DD298575A5 - METHOD FOR PARAMETER-OPTIMAL ADJUSTMENT OF A PI-REGULATOR USED BY A STRUCTURAL-IMPROPER ADJUSTMENT OF THE REGULATOR TO THE CONTROL RANGE FOR TRANSMISSION-LOADED MECHANICAL ACTUATORS - Google Patents

Abstract

Method for the parameter-optimal setting of a PI controller for drives with torsionally elastic mechanics, which is used as a result of structurally optimal adaptation of the controller to the controlled system. In order not only to make electric drive control circuits with torsionally elastic mechanics (two-mass systems) sturdy, but also to substantially increase the service life of the mechanical system parts, such as clutches, gears and shafts, it is necessary to simultaneously carry out a torsion optimization. Taking into account the torsional elastic mechanics in the form of a multiplicative complement function for the engine speed and for the load speed, it was recognized that there are different adjustment ranges depending on the position of the torsion natural frequency to the speed control circuit limit frequency. For the region in which the natural frequency of the torsional oscillation lies outside the cut-off frequency of the speed control range, parameter-optimal regulator settings are proposed for a PI controller used by structurally optimal adaptation of the controller to the controlled system with clearly continuous non-linear speed-dependent loading. One field of application of the invention is for variable speed DC bypass motors that drive torsionally elastic mechanical systems.

Description

description Method for paremoter-optical adjustment of a, by structurally optimal adaptation of the controller to the controlled system,

used Pl-F. regulators for drives with torsionally elastic mechanics.

The invention relates to an ancestor for parameter-optimal adjustment of a structurally optimal adaptation of the controller

To the control system, Pl controllers used in speed-controlled electrical drives with torsionally elastic mechanics have unambiguously ctoilgor nonlinear speed-dependent load.

Such drchzehioorogolta electric drives are known to be after optimization of the Amount matching, dom Betrege- or symmetrical optimum (DE-Z .: "control technology", 1955, H. 2, S 40, DEC.

"Control Engineering", 1958, H. 11, S.3S5 and H. 12, S.432) or to take into account stochestischer signal components after derstochastisch ^ or extended stochastically optimal setting (DD-WP 135943 and DD-WP 147192) set.

In practice, the mechanical systems driven by electric drives are not torsionally rigid but three-phase systems. Failure to take this fact into account may not only lead to instability of the control loop, but may also greatly reduce the service life of the mechanical system elements such as clutches, gears and shafts by additional dynamic torsional stress.

The influence of elastic transmission elements on the dynamics of controlled drives has already been investigated (DE-Z .:

"Technical Mitteilungen AEG-Telefunken", 1973, Ή.6, p.105), starting from an oscillatory

Zwolmaseonsystsm for the practical calculation a multiplicative complementing function of a two-mass system,

consisting of two vibration elements, used. A 2nd order lead member physically embodies the load as

Einmasaonrchwinsor, dor (due to the speed control) with the bound frequency ff around the festgebiernster. engine

swings. A second-order delay element physically embodies that with the natural frequency f, freely oscillating

Zweimassaräsyotom. Since these tests were carried out exclusively for a stable speed control, only the Engine speed control and any optimization to a low torsional loading of the mechanical Omit syetomolcmento. The invention reads dia object, a method for parameter-optimal adjustment of a structure-optimal Adaptation of the controller to the controlled system, used Pl-controller for drives with torsionally elastic mechanics in non-linear

speed dependent ^ find load that not only provides stable control, but also minimal dynamic

Torsionswochscfbocnspruchung the mechanical system parts achieved. This task is solved in a clear, continuous non-linear speed-dependent load by, after determining the Natural frequency (U dor torsional vibration of drehelastitchen mechanics, for one outside the Grenzfrequonz (f ") of the Drenzahlrcgolboroichos lying natural frequency (f,)

first, the P-Antoil after the relationship

secondly, I-Antoll after the relationship T

X « = -

W _{me: M:} with the pre-adobe, that

let,

in addition, in the forward branch of the control loop, filtering is effected via a first-order delay element (6) with a filter constant

is made.

In one embodiment of the invention, the constant K, which depends on the optimization methods used in the past, provides for the extended stochastically optimal setting K and for the symmetrical optimum

K = -pt.

I ² : '

In a further embodiment of the invention, the resonance peak of the natural frequency of the torsional vibration of the rotary-mechanical mechanism according to the relationship

r _m * 2d. I

T _n ,

= y <1 - -) ^a + (- 2d «)" =

T _r

determined.

In these formulas mean: V _n - dia P-Verification of the controller T _n , = the mechanical time constant of the drive system (T _n , Tm + Tl) T, - the goicsEotta time constant of the torsional vibration Tm - dioMotorroitkonstante < Tt - diofiitorscitkonstanto V ₈ - dlo amplification of the controlled system,

t _r - the feedback ozone constant of the controller

W _mM - the gain factor of the speed-dependent load R, - dia Superelevation of the intrinsic resonance frequency of the torsional vibration of the helical mechanism K - a constant dependent on the optimization process

d, - the damping factor of the natural frequency of the torsional vibration of the torsionally elastic mechanism.

