CN103345271A - Gas flow regulation control device based on embedded system - Google Patents

Abstract

The invention discloses a gas flow regulation control device based on an embedded system. The gas flow regulation control device comprises an ARM controller, a stepping motor driver, a CAN driver and a stepping motor angle detection feedback system. The gas flow regulation control device based on the embedded system is characterized in that the ARM controller is connected with the stepping motor driver, and the ARM controller is connected with a solid rocket ramjet control system through the CAN driver. The ARM controller comprises a main program module, an interruption control module, a control table module, a membership function module, a fuzzy PID module and a PID module, and can be fixedly arranged inside a gas flow regulator of a solid rocket ramjet for controlling a disc of the gas flow regulator of the solid rocket ramjet to rotate, the throat area of an engine jet pipe is changed to regulate the air-fuel ratio, the energy of propellants is fully utilized, and thus the optimum working performance is achieved by the solid rocket ramjet. According to the gas flow regulation control device based on the embedded system, a modular structure is adopted, the closed loop design is achieved, high control precision can be guaranteed, the structure is compact, assembling and disassembling are convenient, reliability is high, and environmental adaptation is strong.

Description

A kind of gas flow control set for adjusting based on embedded system

Technical field

The invention belongs to automation field, be specifically related to a kind of gas flow control set for adjusting based on embedded system, be used for the solid rotation towards engine gas flow regulator video disc of control, change the engine jet pipe throat opening area to reach the adjusting air-fuel ratio.

Background technology

For guaranteeing versatility and the portability of gas flow regulator, the gas flow control set for adjusting is installed in the inside of gas flow regulator, realizes that with closed loop the high precision of gas flow regulator is controlled, and generally can reach a second level.The dynamic perfromance of gas flow regulator depends on the combustion gas of generation, free volume and valve event, and in the gas flow adjustment process, there is the negative characteristic of transferring: when the expectation gas flow reduces, increase gas generator spray throat area fast, gas flow reduces to increase to the regulated value of expection earlier again; Vice versa.For guaranteeing the dynamic perfromance of gas flow regulator, generally require each parameter variation of dynamic response constantly of gas flow control set for adjusting, and provide control law, control topworks makes response.

Domestic consolidating started late towards the technical research of engine gas flow regulation, and from the investigation situation, the Space Science and Technology forth academy has carried out the research of relevant item.Because flow regulation control device and valve body structure, material type selecting, combustion gas type, speed and height etc. are closely related, and only depend on limited test and theoretical modeling to be difficult to produce the effect of getting instant result.Present domestic research is scarcely out of swaddling-clothes.

Abroad the research of gas-flow regulator is carried out towards the development of engine synchronously with solid, obtained great successes, wherein many achievements are applied in the service missile.The U.S. has carried out a large amount of solid rocket ramjets from the seventies middle and later periods in last century and has improved test, and wherein gas-flow adjusting control is important content wherein, and its achievement in research has been widely used in solid towards engine.The France, the Germany that belong to the west together regulate the research and the U.S. that control about gas flow and almost launch simultaneously, successfully are applied in the solid on engine of method, moral cooperation research and development.

Summary of the invention

The purpose of this invention is to provide a kind of gas flow control set for adjusting based on embedded system, this device is fixed in the gas flow regulator, be used for the solid rotation towards engine gas flow regulator video disc of control, change the engine jet pipe throat opening area to reach the adjusting air-fuel ratio.

Technical scheme of the present invention: a kind of gas flow control set for adjusting based on embedded system of the present invention comprises ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, it is characterized in that: the ARM controller is connected with stepper motor driver, and the ARM controller is connected towards engine control system with solid by the CAN driver; The ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module;

Main program module: according to the angle value of the solid required adjusting of control gas flow regulator video disc that provides towards engine control system and the angle value of feedback comparison of stepper motor angle detection feedback system, send instruction to stepper motor driver, the by-pass valve control regulator video disc anglec of rotation, thereby control gas flow;

Interrupt control module: the sign that provides master routine output control signal and feedback signal;

The fuzzy module: as input quantity, calculating K p: proportion function, Ki: integral function, Kd: differentiation function is as the fuzzy controller output valve with angular deviation e and angular deviation rate of change ec for fuzzy controller;

PID module: calculate angular deviation e, again Kp, Ki, the Kd calculated step Electric Machine Control pulse output quantity of exporting according to fuzzy;

Subordinate function module: comprise e, ec, Kp, the Ki of corresponding each angular deviation value, the subordinate function control curve map of Kd;

Control law table module: according to the contrast of repetition test repeatedly, the fuzzy control law table of determining is placed in the control law table module, comprises e, ec, Kp, Ki, the Kd value of corresponding angle deviate in every control law.

