CN105093927B - The commutation of electric steering engine dead band substitutes compensation method - Google Patents
The commutation of electric steering engine dead band substitutes compensation method Download PDFInfo
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- CN105093927B CN105093927B CN201510449762.4A CN201510449762A CN105093927B CN 105093927 B CN105093927 B CN 105093927B CN 201510449762 A CN201510449762 A CN 201510449762A CN 105093927 B CN105093927 B CN 105093927B
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Abstract
The commutation of electric steering engine dead band substitutes compensation method and belongs to electric steering engine technical field of servo control, this method is to add compensating controller in electric steering engine servo system controller, by the PWM value under electric steering engine location deflection error e, steering wheel normal work, steering wheel direction signal input offset controller, it is output as ▽ m；As e ＞ θ0And steering wheel position is when commutating, ▽ m=uv0, instead of the output u of speed PI controller last momentsv(k 1), show that steering wheel speed ring is currently output as uv(k)=uv0+(kpv+kiv)ev(k)‑kpvev(k‑1)；As e ＜ θ0And steering wheel position is when commutating, ▽ m=uv1, instead of the output u of speed PI controller last momentsv(k 1), show that steering wheel speed ring is currently output as uv(k)=uv1+(kpv+kiv)ev(k)‑kpvev(k‑1).The present invention need not precisely compensate for value ▽ m, and via controller just can quickly start steering wheel, the influence of deadband eliminating after interative computation several times, while also avoiding because of steady-state jitter problem caused by frequent compensation.
Description
Technical field
The invention belongs to electric steering engine technical field of servo control, and in particular to a kind of electric steering engine dead band commutation, which is substituted, mends
Compensation method.
Background technology
Electric steering engine (EMA) because its small volume, cost it is low, it is easily controllable the advantages of, at home and abroad obtained on aircraft compared with
To be widely applied.But steering gear system inevitably has dead band (friction, gap etc.), less seriously and control to refer in dead band
In the case that mark requires not strict, it can ignore.But, when doing high accuracy, the position tracking of high bandwidth, ignore dead time effect
Serious " flat-top " problem will be produced, have a strong impact on the tracking accuracy and bandwidth of steering gear system, or even cause the flight path of aircraft
Shake, destroys the stability of aircraft.Therefore, the compensation and control method for dead band are essential.
At present, many scholars using the advanced control theory such as variable-structure control, ANN Control, particle algorithm obtain compared with
Good achievement, preferably resolves " flat-top " problem brought in steering wheel dead band.But it has the disadvantage：Algorithm is complex, computing is all
Phase is longer, is difficult engineering and realizes, requires higher to micro-chip processor；Required precision of traditional compensating controller to compensation rate
It is higher, cause engineering post-compensation effect to substantially reduce；The problem of introducing new again while overcoming dead-time problem.
The content of the invention
In order to solve prior art to there is the steering wheel positioning control system in dead band, when doing low-angle position sinusoidal tracking,
There is larger " flat-top " in steering gear system, cause larger position tracking error, and then trigger aircraft's flight track acutely to tremble
Dynamic technical problem, the invention provides it is a kind of it is simple and reliable, be easy to engineering and realize, improve the electronic of control accuracy and speed
The commutation of steering wheel dead band substitutes compensation method.This method adds dead band commutation in servo system controller and substitutes compensating controller,
It is effective to improve position tracking " flat-top " problem, improve tracking accuracy；, will due to compensation way, compensation position and compensation precision
Directly affect " flat-top " and weaken effect and other performance indications of steering gear system, when designing dead band switch compensation control algolithm,
With reference to steering wheel direction of rotation and offset error, in speed ring by the way of commutation substitutes compensation.
The technical solution adopted for solving the technical problem of the present invention is as follows：
The commutation of electric steering engine dead band substitutes compensation method, and it comprises the following steps：In electric steering engine servo system controller
Middle addition compensating controller, the PWM value under electric steering engine location deflection error e, steering wheel normal work, steering wheel direction signal is defeated
Enter compensating controller, it is output as ▽ m；As steering wheel location deflection error e ＞ θ0(θ0It is one and is more than zero minimum, can be according to steady
State required precision is adjusted), and steering wheel position is when commutating, ▽ m=uv0(uv0Positive PWM under being run well for steering wheel
Code value), instead of the output u of electric steering engine servo system controller medium velocity PI controller last momentsv(k-1) steering wheel, is drawn
Speed ring is currently output as uv(k)=uv0+(kpv+kiv)ev(k)-kpvev(k-1)；As steering wheel location deflection error e ＜-θ0, and
When steering wheel position is commutated, ▽ m=uv1(uv1Negative sense PWM code values under being run well for steering wheel), instead of speed PI controllers
The output u of last momentv(k-1), show that steering wheel speed ring is currently output as uv(k)=uv1+(kpv+kiv)ev(k)-kpvev(k-
1)；| e |≤| θ0| or steering wheel position is not when commutating, compensating controller output ▽ m be on speed PI controllers for the moment
The output u at quarterv(k-1)。
Beneficial effects of the present invention are as follows：
1st, the present invention effectively improves what low-angle position sinusoidal tracking was present by being compensated to steering wheel dead band
" flat-top " phenomenon, solves the aircraft instruction high frequency triggered by " flat-top " problem and trembles problem.
