CN104100382A - Gasoline engine electronic speed controller - Google Patents
Gasoline engine electronic speed controller Download PDFInfo
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- CN104100382A CN104100382A CN201410294554.7A CN201410294554A CN104100382A CN 104100382 A CN104100382 A CN 104100382A CN 201410294554 A CN201410294554 A CN 201410294554A CN 104100382 A CN104100382 A CN 104100382A
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Abstract
The invention discloses a gasoline engine electronic speed controller. The gasoline engine electronic speed controller comprises a rotating speed sampling module, a digital controller, an execution drive module and an executor, wherein the rotating speed sampling module is used for obtaining the current rotating speed signal and sending the signal to the digital controller after the signal is subjected to digital processing; the digital controller is used for processing the received signal by utilizing a PID (Proportion Integration Differentiation) digital control algorithm to obtain a control instruction and then transmitting the control instruction to the execution drive module; the execution drive module is used for driving the executor to execute the control instruction according to the control instruction; the executor is used for controlling a throttle valve of a gasoline engine so as to regulate the output rotating speed of the gasoline engine. The gasoline engine electronic speed controller has the beneficial effects that the reliability is high, and the instantaneous speed control performance is good.
Description
Technical field
The invention belongs to petrol engine electronic speed regulator technical field, relate to a kind of petrol engine electronic speed regulator.
Background technique
The effect of petrol engine speed regulator is to rely on control software to realize regulation and control function, makes the rotating speed of petrol engine in the situation that load constantly changes, and is stabilized in the speed range of setting.Analyze on the domestic and international basis about electronic speed regulator present Research, for electronic speed regulator, in the transient process of petrol engine, the dynamic characteristic that how to improve electronic speed regulator is studied.Analyze the impact of regulated quantity that petrol engine changes relation between throttle opening variation and closure at the transient process medium speed dynamic characteristic on electronic speed regulator.Adopt the control of segmented digital PID, according to the requirement of petrol engine transient process, improve the dynamic responding speed of electronic speed regulator, improve rate of regulating speed in instantaneous, eliminate in time overshoot, shorten stabilization time.
Electronic speed regulator relies on control software to realize regulation and control function, makes the rotating speed of petrol engine in the situation that load constantly changes, and is stabilized in the speed range of setting.Solved the shortcoming that mechanical speed governor cannot overcome, its stable state, transient state speed governing rate and transient time all can be controlled by program, have very strong versatility and expansion capability.Actuator adopts four phase step motor, electrical pulsing signal is varied to the operating motor of corner or rotating speed.As long as Software for Design is proper, just can directly drive the closure of petrol engine, its control accuracy is higher, and control system circuit is simple, power amplifier element is few, reliable operation.
The shortcomings such as what the speed regulator on existing petrol engine generally used is mechanical speed governor, and it exists stable state, instantaneous speed adjusting performance poor, and stabilization time is long.The research of carrying out with electronic speed regulator for miniature high-speed petrol engine both at home and abroad is at present relatively less.Compared with use for diesel engine electronic speed regulator, petrol engine has larger technical difficulty with electronic speed regulator, and wherein main cause is that petrol engine rotational speed is high, and rotary inertia is little, dn/ when impact or prominent load removal
large especially, and the aspect such as excessive poor performance in the non-linear and dynamic characteristic of Carburetor static characteristic, particularly the dynamic characteristic of electronic speed regulator is had to very high requirement.For the needs that adapt to produce, develop a kind of cheap, reliability is high, the Digital electronic speed control device with versatility and expansivity is very necessary, its application prospect is boundless.
Summary of the invention
The object of the present invention is to provide a kind of petrol engine electronic speed regulator, solved existing petrol engine speed regulator and adopted mechanical type stable state, the poor problem of instantaneous speed adjusting performance.