Described stepper motor angle detection feedback system comprises rotary transformer, and rotary transformer is connected with stepper motor is coaxial, and rotary transformer is connected with the ARM controller by rotation digital quantizer, level transferring chip;

Subordinate function is selected triangular function for use in the described subordinate function module, and the horizontal ordinate of e, ec, Kp, Ki, Kd subordinate function is the domain of each parameter, and ordinate is the value of each parameter; The subordinate function rate of curve is determined: the fuzzy algorithm adopts 7 linguistic variables in the fuzzy module, i.e. negative big NB, negative middle NM, negative little NS, zero Z0, just little PS, center PM, honest PB; The basic domain of angular deviation e is [emax ,+emax], and the basic domain of angular deviation rate of change ec is [ecmax ,+ecmax]; If actual value surpasses basic domain, all be taken as basic domain boundary value; Corresponding 7 linguistic variables, domain is taken as [3 ,-2 ,-0,0,1,2,3], can calculate the scale factor of e and ec according to the domain value, and formula is as follows:

$\mathrm{Ke}=\frac{3}{e\max }---\left(1\right)$

$\mathrm{Kec}=\frac{3}{\mathrm{ec}\max }---\left(2\right)$

The same basic domain of setting Kp, Ki, Kd is respectively [Kpmax ,+Kpmax], [Kimax ,+Kimax], [Kdmax ,+Kdmax], and the domain of Kp, Ki, Kd is taken as [3 respectively,-2 ,-1,0,1,2,3], [0.5 ,-0.4 ,-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3,0.4,0.5], [1.5 ,-1 ,-0.5,0,0.5,1,1.5], can calculate the scale factor of Kp, Ki, Kd according to the domain value, formula is as follows:

$K_{\mathrm{kp}\max }=\frac{\mathrm{kp}\max }{3}---\left(3\right)$

$K_{\mathrm{ki}\max }=\frac{\mathrm{ki}\max }{0.5}---\left(4\right)$

$K_{\mathrm{kd}\max }=\frac{\mathrm{kd}\max }{1.5}---\left(5\right).$

Described control law table module is divided into 49 control laws, divides 49 sections with angle maximum opening value etc., and e, ec, Kp, Ki, Kd in ascending respectively corresponding 49 control laws successively, every control law defer to corresponding subordinate function respectively and change.

Described main program module compares rotary transformer angles fed back information and required valve regulated angle, then reissues instruction if any deviation the valve regulated device video disc anglec of rotation is revised, and forms closed-loop control; Main program module is monitored the rotary transformer output valve in real time, loses phase, sine or the surplus output valve of revolving when surpassing the threshold values that arranges if sinusoidal or surplus revolving occur, and the ARM controller keeps the angle value of last output constant, up to rotary transformer output normally.

Described interruption control module is established two timers, during initialization, two timers all put 1, after the beginning, the time-delay of first timer puts 0 for 20 milliseconds, provide master routine output control signal sign, the time-delay of second timer puts 2 for 40 milliseconds, provides master routine the stepper motor angle detected value is fed back to solid sign towards engine control system.

Described stepper motor is fixed in the flow regulator cavity with the form of motor body, and rotary transformer is fixed on the rotation axis of stepper motor; Stepper motor is fixed in the flow regulator cavity by the stepper motor erecting frame, bearing load bar is connected on the axle of stepper motor, the bearing cutting ferrule is combined the end face that is fixed on stepper motor with bearing, bearing load bar, stepper motor erecting frame, screw-casing links to each other with the axle of stepper motor by bearing pin, and the rotation of step motor shaft is exported by screw-casing.

Technique effect of the present invention is embodied in: control device of the present invention adopts modular design, and each functions of modules is independent, is more conducive to arrange, improves flow regulator inner space utilization rate; Control device integrated level height of the present invention, volume is little, driving force is strong, can drive bigger load; Control device of the present invention, control accuracy height, response speed are fast, algorithm adaptability is strong, can adapt to the flow regulator dynamic perfromance easily, solve its negative characteristic of transferring; Control device of the present invention, its assembling adjusting and convenient disassembly, reliability height, environmental suitability are strong.

The present invention can solve that dynamic response characteristic is poor in existing this type of control device, space hold big, install and regulate inconvenient and can not effectively solve negative problem of transferring characteristic.The present invention is applicable to the solid control towards the engine gas flow regulator of high precision, has using value and promotion prospect preferably.

Description of drawings

Fig. 1 is hardware logic block diagram of the present invention.

