CN108039982B - DSP platform control system bandwidth measuring method based on network port - Google Patents
DSP platform control system bandwidth measuring method based on network port Download PDFInfo
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Abstract
The invention discloses a bandwidth measuring method of a DSP platform control system based on a network port, which belongs to the field of bandwidth measurement of an automatic control system and solves the problems that a time domain method is not accurate enough in measurement of system bandwidth, a frequency domain method or a system is large, the manufacturing cost is high or a signal distortion method is caused by the restriction of output conditions. The sine excitation signal for frequency sweeping is generated by the DSP, and an interface is not required to be reserved for connecting a dynamic signal analyzer with a large volume; the frequency sweep excitation signal, the control signal and the frequency sweep frequency value are output by the network port, so that the signal is free of distortion during high-frequency sweep; the upper computer based on the network port outputs the received data according to a set format, so that the amplitude difference and the phase difference of output signals are conveniently compared, and the frequency point corresponding to the system bandwidth is clear at a glance.
Description
Technical Field
The invention belongs to the field of automatic control system bandwidth measurement, and relates to a system bandwidth measurement method based on a network port in a DSP platform control system.
Background
When the response speed requirement of the control system in the follow-up stable platform to the signal is high, a high bandwidth needs to be designed for the control system.
The control system using the DSP as the main control chip can determine the system bandwidth by a frequency response or step response method. Generally, the step response can only estimate the bandwidth value through an empirical formula, and for the condition that a controlled object has resonance, the method cannot accurately determine whether the resonance frequency point is in the working bandwidth, so that the control system has the risk of generating oscillation during normal working. The system frequency response test can be conveniently completed by depending on the dynamic signal analyzer, only the parameters of the dynamic signal analyzer are required to be set according to the value range of the amplitude of the input and output signals of the system, but the premise is that a signal input and output interface is reserved on a platform to ensure that the control system is connected with the dynamic signal analyzer. The method is simple in connection and convenient to implement, but the output rate of the sweep frequency data is limited by the baud rate of the serial port, the output control signal is distorted when the sweep frequency is higher, and the bandwidth value of the system cannot be measured correctly.
In the above method for determining system bandwidth, the time domain method is not accurate enough to measure the system bandwidth, and the frequency domain method or system is large, high in cost or limited by output conditions, resulting in signal distortion.
Disclosure of Invention
Aiming at the problems, the invention provides a method for measuring the bandwidth of a DSP platform control system based on a network port, which is used for realizing the measurement of the bandwidth of the control system, the high transmission rate of the network port can avoid signal distortion, the accuracy of the measurement of the system bandwidth is ensured, and the practical result shows that the method for measuring the system bandwidth has the characteristics of simple connection and convenient realization.
The technical solution of the invention is as follows: a DSP platform control system bandwidth measuring method based on network port includes the following contents:
(1) DSP generating an excitation signal
The DSP generates a sweep frequency excitation signal, and the excitation signal is a sine excitation signal;
(2) the control system sweeping frequency according to the excitation signal
The control system calculates a motor control signal, referred to as a control signal for short, according to an input excitation signal, the control signal drives a load tracking excitation signal to perform sinusoidal frequency sweeping motion, the excitation signal, the control signal and the frequency sweeping frequency are recorded periodically in the frequency sweeping process, and the excitation signal, the control signal and the frequency sweeping frequency are packaged as frequency sweeping data;
(3) outputting the sweep frequency data through the network port
Taking the excitation signal as an instruction value and the control signal as a response value, organizing the instruction value, the response value and the frequency sequence into a network port data frame, and sending the network port data frame to an upper computer according to a DSP calculation period;
(4) the upper computer receives and calculates the frequency sweep data
The upper computer sends a frequency sweep control command and data, receives frequency sweep data, completes data calculation according to a set protocol, and stores the data according to a column vector format to form a data file;
(5) sweep frequency data analysis
And importing the data file into a matlab to draw three curves of sweep frequency data, and when the response value is attenuated to 0.707 times of the command value, taking the corresponding frequency value as the bandwidth frequency omega Hz.
Preferably, the method for measuring the bandwidth of the DSP platform control system based on the internet access is characterized in that the calculation frequency of the DSP is determined according to the design bandwidth of the control system, and the calculation frequency is 10 times of the design bandwidth of the control system.
Preferably, the method for measuring bandwidth of DSP platform control system based on internet access is characterized by the following formula: generating a sinusoidal excitation signal and calculating a control signal by Asin (2 pi ft), wherein ControlData is the control signal, A is the amplitude of the excitation signal, f is the frequency of the sweep sinusoidal signal, and t is the calculation period of the DSP.
Preferably, the method for measuring bandwidth of DSP platform control system based on internet access is characterized in that the excitation signal amplitude a and the frequency sweep start frequency value fstartFrequency value f of end of sweep frequencystopAnd the sweep frequency change step length delta f is set by the upper computer and is sent to the DSP.
Preferably, the method for measuring bandwidth of the DSP platform control system based on the internet access is characterized in that each frequency point performs p times of sinusoidal frequency response tests in the frequency sweeping process.
Preferably, the method for measuring bandwidth of DSP platform control system based on internet access is characterized in that the excitation signal amplitude a and the frequency sweep start frequency value fstartFrequency value f of end of sweep frequencystopAnd the sweep frequency change step length delta f is data sent by the upper computer, and the upper computer sends sweep frequency control commands of sweep frequency start and sweep frequency end.
Preferably, the method for measuring bandwidth of DSP platform control system based on internet access is characterized by saving and forming a data file according to a column vector format: the instruction value is in the first column, the response value is in the second column and the frequency value is in the third column.
The method realizes the bandwidth measurement of the control system by utilizing a method that a DSP generates a sine sweep frequency excitation signal and outputs a control signal to an upper computer through a network port, and is characterized in that the sine excitation signal for sweeping the frequency is generated by the DSP without reserving an interface to connect a dynamic signal analyzer with a larger volume; the frequency sweep excitation signal, the control signal and the frequency sweep frequency value are output by the network port, so that the signal is free of distortion during high-frequency sweep; the upper computer based on the network port outputs the received data according to a set format, so that the amplitude difference and the phase difference of output signals are conveniently compared, and the frequency point corresponding to the system bandwidth is clear at a glance.
Compared with the prior art, the invention has the beneficial effects that:
1) and the DSP is adopted to independently generate the excitation signal, so that the use of instruments and equipment is saved, and the scale of an experimental system is reduced.
2) And the network port is used for completing data transmission, so that the defect of low serial port baud rate is avoided, and the high-speed data transmission ensures that an output signal is not distorted in the frequency sweeping process.
3) The amplitude and the frequency of the frequency sweep signal can be adjusted through software of an upper computer, so that an experimental system can formulate a frequency sweep scheme according to an actual control system, and the method has strong universality.
Drawings
Fig. 1 is a system composition of a DSP platform control system bandwidth measurement method based on a network port.
Fig. 2 is a flow chart of excitation signal generation.
Fig. 3 is a diagram of network data frame composition in a DSP.
Fig. 4 is a flow chart of upper computer software data processing and saving.
Detailed Description
The present invention is described in further detail below.
A DSP platform control system bandwidth measuring method based on network port includes the following steps:
(1) DSP generating sinusoidal excitation signals
The DSP calculation frequency is determined according to the control system design bandwidth and fragrance concentration sampling theorem, and the accuracy of the frequency sweeping result can be ensured when the calculation frequency is 10 times of the design bandwidth. According to the formula: generating a sinusoidal excitation signal and calculating a control signal by Asin (2 pi ft), wherein ControlData is the control signal, A is the amplitude of the excitation signal, f is the frequency of the sweep sinusoidal signal, t is the calculation period of the DSP, A, fstartStarting frequency value, fstopSum of end frequency valuesSetting the step length delta f by an upper computer and sending the step length delta f to a DSP, and carrying out p times of sine frequency response tests on each frequency point in the frequency sweeping process; and performing multiple sine frequency response tests on each frequency point in the frequency sweeping process.
(2) The control system sweeping frequency according to the excitation signal
The control system calculates a motor control signal according to an input excitation signal, the control signal drives a load to track the excitation signal to perform sinusoidal frequency sweeping motion, the excitation signal, the control signal and the frequency sweeping frequency are recorded periodically in the frequency sweeping process, and the excitation signal, the control signal and the frequency sweeping frequency are packaged as frequency sweeping data;
(3) outputting the sweep frequency data through the network port
Taking the excitation signal as an instruction value and the control signal as a response value, organizing the instruction value, the response value and the frequency sequence into a network port data frame, and sending the network port data frame to an upper computer according to a DSP calculation period;
(4) the upper computer receives and calculates the frequency sweep data
The upper computer is completed by adopting CSocket type based on MFC, sends control command and data by using Sendto function in UDP protocol, receives sweep frequency data by OnReceive function, completes data resolving according to established protocol, and stores the data to file according to column vector format;
(5) sweep frequency data analysis
And importing the data file into a matlab to draw three curves of sweep frequency data, and when the response value is attenuated to 0.707 times of the command value, taking the corresponding frequency value as the bandwidth frequency omega Hz.
The following contents are also provided:
(1) the system applying the method consists of three parts: host computer, DSP and equipment under test. The upper computer is responsible for receiving frequency sweep and resolving frequency sweep data, and writing the data into a file according to a specified format; the DSP control system is responsible for generating a sweep frequency excitation signal, calculating a motor control signal according to the excitation signal to drive the motor, and meanwhile organizing sweep frequency data to be sent to an upper computer; and the tested equipment receives the motor control signal and tracks the excitation signal according to the control signal to finish the frequency sweeping action. The system composition is shown in FIG. 1;
(2) exciting letterThe signal is generated as shown in FIG. 2, and the current frequency f of the excitation signal is calculated by using f and Δ fcUsing fcCalculating the period T of the sinusoidal excitation signal0When T is0When the change occurs, N is equal to 0, M is equal to 0, and T is equal to Nt, wherein N is the number of DSP calculation cycles, 1 is added in each calculation, MS is the frequency response number, and 1 is added in each sine cycle, namely when T is equal to T0M plus 1 when M ═ p, fc＝fc+ Δ f, implementing a frequency response signal of varying frequency every p sinusoidal cycles;
(3) the sweep frequency instruction value A in the sweep frequency datacResponse value AbAnd the sum frequency value F is multiplied by the scale value 10 according to the reserved precision requirementxSequentially writing the network port and sending a buffer array SendData [ m ]]Sending the data frame to an upper computer through a network port according to the DSP calculation period, wherein the data frame composition format is shown in figure 3;
(4) the process of receiving and resolving sweep frequency data by upper computer software is shown in fig. 4, and the specific implementation method is as follows: the upper computer software is based on a UDP protocol, sends a sweep starting command by using a Sendto () function in a Socket, sends A, f and delta f, receives network data by using an OnReceive () function in the Socket, unpacks the network data to obtain a frequency instruction value, a response value and a frequency value, and respectively takes a scale value of 10xTo obtain Ac、AbAnd F, writing the data into the ScanData. txt of the data file column by column vector by using the Write () function in the CFile class, wherein AcIs a first column, AbIs the second column and F is the third column.
(5) Importing the ScanData. txt file into matlab, drawing three curves of sweep frequency data, and observing Ab＝0.707×AcThe time frequency value is denoted as FωI.e. the control system bandwidth value.
Claims (3)
1. A DSP platform control system bandwidth measuring method based on network port is characterized in that the method comprises the following steps:
(1) DSP generating an excitation signal
The DSP generates a sweep frequency excitation signal, and the excitation signal is a sine excitation signal; determining the calculation frequency of the DSP according to the design bandwidth of the control system, wherein the calculation frequency is 10 times of the design bandwidth of the control system;
generating a sinusoidal excitation signal by Asin (2 pi ft) and calculating a control signal, wherein ControlData is the control signal, A is the amplitude of the excitation signal, f is the frequency of the sweep sinusoidal signal, and t is the calculation period of the DSP;
excitation signal amplitude A and sweep frequency starting frequency value fstartFrequency value f of end of sweep frequencystopThe sweep frequency change step length delta f is set by the upper computer and is sent to the DSP;
carrying out p times of sine frequency response tests on each frequency point in the frequency sweeping process; the frequency sweep excitation signal, the control signal and the frequency sweep frequency value are output by the network port;
outputting the control signal to an upper computer through a network port;
(2) the control system sweeping frequency according to the excitation signal
The control system calculates a motor control signal, referred to as a control signal for short, according to an input excitation signal, the control signal drives a load tracking excitation signal to perform sinusoidal frequency sweeping motion, the excitation signal, the control signal and the frequency sweeping frequency are recorded periodically in the frequency sweeping process, and the excitation signal, the control signal and the frequency sweeping frequency are packaged as frequency sweeping data;
(3) outputting the sweep frequency data through the network port
Taking the excitation signal as an instruction value and the control signal as a response value, organizing the instruction value, the response value and the frequency sequence into a network port data frame, and sending the network port data frame to an upper computer according to a DSP calculation period;
(4) the upper computer receives and calculates the frequency sweep data
The upper computer sends a frequency sweep control command and data, receives frequency sweep data, completes data calculation according to a set protocol, and stores the data according to a column vector format to form a data file; the upper computer based on the network port outputs the received data according to a set format;
(5) sweep frequency data analysis
And importing the data file into a matlab to draw three curves of sweep frequency data, and when the response value is attenuated to 0.707 times of the command value, taking the corresponding frequency value as the bandwidth frequency omega Hz.
2. Root of herbaceous plantThe method as claimed in claim 1, wherein the excitation signal amplitude A and the sweep start frequency value f are used to measure the bandwidth of the DSP platform control systemstartFrequency value f of end of sweep frequencystopAnd the sweep frequency change step length delta f is data sent by the upper computer, and the upper computer sends sweep frequency control commands of sweep frequency start and sweep frequency end.
3. The DSP platform control system bandwidth measuring method based on the network port as claimed in claim 1, wherein the data file is saved and formed according to column vector format: the instruction value is in the first column, the response value is in the second column and the frequency value is in the third column.
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| CN109445769B (en) * | 2018-10-16 | 2021-08-06 | 天津津航技术物理研究所 | Test software development method for dynamic loading communication protocol based on database |
| CN109472846B (en) * | 2018-12-27 | 2022-11-29 | 燕山大学 | Method for obtaining bode diagram by processing sweep frequency data by MATLAB |
| CN112558586A (en) * | 2020-11-30 | 2021-03-26 | 天津津航技术物理研究所 | Embedded software-based frequency sweep test method for airborne stable platform |
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