The technical solution adopted in the present invention is to comprise rotating speed sampling module, digital controller, Execution driven module and final controlling element; Described rotating speed sampling module obtains current tach signal, and signal is carried out giving digital controller after digitized processing; Described digital controller utilizes pid number control algorithm to process the signal of receiving in digital controller, and controlled order flows to Execution driven module; Described Execution driven module is carried out control command according to control command actuate actuators; The closure of described final controlling element control petrol engine, thus the output speed of petrol engine is regulated.
Further, described pid number control algorithm formula is as follows:
ΔU(i)＝K'
Ie(i)+K'
p[e(i)-e(i-1)]+K'
D[e(i)+e(i-2)-2e(i-1)]
In formula, e (i) represents the poor of current rotating speed and setting value;
represent scaling factor, e (i)-e (i-1) represents the poor of current rotating speed and a front rotating speed, the variation speed of response speed; The acceleration of e (i)+e (i-2)-2e (i-1) rotating speed; Δ U (i) is the controlling increment of output, and the size of numerical value represents the amount regulating when inferior calculating needs, and on duty is timing, and expression need to turn down closure; On duty when negative, the open the throttle wide of indicating, because the rotating speed of petrol engine is very high, the variation speed of speed and the variation of acceleration are negligible, therefore get integral coefficient K'
p, differential coefficient K'
dbe zero.
Whole control circuit is made up of key control unit AT89C51 single-chip minimum system and peripheral circuit; Peripheral circuit comprises that input signal shaping circuit, rotating speed adopt the drive circuit of circuit and stepper motor; The output speed signal of petrol engine, operational amplifier through input signal shaping circuit amplifies, photo coupler to its shaping after, after isolation undesired signal, pass through again not circuit, consider the signal that removes negative half-cycle, as the input signal of single-chip minimum system, single-chip minimum system calculates by pid number control algorithm the signal of input, through stepper motor driving circuit, realize the control of the clockwise and anticlockwise of stepper motor, and then realize the control of petrol engine closure and rotating speed.
Further, described single-chip minimum system comprises AT89C51 single-chip microcomputer, crystal oscillation circuit and reset circuit, and the crystal oscillator in crystal oscillation circuit is quartz crystal oscillator, for producing reference frequency, carry out the accuracy of control circuit medium frequency by reference frequency, meanwhile, it also can produce oscillating current, send CLK clock to single-chip microcomputer, in circuit, capacitor C 1 and C2 are chosen as 30pF, and crystal oscillator frequency is 12MHz, and reset circuit adopts manual button to reset.
Further, the output speed signal of described signal transformation circuit to petrol engine, isolates through the signal that operational amplifier amplifies, photo coupler aligns after shaping, removes the undesired signal in circuit.
It is high that the petrol engine electronic speed regulator that the invention has the beneficial effects as follows employing has reliability, instantaneous good speed adjustment features.
Brief description of the drawings
Fig. 1 is electronic speed regulator modular structure schematic diagram of the present invention;
Fig. 2 is control circuit figure of the present invention;
Fig. 3 is single-chip microcomputer minimal application system circuit theory diagrams of the present invention;
Fig. 4 is single-chip microcomputer input signal shaping circuit schematic diagram of the present invention;
Fig. 5 is A phase step motor driving circuit principle figure of the present invention;
Fig. 6 is that rotating speed of the present invention adopts circuit theory diagrams;
Fig. 7 is Step-by-step Motor Device Driver flow chart of the present invention;
Fig. 8 is rotating speed collecting flowchart figure of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of petrol engine electronic speed regulator, comprises rotating speed sampling module 1, digital controller 2, Execution driven module 3 and final controlling element 4;
Described rotating speed sampling module 1 obtains current tach signal, and signal is carried out giving digital controller 2 after digitized processing;
Digital controller 2 utilizes pid number control algorithm to process the signal of receiving in digital controller 2, and controlled order flows to Execution driven module 3;
Described Execution driven module 3 is carried out control command according to control command actuate actuators 4;
Described final controlling element 4 is controlled the closure of petrol engine 5, thereby the output speed of petrol engine 5 is regulated.
