CN104698835A - Variable structure control system and method of electric steering engine - Google Patents
Variable structure control system and method of electric steering engine Download PDFInfo
- Publication number
- CN104698835A CN104698835A CN201510069880.2A CN201510069880A CN104698835A CN 104698835 A CN104698835 A CN 104698835A CN 201510069880 A CN201510069880 A CN 201510069880A CN 104698835 A CN104698835 A CN 104698835A
- Authority
- CN
- China
- Prior art keywords
- controller
- variable
- proportional
- output
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a variable structure control system and method of an electric steering engine. The variable structure control system comprises a position sensor, a signal conditioning circuit, a variable structure controller, a differential controller, a proportional controller and a proportional-integral controller. After a control surface control signal and a control surface feedback signal are respectively conditioned, difference operation is firstly performed, differential operation is conducted on an operation result, a differential operation result and the difference operation result are subjected to proportional operation and sent to an error operational amplifier to perform proportional-integral operation. A differential operation circuit parameter corresponds to a switching function controlled by a variable structure. The differential controller, the proportional controller and the proportional-integral controller are connected in sequence, a PID controller or a PD controller is formed according to an output of a variable structure control circuit, and accurate control of the electric steering engine is achieved.
Description
Technical field
The invention belongs to electric steering engine servocontrol field, be specifically related to a kind of variable structure control system and method for electric steering engine.
Background technology
Variable-structure PID control is conventional electric steering engine control method.Variable structure control method is the control function by designing a structure changes, enables the movement locus of controlled volume in phase plane enter the movement locus designed, thus enters steady state (SS) fast.System not only keeps the robustness to uncertain factors such as system architecture uncertainty, parameter uncertainty and external disturbance under varying structure modal, and can obtain comparatively satisfied dynamic property.But variable-structure control exists intrinsic jitter problem, the electric steering engine work under bad environment especially used on aerospace equipment, is difficult in working control, reach Optimal Control effect.
Summary of the invention
The object of the invention is the performance in order to improve electric steering engine further, a kind of variable structure control system for preventing electric steering engine from shaking and method are proposed, by hardware circuit, rudder face control signal and rudder face feedback signal are controlled, the difference determination switching function of foundation rudder face signal and control signal and control function, by changing controller architecture, efficiently solve the intrinsic jitter problem of the hyperharmonic variable-structure control that integration control causes in PID control, steering wheel response is fast, shake little, deflection angle precision is high, system robustness is good, Systematical control effect is made to reach best.
In order to achieve the above object, a kind of variable structure control system of electric steering engine, comprise the variable-structure controller of in-phase end reception control signal, the output terminal of variable-structure controller connects the input end of derivative controller and the first input end of proportional controller, the output terminal of derivative controller connects the second input end of proportional controller, the output terminal of proportional controller connects the input end of pi controller, pi controller exports PWM to main power circuit, main power circuit drives direct current generator to be rotated by gear set drive rudder face, position transducer detects the rudder face anglec of rotation, feedback signal is generated after signal conditioning circuit conditioning, feedback signal connects the end of oppisite phase of variable-structure controller.
The output signal of described variable-structure controller is that control signal deducts feedback signal.
What described proportional controller exported is the output signal passing ratio of the differentiation result of derivative controller and variable-structure controller is amplified after signal.