2nd, the present invention is by the way of commutation substitutes compensation, and single compensation is only done in commutation every time, efficiently avoid tradition
The problem of backoff algorithm influences other performance indications of steering gear system because of the frequent compensation of controller.
3rd, required precision of the replacement compensation method that the present invention is used to compensation rate is low, directly can normally be transported using steering wheel
PWM value is as offset during row, and algorithm is simple, reliable, quantities is small, and is easy to engineering realization, with wider applicable model
Enclose.
Brief description of the drawings
Fig. 1 is the Electrodynamic Rudder System structured flowchart of the present invention.
Fig. 2 is the Rudder Servo System controller fundamental diagram of the present invention.
Fig. 3 is the Rudder Servo System controller calculation flow chart of the present invention.
The commutation that Fig. 4 is the present invention substitutes compensating controller flow chart.
Fig. 5 is to introduce the commutation of steering wheel dead band to substitute 0.1 °, the contrast of 4Hz low-angle sinusoidal trackings before and after compensating controller
Figure.
Embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, the Electrodynamic Rudder System of the present invention include Rudder Servo System controller, it is pwm power module, brushless
Direct current generator, decelerator, velocity sensor and position sensor；Rudder Servo System controller receives steering wheel deflection command, together
When gather the speed and position signalling of steering wheel in real time by velocity sensor and position sensor, and through Rudder Servo System control
After the processing of device, output PWM code values to pwm power module drive brshless DC motor, and then drive control surface deflection, realize rudder
The high precision position tracking of machine system.
As depicted in figs. 1 and 2, Rudder Servo System controller of the invention mainly includes position ring controller, speed ring
Controller and the part of compensating controller three；Position ring is outer shroud, using PI controllers, and input quantity is steering wheel deflection command, position
Feedback signal, output quantity is the speed command of speed ring；Speed ring is inner ring, using PI controllers, input quantity be speed command,
The offset of feedback speed signal, compensating controller, output quantity is PWM code values, and velocity magnitude and side are realized by pulsewidth modulation
To control；The input quantity of compensating controller is current steering wheel location deflection error, the PWM code values under steering wheel normal work, rudder
Machine direction of rotation, the output quantity of compensating controller is ▽ m, the output PWM (k- for substituting speed ring controller last moment
1).The course of work of Rudder Servo System controller, when position ring controller receives steering wheel deflection command θ and angle of rudder reflection feedback
After value θ ', output speed deflection command v, while to compensating controller outgoing position tracking error e；Compensating controller receives steering wheel
Location deflection error e, while according to the PWM value under the direction of rotation of electric steering engine and its normal work, exporting rough compensation
Value ▽ m, to substitute PWM (k-1)；Speed ring controller according to the speed command v received, velocity feedback v' and offset ▽ m,
Calculate new PWM (k) values.The method need not precisely compensate for value ▽ m, and via controller several times just can be quick after interative computation
Start steering wheel, the influence of deadband eliminating, while steady-state jitter problem caused by also avoiding because frequently compensating.
As shown in figure 3, its Rudder Servo System controller calculation process for the present invention.During steering wheel position-commutate mode, due to
The iterative calculation of discrete controller and static friction etc. are acted on, and cause the commutation of steering wheel speed to lag behind steering wheel commutation in time, together
When occur position " flat-top " phenomenon in static friction sphere of action, have a strong impact on tracking accuracy.
Position ring PI discrete controllers are as follows：
Wherein, kp、kiFor position ring PI controller parameters, it can be tried to achieve according to system performance index.θ (k) refers to for current location
Order, θ ' (k) feeds back for current location, ep(k) it is current location offset error, ep(k-1) it is last moment location deflection error,
up(k) exported for current time position PI controller.
By steering wheel deflection command θ (k) and steering wheel position feedback θ ' (k) input position ring controller, through position ring controller
Computing output speed instructs up(k) to speed ring controller.
Speed ring PI discrete controllers are as follows：
Wherein, kpv、kivFor speed ring PI controller parameters, it can be tried to achieve according to system performance index.up(k) it is present speed
Instruction, v'(k) fed back for present speed, ev(k) it is present speed error, ev(k-1) it is last moment velocity error, uv(k) it is
Current time position PI controller is exported, uv(k-1) exported for last moment position PI controller.
Speed PI controllers receive speed command up(k), speed feedback value v'(k), the offset of compensating controller, pass through
Speed PI controllers calculate output PWM, realize pulsewidth modulation.Because of speed, position discrete controller iteration uvAnd u (k-1)p(k-
1) influence, position-commutate mode is ep(k) when direction changes, uv(k) symbol direction can not change in time, exist larger
Delay, speed ring can not commutate in time when causing the position to commutate, simultaneously because static friction influences so that system speed ring
There is dead band, dead area compensation controller is added for this.
