CN102914971B - Method for adjusting control parameters of follow-up device of mechanical device - Google Patents
Method for adjusting control parameters of follow-up device of mechanical device Download PDFInfo
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- CN102914971B CN102914971B CN201210432090.2A CN201210432090A CN102914971B CN 102914971 B CN102914971 B CN 102914971B CN 201210432090 A CN201210432090 A CN 201210432090A CN 102914971 B CN102914971 B CN 102914971B
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Abstract
The invention discloses a method for adjusting control parameters of a follow-up device of a mechanical device. The follow-up device for the mechanical device is formed by sequentially connecting a follow-up controller, a power drive unit, a follow-up actuating mechanism and a feedback detection sensor clockwise and annularly. Based on a follow-up command generator and the follow-up device, the method comprises the steps of firstly building a parameter identification device of the follow-up actuating mechanism, adopting a method for measuring output response of the follow-up actuating mechanism through step input to identify model parameters, using an intercept value obtained by intersecting an extension line of an output response static straight line ascent section and the timer axis to identify equivalent viscous damping coefficient and equivalent inertia of the follow-up actuating mechanism, and then adjusting integral coefficient, probability distribution function (PDF) coefficient and differential coefficient of the follow-up controller according to the maximum output voltage of the power drive unit, a maximum value of a follow-up instruction and the equivalent viscous damping coefficient and the equivalent inertia of the follow-up actuating mechanism. By means of the method, the control of targeted parameter adjustment is achieved, and the static and dynamic performance of the follow-up device is improved.
Description
Technical field:
The present invention relates to a kind of hunting gear equipped for machinery (weapon), more particularly relate to the method for adjustment of servo controller controling parameters in a kind of hunting gear equipped for machinery (weapon).
Background technology:
Hunting gear is widely used in mechanized equipment, as index table, robot, machining apparatus etc., special in weaponry, it and radar, director, azimuth leveler, log etc. form Fire Control Device, and its effect drives the weapon devices such as cannon, guided missile launcher, laser high energy weapon, rocket launcher system fire device to reach efficient object of destroying unfriendly target in time.Hunting gear is the most necessary possesses two kinds of abilities, first be target detection moment rapid fine sight target ability, namely must have very excellent dynamic response performance; Second is the steady tracking ability to target, namely close to the tracking accuracy under quiescent conditions.In order to obtain excellent servo antrol performance, hunting gear must adopt FEEDBACK CONTROL.That is, in machinery (weapon) equipment, the relative motion status information such as angular displacement of moving component must through sensor feedback to hunting gear input, generation error signal is compared with servo-actuated command signal, and then send control signal after control algorithm being carried out to error signal by servo controller, implement to correct to the orientation (pitching) of moving component.
Current servo controller is all the correction calculation increasing various error in forward direction control loop.But often increase a kind of computing to error in forward direction control loop, in fact servo-actuated command signal and feedback signal add control algorithm simultaneously.Just be equivalent to increase a forced term on the right of the dynamical equation of hunting gear to a kind of computing that often increases of servo-actuated command signal, make control device occur multiple forced term.Like this, hunting gear exports and just can not accurately reappear servo-actuated command signal.When finding target, it is long that the response time needed for run-home equipped by machinery (weapon), and there is hyperharmonic oscillatory occurences; During target maneuver, machinery (weapon) equipment can not steady tracking, even lose objects.
Along with improving constantly of target maneuver performance, more and more higher requirement is proposed to various performances such as machinery (weapon) equipment and the response speed of hunting gear, running precision, antijamming capability and automaticities.Current widely used traditional known follow-up control method can not meet the demands, adopts new follow-up control device and control method to be one of problems to be solved.
At present, in hunting gear, servo controller controling parameters is not adjust with a definite target in view according to the model parameter of servo-actuated executing agency, but directly adopts the controling parameters of trial and error procedure or empirical method adjustment servo controller.This just causes the adjustment of the controling parameters size of servo controller relatively blindly, and the debugging of hunting gear is wasted time and energy, and the control performance that machinery (weapon) is equipped is difficult to meet the requirement of modern war.Therefore, when machinery (weapon) equips hunting gear design and debugging, how adjusting the controling parameters of servo controller quantitatively according to the model parameter of servo-actuated executing agency, is then have problem two to be solved in prior art.