A control method for the variable structure control system of electric steering engine, comprises the following steps:
The first step: variable-structure controller carries out subtraction to control signal and feedback signal, difference is set to Δ V, variable-structure controller amplifies Δ V again, if gain is G1, if export as Uo1, the saturation voltage of the maximum output voltage of then Uo1=G1 × Δ V, Uo1 to be Uo1max=VCC-Vsat, Vsat be variable-structure controller; Be under the condition of definite value at VCC and Vsat, the size of G1 and Δ V determines whether variable-structure controller reaches maximal value and export, i.e. Saturated output, after setting G1, if the critical value entering Saturated output is Δ Vref, as Δ V >=Δ Vref, variable-structure controller exports steady state value Uo1max, no longer change with the increase of Δ V, G1 and Δ Vref is the function variable of variable-structure control switching function;
Second step: the Uo1max that variable-structure controller exports enters proportional controller and derivative controller, if the output of derivative controller is Uo2, if the gain of proportional controller is G2, exports as Uo3, then Uo3=G2 × (Uo1+Uo2);
3rd step: as Δ V < Δ Vref, Uo1 exports as variable quantity, the output Uo2 of derivative controller changes with the change of Uo1, proportional controller exports Uo3=G2 × (Uo1+Uo2), now, derivative controller, proportional controller, pi controller form a PID controller, carry out closed-loop control to system;
As Δ V >=Δ Vref, Uo1 reaches maximum output, and no longer change, the output Uo2 output valve of derivative controller is zero, proportional controller exports Uo3=G2 × (Uo1+0)=G2 × Uo1, is also steady state value, now, only pi controller forms PD controller, carries out closed-loop control to system;
4th step: pi controller exports PWM to main power circuit, main power circuit drives direct current generator to be rotated by gear set drive rudder face;
Step 5: position transducer detects the rudder face anglec of rotation, after signal conditioning circuit conditioning, generate feedback signal, feedback signal is input to the end of oppisite phase of variable-structure controller.
Compared with prior art, the invention provides a kind of structure simply with the Variable-structure PID control that hardware circuit realizes, the difference determination controller architecture of foundation feedback signal and control signal, adopt PD to control when difference is greater than setting value, adopt PID to control when difference is less than setting value, effectively improve response speed and the deflection angle precision of steering wheel, reduce the shake of steering wheel.
Accompanying drawing explanation
Fig. 1 is circuit block diagram of the present invention;
Fig. 2 is the physical circuit schematic diagram of the embodiment of the present invention 1.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
See Fig. 1, a kind of variable structure control system of electric steering engine, comprise the variable-structure controller of in-phase end reception control signal, the output terminal of variable-structure controller connects the input end of derivative controller and the first input end of proportional controller, the output terminal of derivative controller connects the second input end of proportional controller, the output terminal of proportional controller connects the input end of pi controller, pi controller exports PWM to main power circuit, main power circuit drives direct current generator to be rotated by gear set drive rudder face, position transducer detects the rudder face anglec of rotation, feedback signal is generated after signal conditioning circuit conditioning, feedback signal connects the end of oppisite phase of variable-structure controller.
The output signal of described variable-structure controller is that control signal deducts feedback signal.
What described proportional controller exported is the output signal passing ratio of the differentiation result of derivative controller and variable-structure controller is amplified after signal.
A control method for the variable structure control system of electric steering engine, comprises the following steps:
The first step: variable-structure controller carries out subtraction to control signal and feedback signal, difference is set to Δ V, variable-structure controller amplifies Δ V again, if gain is G1, if export as Uo1, the saturation voltage of the maximum output voltage of then Uo1=G1 × Δ V, Uo1 to be Uo1max=VCC-Vsat, Vsat be variable-structure controller; Be under the condition of definite value at VCC and Vsat, the size of G1 and Δ V determines whether variable-structure controller reaches maximal value and export, i.e. Saturated output, after setting G1, if the critical value entering Saturated output is Δ Vref, as Δ V >=Δ Vref, variable-structure controller exports steady state value Uo1max, no longer change with the increase of Δ V, G1 and Δ Vref is the function variable of variable-structure control switching function;
Second step: the Uo1max that variable-structure controller exports enters proportional controller and derivative controller, if the output of derivative controller is Uo2, if the gain of proportional controller is G2, exports as Uo3, then Uo3=G2 × (Uo1+Uo2);
3rd step: as Δ V < Δ Vref, Uo1 exports as variable quantity, the output Uo2 of derivative controller changes with the change of Uo1, proportional controller exports Uo3=G2 × (Uo1+Uo2), now, derivative controller, proportional controller, pi controller form a PID controller, carry out closed-loop control to system;
As Δ V >=Δ Vref, Uo1 reaches maximum output, and no longer change, the output Uo2 output valve of derivative controller is zero, proportional controller exports Uo3=G2 × (Uo1+0)=G2 × Uo1, is also steady state value, now, only pi controller forms PD controller, carries out closed-loop control to system;
4th step: pi controller exports PWM to main power circuit, main power circuit drives direct current generator to be rotated by gear set drive rudder face;
Step 5: position transducer detects the rudder face anglec of rotation, after signal conditioning circuit conditioning, generate feedback signal, feedback signal is input to the end of oppisite phase of variable-structure controller.
