LU502000B1 - An exponential closed-loop control method - Google Patents
An exponential closed-loop control method Download PDFInfo
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- LU502000B1 LU502000B1 LU502000A LU502000A LU502000B1 LU 502000 B1 LU502000 B1 LU 502000B1 LU 502000 A LU502000 A LU 502000A LU 502000 A LU502000 A LU 502000A LU 502000 B1 LU502000 B1 LU 502000B1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
An exponential closed-loop control method is disclosed, including the following steps: S1: collecting a plurality of variable data, comprising: a given quantity Sp, a feedback quantity Pv, an output quantity c, an error e, an exponential period a and an exponential coefficient b; S2: assigning initial values to the exponential period a, the exponential coefficient b and the error e to complete a system initialization, and assigning a value to the given quantity Sp; S3: obtaining a process quantity m after calculating by an exponential operator according to the plurality of variable data; wherein the exponential operator calculates the process quantity m by the following calculation formula: m=1/(1+exp(a-b*i)); in the formula, the exponential period a is a time constant, dimensionless; the exponential coefficient b is an acceleration coefficient, dimensionless; S4: sending the process quantity m to different actuators for control according to different physical characteristics of different controlled objects, and outputting the output quantity c to control the controlled objects, wherein a closed-loop control operation ends until an absolute value of a deviation i is less than or equal to the error e. The present invention adopts the exponential operator to replace the PID controller in a traditional closed-loop control system, which can effectively reduce the phenomenon of out-of-step overshoot or stalling of the actuator, and has high control precision.
Description
AN EXPONENTIAL CLOSED-LOOP CONTROL METHOD LU502000
FIELD OF THE INVENTION The present invention relates to the technical field of automatic control, in particular to an exponential closed-loop control method.
BACKGROUND OF THE INVENTION Automatic control technology has penetrated into almost all application fields of national economy and all aspects of social life, such as industrial and agricultural production, transportation aerospace, household appliances and many other fields, and have been more and more widely used. In order to realize various complex control tasks, controlled objects and control device must be connected in a certain way to form an organic totality, which is the automatic control system. In the automatic control system, the output quantity of the controlled objects, that is, a physical quantity that requires a strict control, and it can be kept as a constant value, such as temperature, flow rate, liquid level, or pressure, etc. The control device is a mechanism totality that exerts control on the controlled objects. It can use different principles and methods to control the controlled objects, but the most basic one is the automatic control technology based on closed-loop control. As shown in Fig. 1, a traditional closed-loop control system is shown. An output quantity is directly or indirectly fed back to an input end to form a closed-loop, and a system that realizes automatic control is called a closed-loop control system. It refers to an automatic control system composed of a signal forward path and a feedback path to form a closed loop, also known as a feedback control system. Traditional closed-loop control systems generally include comparators, controller, actuators, controlled objects, and feedback links. Generally, PID controllers (proportional-integral-derivative controllers) are selected in industrial automatic control, but PID controllers have problems such as troublesome parameter adjustment, oscillation, overshoot, etc. which make system performance analysis and design troublesome.
SUMMARY OF THE INVENTION 1
In view of the above-mentioned problems, the present invention provides an exponenthaf 202000 closed-loop control method, which aims to effectively solve problems of complex parameter adjustment, poor self-adaptation, and serious overshoot in conventional closed-loop control. The technical schemes of the present invention are as follows: An exponential closed-loop control method includes the following steps: S1: collecting a plurality of variable data, comprising: a given quantity Sp, a feedback quantity Pv, an output quantity c, an error e, an exponential period a and an exponential coefficient b; S2: assigning initial values to the exponential period a, the exponential coefficient b and the error e to complete a system initialization, and assigning a value to the given quantity Sp; S3: obtaining a process quantity m after calculating by an exponential operator according to the plurality of variable data; wherein the exponential operator calculates the process quantity m by the following calculation formula: m=1/(1+exp(a-b*1)); in the formula, the exponential period a is a time constant, dimensionless; the exponential coefficient b is an acceleration coefficient, dimensionless; S4: sending the process quantity m to different actuators for control according to different physical characteristics of different controlled objects, and outputting the output quantity c to control the controlled objects, wherein a closed-loop control operation ends until an absolute value of a deviation i is less than or equal to the error e.
Preferably, the exponential operator is one of a 32-bit DSP or an MCU with a built-in hardware multiplier.
Preferably, the deviation 1 is a difference between the given quantity Sp and the feedback quantity Pv.
The beneficial effects of the present invention are:
1. The present invention adopts an exponential calculator to replace the PID controller in a traditional closed-loop control system, which can effectively reduce the phenomenon of out-of-step (overshoot) or stalling of the actuator, and has high control accuracy.
2. The exponential calculator outputs an exponential acceleration curve, which has 2 characteristics of optimal time and simple operation. LU502000 3 The exponential acceleration curve conforms to a characteristic that a torque of the actuator increases with the increase of the speed, making full use of the effective torque of the actuator, and at the same time, it can reduce the mechanical impact (that is, the larger the deviation, the larger the speed, and the smaller the deviation, the slower the speed).
BRIEF DESCRIPTION OF THE DRAWINGS In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, and do not constitute improper limitations on the preset invention. In the drawings: Fig. 1 is a schematic diagram of a traditional closed-loop control system; Fig. 2 is a schematic diagram of a closed-loop control system of the present invention; Fig. 3 is a schematic diagram of a position curve and a speed curve (a=5, b=0.5) of the present invention; Fig. 4 is a schematic diagram of a position curve and a speed curve (a=10, b=0.5) of the present invention; Fig. 5 is a schematic diagram of a position curve and a speed curve (a=2.5, b=0.5) of the present invention; Fig. 6 is a schematic diagram of a position curve and a speed curve (a=5, b=2) of the present invention; Fig. 7 is a schematic diagram of a position curve and a speed curve (a=5, b=0.2) of the present invention;
DESCRIPTION OF THE PREFERRED EMBODIMENTS In order to enable the above objectives, technical features and advantages of the embodiments 3 of the present invention to be more apparent and easily understood, the specific embodiments of thd502000 present invention will be clearly and completely described hereafter with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
Unless otherwise defined, technical or scientific terms used in the present invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which the present invention belongs. Use of words like “comprising” or “including” in the present invention means that the elements or objects appearing before the word encompass the elements or objects listed after the word and their equivalents, but do not exclude other elements objects. “Up”, “Down”, “Left”, “Right”, etc. are only used to represent the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
As shown in Fig. 1 to Fig. 7, an exponential closed-loop control method includes the following steps: S1: collecting a plurality of variable data, comprising: a given quantity Sp, a feedback quantity Pv, an output quantity c, an error e, an exponential period a and an exponential coefficient b. The above-mentioned parameters select corresponding units according to different controlled objects. In this embodiment, all of the units are dimensionless.
E| E G E |E x X I E X |X P| P Vv R E |E 010 Ë Feedback P R Cle 2 T . N | N | Deviation | N eedbac 0cess Output quantity U |U ; quantity quantity O E| E 1 C TT Pv m R N| N Q II T| T U e O0 I| I A NN A| A N S 4
L| L T T 502000 I I | E P| C T M | P E| O Y E R| E I| F Sp t O| F D| I
C a | I
N b |0.5| 30 |30| 0 | 0999954602 | 9999546021 |01|01| 0 5 | 0.5 |15.03783846| 30 | 1496216154 | 0.925457531 | 9254575311 |0.1|0.6 5 | 5 | 0.5 [9485093269 | 30 | 20.51490673 | 043598983 | 4359898301 |0.1|07| 6 _ 5 | 0.5 |6.433164458| 30 | 2356683554 | 0.143881621 | 1438816215 |0.1|0.8 7 _ 5 | 0.5 |5.282111487| 30 | 2471788851 | 0.086357456 | 0863574561 |01|09| 8 _ 5 | 0.5 |4.504894382| 30 | 2549510562 | 0.060225007 | 0.602250072 [0.1] 1 | 9 Table 1 Exponential Operator Parameter List 5
S2: assigning initial values to the exponential period a, the exponential coefficient b and {hd502000 error € to complete a system initialization. As shown in Table 1, a=5, b=0.5, e=0.1.
In order to achieve the control target requirements, first, assigning a value to the given quantity Sp. As shown in Table 1, Sp=30. At this time, the deviation 1 is obtained by the difference between the given quantity Sp and the feedback quantity Pv. In the automatic control system, the process of returning the output quantity c through the detection device (sensor, etc.) to the input end and comparing it with quantity is the feedback process. The actuator can be an electronically controlled valve body, a speed-adjustable motor, a heating device, etc. The sensor corresponds to the control quantity, and can be a pressure sensor, a flow sensor, a speed sensor, a position sensor or a temperature sensor, etc.
S3: sending a deviation i into an exponential operator, and obtaining a process quantity m after calculating by the exponential operator according to the plurality of variable data; wherein the exponential operator calculates the process quantity m by the following calculation formula: m=1/(1+exp(a-b*1)).
In the formula, the exponential period a is a time constant, dimensionless. As shown in Fig. 3 to Fig. 5, the larger the exponential period a (b is unchanged), the smaller the speed adjustment period (referring to the speed curve, the speed becomes smaller when t=6, t=4 and t=7). On the contrary, the smaller the exponential period a, the larger the speed adjustment period; the smaller the maximum value of the position curve (the smaller the feedback quantity Pv), and vice versa. The exponential coefficient b is an acceleration coefficient, dimensionless. As shown in Fig. 3, Fig. 6 and Fig. 7, the larger the exponential coefficient b, the larger the speed adjustment period (referring to the speed curve, the speed becomes smaller when t=6, t=8, t=2). On the contrary, the smaller the exponential coefficient b, the smaller the speed adjustment period; the larger the maximum value of the position curve (the larger the feedback quantity Pv), and vice versa.
The exponential operator is a 32-bit DSP or MCU with a built-in hardware multiplier, and a model selected in this embodiment is an MCU of Infineon’s XMC4800. The actuator adopts the Gold Due series low-voltage integrated servo motor of the Israel Elmo Company. The sensor adopts a current sensor ACS712ELCTR-30A-T of Allegro Company.
S4: sending the process quantity m to different actuators for control according to different physical characteristics of different controlled objects, and outputting the output quantity ¢ to control the controlled objects. The operation of the controlled objects is collected by the sensor and then 6 converted into the feedback quantity Pv, wherein the closed-loop control operation ends until lH502000 absolute value of the deviation 1 is less than or equal to the error e. As shown in Fig. 3 to Fig. 7, the position curve in the figures is the parameter output curve of the feedback quantity Pv, and the speed curve is the parameter curve of the output quantity c. When the deviation (the feedback quantity Pv) changes more, the speed (the output quantity c) changes more, when the deviation changes less (the closer the actuator is to the controlled objects), the smaller the speed change, which means that the actuator responds quickly and the overshoot is small in the closed-loop control system, which ensures the stable operation of the actuator. The above embodiments are merely the preferred embodiments of the present invention and do not limit the present invention in any form. Although the present invention has been disclosed through the above embodiments, the scope of the present invention is not limited thereto. Anyone who is familiar with the profession, without departing from the scope of the technical solution of the present invention, can use the technical content disclosed above to make slight changes or modifications into equivalent embodiments with equivalent changes. However, without departing from the technical solution of the present invention, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention. Without departing from the concept of the present invention, the above components can be replaced with similar or equivalent elements understood by those skilled in the art.
7
Claims (3)
1. An exponential closed-loop control method, comprising: S1: collecting a plurality of variable data, comprising: a given quantity Sp, a feedback quantity Pv, an output quantity c, an error e, an exponential period a and an exponential coefficient b; S2: assigning initial values to the exponential period a, the exponential coefficient b and the error € to complete a system initialization, and assigning a value to the given quantity Sp; S3: obtaining a process quantity m after calculating by an exponential operator according to the plurality of variable data; wherein the exponential operator calculates the process quantity m by the following calculation formula: m=1/(1+exp(a-b*1)); in the formula, the exponential period a is a time constant, dimensionless; the exponential coefficient b is an acceleration coefficient, dimensionless; S4: sending the process quantity m to different actuators for control according to different physical characteristics of different controlled objects, and outputting the output quantity c to control the controlled objects, wherein a closed-loop control operation ends until an absolute value of a deviation 1 is less than or equal to the error e.
2. The exponential closed-loop control method according to claim 1, wherein the exponential operator is one of a 32-bit DSP or an MCU with a built-in hardware multiplier.
3. The exponential closed-loop control method according to claim 1, wherein the deviation 1 is a difference between the given quantity Sp and the feedback quantity Pv.
8
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU502000A LU502000B1 (en) | 2022-05-04 | 2022-05-04 | An exponential closed-loop control method |
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| Application Number | Priority Date | Filing Date | Title |
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| LU502000A LU502000B1 (en) | 2022-05-04 | 2022-05-04 | An exponential closed-loop control method |
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| LU502000B1 true LU502000B1 (en) | 2022-11-04 |
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- 2022-05-04 LU LU502000A patent/LU502000B1/en active IP Right Grant
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