CN106597838A - Device and method for controlling steering engine - Google Patents
Device and method for controlling steering engine Download PDFInfo
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- CN106597838A CN106597838A CN201510673544.9A CN201510673544A CN106597838A CN 106597838 A CN106597838 A CN 106597838A CN 201510673544 A CN201510673544 A CN 201510673544A CN 106597838 A CN106597838 A CN 106597838A
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Abstract
The invention discloses a device and a method for controlling a steering engine. The method comprises the following steps: acquiring a practical output value and a preset comparison value, calculating a difference value between the practical output value and the preset comparison value and selecting PID (Proportion Integration Differentiation) control or PD (Proportion Differentiation) control according to the magnitude of the difference value, wherein the PID control means controlling the controlled quantity which is acquired after the difference value is subjected to proportion, integration and differentiation calculation and the PD control means controlling the controlled quantity which is acquired after the difference value is subjected to proportion and differentiation calculation. In such a manner, according to the method, the control at high response speed and with less vibration and overshoot can be realized.
Description
Technical field
The present invention relates to robotics, the device and side more particularly, to a kind of control steering wheel
Method.
Background technology
Steering wheel is important component part in robot architecture, is the execution machine of robot control system
Structure, it has collectively constituted the control system of robot with master controller and host computer.The normal work of steering wheel
When making, master controller is by reception and sends each steering wheel of control instruction to robot, by control
The rotation of steering wheel processed so as to control the deflection of rudder face, when rudder face deflects, feedback mechanism device
Position signalling is real-time transmitted to master controller, master controller is repaiied again to control surface deflection angle
Just, be finally completed corresponding high accuracy behavior act, such as the avoidance of robot soccer, robot,
The behaviors such as robot sumo, shooting.
Steering wheel is a scientific and technological crystalline solid for having mixed multinomial technology, and it is by direct current generator, reduction gearing
Group, sensor and control circuit composition, is a set of automaton.For steering wheel, position
It is its input pickup to put detector, and the position one that steering wheel is rotated becomes, the resistance of position detector
Value will and then become.The size of the resistance value is read by control circuit, just can be appropriate according to resistance
The speed of adjustment motor and direction, make motor rotate to specified angle.
The steering wheel of prior art realizes simple feedback control mainly by the change of resistance value, exists
The all relatively low problem of response speed, stability, reliability, dynamic and static state performance.
The content of the invention
The invention mainly solves the technical problem of providing a kind of device and method of control steering wheel, energy
Enough realize fast response time, concussion and the less control of overshoot.
To solve above-mentioned technical problem, one aspect of the present invention is：A kind of control is provided
The method of steering wheel processed, the method includes：Real output value and default fiducial value are obtained, and is calculated
The difference gone out between real output value and fiducial value；Selected according to the size of difference PID control or
Person's PD control, wherein PID control are to carry out difference to obtain after ratio, integration and differential calculation
Controlled quentity controlled variable be controlled, PD control is that difference is carried out into the control that obtains after ratio and differential calculation
Amount processed is controlled.
Wherein, method also includes：A default difference threshold.
Wherein, the step of according to the size of difference to select PID control or PD control, is further
Including：Judge difference whether less than or equal to difference threshold；If the result for judging is yes, carry out
PID control；If the result for judging is no, PD control is carried out.
Wherein, the formula of PID control and PD control is as follows：
Wherein, error (k) be difference, kpFor rate mu-factor, kiFor time of integration coefficient, kdFor
Derivative time coefficient, T is the sampling time, and β is the open loop coefficient of integration, and the value of β is：
λ is difference threshold, when β is 1, using PID control, when β is 0, using PD
Control.
Wherein, real output value is actual output current value, reality output velocity amplitude and reality output
Positional value.
To solve above-mentioned technical problem, another technical solution used in the present invention is：There is provided a kind of
The device of control steering wheel, the device includes：Difference calculating module, for obtain real output value and
Default fiducial value, and calculate the difference between real output value and fiducial value；Selecting module,
For selecting PID control or PD control according to the size of difference, wherein PID control be by
The controlled quentity controlled variable that difference carries out being obtained after ratio, integration and differential calculation is controlled, and PD control is
The controlled quentity controlled variable that difference carries out being obtained after ratio and differential calculation is controlled.
Wherein, device also includes：Presetting module, for presetting a difference threshold.
Wherein, selecting module is further included：Judging unit, for judge difference whether be less than or
Equal to difference threshold；Control unit, during for the result that judges in judging unit to be, carries out PID
Control, the result that judging unit judges as it is no when, carry out PD control.
Wherein, the formula of PID control and PD control is as follows：
Wherein, error (k) be difference, kpFor rate mu-factor, kiFor time of integration coefficient, kdFor
Derivative time coefficient, T is the sampling time, and β is the open loop coefficient of integration, and the value of β is：
λ is difference threshold, when β is 1, using PID control, when β is 0, using PD
Control.
