CN105093927A - Reversing substitution compensation method for EMA (electromechanical actuator) dead zone - Google Patents
Reversing substitution compensation method for EMA (electromechanical actuator) dead zone Download PDFInfo
- Publication number
- CN105093927A CN105093927A CN201510449762.4A CN201510449762A CN105093927A CN 105093927 A CN105093927 A CN 105093927A CN 201510449762 A CN201510449762 A CN 201510449762A CN 105093927 A CN105093927 A CN 105093927A
- Authority
- CN
- China
- Prior art keywords
- controller
- steering wheel
- ema
- speed
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a reversing substitution compensation method for an EMA (electromechanical actuator) dead zone, and belongs to the technical field of EMA servo control. The method comprises the steps: adding a compensation controller to an EMA servo system controller, enabling the position deflection error e of an EMA, a PWM value and a direction signal of the EMA under the normal working condition to be inputted into the compensation controller, and outputting delta m; substituting the output uv<k-1> of a speed PI controller at the last moment when e is greater than theta<0>, the position of the EMA changes and delta m is equal to uv<0>, and obtaining the current output uv<k> of an EMA speed ring, wherein the uv<k> is equal to (uv<0>+(k<pv>+k<iv>)*e<v>*(k)-k<pv>*e<v>(k-1); substituting the output uv<k-1> of the speed PI controller at the last moment when e is less than -theta<0>, the position of the EMA changes and delta m is equal to uv<1>, and obtaining the current output uv<k> of the EMA speed ring, wherein the uv<k> is equal to (uv<1>+(k<pv>+k<iv>)*e<v>*(k)-k<pv>*e<v>(k-1). The method does not need a precise compensation value delta m, can quickly start the EMA through several iteration operations, eliminates the impact from the dead zone, and also avoids a problem of stable state jitter caused by frequent compensation.
Description
Technical field
The invention belongs to electric steering engine technical field of servo control, be specifically related to the commutation of a kind of electric steering engine dead band and substitute compensation method.
Background technology
Electric steering engine (EMA), because its volume is little, cost is low, be easy to the advantages such as control, at home and abroad aircraft obtains applying comparatively widely.But steering gear system inevitably exists dead band (friction, gap etc.), under dead band is not too serious and Con trolling index requires undemanding situation, can ignore.But doing high precision, the position of high bandwidth is when following the tracks of, and ignoring dead time effect by producing serious " flat-top " problem, having a strong impact on tracking accuracy and the bandwidth of steering gear system, even causing the flight path of aircraft shake, the stability of destruction aircraft.Therefore, for the compensation in dead band and control method essential.
At present, many scholars adopt the advanced control theories such as variable-structure control, ANN (Artificial Neural Network) Control, particle algorithm to obtain good achievement, preferably resolve " flat-top " problem brought in steering wheel dead band.But its shortcoming is: algorithm is comparatively complicated, execution cycle is longer, and not easily through engineering approaches realizes, and requires higher to micro-chip processor; The accuracy requirement of traditional compensating controller to compensation rate is higher, causes through engineering approaches post-compensation effect greatly to reduce; New problem is in turn introduced while overcoming dead-time problem.
Summary of the invention
In order to solve prior art to the steering wheel positioning control system that there is dead band, when doing low-angle position sinusoidal tracking, there is larger " flat-top " problem in steering gear system, cause larger position tracking error, and then cause the aircraft's flight track technical matters of acutely shaking, the invention provides a kind of simple and reliable, be easy to the electric steering engine dead band commutation that through engineering approaches realized, improved control accuracy and speed and substitute compensation method.The method adds dead band commutation and substitutes compensating controller in servo system controller, effectively improves position and follows the tracks of " flat-top " problem, improve tracking accuracy; Due to compensation way, compensated position and compensation precision, directly will affect other performance index that " flat-top " weakens effect and steering gear system, when designing dead band switch compensation control algolithm, in conjunction with steering wheel sense of rotation and offset error, commutation is adopted to substitute the mode compensated at speed ring.
The technical scheme that technical solution problem of the present invention is taked is as follows:
The commutation of electric steering engine dead band substitutes compensation method, it comprises the steps: to add compensating controller in electric steering engine servo system controller, PWM value under electric steering engine location deflection error e, steering wheel are normally worked, steering wheel direction signal input offset controller, it exports as ▽ m; As steering wheel location deflection error e > θ
0(θ
0be one and be greater than zero minimal value, can require to adjust according to stable state accuracy), and when commutation occurs in steering wheel position, ▽ m=u
v0(u
v0forward PWM code value under steering wheel normal operation), replace the output u in a moment on electric steering engine servo system controller medium velocity PI controller
v(k-1), show that the current output of steering wheel speed ring is u
v(k)=u
v0+ (k
pv+ k
iv) e
v(k)-k
pve
v(k-1); As steering wheel location deflection error e <-θ
0, and when commutation occurs in steering wheel position, ▽ m=u
v1(u
v1negative sense PWM code value under steering wheel normal operation), replace the output u in a moment on speed PI controller
v(k-1), show that the current output of steering wheel speed ring is u
v(k)=u
v1+ (k
pv+ k
iv) e
v(k)-k
pve
v(k-1); | e|≤| θ
0| or when commutation does not occur in steering wheel position, compensating controller exports the output u that ▽ m is a moment on speed PI controller
v(k-1).
