CN112548924B - Fuzzy PID (proportion integration differentiation) -based bolt wrench torque control method - Google Patents
Fuzzy PID (proportion integration differentiation) -based bolt wrench torque control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
- B25B21/002—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose for special purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
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Abstract
The invention discloses a bolt wrench torque control method based on fuzzy PID, which comprises the steps of establishing a mathematical model by analyzing the torque output characteristic of a direct current brush motor and combining Newton's second law and a motor torque balance equation, then adopting a fuzzy PID controller as a rotating speed outer ring regulator, adopting a current control ring of a PID algorithm as an inner ring, collecting the current and the rotating speed of a motor in the rotating process by using a current sensor and a Hall rotating speed sensor, and accurately calculating the torque and controlling the output through the mathematical model. According to the invention, the PID control parameters are adjusted by adopting a fuzzy control algorithm, so that on one hand, the fluctuation of each parameter in the system operation can be effectively reduced, and the parameter acquisition precision is improved; on the other hand, the output torque value can be accurately controlled, and the problems of under-tightening and over-tightening are prevented.
Description
Technical Field
The invention belongs to the technical field of fuzzy control in automatic control, and particularly relates to a bolt wrench torque control method based on fuzzy PID.
Background
In the erection of power transmission towers of electric power systems, fastening between mechanical fasteners is generally required. During the process of assembling the bolt, the occurrence of "under-tightening" and "over-tightening" can cause damage or even rejection of the mechanical fastener, and therefore the necessary torque control of the bolt is required to ensure the reliability of the joint. However, the mechanical wrench cannot meet the requirements of the power transmission tower construction due to the reasons that a large torque cannot be provided, the control precision is low and the like, and the traditional torque control method mostly adopts a torque sensor to monitor the torque, and although the torque output can be accurately controlled, the torque sensor has the problems that a large amount of electromagnetic interference exists in the external environment due to the bad working environment of the bolt wrench, the torque sensor is likely to cause display errors or even out of control and the like due to errors of collected data, and great potential safety hazards are caused. Therefore, the dynamic performance of the motor is directly controlled by using a fuzzy PID method, the torque output is controlled by detecting the current and rotating speed signals in the running process of the motor, the problem of wrong acquisition of the torque sensor can be effectively solved, the rotating speed can be effectively controlled, the current and torque fluctuation can be reduced, the output torque can be accurately transmitted, the requirements in the construction of a power transmission iron tower can be met, and the construction efficiency of a power system can be improved.
Disclosure of Invention
The invention aims to provide a bolt wrench torque control method based on fuzzy PID, which can accurately output a torque value so as to meet the requirements in power transmission tower construction and improve the construction efficiency of a power system.
The technical scheme of the invention is as follows: a bolt wrench torque control method based on fuzzy PID is characterized in that a mathematical model is established by analyzing the torque output characteristic of a direct current brush motor and combining Newton's second law and a motor torque balance equation, then a fuzzy PID controller is adopted as a rotating speed outer ring regulator, a current control ring of a PID algorithm is adopted as an inner ring, a current sensor and a Hall rotating speed sensor are used for collecting the current and the rotating speed of the motor in the rotating process, and the torque can be accurately calculated and controlled to be output through the mathematical model.
Further, the method comprises the following steps:
step A, a mathematical model is established by analyzing the torque output characteristic of the direct current brush motor and combining a Newton second law and a motor torque balance equation, and the relation between the output torque and the load torque can be converted into the relation between the load current corresponding to the load torque and the motor armature current and the motor rotating speed, wherein the relation equation is as follows:
in the formula: i isLIs a load current corresponding to a load torque; i isaTo and output torqueA corresponding motor armature current; t ismIs an electromechanical time constant; ceIs the electromotive force coefficient under rated magnetic flux; r is an armature resistance; n is the motor rotation speed; t is time.
The relation between the load torque and the output torque of the DC motor can be converted into the relation between the load current corresponding to the load torque and the armature current and the rotating speed of the motor, and the relation equation IL＝f(IaN), when dn/dt is 0, the motor speed is constant, IL＝f(Ia) Load current I corresponding to load torque of motorLAnd motor armature current IaThe linear relation is formed, so that the load torque of the motor is determined by the current and the rotating speed of the motor during operation, and the load torque can be calculated by detecting the current in the current operation process when the rotating speed of the motor is unchanged;
b, designing a torque output control system according to the step A, adopting a fuzzy PID controller as a rotating speed outer ring regulator, adopting a current control ring of a PID algorithm as an inner ring, and collecting the current and the rotating speed of the motor in the rotating process by using a current sensor and a Hall rotating speed sensor;
step C, designing a fuzzy PID controller according to the step B, and carrying out 3 parameters K on the PID controller according to a fuzzy inference rulep、Ki、KdReal-time correction is carried out to meet different requirements of the control system on control parameters under different input states, wherein KpIs proportional control, KiFor integral control, KdDifferential control is adopted;
and step D, acquiring dynamic response curves of the rotating speed, the current and the load torque when the system runs as shown in FIG. 4, wherein the curves in FIG. 4 show that the current and the load torque can be transited to a new stable state in a short time, the electromagnetic torque (current) of the motor can be changed along with the change of the load torque, the tiny change generated by the rotating speed of the motor can be recovered in a short time, the steady-state error is tiny and can be ignored, and FIG. 5 shows that compared with the traditional PID control method, the current and the load torque of the fuzzy PID control method have smaller fluctuation and the final torque output is more accurate.
Further, the step B specifically includes the following steps:
b-1, in the torque control system of the direct current motor, a rotation speed adjusting link ASR is outer loop control, and a fuzzy PID controller is used for controlling the rotation speed; the ACR in the current regulation link is controlled by an inner ring and is controlled by a traditional PID controller;
step B-2, in the torque control system of the direct current motor, the rotating speed n of the motor is given*Regulating the output current I of a speed regulator by means of an outer-ring speed regulation loop ASR using a fuzzy PID controlleraThe PWM wave generated by the UPW module controls an H bridge main circuit UPEM through a driving circuit module GD so as to achieve the purposes of controlling the rotating speed of the motor, adjusting the current of the motor and further accurately controlling the torque output of the motor;
b-3, in the direct current motor torque control system, a Hall rotating speed sensor is used for collecting the rotating speed n of the motor and feeding the rotating speed n back to a rotating speed adjusting ring ASR; collecting motor load current I by using current transformer TALAnd feeds back to the current regulation ACR. Wherein given the motor speed n*Motor armature current IaFeedback speed n and motor load current ILThe current sensor and the Hall rotating speed sensor acquire and feed back the current and the rotating speed of the motor in real time to ensure the stable rotating speed;
and step B-4, except for the motor driving module, the control functions of load torque calculation, PWM wave generation and double closed-loop control are realized in the PIC singlechip in a software mode.
Further, the step C specifically includes the following steps:
step C-1, the torque control system of the direct current motor continuously detects the input amount deviation e and the deviation change rate ec, and outputs three outputs delta K of the fuzzy controller according to the fuzzy inference rulep、ΔKi、ΔKdObtaining the parameter output K of the final fuzzy PID through the calculation of the following formulap、Ki、Kd；
The fuzzy PID parameter adjustment is calculated as follows:
Kp＝Kp1+ΔKp
Ki＝Ki1+ΔKi
Kd＝Kd1+ΔKd
in the formula: kp1、Ki1、Kd1Respectively PID controller parameter Kp、Ki、KdOf (d), Δ Kp、ΔKi、ΔKdOutputs corresponding to 3 parameters of the fuzzy controller are respectively, and different values can be automatically obtained according to different states of a controlled system;
and C-2, according to the actual situation and the experimental requirements, the fuzzy domain U of e and ec is [ -3, -2, -1, 0, 1, 2, 3], and fuzzy linguistic variables of the deviation e and the deviation change rate ec are set as follows: negative large is NB, negative medium is NM, negative small is NS, zero is ZO, positive small is PS, positive medium is PM, positive large is PB, so the fuzzy subset of e and ec is [ NB, NM, NS, ZO, PS, PM, PB ];
step C-3, establishing fuzzy rule reasoning, the concrete rule is shown in the table (1)
Step C-4, deblurring method
To obtain an accurate control quantity, the output parameters are deblurred using a barycentric method. The calculation formula is as follows:
and (4) transmitting the deblurring result after the fuzzy inference to a PID controller to realize the real-time correction of the PID parameters.
Further, the step D specifically includes the following steps:
d-1, using a PIC18F4520 single chip microcomputer chip as a processor by the direct current motor torque control system, conveniently driving an H-bridge circuit to control a motor by using an HIP4081 driving chip, acquiring experimental data into a computer by using a serial port bus to conveniently perform related data processing and comparison, and firstly testing the steady-state error and the dynamic performance of the current and the rotating speed of the motor control system under a rated load;
d-2, applying the motor fuzzy PID control system to the bolt wrench, enabling the direct current motor to achieve the purpose of reducing the rotating speed and increasing the torque through the planetary reducer, measuring the motor current by selecting a BJHCS-LSP type high-precision current sensor, measuring the rotating speed of the motor by using an SJ1092H type Hall rotating speed sensor arranged in the bolt wrench, and testing the dynamic steady-state performance of the bolt wrench under the condition of sudden load change.
The principle of the invention is as follows: firstly, a bolt wrench torque control frame diagram is constructed, a mathematical model is established by analyzing the torque output characteristic of a direct current brush motor and combining a Newton's second law and a motor torque balance equation, then a fuzzy PID controller is adopted as a rotating speed outer ring regulator, a current control ring of a PID algorithm is adopted in an inner ring, a current sensor and a Hall rotating speed sensor are used for collecting the current and the rotating speed of the motor in the rotating process, and the torque can be accurately calculated and output by controlling through the mathematical model.
The invention has the beneficial effects that:
1. the rotating speed of the bolt wrench in the operation process can be well controlled to be stable, and the current is stable;
2. the influence of fluctuation of each parameter on torque output in system operation can be effectively reduced;
3. the rotating speed and current parameter acquisition precision can be effectively improved, and the torque output precision is improved;
4. the output torque value can be accurately controlled, and the problems of under-tightening and over-tightening are prevented;
5. the fuzzy PID controller can keep the performance of the control system stable and has stronger anti-interference performance.
Drawings
FIG. 1 is a diagram of a DC motor torque control system;
FIG. 2 is a fuzzy PID control map;
FIG. 3 is a plot of motor speed and current response at rated load;
FIG. 4 is a response curve of motor speed, current and load torque under varying load;
FIG. 5 is a comparison graph of current and load torque fluctuation curves in fuzzy PID control and conventional PID control, FIG. 5a is fuzzy PID control, and FIG. 5b is conventional PID control.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Firstly, a bolt wrench torque control frame diagram is constructed, a mathematical model is established by analyzing the torque output characteristic of a direct current brush motor and combining a Newton's second law and a motor torque balance equation, then a fuzzy PID controller is adopted as a rotating speed outer ring regulator, a current control ring of a PID algorithm is adopted in an inner ring, a current sensor and a Hall rotating speed sensor are used for collecting the current and the rotating speed of the motor in the rotating process, and the torque can be accurately calculated and output by controlling through the mathematical model.
The control method comprises the following steps:
step A, a mathematical model is established by analyzing the torque output characteristic of the direct current brush motor and combining a Newton second law and a motor torque balance equation, and the relation between the output torque and the load torque can be converted into the relation between the load current corresponding to the load torque and the motor armature current and the motor rotating speed, wherein the relation equation is as follows:
in the formula: i isLIs a load current corresponding to a load torque; i isaThe armature current of the motor corresponding to the output torque; t ismIs an electromechanical time constant; ceIs the electromotive force coefficient under rated magnetic flux; r is an armature resistance; n is the motor rotation speed; t is time.