Pass through above-mentioned steps, change the gain of differential amplifier, and the difference arranging control signal and error signal just can realize variable-structure control, adopt PD to control when difference is greater than setting value, adopt PID to control when difference is less than setting value, steering wheel responds soon, it is little to shake, deflection angle precision is high, system robustness good, makes Systematical control effect reach best.
Embodiment 1:
See Fig. 2, the present embodiment is made up of differential amplifier circuit, derivative control circuits, proportional control circuit, proportional plus integral control circuit, main power circuit, direct current generator, gear set, position transducer and signal conditioning circuit.
Potentiometer RW1 gathers rudder face position signalling, after the signal conditioning circuit filtering that the 6th resistance R6 and the 3rd electric capacity C3, the 4th electric capacity C4 are formed, access is made up of the end of oppisite phase of differential amplifier circuit the first operational amplifier U1 and resistance R1, the homophase termination control inputs signal of operational amplifier U1; Differential amplifier exports a termination second electric capacity C2 and the second resistance R2, the 3rd resistance R3, the 7th resistance R7, the 8th resistance R8 and the second operational amplifier U2 and forms derivative control circuits, the proportional controller that 3rd operational amplifier U3 and the 5th resistance R5, the tenth resistance R10 are formed, its in-phase end connects the output terminal of the second operational amplifier U2 through the 9th resistance R9; The other end of derivative controller connects the in-phase end of the 3rd operational amplifier U3, the end of oppisite phase ground connection of the 3rd operational amplifier U3 through the 4th resistance R4; The proportional integral computing circuit be made up of the first electric capacity C1 and the 11 resistance R11, the 12 resistance R12, the 13 resistance R13 and four-operational amplifier U4, the output terminal of its homophase termination the 3rd operational amplifier U3; After pi controller completed percentage and integral operation, and benchmark triangle wave output pwm signal, drive direct current generator through main power circuit, rotated by gear set drive rudder face.
Claims (4)
1. the variable structure control system of an electric steering engine, it is characterized in that: the variable-structure controller comprising in-phase end reception control signal, the output terminal of variable-structure controller connects the input end of derivative controller and the first input end of proportional controller, the output terminal of derivative controller connects the second input end of proportional controller, the output terminal of proportional controller connects the input end of pi controller, pi controller exports PWM to main power circuit, main power circuit drives direct current generator to be rotated by gear set drive rudder face, position transducer detects the rudder face anglec of rotation, feedback signal is generated after signal conditioning circuit conditioning, feedback signal connects the end of oppisite phase of variable-structure controller.
2. the variable structure control system of a kind of electric steering engine according to claim 1, is characterized in that: the output signal of described variable-structure controller is that control signal deducts feedback signal.
3. the variable structure control system of a kind of electric steering engine according to claim 1, is characterized in that: what described proportional controller exported is the output signal passing ratio of the differentiation result of derivative controller and variable-structure controller is amplified after signal.
4. the control method of the variable structure control system of a kind of electric steering engine according to claim 1, is characterized in that: comprise the following steps:
The first step: variable-structure controller carries out subtraction to control signal and feedback signal, and difference is set to Δ V, and variable-structure controller amplifies Δ V again, if gain is G1, if the maximum output voltage exported as Uo1, then Uo1=G1 × Δ V, Uo1 is Uo1
max=VCC-Vsat, Vsat are the saturation voltage of variable-structure controller; Be under the condition of definite value at VCC and Vsat, the size of G1 and Δ V determines whether variable-structure controller reaches maximal value and export, i.e. Saturated output, after setting G1, if the critical value entering Saturated output is Δ Vref, as Δ V>=Δ Vref, variable-structure controller exports steady state value Uo1
max, no longer change with the increase of Δ V, G1 and Δ Vref is the function variable of variable-structure control switching function;
Second step: the Uo1 that variable-structure controller exports
maxenter proportional controller and derivative controller, if the output of derivative controller is Uo2, if the gain of proportional controller is G2, exports as Uo3, then Uo3=G2 × (Uo1+Uo2);
3rd step: as Δ V < Δ Vref, Uo1 exports as variable quantity, the output Uo2 of derivative controller changes with the change of Uo1, proportional controller exports Uo3=G2 × (Uo1+Uo2), now, derivative controller, proportional controller, pi controller form a PID controller, carry out closed-loop control to system;
As Δ V >=Δ Vref, Uo1 reaches maximum output, and no longer change, the output Uo2 output valve of derivative controller is zero, proportional controller exports Uo3=G2 × (Uo1+0)=G2 × Uo1, is also steady state value, now, only pi controller forms PD controller, carries out closed-loop control to system;
4th step: pi controller exports PWM to main power circuit, main power circuit drives direct current generator to be rotated by gear set drive rudder face;
Step 5: position transducer detects the rudder face anglec of rotation, after signal conditioning circuit conditioning, generate feedback signal, feedback signal is input to the end of oppisite phase of variable-structure controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510069880.2A CN104698835B (en) | 2015-02-10 | 2015-02-10 | The variable structure control system and method for a kind of electric steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510069880.2A CN104698835B (en) | 2015-02-10 | 2015-02-10 | The variable structure control system and method for a kind of electric steering engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104698835A true CN104698835A (en) | 2015-06-10 |
| CN104698835B CN104698835B (en) | 2018-06-19 |
Family
ID=53346079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510069880.2A Active CN104698835B (en) | 2015-02-10 | 2015-02-10 | The variable structure control system and method for a kind of electric steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104698835B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106374801A (en) * | 2016-10-10 | 2017-02-01 | 上海航天控制技术研究所 | Power-driven servo control system and method for self-adaptive adjustment according to deviation |
| CN106597838A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Device and method for controlling steering engine |
| CN107065549A (en) * | 2017-04-14 | 2017-08-18 | 烟台南山学院 | A kind of electric steering engine design method based on nonlinear variable structure |
| CN107707222A (en) * | 2017-09-29 | 2018-02-16 | 兰州飞行控制有限责任公司 | A kind of control surface position indicator drive circuit of double redundant sensors |
| CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
| CN108803357A (en) * | 2018-09-03 | 2018-11-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of the electric steering engine mixing control method and system of PID and improvement sliding formwork |
| CN109696910A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | Steering engine motion control method and device and computer readable storage medium |
| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | Control response method and device of steering engine and steering engine |
| CN112445128A (en) * | 2020-11-02 | 2021-03-05 | 中国科学院光电技术研究所 | Phase plane method based segment controller design method for fast transfer |
| CN112636663A (en) * | 2020-11-02 | 2021-04-09 | 上海有个机器人有限公司 | Shaft locking method for servo motor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102622001A (en) * | 2012-02-17 | 2012-08-01 | 哈尔滨建成集团有限公司 | Variable-parameter PID (proportion-integration-differentiation) control circuit and variable-parameter PID control method for electric steering gear |
-
2015
- 2015-02-10 CN CN201510069880.2A patent/CN104698835B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102622001A (en) * | 2012-02-17 | 2012-08-01 | 哈尔滨建成集团有限公司 | Variable-parameter PID (proportion-integration-differentiation) control circuit and variable-parameter PID control method for electric steering gear |
Non-Patent Citations (5)
| Title |
|---|
| 周军: "变结构控制理论在导弹电动舵机***设计中的应用", 《西北工业大学学报》 * |
| 彭书华等: "非线性摩擦干扰下的电动舵机滑模变结构控制", 《信息与控制》 * |
| 文建刚等: "电动舵机的变结构控制器设计", 《弹箭与制导学报》 * |
| 李岩等: "电动舵机离散滑模变结构控制器研究", 《南京理工大学学报（自然科学版）》 * |
| 赵峰等: "滑模变结构控制在电动舵机上的应用研究", 《上海航天》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597838A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Device and method for controlling steering engine |
| CN106374801B (en) * | 2016-10-10 | 2019-05-24 | 上海航天控制技术研究所 | A kind of electrical servo control system and method adaptively adjusted according to deviation |
| CN106374801A (en) * | 2016-10-10 | 2017-02-01 | 上海航天控制技术研究所 | Power-driven servo control system and method for self-adaptive adjustment according to deviation |
| CN107065549A (en) * | 2017-04-14 | 2017-08-18 | 烟台南山学院 | A kind of electric steering engine design method based on nonlinear variable structure |
| CN107065549B (en) * | 2017-04-14 | 2020-04-28 | 烟台南山学院 | Electric steering engine design method based on nonlinear variable structure |
| CN107707222A (en) * | 2017-09-29 | 2018-02-16 | 兰州飞行控制有限责任公司 | A kind of control surface position indicator drive circuit of double redundant sensors |
| CN109696910A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | Steering engine motion control method and device and computer readable storage medium |
| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | Control response method and device of steering engine and steering engine |
| CN109696910B (en) * | 2017-10-23 | 2022-04-15 | 深圳市优必选科技有限公司 | Steering engine motion control method and device and computer readable storage medium |
| CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
| CN108803357A (en) * | 2018-09-03 | 2018-11-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of the electric steering engine mixing control method and system of PID and improvement sliding formwork |
| CN112445128A (en) * | 2020-11-02 | 2021-03-05 | 中国科学院光电技术研究所 | Phase plane method based segment controller design method for fast transfer |
| CN112636663A (en) * | 2020-11-02 | 2021-04-09 | 上海有个机器人有限公司 | Shaft locking method for servo motor |
| CN112445128B (en) * | 2020-11-02 | 2022-08-23 | 中国科学院光电技术研究所 | Phase plane method based segment controller design method for fast transfer |
| CN112636663B (en) * | 2020-11-02 | 2023-09-08 | 上海有个机器人有限公司 | Servo motor shaft locking method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104698835B (en) | 2018-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104698835A (en) | Variable structure control system and method of electric steering engine | |
| Ding et al. | Disturbance-observer-based second-order sliding mode controller for speed control of PMSM drives | |
| Li et al. | On SFTSM control with fixed‐time convergence | |
| CN102969968B (en) | Permanent magnet synchronous motor control method | |
| CN108336935B (en) | Linear motor control method with cooperation of backstepping control and ESO | |
| CN104242769A (en) | Permanent magnet synchronous motor speed composite control method based on continuous terminal slip form technology | |
| CN105242678B (en) | A kind of steering gear swaying suppression circuit and steering gear system | |
| CN105159077A (en) | Finite-time continuous sliding mode control method for disturbance compensation of direct drive motor system | |
| CN108183645A (en) | The double power sliding-mode controls of permanent magnet synchronous motor based on extended state observer | |
| Dai et al. | ANN generalised inversion for the linearisation and decoupling control of nonlinear systems | |
| CN113300645A (en) | Improved control method of superspiral sliding die position-free sensor of permanent magnet synchronous motor | |
| CN111404432B (en) | Finite set model prediction direct speed control method of permanent magnet synchronous motor | |
| CN102790580B (en) | The building method of induction-type bearingless motor SVMs inverse decoupling controller | |
| CN112187127A (en) | Permanent magnet synchronous motor control method | |
| CN103631281B (en) | A kind of oil motor angular velocity servo system | |
| CN108803325B (en) | Robust finite time control method for permanent magnet synchronous motor servo system | |
| CN109884881A (en) | A kind of design for surely taking aim at servo controller based on nonlinear PID controller technology | |
| CN109687798A (en) | Mix stator magnetic suspension switched reluctance motor suspension system high_order sliding mode control method | |
| Li et al. | Nonsingular fast terminal sliding mode control with extended state observer and disturbance compensation for position tracking of electric cylinder | |
| CN108448987B (en) | Disturbance perception control method for three-phase permanent magnet synchronous motor | |
| Pyrhonen et al. | A reduced-order two-degree-of-freedom composite nonlinear feedback control for a rotary DC servo motor | |
| Li et al. | The Research of Gain Adaptive Linear Extended State Observer (ALESO) Based Active Disturbance Rejection Speed Control For Permanent Magnet Synchronous Motor. | |
| Xu et al. | Adaptive fuzzy observer-based command filtered discrete-time control for PMSMs with input constraint | |
| Lu et al. | Mechanical resonance suppression based on self-tuning notch filter for servo system | |
| Zheng et al. | Phase-lead Repetitive Control of a PMSM with Field-oriented Feedback Linearization and a disturbance observer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |