CN107657125A - Control System Design and pid parameter setting method and system based on associative simulation - Google Patents
Control System Design and pid parameter setting method and system based on associative simulation Download PDFInfo
- Publication number
- CN107657125A CN107657125A CN201710918957.8A CN201710918957A CN107657125A CN 107657125 A CN107657125 A CN 107657125A CN 201710918957 A CN201710918957 A CN 201710918957A CN 107657125 A CN107657125 A CN 107657125A
- Authority
- CN
- China
- Prior art keywords
- model
- transfer function
- control system
- associative simulation
- control
- 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
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention provides a kind of Control System Design based on associative simulation and pid parameter setting method and system, the characteristics of present invention can be reduced to permanent transfer function model based on various physical objecies near specific operation, pass through the basic methods of associative simulation, obtain the input and output historical data of physical object, establish the frequency domain transfer function model of the physical object, closed-loop control system is formed with pid control module, Control System Design can be rapidly completed and pid parameter adjusts work；The present invention does not need the test of mock-up compared with prior art, and mock-up will not be destroyed or produce site safety problem；And all working is completed under associative simulation, design result accuracy is high, is especially particularly suitable for coupling serious physical model.
Description
Technical field
The present invention relates to simulation analysis of computer and automation control area, more particularly to a kind of control based on associative simulation
System design processed and pid parameter setting method and system.
Background technology
PID (ratio-proportion, integration-integral, derivative-derivative) controller is to apply in the world
Most wide industrial control unit (ICU).It is to carry out bias adjustment to whole control system according to PID control principle, so that controlled variable
Actual value it is consistent with the predetermined value of technological requirement.The performance of PID control system depends primarily on the whole of PID controller parameter
It is fixed, such as Ziegler-Nichols frequency domain responses method, frequency domain analysis, phase margin Tuning, Method of Pole Placement, aritical ratio
Degree method, response-curve method etc..But the premise of all working is the transfer function model that must have control object.Transfer function model
Method for solving mainly includes the method for equal effect, time domain method and frequency domain method.
The method of equal effect is relatively easy, commonly uses lumped mass spring-damp system, it is assumed that is equipped for loading concentrated force and carry-out bit
The system of shifting, is set by zero shift, gravity is obtained, so as to obtain equivalent mass；Obtained by being emulated under actual condition static pressure
Approximate rigidity, then default damping value, you can try to achieve whole parameters of quality spring-damp system.It is but equivalent in this method
There is larger error in the solution of quality and integral stiffness, damping value is set entirely by rule of thumb, can not consider that its Non-linear coupling etc. is more
Kind factor, its transfer function model error are maximum.
The precision of time domain method is higher than the method for equal effect, mainly by establishing mould with the time domain gliding curve experimental data of object
Type.Under stationary conditions, using being tested under minimum, maximum and average load three times, test uses square-wave signal, obtains object
Dynamic characteristic responds.It is then assumed that the mathematical modeling of object is single order or second order aperiodic element with purely retarded.System
May be for aperiodic self-regulating plant or without self-regulating plant.The parameter of the various links of analog approach.But this method is straight
Connect and tested for mock-up, it is inconvenient for operation.
The precision of frequency domain method is higher than time domain method, and mainly by using linear system frequency retentivity, test object is inputted
The sinusoidal signal of different frequency, corresponding response is obtained, output amplitude, phase and input amplitude and phase bit comparison obtain different
Log magnitude-phase diagram under frequency, object frequency characteristic is simulated, establishes model.But this method is also directly against natural pattern
Type is tested, and operation is also inconvenient, and due to simulate the response under many high frequency situations, may damage mock-up.
In summary, existing method is not high there is precision, the shortcomings that complex operation, and is individually for physics
The model control (not including hydraulic pressure or transmission) in itself, has significant limitation, therefore, needs a kind of new technology hand badly
Section, the optimization that on the basis of the accuracy of design result is ensured, can complete control system optimized design and parameter are whole
It is fixed.
The content of the invention
In view of the above the shortcomings that prior art, the present invention provide a kind of Control System Design based on associative simulation with
Pid parameter setting method and system, to solve above-mentioned technical problem.