Beneficial effect of the present invention is as follows:
1, the present invention is by compensating steering wheel dead band, effectively improves " flat-top " phenomenon that low-angle position sinusoidal tracking exists, and solves the aircraft instruction high frequency caused because of " flat-top " problem and to tremble problem.
2, the present invention adopts commutation to substitute the mode compensated, and each commutation only does single compensation, efficiently avoid conventional compensation algorithm affects other performance index of steering gear system problem because of the frequent compensation of controller.
3, the accuracy requirement of replacement compensation method to compensation rate of the present invention's employing is low, and when can directly use steering wheel normally to run, PWM value be as offset, and algorithm is simple, reliable, quantities is little, and is easy to through engineering approaches realization, has the wider scope of application.
Accompanying drawing explanation
Fig. 1 is Electrodynamic Rudder System structured flowchart of the present invention.
Fig. 2 is Rudder Servo System controller fundamental diagram of the present invention.
Fig. 3 is Rudder Servo System controller calculation flow chart of the present invention.
Fig. 4 is that commutation of the present invention substitutes compensating controller process flow diagram.
Fig. 5 introduces the commutation of steering wheel dead band to substitute before and after compensating controller 0.1 °, the comparison diagram of 4Hz low-angle sinusoidal tracking.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
As shown in Figure 1, Electrodynamic Rudder System of the present invention comprises Rudder Servo System controller, pwm power module, brshless DC motor, speed reduction unit, speed pickup and position transducer; Rudder Servo System controller receives steering wheel deflection command, the simultaneously speed of Negotiation speed sensor and position transducer Real-time Collection steering wheel and position signalling, and after the process of Rudder Servo System controller, export PWM code value to pwm power module, drive brshless DC motor, and then drive control surface deflection, the high precision position realizing steering gear system is followed the tracks of.
As depicted in figs. 1 and 2, Rudder Servo System controller of the present invention mainly comprises position ring controller, speed ring controller and compensating controller three part; Position ring is outer shroud, and adopt PI controller, input quantity is steering wheel deflection command, position feed back signal, and output quantity is the speed command of speed ring; Speed ring is inner ring, and adopt PI controller, input quantity is the offset of speed command, feedback speed signal, compensating controller, and output quantity is PWM code value, is realized the control in velocity magnitude and direction by width modulation; PWM code value, steering wheel sense of rotation under the input quantity of compensating controller is current steering wheel location deflection error, steering wheel normally works, the output quantity of compensating controller is ▽ m, the output PWM (k-1) in a moment on alternative speed ring controller.The course of work of Rudder Servo System controller, after position ring controller receives steering wheel deflection command θ and angle of rudder reflection value of feedback θ ', output speed deflection command v, simultaneously to compensating controller outgoing position tracking error e; Compensating controller receives steering wheel location deflection error e, simultaneously according to the sense of rotation of electric steering engine and the PWM value under normally working thereof, exports rough offset ▽ m, carrys out alternative PWM (k-1); Speed ring controller, according to the speed command v received, velocity feedback v' and offset ▽ m, calculates PWM (k) value made new advances.The method does not need accurate offset ▽ m, and via controller just can start steering wheel, the impact of deadband eliminating after interative computation several times fast, avoids the steady-state jitter problem caused because frequently compensating simultaneously yet.
As shown in Figure 3, it is Rudder Servo System controller calculation process of the present invention.During steering wheel position-commutate mode, due to effects such as the iterative computation of discrete controller and static friction, cause steering wheel speed to commutate and lag behind steering wheel commutation in time, in static friction reach, occur position " flat-top " phenomenon simultaneously, have a strong impact on tracking accuracy.
Position ring PI discrete controller is as follows:
Wherein, k
p, k
ifor position ring PI controller parameter, can try to achieve according to system performance index.θ (k) is current location instruction, and θ ' (k) is current location feedback, e
pk () is current location offset error, e
p(k-1) be a upper moment location deflection error, u
pk () is the output of 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 instruction u
pk () is to speed ring controller.
Speed ring PI discrete controller is as follows:
Wherein, k
pv, k
ivfor speed ring PI controller parameter, can try to achieve according to system performance index.U
pk () is present speed instruction, v'(k) be present speed feedback, e
vk () is present speed error, e
v(k-1) be a upper moment velocity error, u
vk () is the output of current time position PI controller, u
v(k-1) for a upper moment position PI controller exports.
Speed PI controller inbound pacing instruction u
p(k), speed feedback value v'(k), the offset of compensating controller, Negotiation speed PI controller calculates and exports PWM, realizes width modulation.Because of speed, position discrete controller iteration item u
vand u (k-1)
p(k-1) impact, position-commutate mode and e
pwhen () direction changes k, u
vk () symbol direction can not change in time, there is larger delay, and causing position that commutation hourly velocity ring occurs can not commutate in time, simultaneously due to static friction impact, makes system speed ring there is dead band, adds dead area compensation controller for this reason.
