CN105422681B - Hydro-viscous speed governing clutch control method based on dynamic PID control - Google Patents
Hydro-viscous speed governing clutch control method based on dynamic PID control Download PDFInfo
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- CN105422681B CN105422681B CN201511024524.5A CN201511024524A CN105422681B CN 105422681 B CN105422681 B CN 105422681B CN 201511024524 A CN201511024524 A CN 201511024524A CN 105422681 B CN105422681 B CN 105422681B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D35/00—Fluid clutches in which the clutching is predominantly obtained by fluid adhesion
- F16D35/005—Fluid clutches in which the clutching is predominantly obtained by fluid adhesion with multiple lamellae
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- General Engineering & Computer Science (AREA)
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- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a kind of hydro-viscous speed governing clutch control method based on dynamic PID control, operating condition is divided into starting state and running status by it, oil pressure will be controlled to be used as direct control object in starting state, in running status using output speed as direct control object, and the dynamic change of pid parameter is realized under operation.Compared with prior art, the present invention has the advantages that dynamic response is good, is not easy to cause that overshoot, regulating time are short, do not allow to be also easy to produce concussion.
Description
Technical field
The present invention relates to the control method of hydro-viscous speed governing clutch.
Background technology
Hydro-viscous speed governing clutch is the Novel transmission dress for growing up and being used widely in nineteen seventies
Put.It transmits torque and regulation rotating speed by the viscosity of liquid and the shear action of oil film, by adjustment control oil pressure change it is main,
Oil film thickness between driven friction disk is compression degree, so as under conditions of active rotating speed is constant, realize that driven shaft turns
Fast stepless speed regulation.Hydro-viscous speed governing clutch is mainly used in the fields such as blower fan, water pump, ribbon conveyer and special boat power
Close, as shown in figure 1, the speed-adjusting and control system of hydro-viscous speed governing clutch 90 is mainly by electro-hydraulic proportional valve 91, speed probe 92, electricity
The grade of device 93 composition is controlled, wherein electric controller 93 is the core of hydro-viscous speed governing clutch speed-adjusting and control system, and it uses PID control method
The output speed of hydro-viscous speed governing clutch 90 is adjusted.
Electric controller compared with rotating speed of target signal, obtained error amount is carried out the speed feedback signal of driven shaft
Processing, then pass through integration amplification, go to control the spillway discharge of electro-hydraulic proportional valve, hydro-viscous speed governing clutch is obtained corresponding control oil
Pressure, so as to obtain required output speed.Electro-hydraulic proportional valve is the object that electric controller directly controls, the spillway discharge of valve and input
Electric current is directly proportional, can continuous stepless adjustment control oil circuit pressure.
PID control method traditional at present, the operating mode where control target changes and its own significantly becomes
The problems such as dynamic response is poor, easily causes overshoot, regulating time length, easy generation to be shaken during change be present.
The content of the invention
The technical problems to be solved by the invention are to provide that a kind of dynamic response is good, is not easy to cause overshoot, regulating time
The hydro-viscous speed governing clutch control method based on dynamic PID control that is short, not allowing to be also easy to produce concussion.
In order to solve the above technical problems, the technical solution used in the present invention is：
Based on the hydro-viscous speed governing clutch control method of dynamic PID control, comprise the following steps：
A, operating condition is determined according to the output speed size of hydro-viscous speed governing clutch, if output speed be less than etc.
In default startup rotating speed, then judge that hydro-viscous speed governing clutch is in starting state, and go to step b, if output speed
More than default startup rotating speed, then judge that hydro-viscous speed governing clutch is in running status, and go to step e；
B, when hydro-viscous speed governing clutch is in starting state, the target control oil pressure of hydro-viscous speed governing clutch is arranged to
Set-point r (t), the actual control oil pressure of collection is arranged to value of feedback y (t)；
Oil pressure pid parameter K during starting state is set c,PS、KISAnd KDS, wherein, KPSTo start proportionality coefficient, KISTo open
Dynamic integral coefficient, KDSTo start differential coefficient；
D, according to PID control formulaCarry out PID outputs
U (t) calculating is measured, wherein, at the time of ts terminates for starting state, e (t)=r (t)-y (t)；
E, when hydro-viscous speed governing clutch is in running status, the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch is set
Set-point r (t) is set to, the actual output speed value detected is arranged to value of feedback y (t)；
Rotating speed pid parameter K during running status is set f,PD、KIDAnd KDD；Wherein, KPDFor running status proportionality coefficient, KID
For running status integral coefficient, KDDFor running status differential coefficient；KPDAnd KIDValue all in accordance with rotating speed change and dynamic become
Change；
G, according to PID control formulaCarry out
PID output quantity u (t) calculating, wherein, e (t)=r (t)-y (t)；Sum=(u (ts)-KPD·e(ts+1)-KDD[e(ts+1)-
e(ts)])/KID, u (ts) is the PID output quantities of starting state finish time.
After adopting the above technical scheme, the present invention at least has following technique effect：
1st, due to the output speed of hydro-viscous speed governing clutch, excursion is quite big in operation, to ensure that it is starting
During be not hit, the application control object when hydro-viscous speed governing clutch is in starting state be set as control oil pressure, and
Control object is set as output speed when hydro-viscous speed governing clutch is in running status, and according to different driven shafts
Rotating speed, different pid parameters is set, so as to reach the effect for avoiding overshoot, shortening regulating time, reducing concussion；
2nd, the application with the addition of running status initialization error accumulated value, so as to realize in the integral term of running status
PID output quantity u (t) nothing rubs switching when starting state is switched to running status；
3rd, in being preferable to carry out of invention, the hydro-viscous speed governing clutch control method of the invention based on dynamic PID control
Also error term e (t) processing, proportional, integral term and differential term are handled, to reduce shake, vibration is reduced, ensures PID
Control being capable of stable operation.
Brief description of the drawings
Fig. 1 shows the schematic diagram of hydro-viscous speed governing clutch speed-adjusting and control system.
Fig. 2 is conventional PID control theory diagram.
Fig. 3 shows the flow of the change control object of hydro-viscous speed governing clutch control method according to an embodiment of the invention
Schematic diagram.
Fig. 4 shows the setting dynamic PID parameter of hydro-viscous speed governing clutch control method according to an embodiment of the invention
Schematic flow sheet.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Conventional PID control system theory diagram is as shown in Figure 2.The control system is by PID controller and controlled device group
Into.Wherein r (t) is set-point, and y (t) is the value of feedback of system, and set-point forms control deviation e (t)=r (t)-y with value of feedback
(t)；Inputs of the e (t) as PID controller, u (t) is as the output of PID controller and the input of controlled device, so PID is controlled
The control law of device processed is：
Wherein KPFor the proportionality coefficient of controller, KIFor the integral coefficient of controller, KDFor the differential coefficient of controller.
In conventional PID control, once the parameter of PID controller determines that it only will be matched with currently assigned controlled device,
When time-varying does not occur for controlled device, the PID controller can obtain very good control effect.But in real industry spot,
Slow time-varying can occur during operation for many controlled devices and by probabilistic interference, static PID control
Device carries out best match because it can not realize the Self-tuning System of parameter with current time-varying object, so as to cause control performance
It is serious to be deteriorated.
Refer to Fig. 3 and Fig. 4.Hydro-viscous speed governing clutch control according to an embodiment of the invention based on dynamic PID control
Method processed, comprises the following steps：
A, operating condition is determined according to the output speed size of hydro-viscous speed governing clutch, if output speed be less than etc.
In default startup rotating speed, then judge that hydro-viscous speed governing clutch is in starting state, and go to step b, if output speed
More than default startup rotating speed, then judge that hydro-viscous speed governing clutch is in running status, and go to step e；
B, when hydro-viscous speed governing clutch is in starting state, the target control oil pressure of hydro-viscous speed governing clutch is arranged to
Set-point r (t), the actual control oil pressure of collection is arranged to value of feedback y (t)；
Oil pressure pid parameter K during starting state is set c,PS、KISAnd KDS, wherein, KPSTo start proportionality coefficient, KISTo open
Dynamic integral coefficient, KDSTo start differential coefficient；
D, according to PID control formulaCarry out PID output quantities
U (t) calculating, wherein, at the time of ts terminates for starting state, e (t)=r (t)-y (t)；
E, when hydro-viscous speed governing clutch is in running status, the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch is set
Set-point r (t) is set to, the actual output speed value detected is arranged to value of feedback y (t)；
Rotating speed pid parameter K during running status is set f,PD、KIDAnd KDD；Wherein, KPDAnd KIDValue all in accordance with rotating speed
Change and dynamic change：
When the rotating speed of target of driven shaft is less than default first rotating speed：
KPD=(a × 200/MainSpeed+b) KP；KID=(c × 200/MainSpeed+d) KI；KDD=KD；
When the rotating speed of target of driven shaft is more than default second rotating speed：
KPD=(a+b) KP；KID=(c+d) KI；KDD=KD；
When the rotating speed of target of driven shaft is more than or equal to default first rotating speed and is less than or equal to default second rotating speed：
KPD=(a × DestnationSpeed/MainSpeed+b) KP；
KID=(c × DestnationSpeed/MainSpeed+d) KI；
KDD=KD；
Wherein, KPDFor running status proportionality coefficient, KIDFor running status integral coefficient, KDDFor running status differential coefficient；
KPFor preset ratio constant；KITo preset integral constant；KDTo preset derivative constant；A, b, c and d are default weight coefficient；
MainSpeed is the active rotating speed of hydro-viscous speed governing clutch, and DestnationSpeed is the driven shaft of hydro-viscous speed governing clutch
Rotating speed of target；First rotating speed is the 10%~20% of the active rotating speed of hydro-viscous speed governing clutch, and the second rotating speed, which is that liquid is viscous, to be adjusted
The 80%~90% of the active rotating speed of speed clutch；
G, according to PID control formulaCarry out
PID output quantity u (t) calculating, wherein, e (t)=r (t)-y (t)；Sum=(u (ts)-KPD·e(ts+1)-KDD[e(ts+1)-
e(ts)])/KID, u (ts) is the PID output quantities of starting state finish time, at the time of ts+1 starts for running status, e (ts+
1) it is the error amount at ts+1 moment.KPDE (t) is running status proportional, KDD[e (t)-e (t-1)] is running status differential
.
If starting state is directly switched into running status, then its pid parameter, error term e (t) all it is possible that
Mutation, now mutation also occurs in PID output quantity u (t), causes final control object output speed to occur out of control.To ensure
The nothing that PID output quantity u (t) in the handoff procedure of running status are switched to from starting state rubs switching, and the application is in operation shape
In the integral term of state, running status initialization error accumulated value Sum is with the addition of, it is achieved thereby that PID output quantity u (t) nothing is rubbed
Dynamic switching.
In the present embodiment, the default startup rotating speed is 100~300 revs/min.1000≤KPS≤ 5000,10≤
KIS≤ 100,0≤KDS≤1；1000≤KP≤ 5000,10≤KI≤ 100,0≤KD≤1；A, b, c and d are all higher than 0 and are less than or equal to
5。
In a more specifical embodiment, it is 200 revs/min to start rotating speed, KPS=3000, KIS=20, KDS=0；
KP=2000, KI=10, KD=0；A=2, b=1, c, and d are equal to 1, and active rotating speed is 1500 revs/min.First rotating speed
For the 15% of the active rotating speed of hydro-viscous speed governing clutch, the second rotating speed is the active rotating speed of hydro-viscous speed governing clutch
85%.
In a preferred embodiment of the invention, in above-mentioned step b and step e, to set-point r (t) and value of feedback y
(t) normalized has been carried out.And in above-mentioned step d and step g, do error term processing, proportional processing, integration
Item processing and differential term processing.
Error term processing includes：In step d and step g, if error term e (t) absolute value is dead less than or equal to default
Area setting value DeadBand or e (t) absolute value are more than default dead band setting value DeadBand but are not above predetermined
Time T, then e (t) is arranged to 0, and when e (t) absolute value is more than the KB limit PID_ERROR_MAX_ of error amount
During LIMIT, e (t) is made to be equal to PID_ERROR_MAX_LIMIT.Error term processing can be such that PID control more stably runs,
Prevent shake.In the present embodiment, 0≤DeadBand≤0.005,0 ＜ T1≤10 second, the maximum limitation of the error amount
Value PID_ERROR_MAX_LIMIT is equal to 1.
Proportional processing includes：In step d, work as KPSE (t) absolute value is more than the KB limit of proportional component
During PID_P_MAX_LIMIT, then K is madePSE (t) is equal to PID_P_MAX_LIMIT；In step g, work as KPDE's (t) is absolute
When value is more than the KB limit PID_P_MAX_LIMIT of proportional component, then K is madePDE (t) is equal to PID_P_MAX_LIMIT.
In the present embodiment, the KB limit PID_P_MAX_LIMIT of described proportional component is equal to 1.
Integral term processing includes：In step d, when error accumulation valueMore than deviation accumulation KB limit PID_
During ERROR_ACC_MAX_LIMIT, then makeEqual to PID_ERROR_ACC_MAX_LIMIT；Work as integral termMore than integral element KB limit PID_I_MAX_LIMIT when, then makeEqual to PID_I_
MAX_LIMIT.In step g, when error accumulation valueMore than deviation accumulation KB limit PID_
During ERROR_ACC_MAX_LIMIT, then makeEqual to PID_ERROR_ACC_MAX_LIMIT；Work as integral termMore than integral element KB limit PID_I_MAX_LIMIT when, then makeEqual to PID_I_MAX_LIMIT.In the present embodiment, 500≤PID_ERROR_ACC_MAX_
LIMIT≤2000；The KB limit PID_I_MAX_LIMIT of integral element is equal to 1.Preferably, PID_ERROR_ACC_
MAX_LIMIT=1000.
Differential term processing includes：In step d, work as KDSThe absolute value of [e (t)-e (t-1)] is more than the maximum of differentiation element
During limits value PID_D_MAX_LIMIT, then K is madeDS[e (t)-e (t-1)] is equal to PID_D_MAX_LIMIT；In step g, when
KDDWhen the absolute value of [e (t)-e (t-1)] is more than the KB limit PID_D_MAX_LIMIT of differentiation element, then K is madeDD[e
(t)-e (t-1)] it is equal to PID_D_MAX_LIMIT.In the present embodiment, the KB limit PID_D_ of the differentiation element
MAX_LIMIT is equal to 1.
The processing of passing ratio item, integral term processing and differential term processing, it can further reach reduction vibration, shorten
The effect of regulating time.
Claims (10)
1. the hydro-viscous speed governing clutch control method based on dynamic PID control, it is characterised in that comprise the following steps：
A, operating condition is determined according to the output speed size of hydro-viscous speed governing clutch, if output speed is less than or equal in advance
If startup rotating speed, then judge that hydro-viscous speed governing clutch is in starting state, and go to step b, if output speed is more than
Default startup rotating speed, then judge that hydro-viscous speed governing clutch is in running status, and go to step e；
B, when hydro-viscous speed governing clutch is in starting state, the target control oil pressure of hydro-viscous speed governing clutch is arranged to given
Value r (t), the actual control oil pressure of collection is arranged to value of feedback y (t)；
Oil pressure pid parameter K during starting state is set c,PS、KISAnd KDS, wherein, KPSTo start proportionality coefficient, KISAccumulated to start
Divide coefficient, KDSTo start differential coefficient；
D, according to PID control formulaCarry out PID output quantity u (t)
Calculating, wherein, at the time of ts terminates for starting state, e (t)=r (t)-y (t)；
E, when hydro-viscous speed governing clutch is in running status, the rotating speed of target of the driven shaft of hydro-viscous speed governing clutch is arranged to
Set-point r (t), the actual output speed value detected is arranged to value of feedback y (t)；
Rotating speed pid parameter K during running status is set f,PD、KIDAnd KDD；Wherein, KPDFor running status proportionality coefficient, KIDFor fortune
Row State integral coefficient, KDDFor running status differential coefficient；KPDAnd KIDValue all in accordance with rotating speed change and dynamic change；
G, according to PID control formulaIt is defeated to carry out PID
Output u (t) calculating, wherein, e (t)=r (t)-y (t)；Sum=(u (ts)-KPD·e(ts+1)-KDD[e(ts+1)-e
(ts)])/KID, u (ts) is the PID output quantities of starting state finish time.
2. the hydro-viscous speed governing clutch control method according to claim 1 based on dynamic PID control, it is characterised in that
In described step f：
When the rotating speed of target of driven shaft is less than default first rotating speed：
KPD=(a × 200/MainSpeed+b) KP；KID=(c × 200/MainSpeed+d) KI；KDD=KD；
When the rotating speed of target of driven shaft is more than default second rotating speed：
KPD=(a+b) KP；KID=(c+d) KI；KDD=KD；
When the rotating speed of target of driven shaft is more than or equal to default first rotating speed and is less than or equal to default second rotating speed：
KPD=(a × DestnationSpeed/MainSpeed+b) KP；
KID=(c × DestnationSpeed/MainSpeed+d) KI；
KDD=KD；
Wherein, KPFor preset ratio constant；KITo preset integral constant；KDTo preset derivative constant；A, b, c and d add to be default
Weight coefficient；MainSpeed is the active rotating speed of hydro-viscous speed governing clutch, and DestnationSpeed is hydro-viscous speed governing clutch
Driven shaft rotating speed of target；The first described rotating speed is the 10%~20% of the active rotating speed of hydro-viscous speed governing clutch, institute
The second rotating speed stated is the 80%~90% of the active rotating speed of hydro-viscous speed governing clutch.
3. the hydro-viscous speed governing clutch control method according to claim 1 or 2 based on dynamic PID control, its feature exist
In in described step b and step e, set-point r (t) and value of feedback y (t) are normalized.
4. the hydro-viscous speed governing clutch control method according to claim 3 based on dynamic PID control, it is characterised in that
In described step d and step g, if e (t) absolute value is less than or equal to default dead band setting value DeadBand or e (t)
Absolute value be more than and default dead band setting value DeadBand but be not above predetermined time T, then e (t) is arranged to 0, and
When e (t) absolute value is more than the KB limit PID_ERROR_MAX_LIMIT of error amount, e (t) is made to be equal to PID_
ERROR_MAX_LIMIT。
5. the hydro-viscous speed governing clutch control method according to claim 4 based on dynamic PID control, it is characterised in that 0
≤ DeadBand≤0.005,0 ＜ T≤10 second, the KB limit PID_ERROR_MAX_LIMIT of the error amount are equal to 1.
6. the hydro-viscous speed governing clutch control method according to claim 3 based on dynamic PID control, it is characterised in that
In described step d, work as KPSWhen e (t) absolute value is more than the KB limit PID_P_MAX_LIMIT of proportional component,
Then make KPSE (t) is equal to PID_P_MAX_LIMIT；
In described step g, work as KPDE (t) absolute value is more than the KB limit PID_P_MAX_LIMIT of proportional component
When, then make KPDE (t) is equal to PID_P_MAX_LIMIT；
The KB limit PID_P_MAX_LIMIT of described proportional component is equal to 1.
7. the hydro-viscous speed governing clutch control method according to claim 3 based on dynamic PID control, it is characterised in that
In described step d, when error accumulation valueMore than deviation accumulation KB limit PID_ERROR_ACC_MAX_
During LIMIT, then makeEqual to PID_ERROR_ACC_MAX_LIMIT；Work as integral termMore than integral element
During KB limit PID_I_MAX_LIMIT, then makeEqual to PID_I_MAX_LIMIT；
In described step g, when error accumulation valueMore than deviation accumulation KB limit PID_ERROR_
During ACC_MAX_LIMIT, then makeEqual to PID_ERROR_ACC_MAX_LIMIT；Work as integral termMore than integral element KB limit PID_I_MAX_LIMIT when, then makeEqual to PID_I_MAX_LIMIT.
8. the hydro-viscous speed governing clutch control method according to claim 7 based on dynamic PID control, it is characterised in that
500≤PID_ERROR_ACC_MAX_LIMIT≤2000；The KB limit PID_I_MAX_LIMIT of integral element is equal to 1.
9. the hydro-viscous speed governing clutch control method according to claim 3 based on dynamic PID control, it is characterised in that
In described step d, work as KDSThe absolute value of [e (t)-e (t-1)] is more than the KB limit PID_D_MAX_ of differentiation element
During LIMIT, then K is madeDS[e (t)-e (t-1)] is equal to PID_D_MAX_LIMIT；
In described step g, work as KDDThe absolute value of [e (t)-e (t-1)] is more than the KB limit PID_D_ of differentiation element
During MAX_LIMIT, then K is madeDD[e (t)-e (t-1)] is equal to PID_D_MAX_LIMIT；
The KB limit PID_D_MAX_LIMIT of the differentiation element is equal to 1.
10. the hydro-viscous speed governing clutch control method according to claim 2 based on dynamic PID control, it is characterised in that
The default startup rotating speed is 100~300 revs/min；
1000≤KPS≤ 5000,10≤KIS≤ 100,0≤KDS≤1；1000≤KP≤ 5000,10≤KI≤ 100,0≤KD≤1；
A, b, c and d are all higher than 0 less than or equal to 5.
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| JP6805912B2 (en) * | 2017-03-13 | 2020-12-23 | 横河電機株式会社 | Evaluation device, evaluation system, and evaluation method |
| CN113734406A (en) * | 2020-05-28 | 2021-12-03 | 中国船舶重工集团公司第七一一研究所 | LNG driving system based on distance oar |
| CN114658557A (en) * | 2022-03-28 | 2022-06-24 | 重庆红江机械有限责任公司 | Diesel engine analog electrohydraulic speed regulator control module |
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| JP3301388B2 (en) * | 1998-07-23 | 2002-07-15 | 日産自動車株式会社 | Transmission control device for continuously variable transmission |
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| CN101893849A (en) * | 2010-07-12 | 2010-11-24 | 绍兴县精功机电研究所有限公司 | Control method of PID controller |
| CN103256381A (en) * | 2012-02-21 | 2013-08-21 | 天津职业技术师范大学 | Transmission system speed ratio fuzzy proportional integration differentiation (PID) controller of ultra-mild hybrid electric vehicle |
| CN103883642A (en) * | 2014-04-16 | 2014-06-25 | 奇瑞汽车股份有限公司 | Control method and device for clutch oil pressure |
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