Control System Design provided by the invention based on associative simulation and pid parameter setting method, including：
The input and output historical data of the physical model of acquisition control object；
Establish the transfer function model of the control object；
By the transfer function model and pid control module composition closed-loop control system, complete to control by associative simulation
System design and pid parameter are adjusted；
According to the result of Control System Design, final Controlling model is obtained.
Further, the physical model of control object is modeled as FEM model, and using control input signal as border
Load-up condition, using controlled variable as simulation result history output quantity.
Further, according to the predetermined operating mode of the physical model of control object, acquisition limiting condition and main operating mode, and according to
The limiting condition and main operating mode obtain operating mode overlay area, using the operating mode overlay area as edge load condition.
Further, the transfer function model includes the first transfer function model and the second transfer function model, by constant
Edge load condition is converted to the sine curve of different frequency, and the emulation of FEM model is completed according to the sine curve, and
According to the inputoutput data under different frequency, the physical model of control object is reduced to the first transfer function model.
Further, the sine curve of the different frequency is inputted into first transfer function model, obtains output
The relative error of curve and FEM model simulation result, when relative error is more than default threshold value, to transfer function model
Optimize processing, and repeatedly input with last identical sine curve, it is described until relative error is less than default threshold value
Optimization processing includes changing the order of first transfer function model and/or encryption frequency interpolation point.
Further, the dynamical system in the physical model of control object is modeled, is converted into the second transmission letter
Exponential model, and first transfer function model, the second transfer function model are connected with pid control module, composition joint is imitative
True mode, associative simulation is carried out to various operating modes by the associative simulation model, according to the output of the associative simulation model
As a result, Controlling model is designed and parameter tuning；
The FEM model is connected with final Controlling model is obtained, the second associative simulation model is formed, by described
Second associative simulation model carries out associative simulation to various operating modes, verifies the correctness of final Controlling model；Will be initial limited
Meta-model replaces the Controlling model that the first transfer function model, the second transfer function model and optimization design finish with parameter tuning
Connection, associative simulation model is formed again, Controlling model is completed to verify.
The present invention also provides a kind of Control System Design based on associative simulation and pid parameter adjusting system, including：
Physical model simplified element, for obtaining the input and output historical data of control object physical model, and establish institute
State the transfer function model of control object；
Control System Design unit, for the transfer function model and pid control module to be formed into closed-loop control system,
Complete Control System Design and pid parameter is adjusted, and according to the result of Control System Design, obtain final Controlling model.
Further, the physical model simplified element, including：
Physical model finite-element module, for the physical model of control object to be modeled as into FEM model；
Limit physics operating mode definition module, for the predetermined operating mode according to physical model, obtain limiting condition and main work
Condition, and operating mode overlay area is obtained according to the limiting condition and main operating mode, carried the operating mode overlay area as border
Lotus condition；
System frequency domain recognizes module, complete for obtaining the sine curve of different frequency according to constant edge load condition
Into the emulation of FEM model, and according to the inputoutput data under different frequency, the physical model of control object is reduced to
First transfer function model.
Further, the Control System Design unit includes：
Control design case and parameter tuning module, are modeled for the dynamical system in the physical model to control object,
It is converted into the second transfer function model, and by first transfer function model, the second transfer function model and PID control
Module connects, and forms associative simulation model；
Physical system associative simulation module, for carrying out associative simulation to various operating modes by the associative simulation model,
According to the output result of the associative simulation model, final Controlling model is verified.
The present invention also provides a kind of computer-readable recording medium, is stored thereon with computer program, the program is processed
Device realizes any of the above-described methods described when performing.
Beneficial effects of the present invention：Based on the control system of associative simulation and pid parameter setting method and it is in the present invention
System, the characteristics of being reduced to permanent transfer function model based on various physical objecies, by the basic methods of associative simulation, obtain
The input and output historical data of physical object is taken, the frequency domain transfer function model of the physical object is established, with pid control module
Closed-loop control system is formed, Control System Design can be rapidly completed and pid parameter adjusts work；The present invention is compared with prior art
The test of mock-up is not needed, mock-up will not be destroyed or produce site safety problem；And all working is joining
The lower completion of emulation is closed, design result accuracy is high, is especially particularly suitable for coupling serious physical model, can ensure design knot
On the basis of the accuracy of fruit, the optimization for completing control system optimized design and parameter is adjusted.
