID controller, it is proposed that a kind of to control
Angular acceleration realizes electrical analogue inertia.
Embodiment of the present utility model
A kind of system angular acceleration realizes the signal transacting and real-time controller of inertia simulation, including AC/DC motor 1, company
Joint 2, encoder 3 and driver 6, it is characterised in that：It further comprises signal processor 4 and real-time controller 5；
Signal processor 4, Pluse low-pass digital filters, Pluse are carried out to A, B two paths of signals using CPLD digital circuits
Wave filter is the pulse width filter for pulse signal, and the high level and low level of pulse signals do width filter,
It can effectively eliminate the interference of pulse signal；
Real-time controller 5, formed using cPCI boards and real-time control system, it has signal acquisition and processing, PID control
The functions such as algorithm, logic control, drive control, realize to control angular acceleration to realize electrical analogue inertia；
AC/DC motor 1 connects encoder 3 by shaft coupling 2 in system, passes through signal transacting after code device signal output
Device 4 is acquired and converted into real-time controller 5 after being handled, and output driving controls and arrives driver after PID control
6, to realize inertia simulation.
The existing internal control core of real-time controller 5 is 1kHz, and wherein PID controller is using classical industrial PID.
The signal processor 4 also can adoption status machine principle realize that state machine principle is：During rotating forward, only when AB is same
When saltus step, and just produce a pulse signal when changing according to 00-10-11-01 orders, in a cycle T, produce 4 rules
Pulse signal, phase demodulation level are always 1, during reversion, only when AB saltus steps simultaneously, and when changing according to 00-01-11-10 orders
A pulse signal is just produced, in a cycle T, produces 4 rule pulse signals；During reversion, phase demodulation level is always 0.
In one cycle T, 4 rule pulse signals are produced to realize code device signal quadruple.
The advantages of the utility model
(1) system directly controls the angular acceleration of main shaft.More actually change relative to other control method control points, be straight
Sightization.
(2) after directly controlling angular acceleration, more consideration rotating speed control methods or torque control are not just had to again in whole controling parameter
System overall drag and motor torque error in preparation method, go to realize repairing for whole error according to the adjustment of the dynamic of PID controller
Just.
(3) in control methods it is merely not only embodiment to electrical analogue inertia technology, even more to existing machinery inertia error
Amendment.
This new simplification for system, directization are that the direct method of electrical inertia is realized to existing system.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
Shown in figure Fig. 1, signal processor 4, Pluse Low pass digitals are carried out to A, B two paths of signals using CPLD digital circuits
Filtering.Pluse wave filters are the pulse width filters for pulse signal, and the high level and low level of pulse signals are done
Width filter, it can effectively eliminate the interference of pulse signal；In order to improve precision, interference and shake, signal processor 4 are eliminated
Also can adoption status machine principle realize that state machine principle is：During rotating forward, only when AB saltus steps simultaneously, and according to 00-10-11-01
A pulse signal is just produced when order changes, in a cycle T, 4 rule pulse signals of generation, that is, realizes code device signal
Quadruple；During rotating forward, phase demodulation level is always 1.During reversion, only when AB saltus steps simultaneously, and become according to 00-01-11-10 orders
A pulse signal is just produced during change, in a cycle T, 4 rule pulse signals is produced, that is, realizes four times of code device signal
Frequently；During reversion, phase demodulation level is always 0.State machine principle has effectively eliminated the jitter problem of encoder itself；
Real-time controller 5, formed using cPCI boards and real-time control system, it has signal acquisition and processing, PID control
The functions such as algorithm, logic control, drive control, wherein based on using industrial measurement and control mainboard, carry is heavy from cPCI analog input cards
New planning bottom layer driving, reaches real-tune TT ＆ C, to realize to control angular acceleration to realize electrical analogue inertia；
The existing internal control core of real-time controller 5 is 1kHz, and wherein PID controller uses classical industrial PID, its
Self-adaptive PID controller can be further used, further improves its control accuracy.Adaptive PID Control has Self Adaptive Control
With common pid adjuster both sides advantage:First, it is adaptive controller, that is it has automatic identification controlled process
Parameter, automatic adjusting controller parameter, the series of advantages such as change that can adapt to controlled process parameter；Secondly, it has again
Traditional PID controller structure is simple, working stability, robustness are relatively strong, is familiar with by field personnel and design engineers
The advantages of.This two big advantage that Adaptive PID Control has so that it turns into a kind of comparatively ideal control dress of process control
Put.PID control technology is by research and development in decades, and recent domestic scholar is more and more by intelligent control skill
Art introduces the design and composition of PID controller.
With reference to the accompanying drawings, the utility model is further described：
When brake performance detects, brake is arranged on testing stand, it is initial that motor drive shaft is rotated up to experiment
After rotating speed, caliper/hoof work, by the frictional force between caliper/hoof and grinding disk/drum, brake is set to produce brake force
Square, main shaft is forced to stop operating.Wherein test inertia mechanical inertia and computer control electricity as caused by solid mechanical flywheel
Electrical inertia caused by machine is formed, i.e., using solid mechanical flywheel analog portion inertia energy, it is simulated using computer controlled motor
Remaining part divides inertia energy.
This is new by ensuring that it is equal that shafting surveys angular acceleration real-time tracing target angular acceleration value, you can ensures this
The angular acceleration of test-bed is consistent, thus total inertia can be kept stable in expected accuracy rating.The angle of actual measurement adds
Speed is to be input to real-time controller 5 after the processing of signal processor 4 by Flywheel disc angular speed encoder, measures angle in real time
Speed simultaneously carries out once differentiation to it and obtained.
To actual measurement angular acceleration compared with target angular acceleration, actual measurement angular acceleration signal is added as to target angle
Speed is fed back, and with its deviation come the response of correcting system, therefore PID controller is introduced in the control mode, and angle accelerates
Input signal of the deviation of degree as PID controller, as the output of PID controller and the input of electric current loop, and then control
The output torque of motor drives AC/DC motor 1 to driver 6.
Claims (4)
1. a kind of system angular acceleration realizes the signal transacting and real-time controller of inertia simulation, including AC/DC motor (1), company
Joint (2), encoder (3) and driver (6), it is characterised in that：It further comprises signal processor (4) and real-time controller (5)；
Signal processor (4), Pluse low-pass digital filters, Pluse filters are carried out to A, B two paths of signals using CPLD digital circuits
Ripple device is the pulse width filter for pulse signal, and the high level and low level of pulse signals do width filter, its
The interference of pulse signal can effectively be eliminated；
Real-time controller (5), formed using cPCI boards and real-time control system, it has signal acquisition and processing function, realizes
To control angular acceleration to realize electrical analogue inertia；
In system AC/DC motor (1) by shaft coupling (2) connect encoder (3), code device signal output after by signal at
Reason device (4) is acquired and converted into real-time controller (5) after being handled, and output driving is controlled and arrived after PID control
Driver (6), to realize inertia simulation.
2. the system as claimed in claim 1 angular acceleration realizes the signal transacting and real-time controller of inertia simulation, its feature
It is, the existing internal control core of real-time controller (5) is 1kHz, and wherein PID controller is using classical industrial PID.
3. the system as claimed in claim 1 angular acceleration realizes the signal transacting and real-time controller of inertia simulation, its feature
Be, the signal processor (4) also can adoption status machine principle realize that state machine principle is：During rotating forward, only when AB simultaneously
Saltus step, and just produce a pulse signal when changing according to 00-10-11-01 orders, in a cycle T, produce 4 rule arteries and veins
Signal is rushed, phase demodulation level is always 1；Just produced when only working as AB saltus steps simultaneously during reversion, and changing according to 00-01-11-10 orders
A raw pulse signal, in a cycle T, produce 4 rule pulse signals；During reversion, phase demodulation level is always 0.
4. system angular acceleration as claimed in claim 3 realizes the signal transacting and real-time controller of inertia simulation, its feature
It is, in one cycle T, produces 4 rule pulse signals to realize code device signal quadruple.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720925385.1U CN207198575U (en) | 2017-07-27 | 2017-07-27 | A kind of system angular acceleration realizes the signal transacting and real-time controller of inertia simulation |
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| CN201720925385.1U CN207198575U (en) | 2017-07-27 | 2017-07-27 | A kind of system angular acceleration realizes the signal transacting and real-time controller of inertia simulation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113092141A (en) * | 2020-01-08 | 2021-07-09 | 株洲中车时代电气股份有限公司 | Inertia simulation test system and method for whole vehicle rolling test bed of rail transit vehicle |
-
2017
- 2017-07-27 CN CN201720925385.1U patent/CN207198575U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113092141A (en) * | 2020-01-08 | 2021-07-09 | 株洲中车时代电气股份有限公司 | Inertia simulation test system and method for whole vehicle rolling test bed of rail transit vehicle |
| CN113092141B (en) * | 2020-01-08 | 2022-06-07 | 株洲中车时代电气股份有限公司 | Inertia simulation test system and method for whole vehicle rolling test bed of rail transit vehicle |
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