As shown in Figure 1, the output speed of petrol engine 5 is continuous quantities to electronic regulator system structure, and the tach signal that digital controller 2 is accepted and the control to Execution driven module 3 etc. is all discrete magnitude.Digital controller 2 mainly completes and regulates the rotating speed of petrol engine 5 and control and calculate, and it is the core of Digital electronic speed control device.According to the control requirement of system, the rotating speed of petrol engine 5 to be controlled, control algorithm is realized by program, and control algorithm and corresponding control program have determined the effect of controlling.Rotating speed sampling module 1 requires reliable and stable, and the cycle of sampling is shorter, and the whole system including petrol engine 5 is more close to continuous system, and rotating speed is also just more stable.Petrol engine 5 has the feature of periodic duty, even in the time of stable operation, and different crank angles, the transient speed of petrol engine 5 is also not quite similar.Therefore, the too short sampling time can not accurately be reflected the rotating speed of petrol engine 5 on the contrary.Final controlling element 4 is key components that speed regulator is realized its function, and the performance of final controlling element 4 directly affects the control effect of speed regulator, requires the inertia of final controlling element 4 less, and dynamic response is fast,
Circuit design of the present invention is as follows:
The design of system master circuit processed: as shown in Figure 2, this control circuit is made up of key control unit AT89C51 single-chip minimum system and peripheral circuit.Peripheral circuit comprises that input signal shaping circuit, rotating speed adopt the drive circuit of circuit and stepper motor.
The output speed signal of petrol engine, operational amplifier through input signal shaping circuit amplifies, photo coupler to its shaping after, isolation undesired signal, adopt circuit not gate through rotating speed again, consider the signal that removes negative half-cycle, as the input signal of single-chip minimum system, single-chip minimum system carries out pid number calculating to the signal of input, through stepper motor driving circuit, realize the control of the clockwise and anticlockwise of stepper motor, and then realize the control of petrol engine 5 closures and rotating speed.
Single-chip minimum system: as shown in Figure 3, comprise AT89C51 single-chip microcomputer, crystal oscillation circuit and reset circuit.Crystal oscillator in crystal oscillation circuit is quartz crystal oscillator, is for producing reference frequency.Carry out the accuracy of control circuit medium frequency by reference frequency.Meanwhile, it also can produce oscillating current, sends CLK clock to single-chip microcomputer.In circuit, capacitor C 1 and C2 are chosen as 30pF.Crystal oscillator frequency is 12MHz.Reset circuit adopts manual button to reset.In the time of system works, button can be regarded two series resistorss as, because the resistance of lower surface resistance is large, and in the time that REST end is high level, system reset.Unclamp button, REST terminal voltage declines, and while reducing to low level, system is started working.
Signal transformation circuit design: as shown in Figure 4, the output speed signal of petrol engine, isolates through the signal that operational amplifier amplifies, photo coupler aligns after shaping, remove the undesired signal in circuit, pass through not gate, the signal of elimination negative half period, as the input signal of single-chip microcomputer again.
Stepper motor driving circuit design: as shown in Figure 5, the stepper motor that this test adopts is preferably four phase step motor.Stepper motor and Carburetor are coaxially installed, and the rotation of stepper motor makes the aperture of closure increase or reduce.While directly driving closure with stepper motor, as long as Software for Design is proper, be not easy " tourist bus " oscillatory occurences occurs, control accuracy is relatively high.
Rotating speed adopts circuit design: as shown in Figure 6, in this circuit sampling, the signal that petrol engine sends as the input signal of sample circuit, is gathered by the I/O mouth P3.0 of single-chip microcomputer after not gate shaping; P2.6 gathers impact or the prominent signal that unloads of petrol engine load; The Gao Siwei of P1 port gathers the phase sequence of stepper motor, and its input signal is to be shaped as one by one rectangular wave through two not gates.Because the capacity of AT89C51 single-chip microcomputer on-chip memory only has 4KB, again because the rotating speed of petrol engine is very high, each data bulk gathering is larger, thus must outer extension memory, can truly reflect the situation of whole dynamic process.Rotating speed adopts module to gather respectively the phase sequence of four phase step motor.