Brief description of the drawings
Fig. 1 is being shown based on the control system of associative simulation and the principle of pid parameter setting method in the embodiment of the present invention
It is intended to.
Fig. 2 is the physical object crystallizer model structure schematic diagram in the embodiment of the present invention.
Fig. 3 is the crystallizer transfer function model schematic diagram in the embodiment of the present invention.
Fig. 4 is the crystallizer control system block diagram in the embodiment of the present invention.
Fig. 5 is Control System Design based on associative simulation and pid parameter setting method structure in the embodiment of the present invention
Flow chart.
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, only show the component relevant with the present invention in schema then rather than according to component count, shape and the size during actual implement
Draw, kenel, quantity and the ratio of each component can be a kind of random change during its actual implementation, and its assembly layout kenel
It is likely more complexity.
As shown in figure 1, Control System Design based on associative simulation and pid parameter setting method in the present embodiment, bag
Include：
The input and output historical data of the physical model of acquisition control object；
Establish the transfer function model of the control object；
By the transfer function model and pid control module composition closed-loop control system, complete to control by associative simulation
System design and pid parameter are adjusted；
According to the result of Control System Design, final Controlling model is obtained.
In the present embodiment, the characteristics of permanent transfer function model can be reduced to based on various physical objecies, one is passed through
Fixed method and flow, and the basic methods of associative simulation, the input and output historical data of physical object is obtained, establishes the thing
Manage the frequency domain transfer function model of object；The function model represents physical object, with pid control module composition closed-loop control system
System, can be rapidly completed Control System Design and pid parameter adjusts work；The result of Control System Design passes through associative simulation school again
Core, finally obtain accurate Controlling model.
As shown in figure 5, in the present embodiment, Control System Design and pid parameter setting method bag based on associative simulation
Include following steps：
The physical model of control object is reduced to a FEM model, and control input signal is arranged to border and carried
Lotus condition, controlled variable is arranged to simulation result history output quantity；
According to all predetermined operating modes of physical model, limiting condition and main operating mode are extracted, and it is theoretical using orthogonal experiment,
Operating mode overlay area is designed, is reflected as different edge load conditions；
For every kind of operating mode, design its frequency range section, by constant edge load conditional transition be different frequency just
Chord curve, the emulation of FEM model is completed, the final inputoutput data according under different frequency, recognized and managed using frequency domain
By physical model is reduced into the first transfer function model；
Identical sine curve is inputted in transfer function model, verifies its curve of output and FEM model simulation result
Relative error, row constraint can be entered to relative error by way of predetermined threshold value, when relative error is more than threshold value, i.e.,
The methods of when error is larger using transmission function order, optimized FEMs model or encryption frequency interpolation point is changed, it is converted into
New transfer function model；Until relative error is few enough, illustrate that the transfer function model can represent in some condition range
The FEM model, further represents physical model；
By the dynamical system on the physical model, including hydraulic system and motor transmission system, the second transmission letter is modeled as
Exponential model or system component；
Based on PID control theory, by the transfer function model of mechanical system, hydraulic system, transmission system, (including first pass
Delivery function model and the second transfer function model), connected with PID controller, form first be made up of analytical function
Simulation model is closed, by PID control design and setting method, such as Feedforward Compensation, majorized function method or NCD methods etc.,
It is complete when controlling error to reach desired extent by the associative simulation under analytical function model, the effect of observation controller output
Design and pid parameter into control system are adjusted；
In the present embodiment, by by the control system designed, Hydraulic Power Transmission System, motor transmission system and machinery
FEM model forms more accurate second associative simulation model, and the joint of various operating modes is completed by the associative simulation model
Emulation, the correctness of access control system；
If the output result of associative simulation model can not meet to control indices requirement, according to associative simulation model
The design and pid parameter for re-starting control system are adjusted；If meeting index request, Control System Design is successfully completed
Work.