Fig. 4 substitutes compensating controller flow chart for the commutation designed by the present invention.By electric steering engine location deflection error e,
PWM value, the steering wheel direction signal input steering wheel dead area compensation controller of controller output, it is output as ▽ m.When steering wheel position is inclined
Turn error e ＞ θ0(θ0For a minimum more than zero, can be adjusted according to the requirement of stable state accuracy), and steering wheel position hair
During raw commutation, ▽ m=uv0(uv0Positive PWM code values under being run well for steering wheel), instead of speed PI controller last moments
Export uv(k-1), that is, show that steering wheel speed ring is currently output as uv(k)=uv0+(kpv+kiv)ev(k)-kpvev(k-1)；Work as steering wheel
Location deflection error e ＜-θ0, and steering wheel position is when commutating, ▽ m=uv1(uv1Negative sense PWM codes under being run well for steering wheel
Value), instead of the output u of speed PI controller last momentsv(k-1), that is, show that steering wheel speed ring is currently output as uv(k)=uv1
+(kpv+kiv)ev(k)-kpvev(k-1)；It is smaller and steering wheel position does not occur under condition of commutation, dead band in steering wheel position tracking error
Commutation substitutes compensating controller and not worked then.So, both position tracking " flat-top " can be eliminated with effective compensation steering wheel dead band to ask
Topic, can avoid triggering because frequently compensating control parameter the discontinuity of control again.
Fig. 5 is introduces before and after steering wheel dead band replacement compensating controller, and electric steering engine does 0.1 °, 4Hz low-angle sinusoidal positions
Track comparison diagram.As can be seen that introducing before replacing compensating controller, due to factors such as delay, the static friction of controller iteration
, when doing low-angle sinusoidal tracking, there is 50ms speed dead band, more serious " flat-top " phenomenon, flat-top time occurs in position in influence
About 62ms, tracking error is 0.12 °；Introduce after replacing compensating controller, speed dead band is 8ms, and the position flat-top time is
18ms, tracking error is 0.05 °, and tracking accuracy and response speed are greatly improved.The electric steering engine dead band of the present invention is changed
To compensation method is substituted, other indexs are not influenceed while overcoming steering wheel dead band to influence, and need not the amount of precisely compensating for,
Algorithm is simply easy to Project Realization.
Claims (1)
1. the commutation of electric steering engine dead band substitutes compensation method, it is characterised in that this method comprises the following steps：Watched in electric steering engine
Compensating controller is added in dress system controller, by the PWM value under electric steering engine location deflection error e, steering wheel normal work, rudder
Machine direction signal input offset controller, it is output as ▽ m；As steering wheel location deflection error e ＞ θ0, and steering wheel position changes
Xiang Shi, ▽ m=uv0, instead of the output u of electric steering engine servo system controller medium velocity PI controller last momentsv(k-1), obtain
Go out steering wheel speed ring and be currently output as uv(k)=uv0+(kpv+kiv)ev(k)-kpvev(k-1)；When steering wheel location deflection error e ＜-
θ0, and steering wheel position is when commutating, ▽ m=uv1, instead of the output u of speed PI controller last momentsv(k-1) rudder, is drawn
Machine speed ring is currently output as uv(k)=uv1+(kpv+kiv)ev(k)-kpvev(k-1)；| e |≤| θ0| or steering wheel position is not
When commutating, compensating controller output ▽ m are the output u of speed PI controller last momentsv(k-1)；It is above-mentioned it is various in, θ0
For a minimum more than zero, it can be adjusted according to the requirement of stable state accuracy；uv0Positive PWM under being run well for steering wheel
Code value；uv1Negative sense PWM code values under being run well for steering wheel；ev(k) it is present speed error, ev(k-1) it is last moment speed
Spend error.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341065B (en) * | 2016-10-12 | 2018-09-18 | 闽江学院 | Supersonic motor servo-control system speed dead area compensation control device and method |
| CN106681134A (en) * | 2017-01-10 | 2017-05-17 | 广东石油化工学院 | High-precision steering engine position control method |
| CN107065943B (en) * | 2017-05-02 | 2019-09-20 | 南京工程学院 | It is a kind of directly to turn platform position control system and control method |
| CN108803357B (en) * | 2018-09-03 | 2020-09-01 | 中国科学院长春光学精密机械与物理研究所 | PID and improved sliding mode electric steering engine hybrid control method and system |
| CN109976371A (en) * | 2019-04-22 | 2019-07-05 | 朴敏楠 | The suppressing method, device and equipment of posture limit cycle when aircraft cruise section |
| CN110109348B (en) * | 2019-05-13 | 2023-03-10 | 河南工学院 | Depth-based hydraulic proportional valve bidirectional dead zone compensation method |
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Effective date of registration: 20210120 Address after: 266111 No.17, Hongxiang 2nd Road, Jihongtan street, Chengyang District, Qingdao City, Shandong Province Patentee after: Zhongtian Changguang (Qingdao) equipment Technology Co.,Ltd. Address before: 130033, 3888 southeast Lake Road, Jilin, Changchun Patentee before: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences |
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