The relation between the load torque and the output torque of the DC motor can be converted into the relation between the load current corresponding to the load torque and the armature current and the rotating speed of the motor, and the relation equation IL＝f(IaN). When dn/dt is equal to 0, the motor speed is constant, and IL＝f(Ia)，Load current I corresponding to load torque of motorLAnd motor armature current IaThe linear relation is formed, so that the load torque of the motor is determined by the current and the rotating speed of the motor during operation, and the load torque can be calculated by detecting the current in the current operation process when the rotating speed of the motor is unchanged;
b, designing a torque output control system according to the step A, adopting a fuzzy PID controller as a rotating speed outer ring regulator, adopting a current control ring of a PID algorithm as an inner ring, and collecting the current and the rotating speed of the motor in the rotating process by using a current sensor and a Hall rotating speed sensor;
step C, designing a fuzzy PID controller according to the step B, and carrying out 3 parameters K on the PID controller according to a fuzzy inference rulep、Ki、KdReal-time correction is carried out to meet different requirements of the control system on control parameters under different input states, wherein KpIs proportional control, KiFor integral control, KdFor differential control;
and D, acquiring dynamic response curves of the rotating speed, the current and the load torque when the system runs, wherein the curves show that the current and the load torque can be transited to a new stable state in a short time. The electromagnetic torque (current) of the motor can be changed along with the change of the load torque, the small change generated by the rotating speed of the motor can be recovered in a short time, and the steady-state error is small and can be ignored. Compared with the traditional PID control method, the fuzzy PID control method has smaller current and load torque fluctuation, and the final torque output is more accurate.
The step B specifically comprises the following steps:
step B-1, in the DC motor torque control system shown in FIG. 1, the rotation speed regulation link ASR is outer loop control, and a fuzzy PID controller is used for controlling the rotation speed; the ACR in the current regulation link is controlled by an inner ring and is controlled by a traditional PID controller;
step B-2, in the DC motor torque control system of FIG. 1, the motor speed n is given*Regulating the output current I of a speed regulator by means of an outer-ring speed regulation loop ASR using a fuzzy PID controlleraAs input to the current regulator ACRThe PWM wave generated by the UPW module controls the H-bridge main circuit UPEM through the driving circuit module GD, so that the purposes of controlling the motor rotating speed, adjusting the motor current and further accurately controlling the motor torque output are achieved.
Step B-3, in the direct current motor torque control system shown in FIG. 1, a Hall rotation speed sensor is used for collecting the motor rotation speed n and feeding the motor rotation speed n back to a rotation speed adjusting ring ASR; collecting motor load current I by using current transformer TALAnd feeds back to the current regulation ACR. Wherein given the motor speed n*Motor armature current IaFeedback speed n and motor load current ILThe current sensor and the Hall rotating speed sensor acquire and feed back the current and the rotating speed of the motor in real time to ensure the stable rotating speed;
step B-4, in the dc motor torque control system shown in fig. 1, except for the motor driving module, the control functions of load torque calculation, PWM wave generation, and double closed-loop control are all implemented in the PIC single-chip microcomputer in a software manner.
The step C specifically comprises the following steps:
3 parameters K to PID controller according to fuzzy inference rulep、Ki、KdReal-time correction is carried out to meet different requirements of the control system on control parameters under different input states, wherein KpIs proportional control, KiFor integral control, KdDifferential control is adopted;
step C-1, the torque control system of the direct current motor continuously detects the input amount deviation e and the deviation change rate ec, and outputs three outputs delta K of the fuzzy controller according to the fuzzy inference rulep、ΔKi、ΔKdObtaining the parameter output K of the final fuzzy PID through the calculation of the formulas (6) to (8)p、Ki、Kd；
The fuzzy PID parameter adjustment is calculated as follows:
Kp＝Kp1+ΔKp (6)
Ki＝Ki1+ΔKi (7)
Kd＝Kd1+ΔKd (8)
in the formula: kp1、Ki1、Kd1Respectively PID controller parameter Kp、Ki、KdOf (d), Δ Kp、ΔKi、ΔKdThe outputs corresponding to the 3 parameters of the fuzzy controller can automatically take different values according to different states of the controlled system.
And C-2, according to the actual situation and the experimental requirements, the fuzzy domain U of e and ec is [ -3, -2, -1, 0, 1, 2, 3], and fuzzy linguistic variables of the deviation e and the deviation change rate ec are set as follows: negative large is NB, negative medium is NM, negative small is NS, zero is ZO, positive small is PS, positive medium is PM, positive large is PB, so the fuzzy subset of e and ec is [ NB, NM, NS, ZO, PS, PM, PB ];
step C-3, establishing fuzzy rule reasoning, the concrete rule is shown in the table (1)
Step C-4, deblurring method
To obtain an accurate control quantity, the output parameters are deblurred using a barycentric method. The calculation formula is as follows:
and (4) transmitting the deblurring result after the fuzzy inference to a PID controller to realize the real-time correction of the PID parameters.
The step D specifically comprises the following steps:
d-1, using a PIC18F4520 single chip microcomputer chip as a processor by the direct current motor torque control system, conveniently driving an H-bridge circuit to control a motor by using an HIP4081 driving chip, acquiring experimental data into a computer by using a serial port bus to conveniently perform related data processing and comparison, and firstly testing the steady-state error and the dynamic performance of the current and the rotating speed of the motor control system under a rated load;
d-2, applying the motor fuzzy PID control system to the bolt wrench, enabling the direct current motor to achieve the purpose of reducing the rotating speed and increasing the torque through the planetary reducer, measuring the motor current by selecting a BJHCS-LSP type high-precision current sensor, measuring the rotating speed of the motor by using an SJ1092H type Hall rotating speed sensor arranged inside the bolt wrench, and testing the dynamic steady-state performance of the bolt wrench under the condition of sudden load change.
Referring to fig. 3, the motor control system has dynamic performance and steady state error of current and speed at rated load. After the motor is started, 1500r/min can be reached quickly, and the overshoot is small. When disturbance is added to the motor, the motor can be found to have strong rotating speed adjusting capacity, the rotating speed stable state can be achieved again after the disturbance changes, and the overshoot of the rotating speed of the motor is small. The current of the motor is larger in the starting stage, and the other states are jittered, but the current can be kept stable on the whole and basically has no overshoot. The fuzzy PID controller has a good control function, can meet the requirements of different working states, and has strong adaptability and good dynamic response performance.
In the course of a sudden load change with reference to the system of fig. 4, the current and the load torque can be transitioned to a new steady state in a short time. The electromagnetic torque (current) of the motor can be changed along with the change of the load torque, the small change generated by the rotating speed of the motor can be recovered in a short time, and the steady-state error is small and can be ignored. The method shows that the designed fuzzy controller has strong adaptivity and robustness when dealing with load sudden change, and simultaneously verifies the correctness and feasibility of theoretical derivation.
Referring to fig. 5, in order to quantitatively test and compare the control performance of the designed digital display torque wrench, a conventional PID control method is used as a comparison object to compare the performance. Experiments were still performed for the case of load mutations, with other experimental parameters remaining unchanged. The current and torque ripple curves obtained by the two schemes are shown in fig. 5a and 5 b. As can be seen from the figure, the current and torque fluctuation amplitude of the PID control method is larger than that of the control scheme of the invention, and an overshoot condition exists. The fuzzy PID control method can well control the fluctuation of current and load torque, and improve the torque control precision of the bolt wrench.
Claims (3)
1. A bolt spanner torque control method based on fuzzy PID is characterized in that a mathematical model is established by analyzing the torque output characteristic of a direct current brush motor and combining Newton's second law and a motor torque balance equation, then a fuzzy PID controller is adopted as a rotating speed outer ring regulator, a current control ring of a PID algorithm is adopted in an inner ring, a current sensor and a Hall rotating speed sensor are used for collecting the current and the rotating speed of the motor in the rotating process, and the torque can be accurately calculated and controlled to be output through the mathematical model;
the method comprises the following steps:
step A, a mathematical model is established by analyzing the torque output characteristic of the direct current brush motor and combining a Newton second law and a motor torque balance equation, and the relation between the output torque and the load torque can be converted into the relation between the load current corresponding to the load torque and the motor armature current and the motor rotating speed, wherein the relation equation is as follows:
in the formula: i isLIs a load current corresponding to a load torque; i isaThe armature current of the motor corresponding to the output torque; t ismIs an electromechanical time constant; ceIs the electromotive force coefficient under rated magnetic flux; r is armature resistance, and n is motor rotating speed; t is time;
the relation between the load torque and the output torque of the DC motor can be converted into the relation between the load current corresponding to the load torque and the armature current and the rotating speed of the motor, and the relation equation IL＝f(IaN), when dn/dt is 0, the motor speed is constant, IL＝f(Ia) Load current I corresponding to load torque of motorLAnd motor armature current IaThe linear relation is formed, so the load torque of the motor is determined by the current and the rotating speed when the motor runs, and the motor can be switched on when the rotating speed of the motor is not changedDetecting the current in the current running process so as to calculate and obtain the load torque;
b, designing a torque output control system according to the step A, adopting a fuzzy PID controller as a rotating speed outer ring regulator, adopting a current control ring of a PID algorithm as an inner ring, and collecting the current and the rotating speed of the motor in the rotating process by using a current sensor and a Hall rotating speed sensor;
step C, designing a fuzzy PID controller according to the step B, and carrying out 3 parameters K on the PID controller according to a fuzzy inference rulep、Ki、KdReal-time correction is carried out to meet different requirements of the control system on control parameters under different input states, wherein KpIs proportional control, KiFor integral control, KdDifferential control is adopted;
and D, acquiring dynamic response curves of the rotating speed, the current and the load torque when the system runs, wherein the current and the load torque can transit to a new stable state in a short time, the electromagnetic torque or the current of the motor can change along with the change of the load torque, the tiny change generated by the rotating speed of the motor can be recovered in a short time, the steady-state error is tiny and can be ignored, compared with the traditional PID control method, the fuzzy PID control method has smaller current and load torque fluctuation and more accurate final torque output.
2. The fuzzy PID based bolt wrench torque control method as claimed in claim 1, wherein the step B specifically comprises the steps of:
b-1, in the torque control system of the direct current motor, a rotation speed adjusting link ASR is outer loop control, and a fuzzy PID controller is used for controlling the rotation speed; the ACR in the current regulation link is controlled by an inner ring and is controlled by a traditional PID controller;
step B-2, in the torque control system of the direct current motor, the rotating speed n of the motor is given*The output current I of the rotating speed regulator is regulated by a rotating speed regulation link ASR using a fuzzy PID controlleraAs the input of the current regulation link ACR, and then the output of the current regulation is used to control the PWM wave generation module UPW, the UPW module generatesThe PWM wave controls an H-bridge main circuit UPEM through a driving circuit module GD, so that the purposes of controlling the rotating speed of the motor, adjusting the current of the motor and further accurately controlling the torque output of the motor are achieved;
b-3, in the direct current motor torque control system, a Hall rotating speed sensor is used for collecting the rotating speed n of the motor and feeding the rotating speed n back to a rotating speed adjusting link ASR; collecting motor load current I by using current transformer TALAnd feeding back to the current regulation link ACR; wherein given the motor speed n*Motor armature current IaFeedback speed n and motor load current ILThe current sensor and the Hall rotating speed sensor acquire and feed back the current and the rotating speed of the motor in real time to ensure the stable rotating speed;
and step B-4, except for the motor driving module, the control functions of load torque calculation, PWM wave generation and double closed-loop control are realized in the PIC single chip microcomputer control chip in a software mode.
3. The fuzzy PID based bolt wrench torque control method as claimed in claim 1, wherein the step D specifically comprises the steps of:
d-1, the direct current motor torque control system uses a PIC18F4520 single chip microcomputer control chip as a main processor, a HIP4081 drive chip can conveniently drive an H-bridge circuit to control a motor, a serial port bus is used for collecting experimental data into a computer to conveniently perform related data processing and comparison, and the steady-state error and the dynamic performance of the current and the rotating speed of the motor control system under a rated load are firstly tested;
d-2, applying the motor fuzzy PID control system to the bolt wrench, enabling the direct current motor to achieve the purpose of reducing the rotating speed and increasing the torque through the planetary reducer, measuring the motor current by selecting a BJHCS-LSP type high-precision current sensor, measuring the rotating speed of the motor by using an SJ1092H type Hall rotating speed sensor arranged in the bolt wrench, and testing the dynamic steady-state performance of the bolt wrench under the condition of sudden load change.
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