Below in certain crystallizer equipment, to design some control system, by the vibration signal for controlling vibration source so that in
Between four angle points of crystallization tank oscillating curve meet certain Expected Results exemplified by illustrate：
As shown in Fig. 2 the crystallizer in the present embodiment is made up of four electric cylinders, vibration frame and crystallization tank, four electricity
Dynamic cylinder acts at the corner gudgeon of vibration frame vertically upward, and driver framework drives the crystallization tank equipped with molten steel to vibrate, and passes through
Measurement four angle point vertical direction displacement curves of crystallization tank judge vibrating effect.Wherein crystallizer includes a variety of limit high frequency high-amplitudes
Operating mode and conventional operating mode are vibrated, the transfer function model of the physical object obtained by the present embodiment is as shown in Figure 3.The present embodiment
By the control system block diagram of feedforward compensation as shown in figure 4, this place of parameter that pid parameter optimization is adjusted no longer lists.
Specific workflow step is as follows：
A, the suitable FEM model of mesh-density is established for crystallizer, oscillation point displacement input is arranged to side
Boundary's load-up condition, four angle point vertical direction displacements of crystallization tank are arranged to simulation result and last output quantity.
B, all predetermined operating modes according to crystallizer, extraction high frequency operating mode, high-amplitude operating mode and conventional operating mode, and using orthogonal
Empirical theory, operating mode overlay area totally 9 operating modes are designed, are reflected as different edge load conditions.
C, for every kind of operating mode, it is [1Hz 10Hz] to design its frequency range section, and equal difference constant is 0.5Hz, by border
Load-up condition is changed into the sine curve of different frequency, is respectively completed the emulation of FEM model, final according under different frequency
Inputoutput data, using frequency domain identification theory, physical model is reduced to transfer function model.
D, identical sine curve is inputted in transfer function model, verifies that its curve of output is tied with FEM model emulation
The relative error of fruit, relative error is less, illustrates that the transfer function model can represent crystallizer.
E, by the motor transmission system on the crystallizer, it is modeled as transfer function model.
F, based on PID control theory, the transfer function model of mechanical system, transmission system has been connected with PID controller
Come, form the first associative simulation model being made up of analytical function, Control System Design is completed with Feedforward Compensation；Using excellent
The optimization for changing function method or NCD methods completion pid parameter is adjusted.
G, the control system designed, motor transmission system and mechanical FEM model are formed more accurate second
Associative simulation model, test complete the associative simulation of various operating modes, demonstrate the correctness of control system, be under control system
Target design result.
Correspondingly, the present embodiment also provides a kind of Control System Design based on associative simulation and pid parameter adjusting system,
Including：
Physical model simplified element, for obtaining the input and output historical data of control object physical model, and establish institute
State the transfer function model of control object；
Control System Design unit, for the transfer function model and pid control module to be formed into closed-loop control system,
Complete Control System Design and pid parameter is adjusted, and according to the result of Control System Design, obtain final Controlling model.
In the present embodiment, physical model simplified element, including：
Physical model finite-element module, for the physical model of control object to be reduced into FEM model；Pass through physics
Model finite-element module will be a FEM model as the physical model Rational Model of control object, by control input signal
Edge load condition is arranged to, controlled variable is arranged into simulation result lasts output quantity；
Limit physics operating mode definition module, for the predetermined operating mode according to physical model, obtain limiting condition and main work
Condition, and operating mode overlay area is obtained according to the limiting condition and main operating mode, carried the operating mode overlay area as border
Lotus condition；By extracting limiting condition and main operating mode, and it is theoretical using orthogonal experiment, operating mode overlay area is designed, is reflected
For different edge load conditions；
System frequency domain recognizes module, complete for obtaining the sine curve of different frequency according to constant edge load condition
Into the emulation of FEM model, and according to the inputoutput data under different frequency, the physical model of control object is reduced to
First transfer function model, for every kind of operating mode, its frequency range section is designed, be difference by constant edge load conditional transition
The sine curve of frequency, the emulation of FEM model is completed, the final inputoutput data according under different frequency, using frequency
Domain identification theory, physical model is reduced to the first transfer function model.
In the present embodiment, Control System Design unit includes：
Control design case and parameter tuning module, are modeled for the dynamical system in the physical model to control object,
It is converted into the second transfer function model, and by first transfer function model, the second transfer function model and PID control
Module connects, and forms associative simulation model, completes the design of control system using control system theory and pid parameter is adjusted；
Physical system associative simulation module, for carrying out associative simulation to various operating modes by the associative simulation model,
According to the output result of the associative simulation model, final Controlling model is verified, by completing to include FEM model
Various operating modes associative simulation, the correctness of access control system.
