CN106338985A - Controller parameter adjusting method and apparatus - Google Patents
Controller parameter adjusting method and apparatus Download PDFInfo
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- CN106338985A CN106338985A CN201610942540.0A CN201610942540A CN106338985A CN 106338985 A CN106338985 A CN 106338985A CN 201610942540 A CN201610942540 A CN 201610942540A CN 106338985 A CN106338985 A CN 106338985A
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- array
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- controller
- parameter
- propulsion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a controller parameter adjusting method and apparatus. The method comprises the following steps: inputting the performance parameters of a propulsion unit and the performance parameters of a propulsion array; obtaining the configuration requirement for the parameters of a controller; and connecting the controller with a computer terminal, modifying the controller parameters to make them suitable for the executing operations on the array layout of the preset propulsion array. With the method of the invention, the problem in the prior art is solved that for different array layouts, the controller has to be debugged repeatedly. For the convenient and flexible operations on the controller, the array layout of a propulsion array can be realized.
Description
Technical field
The present invention relates to field of aerospace technology, more particularly, to a kind of method of adjustment of controller parameter and device.
Background technology
Micro-satellite produces, launch cost is cheap, light weight, and functional density is big, has broad prospect of application.Miniature push away
Power device array will be widely used in micro-satellite, gesture stability, gravitation can be assisted to compensate, position keeps, orbit adjusting.
Micro rocket propeller structure is simple, with low cost, and Technical comparing is ripe.High thrust, burning time is short, can
To meet the requirement of the fast reserve of this kind of spacecraft.Can on the same chip the tank of integrated making various sizes, larynx neck and
Load different propellants.Due to adopting mems technology completely, there is no movable part, do not leak, can be with other ems element collection
Become, thus angle of rake volume and quality can be greatly reduced, be particularly suitable for the system of low cost, such as micro-satellite and nanometer are defended
Star.But, shortcoming is sex work of single-shot.The way of common people is by increasing thruster quantity, they being integrated in one
Rise, make two-dimensional array.Such array lifetime is also more short, and after several times, many propulsion combinations also cannot synthesize.This
Outward, need for different arrays, design different controllers, design efforts would is big, does not have ease for use.
Content of the invention
(1) technical problem to be solved
In consideration of it, be necessary for conventional art exist problem, there is provided a kind of method of adjustment of controller parameter and
Device, can solve the problem that and be directed to different array layouts in prior art, repeat the problem of debugging control device.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides a kind of method of adjustment of controller parameter, methods described bag
Include: the performance parameter of the performance parameter of input propulsion unit and input propulsion array；Obtain the described controller parameter of itself
Configuration requirement；Described controller and computer terminal are attached, change described controller parameter to adapt to default described push away
Enter array array layout execute operation.
Wherein in an embodiment, the performance parameter of described input propulsion unit includes: input average thrust and mistake
Difference, input mean effort time and error, input ignition delay time；And described input propulsion array performance parameter bag
Include: input described array layout and the input number of plies.
Wherein in an embodiment, described array layout is multi-layer separable miniature propulsion array.
Wherein in an embodiment, the miniature propulsion array of described multi-layer separable adopts shape memory alloy spring,
It is set to separate locking mechanism.
A kind of adjusting apparatus of controller parameter be also proposed based on same design, described device includes: input module, use
In the performance parameter of input propulsion unit and the performance parameter of input propulsion array；Parameter configuration acquisition module, for obtaining
The parameter configuration of described controller itself requires；Parameter configuration modified module, for carrying out described controller with computer terminal
Connect, change described controller parameter with adapt to default described propulsion array array layout execute operation.
Wherein in an embodiment, described input module is additionally operable to input average thrust and error, the average work of input
With time and error, input ignition delay time；And input described array layout and the input number of plies.
Wherein in an embodiment, described array layout is multi-layer separable miniature propulsion array.
Wherein in an embodiment, the miniature propulsion array of described multi-layer separable adopts shape memory alloy spring,
It is set to separate locking mechanism.
(3) beneficial effect
The technique scheme of the present invention compared with prior art has the advantage that the invention provides a kind of controller
The method of adjustment of parameter and device, by inputting the performance parameter of propulsion unit and the performance parameter of input propulsion array；Obtain
The parameter configuration obtaining controller itself requires；Controller is attached with computer, modification controller parameter is default to adapt to
Propulsion array array layout execute operation.Said method can solve the problem that and is directed to different array layouts in prior art, repeats
Debugging control device problem, and by the layout realizing propulsion array is operated to the convenience of controller, motility.
Except described above present invention solves the technical problem that, the technical characteristic of technical scheme that constitutes and have this
Outside the advantage that the technical characteristic of a little technical schemes is brought, the other technical characteristics of the present invention and these technical characteristics bring
Advantage, will combine accompanying drawing and further illustrate.
Brief description
Fig. 1 is the flow chart of steps of the method for adjustment of the controller parameter of the embodiment of the present invention；And
Fig. 2 is the structural representation of the adjusting apparatus of the controller parameter of the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples pair
The method of adjustment of controller parameter of the present invention and device are further elaborated.It should be appreciated that it is described herein concrete
Embodiment only in order to explain the present invention, is not intended to limit the present invention.
As shown in figure 1, the flow chart of steps for one of the embodiment method of adjustment of controller parameter.Concrete bag
Include following steps:
Step 102, the performance parameter of the performance parameter of input propulsion unit and input propulsion array.
In the present embodiment, the performance parameter of input propulsion unit includes: input average thrust and error, the average work of input
With time and error, input ignition delay time；And input propulsion array performance parameter include: input array layout with
And the input number of plies.Wherein, array layout be multi-layer separable miniature propulsion array, when change solid-rocket array layout,
During propulsion unit quantity, the method for adjustment of the controller parameter being proposed by the present embodiment, it is only necessary to on-line debugging, is changed and is controlled
The partial parameters of device are it is possible to adjustment controller is to the state being adapted to solid-rocket array, you can to greatly accelerate operation
Efficiency, and there is ease for use.Additionally, multi-layer separable miniature propulsion array adopts shape memory alloy spring, it is set to point
From locking mechanism.
It should be noted that under room temperature, marmem is elongation state, connection sliding block is driven to be stuck in attachment structure
In, cannot separate between two-layer.After one layer of array is finished above, in the separation locking mechanism connecting between two-layer array
Shape memory alloy spring is energized.Marmem after heating power shrinks, and slide block is driven and leaves attachment structure, then go up
One layer of face comes off, and so completes to separate.Other multilamellars are by that analogy.
Step 104, the parameter configuration obtaining controller itself requires.
Step 106, controller is attached with computer terminal, and modification controller parameter is to adapt to default propulsion array
Array layout execute operation.
A kind of method of adjustment of controller parameter that the present invention provides, by inputting the performance parameter of propulsion unit and defeated
Enter to advance the performance parameter of array；The parameter configuration obtaining controller itself requires；Controller is attached with computer terminal,
Modification controller parameter with adapt to default propulsion array array layout execute operation.Said method can solve the problem that existing skill
It is directed to different array layouts in art, repeat debugging control device problem, and by the convenience of controller, motility are operated and realized
The layout of propulsion array.
Based on same inventive concept, additionally provide a kind of adjusting apparatus of controller parameter, due to this device solve problem
Principle similar to a kind of aforementioned method of adjustment of controller parameter, therefore, the enforcement of this device can be according to preceding method
Concrete steps are realized, and repeat no more in place of repetition.
It should be noted that because the array layout of the present embodiment application is designed as multiple tier array design, it is desirable to have permissible
Supporting control software, algorithm.Design the time of controller in order to shorten propulsion array design personnel, the present invention also proposes one kind
The adjusting apparatus of controller parameter.Control program is write as modular form, core parameter can be with flexible modulation, according to joining in advance
Put software, input relevant parameter, you can complete the configuration of controller.
As shown in Fig. 2 the structural representation for one of the embodiment adjusting apparatus of controller parameter.This control
The adjusting apparatus 10 of device parameter include: input module 200, parameter configuration acquisition module 400 and parameter configuration modified module 600.
Wherein, input module 200 is used for the performance parameter inputting the performance parameter of propulsion unit and input propulsion array；
The parameter configuration that parameter configuration acquisition module 400 is used for obtaining controller itself requires；Parameter configuration modified module 600 is used for will
Controller is attached with computer terminal, modification controller parameter with adapt to default propulsion array array layout execute behaviour
Make.
In the present embodiment, input module 200 be additionally operable to input average thrust and error, the input mean effort time and
Error, input ignition delay time；And input array layout and the input number of plies.Wherein, array layout is that multilamellar is separable
The type that declines advances array.Specifically, multi-layer separable miniature propulsion array adopts shape memory alloy spring, is set to separate
Locking mechanism.
A kind of adjusting apparatus of controller parameter that the present invention provides, input the property of propulsion unit by input module 200
Can parameter and the performance parameter inputting propulsion array；Obtain the ginseng of controller itself again by parameter configuration acquisition module 400
Number configuration requirement；Eventually through parameter configuration modified module 600, controller is attached with computer terminal, modification controller ginseng
Count the array layout to adapt to default propulsion array executes operation.Said apparatus can solve the problem that and are directed to difference in prior art
Array layout, repeats debugging control device problem, and by the cloth realizing propulsion array is operated to the convenience of controller, motility
Office.
One of ordinary skill in the art will appreciate that realizing all or part of flow process in above-described embodiment method, it is permissible
Instruct related hardware to complete by computer program, described program can be stored in a computer read/write memory medium
In, this program is upon execution, it may include as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (read-only memory, rom) or random access memory (random access
Memory, ram) etc..
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (8)
1. a kind of method of adjustment of controller parameter is it is characterised in that methods described includes:
The performance parameter of input propulsion unit and the performance parameter of input propulsion array；
The parameter configuration obtaining described controller itself requires；
Described controller and computer terminal are attached, change described controller parameter to adapt to default described propulsion array
Array layout execute operation.
2. the method for adjustment of controller parameter according to claim 1 is it is characterised in that the property of described input propulsion unit
Can parameter include: input average thrust and error, input mean effort time and error, input ignition delay time；With
And
The performance parameter of described input propulsion array includes: inputs described array layout and the input number of plies.
3. the method for adjustment of controller parameter according to claim 1 is it is characterised in that described array layout can for multilamellar
Separate type miniature propulsion array.
4. the method for adjustment of controller parameter according to claim 3 is it is characterised in that described multi-layer separable is miniature
Propulsion array adopts shape memory alloy spring, is set to separate locking mechanism.
5. a kind of adjusting apparatus of controller parameter are it is characterised in that described device includes:
Input module, for inputting the performance parameter of propulsion unit and the performance parameter of input propulsion array；
Parameter configuration acquisition module, the parameter configuration for obtaining described controller itself requires；
Parameter configuration modified module, for described controller and computer terminal are attached, change described controller parameter with
Adapt to the default described array layout advancing array executes operation.
6. controller parameter according to claim 5 adjusting apparatus it is characterised in that described input module be additionally operable to defeated
Enter average thrust and error, input mean effort time and error, input ignition delay time；And
Input described array layout and the input number of plies.
7. the adjusting apparatus of controller parameter according to claim 5 are it is characterised in that described array layout can for multilamellar
Separate type miniature propulsion array.
8. the adjusting apparatus of controller parameter according to claim 7 are it is characterised in that described multi-layer separable is miniature
Propulsion array adopts shape memory alloy spring, is set to separate locking mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610942540.0A CN106338985A (en) | 2016-10-26 | 2016-10-26 | Controller parameter adjusting method and apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610942540.0A CN106338985A (en) | 2016-10-26 | 2016-10-26 | Controller parameter adjusting method and apparatus |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508347A (en) * | 2009-03-06 | 2009-08-19 | 上海微小卫星工程中心 | In-orbit autonomous shutdown control method of spacecraft propulsion system |
| CN101778759A (en) * | 2007-08-09 | 2010-07-14 | Lta有限公司 | lenticular airship and associated controls |
| US20140238762A1 (en) * | 2011-01-05 | 2014-08-28 | Orbotix, Inc. | Multi-purposed self-propelled device |
| CN106249668A (en) * | 2016-10-08 | 2016-12-21 | 北京航空航天大学 | Device parameter for miniature array propulsion plant regulates and controls method and apparatus |
-
2016
- 2016-10-26 CN CN201610942540.0A patent/CN106338985A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101778759A (en) * | 2007-08-09 | 2010-07-14 | Lta有限公司 | lenticular airship and associated controls |
| CN101508347A (en) * | 2009-03-06 | 2009-08-19 | 上海微小卫星工程中心 | In-orbit autonomous shutdown control method of spacecraft propulsion system |
| US20140238762A1 (en) * | 2011-01-05 | 2014-08-28 | Orbotix, Inc. | Multi-purposed self-propelled device |
| CN106249668A (en) * | 2016-10-08 | 2016-12-21 | 北京航空航天大学 | Device parameter for miniature array propulsion plant regulates and controls method and apparatus |
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Application publication date: 20170118 |