Summary of the invention:
The object of the invention is for above-mentioned problems of the prior art and defect, for improving the performance of hunting gear further, accomplish the controling parameters that can adjust servo controller according to the model parameter of servo-actuated executing agency quantitatively, and a kind of method of adjustment of the hunting gear controling parameters for mechanized equipment is provided.
For achieving the above object, the technical solution used in the present invention is:
A kind of method of adjustment of the hunting gear controling parameters for mechanized equipment, this method of adjustment, based on a kind of hunting gear for mechanized equipment, forms also annular clockwise in order connection by servo-actuated command generator, servo controller, power drive unit, servo-actuated executing agency and feedback detecting sensor, wherein, described servo controller is by comparator, integrator, integral coefficient multiplier, first subtracter, second subtracter, differential coefficient multiplier, differentiator, differential follower, PDF coefficient multiplier, PDF follower, feedback follower and saturation integral limiter composition, described comparator, integrator, integral coefficient multiplier, first subtracter and the second subtracter are linked in sequence, described comparator is connected with servo-actuated command generator and passes through to feed back follower and is connected with feedback detecting sensor, described first subtracter is connected with feedback detecting sensor with PDF follower by PDF coefficient multiplier, described second subtracter is by differential coefficient multiplier, differentiator is connected with feedback detecting sensor with differential follower, described second subtracter is also connected with power drive unit, described saturation integral limiter is connected with the output sum-product intergrator of integral coefficient multiplier respectively, described servo-actuated executing agency is made up of drive motors, shaft coupling and mechanized equipment and is connected successively.
The performance of hunting gear of the present invention is not only closely related with the version of servo controller, but also is subject to the impact of integral coefficient in servo controller, PDF coefficient and these three controling parameters sizes of differential coefficient.Only have the size designing these three controling parameters exactly, excellent servo antrol performance could be obtained.
The size of these three controling parameters to be adjusted exactly, first will carry out quantitative judge to the parameter of servo-actuated executing agency." know yourself as well as the enemy, can be victorious in every battle ", only on the basis of servo-actuated parameter of actuating mechanism quantitative judge, could the controling parameters of servo controller accurately be adjusted quantitatively.
Therefore, the method for adjustment of a kind of hunting gear controling parameters for mechanized equipment of the present invention, specifically comprises the following steps:
(1) the model and parameters identification device of servo-actuated executing agency in hunting gear is set up, this device is formed by step voltage signal generator, power drive unit, servo-actuated executing agency, feedback detecting sensor and register instrument and is linked in sequence, and described step voltage signal generator is also connected with register instrument;
(2) utilize step input signal to measure the output response of servo-actuated executing agency, step input signal and servo-actuated executing agency are exported the change procedure responding countershaft at any time and record simultaneously by register instrument, until export response to enter straight line ascent stage;
(3) extend servo-actuated executing agency and export the straight line ascent stage of response until crossing with time shaft;
(4) slope of described straight line ascent stage and this straightway prolongation values of intercept crossing with time shaft is measured;
(5) by the slope of step input signal amplitude divided by described straightway, the equivalent viscous damping ratio of servo-actuated executing agency in hunting gear is obtained;
(6) described equivalent viscous damping ratio is multiplied with described straightway values of intercept on a timeline, obtains the equivalent inertia of servo-actuated executing agency in hunting gear.
(7) maximum output voltage of selected power drive unit;
(8) according to the actual permission working range exporting (orientation or pitching) requirement and feedback detecting sensor of machinery (weapon) equipment, servo-actuated command signal maximum is set;
(9) by the maximum of power drive unit maximum output voltage divided by servo-actuated command signal, the business of gained is multiplied by the square root of the business of gained again, long-pending square root and then the septuple being multiplied by equivalent inertia inverse of gained, obtains the integral coefficient of servo controller;
(10) by the maximum of power drive unit maximum output voltage divided by servo-actuated command signal, the business of gained is multiplied by ten times, obtains the PDF coefficient of servo controller;
(11) power drive unit maximum output voltage is multiplied by equivalent inertia again divided by the maximum of servo-actuated command signal, the square root of the business of gained quintuples doubly again, then deducts equivalent viscous damping ratio, obtains the differential coefficient of servo controller.