Correspondingly, the present embodiment also provides a kind of computer-readable recording medium, is stored thereon with computer program, the journey
Realize any one of the present embodiment method when sequence is executed by processor, the computer-readable recording medium in the present embodiment, this
Field those of ordinary skill is appreciated that：Realize that all or part of step of above-mentioned each method embodiment can be by computer journey
Sequence related hardware is completed.Foregoing computer program can be stored in a computer-readable recording medium.The program exists
During execution, execution the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of Control System Design based on associative simulation and pid parameter setting method, it is characterised in that including：
The input and output historical data of the physical model of acquisition control object；
Establish the transfer function model of the control object；
By the transfer function model and pid control module composition closed-loop control system, control system is completed by associative simulation
Design and pid parameter are adjusted；
According to the result of Control System Design, final Controlling model is obtained.
2. the Control System Design according to claim 1 based on associative simulation and pid parameter setting method, its feature exist
In：The physical model of control object is modeled as FEM model, and using control input signal as edge load condition, will be by
Controlled quentity controlled variable is as simulation result history output quantity.
3. the Control System Design according to claim 2 based on associative simulation and pid parameter setting method, its feature exist
In：According to the predetermined operating mode of the physical model of control object, limiting condition and main operating mode are obtained, and according to the limiting condition
Operating mode overlay area is obtained with main operating mode, using the operating mode overlay area as edge load condition.
4. the Control System Design according to claim 3 based on associative simulation and pid parameter setting method, its feature exist
In：The transfer function model includes the first transfer function model and the second transfer function model, by constant edge load condition
The sine curve of different frequency is converted to, the emulation of FEM model is completed according to the sine curve, and according to different frequency
Under inputoutput data, the physical model of control object is reduced to the first transfer function model.
5. the Control System Design according to claim 4 based on associative simulation and pid parameter setting method, its feature exist
In：The sine curve of the different frequency is inputted into first transfer function model, obtains curve of output and finite element
The relative error of model emulation result, when relative error is more than default threshold value, processing is optimized to transfer function model,
And repeatedly input with last identical sine curve, until relative error is less than default threshold value, the optimization processing includes
Change the order and/or encryption frequency interpolation point of first transfer function model.
6. the Control System Design according to claim 5 based on associative simulation and pid parameter setting method, its feature exist
In：Dynamical system in the physical model of control object is modeled, is converted into the second transfer function model, and by institute
State the first transfer function model, the second transfer function model is connected with pid control module, form the first associative simulation model, lead to
Cross the first associative simulation model and associative simulation is carried out to various operating modes, according to the output knot of the first associative simulation model
Fruit, is designed to Controlling model and pid parameter is adjusted, and obtains final Controlling model；
The FEM model is connected with final Controlling model is obtained, the second associative simulation model is formed, passes through described second
Associative simulation model carries out associative simulation to various operating modes, verifies the correctness of final Controlling model.
7. a kind of Control System Design based on associative simulation and pid parameter adjusting system, it is characterised in that including：
Physical model simplified element, for obtaining the input and output historical data of control object physical model, and establish the control
The transfer function model of object processed；
Control System Design unit, for the transfer function model and pid control module to be formed into closed-loop control system, complete
Control System Design and pid parameter are adjusted, and according to the result of Control System Design, obtain final Controlling model.
8. the Control System Design according to claim 7 based on associative simulation and pid parameter adjusting system, its feature exist
In, the physical model simplified element, including：
Physical model finite-element module, for the physical model of control object to be modeled as into FEM model；
Limit physics operating mode definition module, for the predetermined operating mode according to physical model, limiting condition and main operating mode are obtained, and
Operating mode overlay area is obtained according to the limiting condition and main operating mode, using the operating mode overlay area as edge load bar
Part；
System frequency domain recognizes module, for obtaining the sine curve of different frequency according to constant edge load condition, has completed
The emulation of meta-model is limited, and according to the inputoutput data under different frequency, the physical model of control object is reduced to first
Transfer function model.