The advantages achieved by the invention are in particular in the minimization or elimination of Torsionswechselolbocnßpruchungon with change of leadership »and Störg'ößensignalen, resulting in a significant increase

the previous Standsoiten the means of speed-controlled electrical Antriebsregelkrei »a driven torsionally elastic mechanical systemolamente, such as clutches, gears and shafts leads.

The invention will be explained in more detail below in one embodiment. Fig. 1 zoigt don voroinfochten signal flow diagram of a speed-controlled Glaichstromnebenschlußmotors with the controller

and the controlled system 2; 3; 4 and 5, wherein 4 and 5 represent the torsionally elastic mechanism of a two-mass system, with the

mathematical description of the transfer function. the regulator

F "(p) = '- (1)

and the transfer function of the controlled system 2; 3 and

T _m

V _s * p ~ V

<1 + pT "> pTn

wherein the torsionally elastic mechanism through the blocks 4; 5 with the multiplication Erginzungsfunktion for the determination of the engine speed

p-- <1 + 2d <. _w T * p ♦ T * ^Ä p => V

H '<p) · (3)

<Hp -> α + 2d. _w Tp + T. ^a p ^a ) V

and a multiplicative complement function for determining the load speed

fji_ 1 + 2d * T * p U ₀ ' _β __ ₌ (4)

Ü _M 1 + 2d ^ _w T ^ p + T ^ = p ^{a is} shown.

It has now been found that it is the paramater optimal setting one, by structurally optimal adaptation of the controller

a controlled system with torsionally elastic mechanics, used Pl-controller with linear and with clearly steady nonlinearerdrohzahlabhiängigor load two Anpassungsberaiche are, depending on whether the TorsionseigenfrequeniJ, within or

outside the control range f _{n of} the speed-controlled drive is.

9.Dog the 2igonfroquonz f, outside the speed control range f _n * f. > Thus, the parameter-optimal setting of the

Regulator 1 in Fig. 2 for Tortionsoptimierung at clearly steady non-linear drehzahlabhüngiger load with the Control gain

2 * T ₁ ,,

V_ / ei

η ~ IDJ

V © * Tr and the feedback time constant

x - ^im

ν Γ * - * - - - - _β

with the proviso that

---- - ίο * τ. η / -: · _leti

wherein an additional, advantageously behind the controller 1, arranged in the forward branch of the control loop filter in the form of a delay element 1st order β {Fig. 2) with the filter time constant

Tt-K «T,« VR7 (7)

is inserted.

From these conditions it can be seen that at f. > f "a stable operating with the lowest torsional stress control is achieved when in the control loop, advantageously arranged behind the controller 1, an additional filter in the form of a delay element 1st order β is used, on the time constant, the previously known Optimisrungsvorschriften for PI controller be set. The Zeitkonttante det Filtert telbtt is thereby selected according to an algorithm that is dependent on the resonance peak R, the Tortionteigenfrequenz the greased Zeitgttanten the torsional vibration and a Konitanten K. In doing so, the resonance increase is calculated

T T

T _- , * 2d_ IT _M T _M

R _Q |} <1) =

The constant K depends on the previously planned optimization procedure. For the advanced ttochattitch optimal setting will be K - V2 and for that symmetric optimum

K «* q = ^ · set

 | 2

The invention has not only the meaning for two-mass systems, but also for three- and Mehrmattentytteme, as these are attributed in most cases to two-mass systems.

Claims (4)

Ί-Tiffl "tffiiiii'rl'il 1. A method for parameter-precise setting of a, by structurally optimal adaptation of the controller to dio controlled system, Pl controller for drives with torsionally elastic mechanics at speed-dependent load, characterized in that at clearly steady non-linear speed-dependent load to achieve a minimum dynamic Torsionswechselbeanspruchung after the determination of Natural frequency (f _e ) of the torsional vibration of the torsionally elastic mechanism, the following settings of the controller components are made: - For a lying outside the cutoff frequency (f _n ) of the speed control range natural frequency (f.) First, the P-component according to the relationship 2 * T, " = IO * T, V _s * Ττ second, the I share after the relationship T
Y- with the proviso that is and additionally in the forward branch of the control loop a filtering via a delay element (6) 1 .order with a filter time constant T _T = K * Tf * VR, Vr «= the P gain of the controller T _m = dio mechanical time constant of the drive system (T _m = "Tm + T _L) = Tf · dio gofossclte time constant of the torsional vibration Tt = dioFiltorzeitkonstante Vs = dio Pre-amplification of the controlled system τ _Β = dio Feedback time constant of the controller W _miX = clor maximum amplification factor for non linear harmonic load R ₆ = dio Roson enhancement of the natural resonance frequency of the torsional shrinkage of the torsionally elastic mechanics K = is a constant dependent on the optimization method. 2. The method according to claim 1, characterized in that in the application of the extended stochastically optimal setting as an optimization method, the constant K - y / Ύ . 3. The method according to claim 1, characterized in that when using the symmetrical optimum as the optimization method, the constant is. 4. The method according to claim 1, characterized in that the resonance peak (R,) of the natural frequency (f _e ) of the torsional vibration of the torsionally elastic mechanism according to the relationship T _m * 2d. I T _m T _n , T "TrV calculated T _M = the motor time constant T _ni = the mechanical time constant of the drive system d "= the damping factor of the natural frequency of the torsional vibration of the torsionally elastic mechanics
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