Fig. 2 is software logic block diagram of the present invention.

Fig. 3 is main program module logic diagram of the present invention.

Fig. 4 interrupts the control module logic diagram for the present invention.

Fig. 5 fuzzy control principle figure.

Fig. 6 is e subordinate function control curve map.

Fig. 7 is ec subordinate function control curve map.

Fig. 8 is Kp subordinate function control curve map.

Fig. 9 is Ki subordinate function control curve map.

Figure 10 is Kd subordinate function control curve map.

Figure 11 is the control table module map.

Figure 12 is stepper motor assembling synoptic diagram of the present invention.

Embodiment

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is hardware logic block diagram of the present invention: hardware of the present invention is made up of control panel and power panel.

Control panel comprises ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, and the ARM controller is connected with stepper motor driver, and the ARM controller is connected towards engine control system with solid by the CAN driver.Power panel is supplied with various power supplys.

Fig. 2 is software logic block diagram of the present invention: the ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module.

Fig. 3 is main program module logic diagram of the present invention:

Main program module: according to the angle value of the solid required adjusting of control gas flow regulator video disc that provides towards engine control system and the angle value of feedback comparison of stepper motor angle detection feedback system, send instruction to stepper motor driver, the by-pass valve control regulator video disc anglec of rotation, thereby control gas flow.

Main program module compares rotary transformer angles fed back information and required valve regulated angle, then reissues instruction if any deviation the valve regulated device video disc anglec of rotation is revised, and forms closed-loop control; Main program module is monitored the rotary transformer output valve in real time, loses phase, sine or the surplus output valve of revolving when surpassing the threshold values that arranges if sinusoidal or surplus revolving occur, and the ARM controller keeps the angle value of last output constant, up to rotary transformer output normally.

Fig. 4 interrupts the control module logic diagram for the present invention: interrupt control module and establish two timers, two timers all put 1 during initialization, after the beginning, the time-delay of first timer puts 0 for 20 milliseconds, provide master routine output control signal sign, the time-delay of second timer puts 2 for 40 milliseconds, provides the sign that master routine feeds back to the stepper motor angle detected value control system.

Fig. 5 fuzzy control principle figure:

What control algolithm adopted is Fuzzy PID, this algorithm is input quantity angular deviation e and angular deviation rate of change ec to be blured change into fuzzy quantity, again fuzzy quantity is represented with corresponding fuzzy language, thereby obtain a subclass of input quantity fuzzy language, again by fuzzy subset and control law by inference composition rule make a strategic decision, obtain output quantity Kp, Ki, Kd.Characteristic according to the input quantity in general fuzzy controller and the electric machine control system, the design fuzzy controller with angular deviation e and angular deviation rate of change ec as input quantity, the Electric Machine Control pulse is as output quantity, and Kp: proportion function, Ki: integral function, Kd: differentiation function is fuzzy controller output value.

Fuzzy module: according to the characteristic of the input quantity in general fuzzy controller and the electric machine control system, as input quantity, calculating K p: proportion function, Ki: integral function, Kd: differentiation function is as the fuzzy controller output valve with angular deviation e and angular deviation rate of change ec for the design fuzzy controller;

PID module: calculate angular deviation e, again Kp, Ki, the Kd calculated step Electric Machine Control pulse output quantity of exporting according to fuzzy;

Subordinate function module: comprise e, ec, Kp, the Ki of corresponding each angular deviation value, the subordinate function control curve map of Kd; Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 are the subordinate function control curve map of e, ec, Kp, Ki, Kd.

Subordinate function is selected triangular function for use in the subordinate function module, and the horizontal ordinate of e, ec, Kp, Ki, Kd subordinate function is the domain of each parameter, and ordinate is the value of each parameter; The subordinate function rate of curve is determined: the fuzzy algorithm adopts 7 linguistic variables in the fuzzy module, i.e. negative big NB, negative middle NM, negative little NS, zero Z0, just little PS, center PM, honest PB; The basic domain of angular deviation e is [emax ,+emax], and the basic domain of angular deviation rate of change ec is [ecmax ,+ecmax]; If actual value surpasses basic domain, all be taken as basic domain boundary value; Corresponding 7 linguistic variables, domain is taken as [3 ,-2 ,-0,0,1,2,3], can calculate the scale factor of e and ec according to the domain value, and formula is as follows:

$\mathrm{Ke}=\frac{3}{e\max }---\left(1\right)$

$\mathrm{Kec}=\frac{3}{\mathrm{ec}\max }---\left(2\right)$

The same basic domain of setting Kp, Ki, Kd is respectively [Kpmax ,+Kpmax], [Kimax ,+Kimax], [Kdmax ,+Kdmax], and the domain of Kp, Ki, Kd is taken as [3 respectively,-2 ,-1,0,1,2,3], [0.5 ,-0.4 ,-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3,0.4,0.5], [1.5 ,-1 ,-0.5,0,0.5,1,1.5], can calculate the scale factor of Kp, Ki, Kd according to the domain value, formula is as follows:

$K_{\mathrm{kp}\max }=\frac{\mathrm{kp}\max }{3}---\left(3\right)$

$K_{\mathrm{ki}\max }=\frac{\mathrm{ki}\max }{0.5}---\left(4\right)$

$K_{\mathrm{kd}\max }=\frac{\mathrm{kd}\max }{1.5}---\left(5\right).$

Control law table module: Figure 11 is the control table module map, according to the contrast of repetition test repeatedly, comprises e, ec, Kp, Ki, the Kd value of corresponding angle deviate in the fuzzy control law table of determining, every control law.

Control law table module is divided into 49 control laws, divides 49 sections with angle maximum opening value etc., and e, ec, Kp, Ki, Kd in respectively corresponding 49 control laws, every control law defer to corresponding subordinate function respectively and change.

The course of work is described: Gu towards the solid real-time parameter that sucks air supply towards engine of engine control system, according to calculating the angle value that control device drives the required adjusting of flow regulator video disc, control algolithm parses control law rear drive device and sends instruction and give to motor.Stepper motor work, rotary transformer is noted the angle of stepper motor rotation and is fed back to the ARM controller, the ARM controller compares rotary transformer angles fed back information and system directive, if any deviation, then reissue instruction the valve regulated device video disc anglec of rotation is revised, form closed-loop control.Stepper motor changes throat opening area by the transmission mechanism control valve regulated body video disc anglec of rotation, thus the control gas flow.

Meanwhile, the ARM controller is monitored the rotary transformer output valve in real time, loses phase, sine or the surplus output valve of revolving when surpassing the threshold values that arranges if sinusoidal or surplus revolving occur, and the ARM controller keeps the angle value of last output constant, up to rotary transformer output normally.

Specific as follows: (replenishing each module routine of ARM controller)

Main program module interrupt to receive the angle value of the solid required adjusting of control gas flow regulator video disc that provides towards engine control system by the CAN bus, compare with the angle value of feedback of stepper motor angle detection feedback system, both subtract each other and obtain fuzzy input quantity e, obtain fuzzy module output quantity Kp according to input quantity e check and control tabulation module (table 1), Ki, the linguistic variable of Kd, look into Fig. 8 respectively according to linguistic variable separately, Fig. 9, Figure 10 obtains Kp, Ki, the subordinate function curve of Kd, the subordinate function rate of curve of each variable respectively can be by formula (3), formula (4) and formula (5) calculate, and can calculate the output quantity Kp of fuzzy module respectively according to the domain value, Ki, the value of Kd.Calculate PID module input quantity Kp, Ki, Kd, calculate control module input quantity motor speed again, control module output stepper motor rotating speed by-pass valve control regulator video disc rotates to angle on target; Each control cycle PID calculates once, and the current tachometer value control of output motor rotation in control cycle when the control cycle zone bit is zero, is recomputated the rotation of pid value output motor rotating speed control motor, until being adjusted to the target location angle; Interrupt control module and provide the sign position that main program module is exported control signal, feedback signal and control cycle.

Figure 12 is stepper motor of the present invention assembling synoptic diagram: stepper motor is as topworks, is fixed on the inside cavity of gas flow regulator with the form of motor body, drives the video disc rotation in the mode of worm drive.Stepper motor 7 is fixed in the flow regulator cavity by stepper motor erecting frame 1.Bearing cutting ferrule 3, bearing load bar 4 and bearing 6 are combined the end face that is fixed on stepper motor 7, and the protection motor does not bear axle pressure.Screw-casing 2 links to each other with the axle of stepper motor 7 by pin 5, and the rotation that stepper motor is 7 is by screw-casing 2 outputs.Rotary transformer is fixed on the stepper motor rotation axis.Stepper motor driver in the control device is realized overcurrent protection by sampling resistor, realizes overvoltage protection by diode.

Claims (7)

1. gas flow control set for adjusting based on embedded system, comprise ARM controller, stepper motor driver, CAN driver, stepper motor angle detection feedback system, it is characterized in that: the ARM controller is connected with stepper motor driver, and the ARM controller is connected towards engine control system with solid by the CAN driver; The ARM controller comprises main program module, interrupts control module, control table module, subordinate function module, fuzzy module, PID module;

Main program module: according to the angle value of the solid required adjusting of control gas flow regulator video disc that provides towards engine control system and the angle value of feedback comparison of stepper motor angle detection feedback system, send instruction to stepper motor driver, the by-pass valve control regulator video disc anglec of rotation, thereby control gas flow;

Interrupt control module: the sign that provides master routine output control signal and feedback signal;

The fuzzy module: as input quantity, calculating K p: proportion function, Ki: integral function, Kd: differentiation function is as the fuzzy controller output valve with angular deviation e and angular deviation rate of change ec for fuzzy controller;

PID module: calculate angular deviation e, again Kp, Ki, the Kd calculated step Electric Machine Control pulse output quantity of exporting according to fuzzy;

Subordinate function module: comprise e, ec, Kp, the Ki of corresponding each angular deviation value, the subordinate function control curve map of Kd;

Control law table module: according to the contrast of repetition test repeatedly, the fuzzy control law table of determining is placed in the control law table module, comprises e, ec, Kp, Ki, the Kd value of corresponding angle deviate in every control law.

2. the gas flow control set for adjusting based on embedded system according to claim 1, it is characterized in that: stepper motor angle detection feedback system comprises rotary transformer, rotary transformer is connected with stepper motor is coaxial, and rotary transformer is connected with the ARM controller by rotation digital quantizer, level transferring chip.

3. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: subordinate function is selected triangular function for use in the subordinate function module, the horizontal ordinate of e, ec, Kp, Ki, Kd subordinate function is the domain of each parameter, and ordinate is the value of each parameter; The subordinate function rate of curve is determined: the fuzzy algorithm adopts 7 linguistic variables in the fuzzy module, i.e. negative big NB, negative middle NM, negative little NS, zero Z0, just little PS, center PM, honest PB; The basic domain of angular deviation e is [emax ,+emax], and the basic domain of angular deviation rate of change ec is [ecmax ,+ecmax]; If actual value surpasses basic domain, all be taken as basic domain boundary value; Corresponding 7 linguistic variables, domain is taken as [3 ,-2 ,-0,0,1,2,3], can calculate the scale factor of e and ec according to the domain value, and formula is as follows:

The same basic domain of setting Kp, Ki, Kd is respectively [Kpmax ,+Kpmax], [Kimax ,+Kimax], [Kdmax ,+Kdmax], and the domain of Kp, Ki, Kd is taken as [3 respectively,-2 ,-1,0,1,2,3], [0.5 ,-0.4 ,-0.3 ,-0.2 ,-0.1,0,0.1,0.2,0.3,0.4,0.5], [1.5 ,-1 ,-0.5,0,0.5,1,1.5], can calculate the scale factor of Kp, Ki, Kd according to the domain value, formula is as follows:

4. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: control law table module is divided into 49 control laws, with 49 sections of branches such as angle maximum opening value, e, ec, Kp, Ki, Kd in ascending respectively corresponding 49 control laws successively, every control law defer to corresponding subordinate function respectively and change.

5. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: main program module compares rotary transformer angles fed back information and required valve regulated angle, then reissue instruction if any deviation the valve regulated device video disc anglec of rotation is revised, form closed-loop control; Main program module is monitored the rotary transformer output valve in real time, loses phase, sine or the surplus output valve of revolving when surpassing the threshold values that arranges if sinusoidal or surplus revolving occur, and the ARM controller keeps the angle value of last output constant, up to rotary transformer output normally.

6. the gas flow control set for adjusting based on embedded system according to claim 1 and 2, it is characterized in that: interrupt control module and establish two timers, during initialization, two timers all put 1, after the beginning, the time-delay of first timer puts 0 for 20 milliseconds, provides master routine output control signal sign, the time-delay of second timer puts 2 for 40 milliseconds, provides master routine the stepper motor angle detected value is fed back to solid sign towards engine control system.

7. the gas flow control set for adjusting based on embedded system according to claim 2, it is characterized in that: stepper motor (7) is fixed in the flow regulator cavity with the form of motor body, and rotary transformer is fixed on the rotation axis of stepper motor (7); Stepper motor (7) is fixed in the flow regulator cavity by stepper motor erecting frame (1), bearing load bar (4) is connected on the axle of stepper motor (7), bearing cutting ferrule (3) is combined the end face that is fixed on stepper motor (7) with bearing (6), bearing load bar (4), stepper motor erecting frame (1), screw-casing (2) links to each other with the axle of stepper motor (7) by bearing pin (5), and the rotation of stepper motor (7) axle is by screw-casing (2) output.

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