9. the Control System Design according to claim 8 based on associative simulation and pid parameter adjusting system, its feature exist
In the Control System Design unit includes：
Control design case and parameter tuning module, are modeled for the dynamical system in the physical model to control object, by it
Be converted to the second transfer function model, and by first transfer function model, the second transfer function model and pid control module
Connection, form associative simulation model；
Physical system associative simulation module, for carrying out associative simulation to various operating modes by the associative simulation model, according to
The output result of the associative simulation model, is verified to final Controlling model.
10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that：The program is by processor
Method any one of claim 1 to 6 is realized during execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710918957.8A CN107657125B (en) | 2017-09-30 | 2017-09-30 | Control system design and PID parameter setting method and system based on joint simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710918957.8A CN107657125B (en) | 2017-09-30 | 2017-09-30 | Control system design and PID parameter setting method and system based on joint simulation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107657125A true CN107657125A (en) | 2018-02-02 |
| CN107657125B CN107657125B (en) | 2021-07-20 |
Family
ID=61116810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710918957.8A Active CN107657125B (en) | 2017-09-30 | 2017-09-30 | Control system design and PID parameter setting method and system based on joint simulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107657125B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427270A (en) * | 2018-03-26 | 2018-08-21 | 中电科芜湖通用航空产业技术研究院有限公司 | Global optimum's pid parameter adjusting system of dynamical system, method and device |
| CN108875268A (en) * | 2018-07-07 | 2018-11-23 | 江苏迅达电磁线有限公司 | A kind of design method of the linear motor PID controller based on attenuation curve method |
| CN109241672A (en) * | 2018-10-15 | 2019-01-18 | 中冶赛迪技术研究中心有限公司 | A kind of the model version upgrade-system and method of Logistics Simulation Software |
| CN109766632A (en) * | 2019-01-10 | 2019-05-17 | 中国科学院上海技术物理研究所 | A kind of system emulation analysis method of mechanical refrigerator temperature control |
| CN111103790A (en) * | 2019-12-05 | 2020-05-05 | 珠海格力电器股份有限公司 | Parameter setting method and device of PID controller, storage medium, terminal and system |
| CN113232639A (en) * | 2021-07-12 | 2021-08-10 | 天津所托瑞安汽车科技有限公司 | AEB control method, AEB control device, electronic apparatus, and medium |
| CN114063441A (en) * | 2021-11-17 | 2022-02-18 | 北京通敏未来动力科技有限公司 | Electric cylinder loading control method and device, electronic equipment and storage medium |
| CN114280366A (en) * | 2021-12-21 | 2022-04-05 | 中国航天科工集团八五一一研究所 | Sinusoidal signal frequency estimation method based on improved frequency interpolation algorithm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070168935A1 (en) * | 2005-12-01 | 2007-07-19 | Ogami Kenneth Y | Multivariable transfer functions |
| CN102393648A (en) * | 2011-11-29 | 2012-03-28 | 上海大学 | Simulation method of electro-spinning fiber closed-ring control based on finite element and system discrimination |
| CN102621883A (en) * | 2012-04-01 | 2012-08-01 | 广东电网公司电力科学研究院 | PID (proportion integration differentiation) parameter turning method and PID parameter turning system |
| CN105045093A (en) * | 2014-08-12 | 2015-11-11 | 上海交通大学 | Stable fractional order PID parameter optimization method based on maximum sensitivity index |
-
2017
- 2017-09-30 CN CN201710918957.8A patent/CN107657125B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070168935A1 (en) * | 2005-12-01 | 2007-07-19 | Ogami Kenneth Y | Multivariable transfer functions |
| CN102393648A (en) * | 2011-11-29 | 2012-03-28 | 上海大学 | Simulation method of electro-spinning fiber closed-ring control based on finite element and system discrimination |
| CN102621883A (en) * | 2012-04-01 | 2012-08-01 | 广东电网公司电力科学研究院 | PID (proportion integration differentiation) parameter turning method and PID parameter turning system |
| CN105045093A (en) * | 2014-08-12 | 2015-11-11 | 上海交通大学 | Stable fractional order PID parameter optimization method based on maximum sensitivity index |
Non-Patent Citations (2)
| Title |
|---|
| 武新峰等: "基于有限元分析的复杂结构弹性振动传递函数建模", 《振动与冲击》 * |
