CN113972899A - Novel operational amplification compensation circuit for inertial link and control system thereof - Google Patents
Novel operational amplification compensation circuit for inertial link and control system thereof Download PDFInfo
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- CN113972899A CN113972899A CN202111230810.2A CN202111230810A CN113972899A CN 113972899 A CN113972899 A CN 113972899A CN 202111230810 A CN202111230810 A CN 202111230810A CN 113972899 A CN113972899 A CN 113972899A
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
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Abstract
The invention discloses a novel operational amplification compensation circuit aiming at an inertia link and a control system thereof, belonging to the field of automatic control. The phase lag caused by the inertia element affects the dynamic response capability of the control system. In order to compensate for the effects of the inertial link, a closed-loop control system is traditionally used. The invention provides a novel operational amplification compensation circuit aiming at an inertia link. The circuit comprises a proportional-integral element A(s) and a negative feedback inertia element B(s) which amplify in phase, can compensate phase lag under the condition of no sensor, and improves the bandwidth of a control system. Since the influence of sensor noise is avoided, a high compensation capability can be obtained by increasing the gain. And the compensation capability can be freely adjusted by a pair of resistors in the operational amplifier, and the design is simple and convenient. Meanwhile, the circuit can be realized by a small amount of operational amplifiers, and the cost is extremely low.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a novel operational amplification compensation circuit for an inertia link and a control system thereof.
Background
Inertial links are ubiquitous in control systems. For example, an inertia element of a current response due to an equivalent resistance and an armature inductance of the inductive motor, an inertia element due to various mechanical structures, and the like. For control systems, the inertia loop causes phase lag and affects control bandwidth. Therefore, it is important to compensate for the dynamic response capability of the system.
Conventional compensation methods are typically based on closed loop control systems. And feeding the sensor signal back to the control unit for closed-loop correction. However, noise from sensors, etc., may limit the bandwidth of the closed-loop control system, thereby preventing further improvements in the dynamic response capability of the system. At the same time, the use of sensors also undoubtedly increases the cost and complexity of the system.
In view of the above situation, the present invention provides a novel operational amplifier compensation circuit for an inertia element. Aiming at the phase lag caused by inertia links, the circuit can compensate the phase lag without a sensor and improve the bandwidth of a control system. Since the influence of sensor noise is avoided, a high compensation capability can be obtained by increasing the gain. And the compensation capability can be freely adjusted by a pair of resistors in the operational amplifier, and the design is simple and convenient. Meanwhile, the circuit can be realized by using an AD8676 operational amplifier, and the cost is extremely low.
Disclosure of Invention
The invention aims to: by means of the operational amplifier, inertia links in the control system are compensated on the basis that a sensor is not needed, and therefore the dynamic response capacity of the system is improved.
The technical scheme adopted by the invention is as follows:
a novel operational amplification compensation circuit for an inertia element comprises a proportional-integral element A(s) for in-phase amplification and a negative feedback inertia element B(s), wherein the compensation circuit is connected in series before an inertia lag element of a controlled object so as to compensate the inertia lag;
wherein, the gain of the negative feedback inertia element B(s) of the compensation circuit is 1, and the time constant is the same as the phase lag of the controlled object, namely:
the gain of the proportional-integral element a(s) is designed to be K, and the time constant of the proportional-integral element a(s) is the same as the phase lag of the controlled object, that is:
wherein, tau0A phase constant representing the inertia lag of the controlled object;
the proportional-integral element A(s) comprises an operational amplifier and a first resistor R1A second resistor R2And a capacitance C;
the negative feedback inertia element B(s) comprises an operational amplifier and two second resistors R2And a capacitance C;
when R is2＝NR1In this case, the phase lag of the system can be reduced to 1/N.
The invention also provides the following technical scheme:
a control system comprising the novel operational amplification compensation circuit for the inertia element, wherein the compensation circuit is connected in series before the inertia lag element of a controlled object in the control system so as to compensate the inertia lag;
after the compensation, the final response characteristic of the control system is as follows:
wherein τ'01/K, r(s) and y(s) represent the input control signal and output response signal of the system, respectively; when 1/K < tau0When the method is used, the phase lag can be reduced, and the response bandwidth of the system is improved;
wherein the content of the first and second substances,
τ0＝R2C (3)
τ′0＝R1C (4)。
according to the above technical solution, therefore, only 1/K < tau0Phase lag can be greatly reduced, and the response bandwidth of the system is improved; and due to tau0＝R2C，τ′0＝R1C, therefore, when R2＝NR1In time, the phase lag of the system can be reduced to 1/N of the original phase lag, so that the circuit design can effectively supplement the phase lag generated by an inertia link and is very simple.
Compared with the prior art, the invention has the following advantages:
(1) no sensor is needed, thus avoiding the influence of noise on the compensation circuit;
(2) the design is simple and convenient, and the compensation effect can be controlled only by adjusting a group of gains;
(3) the design cost is low, and the compensation of the inertia lag is realized by a small number of operational amplifiers.
Drawings
FIG. 1 is a block diagram of a novel operational amplifier compensation circuit for inertial link according to the present invention;
FIG. 2 is a schematic diagram of experimental validation;
FIG. 3 shows the effect of the present invention on the compensation of inertial element at different values of N.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Fig. 1 is a block diagram of a novel operational amplification compensation circuit for an inertia element according to the present invention, which includes a proportional-integral element a(s) for in-phase amplification and a negative feedback inertia element b(s), and the compensation circuit is connected in series before an inertia lag element of a controlled object to compensate for the inertia lag;
wherein, the gain of the negative feedback inertia element B(s) of the compensation circuit is 1, and the time constant is the same as the phase lag of the controlled object, namely:
the gain of the proportional-integral element a(s) is designed to be K, and the time constant of the proportional-integral element a(s) is the same as the phase lag of the controlled object, that is:
wherein, tau0A phase constant representing the inertia lag of the controlled object;
the proportional-integral element A(s) comprises an operational amplifier and a first resistor R1A second resistor R2And a capacitance C;
the negative feedback inertia element B(s) comprises an operational amplifier and two second resistors R2And a capacitance C;
when R is2＝NR1In this case, the phase lag of the system can be reduced to 1/N.
The invention also provides a control system comprising the novel operational amplification compensation circuit, wherein the compensation circuit is connected in series before the inertial lag link of a controlled object in the control system so as to compensate the inertial lag;
after the compensation, the final response characteristic of the control system is as follows:
wherein τ'01/K, r(s) and y(s) represent the input control signal and output response signal of the system, respectively; s is a laplace operator; when 1/K < tau0When the method is used, the phase lag can be reduced, and the response bandwidth of the system is improved;
wherein the content of the first and second substances,
τ0＝R2C (3)
τ′0＝R1C (4)
the design principle, process and effect of the novel operational amplification compensation circuit aiming at the inertia link are explained as follows:
step 1: determining the time constant tau of an inertia link existing in the system by means of frequency sweep or manual parameter checking and the like0。
Step 2: a compensation circuit is built according to fig. 1 and connected in series to the control circuit.
And step 3: determining the resistance R according to equation (3)2And the parameters of the capacitance C.
And 4, step 4: a desired compensation effect is determined. If it is desired to control the bandwidth to increase by N times and the phase lag to decrease to 1/N, then let R2＝NR1。
In order to verify the effect of the invention, a set of direct current torque motor control system is built. The invention is composed of a controller, a compensation circuit, a motor driver, a current sensor and a working computer. The dynamic response characteristic of the current is calculated by calculating the ratio of a signal sent by the controller and a feedback signal of the current sensor in a working computer. By this system, the current dynamic response characteristics of the motor were compared without and with a compensation circuit, thus demonstrating the effectiveness of the invention.
When the compensation circuit is not used, the current dynamic response characteristics of the motor are shown as solid lines in fig. 3. It can be seen that the current characteristic of the armature is represented by an inertia link due to the action of the armature inductance and the equivalent resistance, and the response bandwidth is about 99 Hz. Respectively making N take the value of N by adjusting the resistance R11＝5，N 210. As can be seen by the two dashed lines in FIG. 3, when N is1At 5, the response bandwidth of the current is increased by a factor of about 5. When N is2At 10, the response bandwidth is improved by a factor of about 10, where the error source of the bandwidth is mainly the sampling lag of the controller. In conclusion, the experimental result is consistent with the theoretical analysis, and the effectiveness of the invention is proved.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and these examples are only for illustrative purpose and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the invention, and these alternatives and modifications are intended to fall within the scope of the invention.
Claims (2)
1. A novel operational amplification compensation circuit for an inertia link is characterized in that,
the compensation circuit comprises a proportional-integral element A(s) amplified in phase and a negative feedback inertia element B(s), and is connected in series before an inertia hysteresis element of a controlled object so as to compensate the inertia hysteresis;
wherein, the gain of the negative feedback inertia element B(s) of the compensation circuit is 1, and the time constant is the same as the phase lag of the controlled object, namely:
the gain of the proportional-integral element a(s) is designed to be K, and the time constant of the proportional-integral element a(s) is the same as the phase lag of the controlled object, that is:
wherein, tau0A phase constant representing the inertia lag of the controlled object;
the proportional-integral element A(s) comprises an operational amplifier and a first resistor R1A second resistor R2And a capacitance C;
the negative feedback inertia element B(s) comprises an operational amplifier and two second resistors R2And a capacitance C;
when R is2＝NR1In this case, the phase lag of the system can be reduced to 1/N.
2. A control system comprising a novel operational amplification compensation circuit for an inertia element according to claim 1, wherein the compensation circuit is connected in series before an inertia lag element of a controlled object in the control system so as to compensate the inertia lag;
after the compensation, the final response characteristic of the control system is as follows:
wherein τ'01/K, r(s) and y(s) represent the input control signal and output response signal of the system, respectively; when 1/K < tau0When the method is used, the phase lag can be reduced, and the response bandwidth of the system is improved;
wherein the content of the first and second substances,
τ0＝R2C (3)
τ0′＝R1C (4)。
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| CN110034568A (en) * | 2019-05-14 | 2019-07-19 | 江苏师范大学 | A kind of control method of railway power regulator |
| CN112433471A (en) * | 2020-11-24 | 2021-03-02 | 北京麦格纳材科技有限公司 | High-precision self-gain compensation control method and control circuit thereof |
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2021
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Patent Citations (7)
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| JPH05301576A (en) * | 1992-04-27 | 1993-11-16 | Mitsubishi Electric Corp | Electric-driven power steering control device |
| JP2003011831A (en) * | 2001-06-28 | 2003-01-15 | Nsk Ltd | Controller for electric power steering device |
| CN201168594Y (en) * | 2008-01-16 | 2008-12-24 | 桂林电子科技大学 | Six-side top superhard material hydraulic press power adjust control system |
| JP2009166715A (en) * | 2008-01-17 | 2009-07-30 | Nsk Ltd | Electric power steering device |
| CN104111664A (en) * | 2014-07-18 | 2014-10-22 | 零八一电子集团有限公司 | Method for overcoming motor dead zone and improving radar tracking precision in speed ring |
| CN110034568A (en) * | 2019-05-14 | 2019-07-19 | 江苏师范大学 | A kind of control method of railway power regulator |
| CN112433471A (en) * | 2020-11-24 | 2021-03-02 | 北京麦格纳材科技有限公司 | High-precision self-gain compensation control method and control circuit thereof |
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