Wherein, real output value is actual output current value, reality output velocity amplitude and reality output
Positional value.
The invention has the beneficial effects as follows：The situation of prior art is different from, the present invention provides a kind of control
The method of steering wheel processed, specially：Real output value and default fiducial value are obtained first, and are calculated
The difference gone out between real output value and fiducial value, then according to the size of difference selecting PID to control
System or PD control, wherein PID control are difference to be carried out after ratio, integration and differential calculation
The controlled quentity controlled variable for obtaining is controlled, and PD control is to carry out difference to obtain after ratio and differential calculation
Controlled quentity controlled variable be controlled.Therefore, the present invention can be according between real output value and fiducial value
The size of difference selecting different control modes, so as to realize fast response time, concussion and overshoot
Measure less control.
Description of the drawings
Fig. 1 is a kind of flow chart of the method for control steering wheel provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of the device of control steering wheel provided in an embodiment of the present invention.
Specific embodiment
Fig. 1 is referred to, Fig. 1 is a kind of stream of the method for control steering wheel provided in an embodiment of the present invention
Cheng Tu.As shown in figure 1, the method for the present invention is comprised the following steps：
Step S1：Obtain real output value and default fiducial value, and calculate real output value and
Difference between fiducial value.
Step S2：PID (Proportional Integration are selected according to the size of difference
Differential, Nonlinear PI differential) control or PD (Proportional Differential,
Proportion differential) control, wherein PID control is difference to be carried out after ratio, integration and differential calculation
The controlled quentity controlled variable for obtaining is controlled, and PD control is to carry out difference to obtain after ratio and differential calculation
Controlled quentity controlled variable be controlled.
Wherein, the present embodiment can also preset a difference threshold.
This step is specially and whether first determines whether difference less than or equal to difference threshold, if the knot for judging
Fruit is yes, then carry out PID control, if the result for judging is no, carries out PD control.
Wherein, the formula of PID control and PD control is as follows：
Wherein, error (k) be difference, kpFor rate mu-factor, kiFor time of integration coefficient, kdFor
Derivative time coefficient, T is the sampling time, and β is the open loop coefficient of integration, and the value of β is：
Wherein, λ is difference threshold, and when difference error (k) is less than or equal to difference threshold λ, β is
1, using PID control, it is ensured that the control accuracy of system；When difference error (k) is more than difference threshold λ
When, β is 0, using PD control, can avoid producing excessive overshoot, again has control device
Response speed faster.
From the above, the present embodiment adopts selection PID control or PD according to the size of difference
Control, when real output value is larger with default fiducial value deviation, cancels integral action, adopts
PD control, prevents because integral action reduces control device stability, overshoot increase；When
When real output value is be close to default fiducial value, integral algorithm is introduced, eliminated using PID control
Static difference, improves control accuracy.
The method of the present embodiment is mainly used in current loop control, speed ring control and position ring control
In system.In the present embodiment, real output value be actual output current value, reality output velocity amplitude and
Reality output positional value.
Specifically, current loop control is introduced first.Electric current loop refers to current feedback system, and one
As refer to for actual output current to access processing links using positive feedback or degenerative mode
Method, the mainly performance by improving the stability of electric current to improve control device.
The control of the electric current loop of the present embodiment employs the detached method of integration, and it is to traditional PI D
A kind of improvement of control method, its core concept be proportionality coefficient P arrange it is slightly larger,
Integral parameter I arranges smaller so as to both maintained the effect of integration, while and reducing letter
Number overshoot, the response time of accelerator, make electric current undulatory property control in certain scope
Within, the performance for making whole control device is greatly improved.And the wherein reality of electric current loop
What output valve was determined by der Geschwindigkeitkreis value, change with the mechanical periodicity of der Geschwindigkeitkreis, its trackability becomes
Change also greatly, therefore in the design the main factor for considering is the quick trace performance of electric current.
Make Ierror=Iref-Ifbk, wherein, IrefThe current value of the reference to give, i.e. fiducial value,
IfbkFor the actual output current value after current sample, IerrorFor IfbkAnd IrefDifference.By difference
|Ierror| with difference threshold IλRelatively：
(1) as | Ierror|≤IλWhen, that is, deviation ratio it is less when, using PID control, can
To improve the control accuracy of control device.
(2) as | Ierror| ＞ IλWhen, that is, deviation it is larger when, using PD control, can
To ensure the response speed of control device control and reduce the overshoot of control.
Described above is the control method of electric current loop, the control method of speed ring described below：
Speed ring mainly completes the speed governing of the motor of steering wheel and tests the speed, and speed ring is with the change of voltage
Change and change, in order to ensure the quick response of motor, to being loaded with preferable anti-interference, because
The control of the speed ring of this present embodiment equally adopts and detached method is integrated as electric current loop.Tool
Such as above the control of electric current loop is identical for body control principle, will not be described here.The ginseng of speed ring control
Number comes from two parameters, one be position ring reality output, another comes from rotation and compiles
The input of code device rate signal.
The control method of position ring introduced below：
Used as continuously tracing method, positional servosystem is not intended to position and overshoot and vibration occurs, with
Exempt from position control accuracy decline.Therefore, positioner adoption rate actuator.
The present invention also provides a kind of device of the control steering wheel for being applied to previously described method.Specifically
Fig. 2 is referred to, Fig. 2 is that the embodiment of the present invention provides a kind of structural representation of the device of control steering wheel
Figure.
As shown in Fig. 2 the device 10 of the control steering wheel of the present embodiment includes difference calculating module 11
With selecting module 12.
Wherein, difference calculating module 11 is used to obtain real output value and default fiducial value, and
Calculate the difference between real output value and fiducial value.
Selecting module 12 is used to select PID control or PD control according to the size of difference, its
Middle PID control is to be controlled the controlled quentity controlled variable that difference carries out being obtained after ratio, integration and differential calculation
System, PD control is to be controlled the controlled quentity controlled variable that difference carries out being obtained after ratio and differential calculation.
Further, the device 10 of the control steering wheel of the present embodiment also includes presetting module 13, uses
In a default difference threshold.
Further, selecting module 12 further includes judging unit 121 and control unit 122.
Wherein, whether judging unit 121 is used to judge difference less than or equal to difference threshold.Control unit
122 are used to, when the result that judging unit judges is to be, carry out PID control, sentence in judging unit
When disconnected result is no, PD control is carried out.
Wherein, the formula of PID control and PD control is as follows：
Wherein, error (k) be difference, kpFor rate mu-factor, kiFor time of integration coefficient, kdFor
Derivative time coefficient, T is the sampling time, and β is the open loop coefficient of integration, and the value of β is：
Wherein, λ is difference threshold, and when difference error (k) is less than or equal to difference threshold λ, β is
1, using PID control, it is ensured that the control accuracy of system；When difference error (k) is more than difference threshold λ
When, β is 0, using PD control, can avoid producing excessive overshoot, again has control device
Response speed faster.
The device of the present embodiment is mainly used in current loop control, speed ring control and position ring control
In system.In the present embodiment, real output value be actual output current value, reality output velocity amplitude and
Reality output positional value.Specifically control as it was noted above, will not be described here.
Wherein, electric current loop, speed ring and position ring are successively from outside to inside in structural order：Outer shroud
Position ring, medium ring speed ring, internal ring electric current loop.
In sum, the present invention is adopted according to the size of difference and selects PID control or PD controls
System, when real output value is larger with default fiducial value deviation, cancels integral action, using PD
Control, prevents because integral action reduces control device stability, overshoot increase；Work as reality
When output valve is be close to default fiducial value, integral algorithm is introduced, static difference is eliminated using PID control,
Improve control accuracy.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited,
Equivalent structure or equivalent flow conversion that every utilization description of the invention and accompanying drawing content are made, or
Other related technical fields are directly or indirectly used in, the patent that the present invention is included in the same manner is protected
In the range of shield.
Claims (10)
1. it is a kind of control steering wheel method, it is characterised in that methods described includes：
Obtain real output value and default fiducial value, and calculate the real output value and described
Difference between fiducial value；
PID control or PD control, wherein PID control are selected according to the size of the difference
It is to be controlled the controlled quentity controlled variable that the difference carries out being obtained after ratio, integration and differential calculation, PD
It is controlled to and is controlled the controlled quentity controlled variable that the difference carries out being obtained after ratio and differential calculation.
2. method according to claim 1, it is characterised in that methods described also includes：
A default difference threshold.
3. method according to claim 2, it is characterised in that described according to the difference
The step of size is to select PID control or PD control further includes：
Judge the difference whether less than or equal to the difference threshold；
If the result for judging is yes, PID control is carried out；
If the result for judging is no, PD control is carried out.
4. method according to claim 3, it is characterised in that the PID control and PD
The formula of control is as follows：
Wherein, error (k) be the difference, kpFor rate mu-factor, kiFor time of integration coefficient,
kdFor derivative time coefficient, T is the sampling time, and β is the open loop coefficient of integration, and the value of β is：
Wherein, the λ is the difference threshold, when the β is 1, using PID control,
When the β is 0, using PD control.
5. method according to claim 1, it is characterised in that the real output value is real
Border output current value, reality output velocity amplitude and reality output positional value.