| 董兴建: "基于有限元和***辨识的智能结构主动控制", 《振动工程学报》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427270A (en) * | 2018-03-26 | 2018-08-21 | 中电科芜湖通用航空产业技术研究院有限公司 | Global optimum's pid parameter adjusting system of dynamical system, method and device |
| CN108875268A (en) * | 2018-07-07 | 2018-11-23 | 江苏迅达电磁线有限公司 | A kind of design method of the linear motor PID controller based on attenuation curve method |
| CN109241672A (en) * | 2018-10-15 | 2019-01-18 | 中冶赛迪技术研究中心有限公司 | A kind of the model version upgrade-system and method of Logistics Simulation Software |
| CN109766632A (en) * | 2019-01-10 | 2019-05-17 | 中国科学院上海技术物理研究所 | A kind of system emulation analysis method of mechanical refrigerator temperature control |
| CN109766632B (en) * | 2019-01-10 | 2023-05-09 | 中国科学院上海技术物理研究所 | System simulation analysis method for temperature control of mechanical refrigerator |
| CN111103790A (en) * | 2019-12-05 | 2020-05-05 | 珠海格力电器股份有限公司 | Parameter setting method and device of PID controller, storage medium, terminal and system |
| CN113232639A (en) * | 2021-07-12 | 2021-08-10 | 天津所托瑞安汽车科技有限公司 | AEB control method, AEB control device, electronic apparatus, and medium |
| CN114063441A (en) * | 2021-11-17 | 2022-02-18 | 北京通敏未来动力科技有限公司 | Electric cylinder loading control method and device, electronic equipment and storage medium |
| CN114280366A (en) * | 2021-12-21 | 2022-04-05 | 中国航天科工集团八五一一研究所 | Sinusoidal signal frequency estimation method based on improved frequency interpolation algorithm |
| CN114280366B (en) * | 2021-12-21 | 2023-10-31 | 中国航天科工集团八五一一研究所 | Sinusoidal signal frequency estimation method based on improved frequency interpolation algorithm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107657125B (en) | 2021-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107657125A (en) | Control System Design and pid parameter setting method and system based on associative simulation | |
| CN110045608A (en) | Based on the twin mechanical equipment component structural dynamic state of parameters optimization method of number | |
| Wu et al. | Linear and nonlinear aeroelastic analysis frameworks for cable-supported bridges | |
| CN106877746A (en) | Method for control speed and speed control unit | |
| CN103577244B (en) | The speed synchronizing control method of load simulator and system | |
| CN103335814A (en) | Inclination angle measurement error data correction system and method of experimental model in wind tunnel | |
| Zhu et al. | Simulation of large-scale numerical substructure in real-time dynamic hybrid testing | |
| Shi et al. | Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering | |
| CN105068426B (en) | The continuous sliding-mode control of electro-hydraulic position servo system based on interference compensation | |
| Miller et al. | 23 Real-Time Simulation of Physical Systems Using Simscape™ | |
| CN106154838A (en) | The residual oscillation suppressing method of a kind of positioner and system | |
| Fales et al. | Modeling and control of a wheel loader with a human-in-the-loop assessment using virtual reality | |
| Kiani-Oshtorjani et al. | Real-time simulation of fluid power systems containing small oil volumes, using the method of multiple scales | |
| CN116882104B (en) | Machine tool weak link identification method and device, electronic equipment and storage medium | |
| CN106154827B (en) | A kind of servo-control signal compensation method | |
| AsadiGorgi et al. | Effects of all-over part-through cracks on the aeroelastic characteristics of rectangular panels | |
| CN110244564A (en) | A kind of sliding mode variable structure control method applied to gas drive soft robot | |
| Brock et al. | Adjoint-based design optimization using CAD parameterization through CAPRI | |
| RU2689803C1 (en) | Method for automatized construction of three-dimensional model of heterogeneous structure of composite material with fibers | |
| KR101596121B1 (en) | Virtual facility simulation system and using method thereof | |
| Jiffri et al. | Nonlinear control of an aeroelastic system with a non-smooth structural nonlinearity | |
| Yamamoto et al. | A position controller for hydraulic excavators with deadtime and regenerative pipelines | |
| Shen et al. | Performance analysis and optimization of bimodal nonlinear energy sink | |
| Vohar et al. | Implementation of an ANCF beam finite element for dynamic response optimization of elastic manipulators | |
| JP5754161B2 (en) | Control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |