CN113972899B - 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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- CN113972899B CN113972899B CN202111230810.2A CN202111230810A CN113972899B CN 113972899 B CN113972899 B CN 113972899B CN 202111230810 A CN202111230810 A CN 202111230810A CN 113972899 B CN113972899 B CN 113972899B
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- H—ELECTRICITY
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Abstract
The invention discloses a novel operational amplification compensation circuit aiming at an inertia link and a control system thereof, and belongs to the field of automatic control. The phase lag caused by the inertia links affects the dynamic response capability of the control system. To compensate for the effects of inertial links, a closed loop control system is conventionally employed. The invention provides a novel operational amplification compensation circuit aiming at an inertia link. The circuit comprises an in-phase amplified proportional integral link A(s) and a negative feedback inertia link B(s), and can compensate 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 capacity of the amplifier can be freely adjusted by a pair of resistors in the operational amplifier, and the amplifier is simple and convenient to design. Meanwhile, the circuit can be realized through 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 aiming at an inertia link and a control system thereof.
Background
Inertial links are common in control systems. For example, an inertia link of a current response due to an equivalent resistance of the inductive motor and an armature inductance, an inertia link due to various mechanical structures, and the like. For control systems, inertia loops can cause phase lag and affect control bandwidth. Therefore, to improve the dynamic response capability of the system, it is important to compensate for the dynamic response capability.
Conventional compensation methods are typically based on closed loop control systems. And feeding back the sensor signal to the control unit for closed loop correction. However, factors such as noise from the sensor can limit the bandwidth of the closed loop control system, thereby preventing further improvement in the dynamic response capability of the system. At the same time, the use of sensors also adds undoubtedly to the cost and complexity of the system.
Aiming at the situation, the invention provides a novel operational amplification compensation circuit aiming at an inertia link. Aiming at 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 capacity of the amplifier can be freely adjusted by a pair of resistors in the operational amplifier, and the amplifier is simple and convenient to design. Meanwhile, the circuit can be realized by using an operational amplifier of the AD8676, and the cost is extremely low.
Disclosure of Invention
The invention aims at: and the operational amplifier compensates an inertia link in the control system on the basis of no need of a sensor, so that the dynamic response capability of the system is improved.
The invention adopts the technical scheme that:
the novel operational amplification compensation circuit for the inertia link comprises an in-phase amplification proportional integral link A(s) and a negative feedback inertia link B(s), wherein the compensation circuit is connected in series before an inertia hysteresis link of a controlled object so as to compensate the inertia hysteresis;
the gain of the negative feedback inertial link 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 link A(s) is designed to be K, and the time constant of the gain is the same as the phase lag of the controlled object, namely:
wherein τ 0 A phase constant representing the inertial hysteresis of the controlled object;
the proportional-integral link A(s) comprises an operational amplifierAmplifier, a first resistor R 1 A second resistor R 2 And a capacitance C;
the negative feedback inertia link B(s) comprises an operational amplifier, two second resistors R 2 And a capacitance C;
when R is 2 ＝NR 1 In this case, the phase lag of the system can be reduced to 1/N.
The invention also provides the following technical scheme:
the control system comprises the novel operational amplification compensation circuit aiming at the inertia link, wherein the compensation circuit is connected in series before the inertia hysteresis link of a controlled object in the control system, so that the inertia hysteresis is compensated;
after the compensation, the final response characteristics of the control system are as follows:
wherein τ' 0 =1/K, r(s) and y(s) represent an input control signal and an output response signal of the system, respectively; when 1/K is less than tau 0 When the method is used, the phase lag can be reduced, and the response bandwidth of the system is improved;
wherein,,
τ 0 ＝R 2 C (3)
τ′ 0 ＝R 1 C (4)。
according to the technical scheme, 1/K is 1/K 0 The phase lag can be greatly reduced, and the response bandwidth of the system can be improved; and due to tau 0 ＝R 2 C，τ′ 0 ＝R 1 C, thus, when R 2 ＝NR 1 When the phase delay of the system is reduced to 1/N of the original phase delay, the circuit design can be effectively supplemented with the phase delay generated by an inertia link, and the circuit is very concise.
Compared with the prior art, the invention has the following advantages:
(1) No sensor is needed, so that the influence of noise on the compensation circuit is avoided;
(2) The design is simple and convenient, and the compensation effect can be controlled by adjusting a group of gains;
(3) The design cost is low, and the compensation of inertial hysteresis is realized through a small number of operational amplifiers.
Drawings
FIG. 1 is a block diagram of a novel operational amplifier compensation circuit for inertial links according to the present invention;
FIG. 2 is a schematic diagram of experimental verification;
FIG. 3 shows the effect of the present invention on inertial member compensation at different values of N.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
FIG. 1 is a block diagram showing a novel operational amplification compensation circuit for inertial links, the novel operational amplification compensation circuit comprises a proportional-integral link A(s) with in-phase amplification and a negative feedback inertial link B(s), and the compensation circuit is connected in series before an inertial hysteresis link of a controlled object so as to compensate the inertial hysteresis;
the gain of the negative feedback inertial link 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 link A(s) is designed to be K, and the time constant of the gain is the same as the phase lag of the controlled object, namely:
wherein τ 0 A phase constant representing the inertial hysteresis of the controlled object;
the proportional-integral link A(s) comprises an operational amplifier, a first resistor R 1 A second resistor R 2 And a capacitance C;
the negative feedback inertial link B(s) comprises an operational amplifierAmplifier, two second resistors R 2 And a capacitance C;
when R is 2 ＝NR 1 In 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 an inertia hysteresis link of a controlled object in the control system, so that the inertia hysteresis is compensated;
after the compensation, the final response characteristics of the control system are as follows:
wherein τ' 0 =1/K, r(s) and y(s) represent an input control signal and an output response signal of the system, respectively; s is the Laplace operator; when 1/K is less than tau 0 When the method is used, the phase lag can be reduced, and the response bandwidth of the system is improved;
wherein,,
τ 0 ＝R 2 C (3)
τ′ 0 ＝R 1 C (4)
the design principle, process and effect of the novel operational amplification compensation circuit aiming at the inertia link are described as follows:
step 1: determining the time constant tau of an inertial link existing in the system by means of sweep frequency or manual parameter checking and the like 0 。
Step 2: a compensation circuit is built according to fig. 1 and connected in series to the control circuit.
Step 3: determining the resistance R according to equation (3) 2 And parameters of capacitance C.
Step 4: the desired compensation effect is determined. If the control bandwidth is increased by N times and the phase lag is reduced to 1/N, R is reduced 2 ＝NR 1 。
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 the signal sent by the controller and the feedback signal of the current sensor in the working computer. By means of the system, the current dynamic response characteristics of the motor are compared without using a compensation circuit and without using the compensation circuit, so that the effectiveness of the invention is demonstrated.
When the compensation circuit is not used, the current dynamic response characteristic of the motor is shown as a solid line in fig. 3. It can be seen that the current characteristic of the armature acts as an inertia link due to the armature inductance and the equivalent resistance, and the response bandwidth is about 99Hz. N is respectively taken as N by adjusting the resistor R1 1 ＝5，N 2 =10. As can be seen from the two dashed lines in FIG. 3, when N 1 At=5, the response bandwidth of the current is increased by about 5 times. And when N 2 At 10, the response bandwidth is improved by about 10 times, where the error source of the bandwidth is mainly the sampling lag of the controller. In conclusion, the experimental results are consistent with theoretical analysis, and the effectiveness of the invention is proved.
The foregoing is merely a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and these examples are for illustrative purposes only 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 made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.
Claims (2)
1. A novel operational amplification compensation circuit for inertial links is characterized in that,
the compensation circuit comprises an in-phase amplified proportional integral link A(s) and a negative feedback inertia link B(s), and is connected in series before an inertia hysteresis link of a controlled object so as to compensate the inertia hysteresis;
the gain of the negative feedback inertial link 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 link A(s) is designed to be K, and the time constant of the gain is the same as the phase lag of the controlled object, namely:
wherein τ 0 A phase constant representing the inertial hysteresis of the controlled object;
the proportional-integral link A(s) comprises an operational amplifier, a first resistor R 1 A second resistor R 2 And a capacitance C;
the negative feedback inertia link B(s) comprises an operational amplifier, two second resistors R 2 And a capacitance C;
when R is 2 ＝NR 1 In 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 inertial link according to claim 1, wherein the compensation circuit is connected in series before an inertial hysteresis link of a controlled object in the control system, thereby compensating for the inertial hysteresis;
after the compensation, the final response characteristics of the control system are as follows:
wherein τ' 0 =1/K, r(s) and y(s) represent an input control signal and an output response signal of the system, respectively; when 1/K is less than tau 0 When the method is used, the phase lag can be reduced, and the response bandwidth of the system is improved;
wherein,,
τ 0 ＝R 2 C (3)
τ 0 ′＝R 1 C (4)。
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| JP2009166715A (en) * | 2008-01-17 | 2009-07-30 | Nsk Ltd | Electric power steering device |
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- 2021-10-22 CN CN202111230810.2A patent/CN113972899B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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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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