Design of System Software:
If Fig. 7 is Step-by-step Motor Device Driver flow chart, Fig. 8 is step shown in rotating speed collecting flowchart figure, pid number control algorithm is the control core part of digital controller 2 in electronic speed regulator, and in whole control system, control algorithm regulates the rotating speed of petrol engine after processing sampled signal.The formula of pid number control algorithm is as follows:
ΔU(i)＝K'
Ie(i)+K'
p[e(i)-e(i-1)]+K'
D[e(i)+e(i-2)-2e(i-1)]
In formula, e (i) represents the poor of current rotating speed and setting value; E (i)-e (i-1) represents the poor of current rotating speed and a front rotating speed, the variation speed of response speed; The acceleration of e (i)+e (i-2)-2e (i-1) rotating speed; Δ U (i) is the controlling increment of output, and the size of numerical value represents the amount regulating when inferior calculating needs.On duty is timing, and expression need to turn down closure; On duty when negative, the open the throttle wide of indicating.Because the rotating speed of petrol engine is very high, the variation speed of speed and the variation of acceleration are negligible, therefore get integral coefficient K'
p, differential coefficient K'
dbe zero.
represent scaling factor.
In actual utilization, the size of Δ U (i) value determines the amount that needs adjusting when inferior, determines again the speed speed regulating.The driving pulse frequency of design is higher, and the angular velocity of stepper motor is faster; Otherwise the angle of stepper motor is slower.The benefit of design is can reduce overshoot in the time of rotating speed slight fluctuations like this, and it is slow in the time significantly loading and unload, to avoid again responding.The rotating speed of setting petrol engine is 3000r/min, and generator is 9 pairs of magnetic poles, obtains tach signal at the output terminal of generator, and gate time is electrical signal complete cycle.In the time that the crystal oscillator of single chip computer AT 89C51 is 6MHz, a machine cycle is 2 μ s.Timer adopts 16 bit timing devices, and at the gate time position of setting speed 2.22ms, count value is 0280H.In the time that high eight-bit is greater than or less than 02H, petrol engine, in starting, shut down, significantly load or unloaded state, at this moment needs the rotating speed of petrol engine significantly to regulate, and makes it get back to as early as possible stable state; In the time that high eight-bit is 02H, petrol engine, under normal working, need to carry out minor adjustment.When high eight-bit is constant, low eight in the time that 7DH～83H changes, corresponding rotating speed is 3019～2986r/min, and now petrol engine is substantially in steady state, does not need adjustedly, and speed regulator is failure to actuate; In the time that 77H～89H changes, corresponding rotating speed is 3052～2955r/min when low eight, and now, stepper motor adopts four phase eight beat working method, in other situation, all adopts four two four to clap working methods mutually, like this, can improve its control accuracy.
In the time of address assignment, internal data memory unit 30H～37H, 40H～4FH, 60H～73H are bit memory addresses, and R0, R1 are work register.50H is 1, represents that the rotating speed of petrol engine needs to regulate; Be 0, do not need to regulate; 51H is 1, represents stepper motor forward; Be 0, represent reversion; 52H is 1, represents that high eight-bit is greater than or less than 02H, need to regulate greatly; Be 0, high eight-bit equals 02H, needs minor adjustment.
Adopt the control of segmented digital PID, according to the requirement of petrol engine transient process, improve the dynamic responding speed of electronic speed regulator, improve rate of regulating speed in instantaneous, eliminate in time overshoot, shorten stabilization time.
The present invention will be described to enumerate specific embodiment below:
Embodiment 1: the series product DS1225AD that the non-volatile random access storage device Dallas of this test employing company produces, it is 65536, complete static non-volatile (NV) SRAM, according to 8,8192 byte align, each NV SRAM all carries lithium cell and control circuit, control circuit continuous monitoring V
cCwhether exceed range of tolerable variance, once exceed range of tolerable variance, lithium cell just automatically switches to power supply state, write-protect will unconditionally enable to prevent that data are destroyed.NV SRAM can direct existing 8K × 8SRAM, meets general individual character pitch width, 28 pin DIP encapsulation.These devices also mate with the pin of 2764EEPROM, can directly substitute and strengthen its performance.This device is not write number of times restriction, can be directly and MPI, do not need extra support circuit.
The stepper motor that this test adopts is four phase step motor.Stepper motor and Carburetor are coaxially installed, and the rotation of stepper motor makes the aperture of closure increase or reduce.While directly driving closure with stepper motor, as long as Software for Design is proper, be not easy " tourist bus " oscillatory occurences occurs, control accuracy is relatively high.The major parameter of stepper motor is as shown in table 1, and drive circuit as shown in Figure 2.Wherein, stepper motor, Carburetor, valve are all the parts of link petrol engine, are parts for control system.Be to use program control stepper motor, open or close the size of valve.
Table 1
The model machine that this test adopts is four-stroke gasoline engine, and its rated speed is 3000r/min, and rotor has 9 pairs of magnetic poles.So when petrol engine is worked under rated speed, its ac frequency sending is:
Corresponding work cycle of petrol engine two cycles, send the mode that the one-period of Ac is counted, the size of the length reflection petrol engine rotational speed of the time of clocking if adopted to generator.The single-chip microcomputer that adopts 6MHz crystal oscillator, its gate time is 2 μ s, under rated speed, in one-period, gate time is:
When petrol engine rotational speed lower than set rotating speed time, the needed sampling time increases to some extent; Higher than set rotating speed time, the required sampling time reduces relatively, 2% the corresponding speed range of steady state speed governing rate is 3060～2940r/min, sampling time is 2.179～2.268ms, and this scheme does not need A/D conversion, frequency---voltage shifting circuit, circuit is simple, reliable operation.
The Ac that native system sends using magnetogenerator is as the tach signal of petrol engine, and in this circuit sampling, the signal that petrol engine sends as the input signal of sample circuit, is gathered by the I/O mouth P3.0 of single-chip microcomputer after not gate shaping; P2.6 gathers impact or the prominent signal that unloads of petrol engine load; The Gao Siwei of P1 port gathers the phase sequence of stepper motor, and its input signal is to be shaped as one by one rectangular wave through two not gates.Because the capacity of AT89C51 single-chip microcomputer on-chip memory only has 4KB, again because the rotating speed of petrol engine is very high, each data bulk gathering is larger, thus must outer extension memory, can truly reflect the situation of whole dynamic process.
By the experimental study a large amount of to petrol engine electronic speed regulator, its result shows: be under 3000r/min condition at the rotating speed of setting petrol engine, the instantaneous speed governing of this electronic speed regulator can reach 5.8%, and can reach 3.1s stabilization time, is all better than the requirement of national sector standard.
The above is only to preferred embodiment of the present invention, not the present invention is done to any pro forma restriction, every foundation technical spirit of the present invention is to any simple modification made for any of the above embodiments, and equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (5)
1. a petrol engine electronic speed regulator, is characterized in that: comprise rotating speed sampling module (1), digital controller (2), Execution driven module (3) and final controlling element (4);
Described rotating speed sampling module (1) obtains current tach signal, and signal is carried out giving digital controller (2) after digitized processing;
Described digital controller (2) utilizes pid number control algorithm to process the signal of receiving in digital controller (2), and controlled order flows to Execution driven module (3);
Described Execution driven module (3) is carried out control command according to control command actuate actuators (4);
Described final controlling element (4) is controlled the closure of petrol engine (5), thereby the output speed of petrol engine (5) is regulated.
2. according to a kind of petrol engine electronic speed regulator described in claim 1, it is characterized in that: described pid number control algorithm formula is as follows:
ΔU(i)＝K'
Ie(i)+K'
p[e(i)-e(i-1)]+K'
D[e(i)+e(i-2)-2e(i-1)]
In formula, e (i) represents the poor of current rotating speed and setting value;
represent scaling factor, e (i)-e (i-1) represents the poor of current rotating speed and a front rotating speed, the variation speed of response speed; The acceleration of e (i)+e (i-2)-2e (i-1) rotating speed; Δ U (i) is the controlling increment of output, and the size of numerical value represents the amount regulating when inferior calculating needs, and on duty is timing, and expression need to turn down closure; On duty when negative, the open the throttle wide of indicating, because the rotating speed of petrol engine is very high, the variation speed of speed and the variation of acceleration are negligible, therefore get integral coefficient K'
p, differential coefficient K'
dbe zero.
3. according to the control circuit of a kind of petrol engine electronic speed regulator described in claim 1, it is characterized in that: formed by AT89C51 single-chip minimum system and peripheral circuit; Peripheral circuit comprises that input signal shaping circuit, rotating speed adopt the drive circuit of circuit and stepper motor;
The output speed signal of petrol engine (5), operational amplifier through input signal shaping circuit amplifies, photo coupler to its shaping after, after isolation undesired signal, pass through again not circuit, consider the signal that removes negative half-cycle, as the input signal of single-chip minimum system, single-chip minimum system calculates by pid number control algorithm the signal of input, through stepper motor driving circuit, realize the control of the clockwise and anticlockwise of stepper motor, and then realize the control of petrol engine (5) closure and rotating speed.
4. according to the control circuit of a kind of petrol engine electronic speed regulator described in claim 3, it is characterized in that: described single-chip minimum system comprises AT89C51 single-chip microcomputer, crystal oscillation circuit and reset circuit, crystal oscillator in crystal oscillation circuit is quartz crystal oscillator, for producing reference frequency, carry out the accuracy of control circuit medium frequency by reference frequency, simultaneously, it also can produce oscillating current, send CLK clock to single-chip microcomputer, in circuit, capacitor C 1 and C2 are chosen as 30pF, and crystal oscillator frequency is 12MHz, and reset circuit adopts manual button to reset.
5. according to the control circuit of a kind of petrol engine electronic speed regulator described in claim 3, it is characterized in that: the output speed signal of described signal transformation circuit to petrol engine, isolate through the signal that operational amplifier amplifies, photo coupler aligns after shaping, remove the undesired signal in circuit.
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| CN104675526A (en) * | 2015-02-15 | 2015-06-03 | 江苏苏美达机电科技有限公司 | Hybrid speed regulating mechanism for gasoline engine |
| CN105305905A (en) * | 2015-12-04 | 2016-02-03 | 重庆和锐动力设备有限公司 | Electronic speed regulation and pressure regulation drive unit of gasoline engine generator |
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| CN106959687A (en) * | 2017-04-06 | 2017-07-18 | 武汉诺尔曼科技有限公司 | A kind of electronics rotational speed governor analog testing platform and method |
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| CN104481717A (en) * | 2014-12-05 | 2015-04-01 | 中国航空工业集团公司第六三一研究所 | Engine speed control method with online setting of PID (proportion integration differentiation) parameters |
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| CN105305905A (en) * | 2015-12-04 | 2016-02-03 | 重庆和锐动力设备有限公司 | Electronic speed regulation and pressure regulation drive unit of gasoline engine generator |
| CN106121841A (en) * | 2016-07-29 | 2016-11-16 | 山东精久科技有限公司 | A kind of high accuracy vehicle engine revolution speed control system |
| CN106121841B (en) * | 2016-07-29 | 2019-04-05 | 山东精久科技有限公司 | A kind of vehicle motor revolution speed control system |
| CN106959687A (en) * | 2017-04-06 | 2017-07-18 | 武汉诺尔曼科技有限公司 | A kind of electronics rotational speed governor analog testing platform and method |
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Application publication date: 20141015 |