6. it is a kind of control steering wheel device, it is characterised in that described device includes：
Difference calculating module, for obtaining real output value and default fiducial value, and calculates institute
State the difference between real output value and the fiducial value；
Selecting module, for selecting PID control or PD control according to the size of the difference,
Wherein PID control is that the difference is carried out into the controlled quentity controlled variable that obtains after ratio, integration and differential calculation
It is controlled, PD control is that the difference is carried out into the controlled quentity controlled variable that obtains after ratio and differential calculation
It is controlled.
7. device according to claim 6, it is characterised in that described device also includes：
Presetting module, for presetting a difference threshold.
8. device according to claim 7, it is characterised in that the selecting module is further
Including：
Judging unit, for judging the difference whether less than or equal to the difference threshold；
Control unit, during for the result that judges in the judging unit to be, carries out PID control,
The result that the judging unit judges as it is no when, carry out PD control.
9. device according to claim 8, it is characterised in that the PID control and PD
The formula of control is as follows：
Wherein, error (k) be the difference, kpFor rate mu-factor, kiFor time of integration coefficient,
kdFor derivative time coefficient, T is the sampling time, and β is the open loop coefficient of integration, and the value of β is：
Wherein, the λ is the difference threshold, when the β is 1, using PID control,
When the β is 0, using PD control.
10. device according to claim 6, it is characterised in that the real output value is
Actual output current value, reality output velocity amplitude and reality output positional value.
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| CN201510673544.9A CN106597838A (en) | 2015-10-19 | 2015-10-19 | Device and method for controlling steering engine |
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| CN201510673544.9A CN106597838A (en) | 2015-10-19 | 2015-10-19 | Device and method for controlling steering engine |
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Cited By (8)
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| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | The control response method, apparatus and steering engine of steering engine |
| CN109828456A (en) * | 2019-03-04 | 2019-05-31 | 沈阳华控科技发展有限公司 | A kind of Adaptive PID Control method |
| CN110435442A (en) * | 2019-08-19 | 2019-11-12 | 安徽江淮汽车集团股份有限公司 | A kind of pure electric vehicle truck runs at a low speed the control method and device of shake |
| CN110780597A (en) * | 2019-10-23 | 2020-02-11 | 四川航天烽火伺服控制技术有限公司 | Control method, device, equipment and medium for preventing steering engine from oscillating |
| CN111290262A (en) * | 2020-03-12 | 2020-06-16 | 江苏酷卡德工智能科技有限公司 | Control method and device of electric steering engine |
| CN111752143A (en) * | 2020-03-21 | 2020-10-09 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN112051729A (en) * | 2020-09-04 | 2020-12-08 | 上海农林职业技术学院 | PID control method and field water supply system |
| CN112051725A (en) * | 2020-07-27 | 2020-12-08 | 河北汉光重工有限责任公司 | High-precision indirect transmission servo stability control method |
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| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | The control response method, apparatus and steering engine of steering engine |
| CN109696825B (en) * | 2017-10-23 | 2022-04-15 | 深圳市优必选科技有限公司 | Control response method and device of steering engine and steering engine |
| CN109828456A (en) * | 2019-03-04 | 2019-05-31 | 沈阳华控科技发展有限公司 | A kind of Adaptive PID Control method |
| CN109828456B (en) * | 2019-03-04 | 2022-02-01 | 沈阳华控科技发展有限公司 | Self-adaptive PID control method |
| CN110435442B (en) * | 2019-08-19 | 2021-03-16 | 安徽江淮汽车集团股份有限公司 | Control method and device for low-speed running jitter of pure electric truck |
| CN110435442A (en) * | 2019-08-19 | 2019-11-12 | 安徽江淮汽车集团股份有限公司 | A kind of pure electric vehicle truck runs at a low speed the control method and device of shake |
| CN110780597A (en) * | 2019-10-23 | 2020-02-11 | 四川航天烽火伺服控制技术有限公司 | Control method, device, equipment and medium for preventing steering engine from oscillating |
| CN111290262A (en) * | 2020-03-12 | 2020-06-16 | 江苏酷卡德工智能科技有限公司 | Control method and device of electric steering engine |
| CN111752143A (en) * | 2020-03-21 | 2020-10-09 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN111752143B (en) * | 2020-03-21 | 2022-10-25 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN112051725A (en) * | 2020-07-27 | 2020-12-08 | 河北汉光重工有限责任公司 | High-precision indirect transmission servo stability control method |
| CN112051725B (en) * | 2020-07-27 | 2024-04-02 | 河北汉光重工有限责任公司 | High-precision indirect transmission servo stable control method |
| CN112051729A (en) * | 2020-09-04 | 2020-12-08 | 上海农林职业技术学院 | PID control method and field water supply system |
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