Advantage of the present invention and beneficial effect are:
(1) hunting gear of the present invention not only has the feedback of the status information of servo-actuated variable own, and has the feedback of other two status informations closely-related with servo-actuated variable, altogether achieves the feedback of servo-actuated variable three kinds of status informations.More unique is only have employed and a kind ofly feeds back the feedback that detecting sensor achieves servo-actuated variable three kinds of status informations, not only convenient and easy in engineering construction, and saves cost.
(2) the present invention is due to the distinguished version of this servo controller, improves the Static and dynamic performance of hunting gear.When finding target, can instantaneous run-home, for the instantaneous mutation of servo-actuated command signal time namely dynamically, its response time short and non-overshoot and oscillatory occurences; During target maneuver, can accurate tracking target; External environmental interference and mechanical load varying type, the control performance change of hunting gear is insensitive.
(3) the controling parameters adjustment of servo controller of the present invention is based upon on the basis to servo-actuated image parameter quantitative judge, the controling parameters adjustment of hunting gear shot the arrow at the target, reduces the blindness of hunting gear adjustment, increase work efficiency.
(4) drive motors of the present invention and machinery (weapon) equip between without the need to reducing gear, drive motors can Direct driver machinery (weapon) equipment.Even if also can Direct driver when following the tracks of at a slow speed, follow the tracks of steadily without creeping phenomenon, reduce the volume and weight that machinery (weapon) is equipped further.
Accompanying drawing explanation
Fig. 1 is that the hunting gear for mechanized equipment of the embodiment of the present invention forms block diagram;
Fig. 2 is the hunting gear servo controller controling parameters method of adjustment flow chart of the embodiment of the present invention.
Detailed description of the invention:
In order to deepen the understanding of the present invention, further describe in detail below in conjunction with accompanying drawing 1 and accompanying drawing 2 pairs of specific embodiments of the invention.
As shown in Figure 1, be the embodiment of the present invention the hunting gear for mechanized equipment form block diagram.Described hunting gear is made up of servo-actuated command generator 110, servo controller 120, power drive unit 130, servo-actuated executing agency 140 and feedback detecting sensor 150, and servo-actuated command generator 110, servo controller 120, power drive unit 130, servo-actuated executing agency 140 and feedback detecting sensor 150 in order clockwise direction annular connect to form closed-loop device, described servo controller 120 is by comparator 1201, integrator 1202, integral coefficient multiplier 1203, first subtracter 1204, second subtracter 1205, differential coefficient multiplier 1206, differentiator 1207, differential follower 1208, PDF coefficient multiplier 1209, PDF follower 1210, feedback follower 1211 and saturation integral limiter 1212 form, described comparator 1201, integrator 1202, integral coefficient multiplier 1203, first subtracter 1204 and the second subtracter 1205 are linked in sequence, described comparator 1201 is connected with servo-actuated command generator 110, described comparator 1201 is also connected with feedback detecting sensor 150 by feedback follower 1211, described first subtracter 1204 is connected with feedback detecting sensor 150 with PDF follower 1210 by PDF coefficient multiplier 1209, and described second subtracter 1205 is by differential coefficient multiplier 1206, differentiator 1207 is connected with feedback detecting sensor 150 with differential follower 1208, described second subtracter 1205 is also connected with power drive unit 130, described saturation integral limiter 1212 is connected with the output sum-product intergrator 1202 of integral coefficient multiplier 1203 respectively, and described servo-actuated executing agency 140 is by drive motors 141, shaft coupling 142 forms with mechanized equipment 143 and is connected successively.
Certainly, the performance of hunting gear is also closely related with the size of integral coefficient, PDF coefficient and these three controling parameters of differential coefficient.As long as adjust the size of these three controling parameters exactly, hunting gear just can be made to obtain excellent dynamic property and static properties.The size of these three controling parameters to be adjusted exactly, first will carry out quantitative judge to the parameter of servo-actuated executing agency." know yourself as well as the enemy, can be victorious in every battle ", only on the basis of servo-actuated executing agency model parameter quantitative judge, could the controling parameters of servo controller accurately be adjusted.
The method of adjustment of a kind of hunting gear controling parameters for mechanized equipment of the present invention, comprises the following steps:
(1) the model and parameters identification device of servo-actuated executing agency in hunting gear is set up, this device is formed by step voltage signal generator, power drive unit 130, servo-actuated executing agency 140, feedback detecting sensor 150 and register instrument and is linked in sequence, and described step voltage signal generator is also connected with register instrument;
(2) utilize step input signal to measure the output response of servo-actuated executing agency, step input signal and servo-actuated executing agency are exported the change procedure responding countershaft at any time and record simultaneously by register instrument, until export response to enter straight line ascent stage;
(3) extend servo-actuated executing agency and export the straight line ascent stage of response until crossing with time shaft;
(4) slope of described straight line ascent stage and this straightway prolongation values of intercept crossing with time shaft is measured;
(5) by the slope of step input signal amplitude divided by described straightway, the equivalent viscous damping ratio of servo-actuated executing agency in hunting gear is obtained;
(6) described equivalent viscous damping ratio is multiplied with described straightway values of intercept on a timeline, obtains the equivalent inertia of servo-actuated executing agency in hunting gear;
(7) maximum output voltage of selected power drive unit;
(8) according to the actual permission working range exporting (orientation or pitching) requirement and feedback detecting sensor of machinery (weapon) equipment, servo-actuated command signal maximum is set;
(9) by the maximum of power drive unit maximum output voltage divided by servo-actuated command signal, the business of gained is multiplied by the square root of the business of gained again, long-pending square root and then the septuple being multiplied by equivalent inertia inverse of gained, obtains the integral coefficient of servo controller;
(10) by the maximum of power drive unit maximum output voltage divided by servo-actuated command signal, the business of gained is multiplied by ten times, obtains the PDF coefficient of servo controller;
(11) power drive unit maximum output voltage is multiplied by equivalent inertia again divided by the maximum of servo-actuated command signal, the square root of the business of gained quintuples doubly again, then deducts equivalent viscous damping ratio, obtains the differential coefficient of servo controller.
Hunting gear servo controller controling parameters method of adjustment flow chart for mechanized equipment of the present invention is shown in shown in accompanying drawing 2, from above-mentioned steps, during hunting gear adjustment, first the equivalent viscous damping ratio of servo-actuated executing agency and equivalent inertia are identified, then just according to these two limited conditions of maximum of the maximum input voltage of selected electric liquid power drive unit and servo-actuated command signal, the controling parameters in servo controller and integral coefficient, PDF coefficient and differential coefficient this three controling parameters and the quantitative relationship between them can be determined.Facts have proved, the method for the invention not only can be sparing of one's energy and the time in hunting gear design and debugging, and machinery (weapon) can be made to equip hunting gear obtain good static properties and dynamic property.For the instantaneous mutation of servo-actuated command signal, dynamic response time reduces and non-overshoot and vibration, and machinery (weapon) equipment can the target that will hit of slewing; During tracking target, enhance the ability that opposing external interference and machinery (weapon) equipment itself change, can steady high accuracy tracking target at a slow speed.
Claims (1)
1. for a method of adjustment for the hunting gear controling parameters of mechanized equipment, this method of adjustment based on a kind of by servo-actuated command generator and the clockwise servo controller that is connected of annular in order, power drive unit, servo-actuated executing agency with feedback detecting sensor be connected composition the hunting gear for mechanized equipment, wherein, described servo controller is by comparator, integrator, integral coefficient multiplier, first subtracter, second subtracter, differential coefficient multiplier, differentiator, differential follower, PDF coefficient multiplier, PDF follower, feedback follower and saturation integral limiter composition, described comparator, integrator, integral coefficient multiplier, first subtracter and the second subtracter are linked in sequence, described comparator is connected with servo-actuated command generator and passes through to feed back follower and is connected with feedback detecting sensor, described first subtracter is connected with feedback detecting sensor with PDF follower by PDF coefficient multiplier, and described second subtracter is by differential coefficient multiplier, differentiator is connected with feedback detecting sensor with differential follower, and described second subtracter is also connected with power drive unit, and described saturation integral limiter is connected with the output sum-product intergrator of integral coefficient multiplier respectively, described servo-actuated executing agency is made up of drive motors, shaft coupling and mechanized equipment and is connected successively, it is characterized in that: described method of adjustment comprises the steps:
(1) the model and parameters identification device of servo-actuated executing agency in hunting gear is set up, the model and parameters identification device of this servo-actuated executing agency is formed by step voltage signal generator, power drive unit, servo-actuated executing agency, feedback detecting sensor and register instrument and is linked in sequence, and described step voltage signal generator is also connected with register instrument;
(2) utilize step input signal to measure the output response of servo-actuated executing agency, step input signal and servo-actuated executing agency are exported the change procedure responding countershaft at any time and record simultaneously by register instrument, until export response to enter straight line ascent stage;
(3) extend servo-actuated executing agency and export the straight line ascent stage of response until crossing with time shaft;
(4) slope of described straight line ascent stage and this straight line ascent stage prolongation values of intercept crossing with time shaft is measured;
(5) by the slope of step input signal amplitude divided by described straight line ascent stage, the equivalent viscous damping ratio of servo-actuated executing agency in hunting gear is obtained;
(6) described equivalent viscous damping ratio is multiplied with described straight line ascent stage values of intercept on a timeline, obtains the equivalent inertia of servo-actuated executing agency in hunting gear;
(7) maximum output voltage of selected power drive unit;
(8) export according to mechanized equipment is actual the permission working range requiring and feed back detecting sensor, set servo-actuated command signal maximum;
(9) by the maximum of power drive unit maximum output voltage divided by servo-actuated command signal, the business of gained is multiplied by the square root of the business of gained again, long-pending square root and then the septuple being multiplied by equivalent inertia inverse of gained, obtains the integral coefficient of servo controller;
(10) by the maximum of power drive unit maximum output voltage divided by servo-actuated command signal, the business of gained is multiplied by ten times, obtains the PDF coefficient of servo controller;
(11) power drive unit maximum output voltage is multiplied by equivalent inertia again divided by the maximum of servo-actuated command signal, the square root of the business of gained quintuples doubly again, then deducts equivalent viscous damping ratio, obtains the differential coefficient of servo controller.
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| JP6460138B2 (en) * | 2017-03-13 | 2019-01-30 | オムロン株式会社 | Processing device, control parameter determination method, and control parameter determination program |
| CN110568836B (en) * | 2019-08-14 | 2020-07-28 | 上海航天控制技术研究所 | Dynamic performance debugging method and system suitable for servo system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5786678A (en) * | 1995-11-27 | 1998-07-28 | Nsk Ltd. | Method and apparatus for automatically adjusting a gain of a servomechanism |
| CN101393425A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter regulation system and method for controlling DC generator speed by PID |
| CN101394147A (en) * | 2008-09-12 | 2009-03-25 | 江苏科技大学 | DC motor speed control device and method |
| CN101393424A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | System and method for controlling DC generator angular displacement by PID |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0540527A (en) * | 1991-08-02 | 1993-02-19 | Yaskawa Electric Corp | Positioning unit for digital controller |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5786678A (en) * | 1995-11-27 | 1998-07-28 | Nsk Ltd. | Method and apparatus for automatically adjusting a gain of a servomechanism |
| CN101394147A (en) * | 2008-09-12 | 2009-03-25 | 江苏科技大学 | DC motor speed control device and method |
| CN101393425A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter regulation system and method for controlling DC generator speed by PID |
| CN101393424A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | System and method for controlling DC generator angular displacement by PID |
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