The commutation of Fig. 4 designed by the present invention substitutes compensating controller process flow diagram.PWM value electric steering engine location deflection error e, controller exported, steering wheel direction signal input steering wheel dead area compensation controller, it exports as ▽ m.As steering wheel location deflection error e > θ
0(θ
0be a minimal value being greater than zero, can adjust according to the requirement of stable state accuracy), and when commutation occurs in steering wheel position, ▽ m=u
v0(u
v0forward PWM code value under steering wheel normal operation), replace the output u in a moment on speed PI controller
v(k-1), namely show that the current output of steering wheel speed ring is u
v(k)=u
v0+ (k
pv+ k
iv) e
v(k)-k
pve
v(k-1); As steering wheel location deflection error e <-θ
0, and when commutation occurs in steering wheel position, ▽ m=u
v1(u
v1negative sense PWM code value under steering wheel normal operation), replace the output u in a moment on speed PI controller
v(k-1), namely show that the current output of steering wheel speed ring is u
v(k)=u
v1+ (k
pv+ k
iv) e
v(k)-k
pve
v(k-1); Under in steering wheel position tracking error, condition of commutation does not occur for less and steering wheel position, it is then inoperative that dead band commutation substitutes compensating controller.Like this, both can follow the tracks of " flat-top " problem in elimination position, effective compensation steering wheel dead band, the uncontinuity causing control because of frequent compensatory control parameter can be avoided again.
Fig. 5 replaces before and after compensating controller for introducing steering wheel dead band, and electric steering engine does 0.1 °, 4Hz low-angle sinusoidal position tracking comparison diagram.Can find out, introduce before replacing compensating controller, because the factor such as delay, static friction of controller iteration affects, when doing low-angle sinusoidal tracking, there is the speed dead band of 50ms, there is comparatively serious " flat-top " phenomenon in position, the flat-top time is about 62ms, and tracking error is 0.12 °; Introduce after replacing compensating controller, speed dead band is 8ms, and the position flat-top time is 18ms, and tracking error is 0.05 °, and tracking accuracy and response speed are greatly improved.Electric steering engine dead band of the present invention commutation substitutes compensation method, while overcoming the impact of steering wheel dead band, do not affect other indexs, and do not need accurate compensation rate, algorithm is simply easy to Project Realization.
Claims (1)
1. the commutation of electric steering engine dead band substitutes compensation method, it is characterized in that, the method comprises the steps: to add compensating controller in electric steering engine servo system controller, PWM value under electric steering engine location deflection error e, steering wheel normally being worked, steering wheel direction signal input offset controller, its output is
as steering wheel location deflection error e > θ
0(θ
0be a minimal value being greater than zero, can adjust according to the requirement of stable state accuracy), and when commutation occurs in steering wheel position,
(u
v0forward PWM code value under steering wheel normal operation), replace the output u in a moment on electric steering engine servo system controller medium velocity PI controller
v(k-1), show that the current output of steering wheel speed ring is u
v(k)=u
v0+ (k
pv+ k
iv) e
v(k)-k
pve
v(k-1); As steering wheel location deflection error e <-θ
0, and when commutation occurs in steering wheel position,
(u
v1negative sense PWM code value under steering wheel normal operation), replace the output u in a moment on speed PI controller
v(k-1), show that the current output of steering wheel speed ring is u
v(k)=u
v1+ (k
pv+ k
iv) e
v(k)-k
pve
v(k-1); | e|≤| θ
0| or when commutation does not occur in steering wheel position, compensating controller exports
for the output u in a moment on speed PI controller
v(k-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510449762.4A CN105093927B (en) | 2015-07-28 | 2015-07-28 | The commutation of electric steering engine dead band substitutes compensation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510449762.4A CN105093927B (en) | 2015-07-28 | 2015-07-28 | The commutation of electric steering engine dead band substitutes compensation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105093927A true CN105093927A (en) | 2015-11-25 |
| CN105093927B CN105093927B (en) | 2017-07-25 |
Family
ID=54574633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510449762.4A Active CN105093927B (en) | 2015-07-28 | 2015-07-28 | The commutation of electric steering engine dead band substitutes compensation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105093927B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341065A (en) * | 2016-10-12 | 2017-01-18 | 闽江学院 | Ultrasonic motor servo control system speed dead zone compensation control apparatus 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 |
| CN107065943A (en) * | 2017-05-02 | 2017-08-18 | 南京工程学院 | One kind directly turns platform position control system and control method |
| CN108803357A (en) * | 2018-09-03 | 2018-11-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of the electric steering engine mixing control method and system of PID and improvement sliding formwork |
| 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 |
| CN110109348A (en) * | 2019-05-13 | 2019-08-09 | 河南工学院 | A kind of two-way dead-zone compensation method of hydraulic proportion valve based on depth |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5301101A (en) * | 1990-06-21 | 1994-04-05 | Honeywell Inc. | Receding horizon based adaptive control having means for minimizing operating costs |
| CN1800781A (en) * | 2004-12-30 | 2006-07-12 | 中国科学院自动化研究所 | Track autopilot control system and method thereof |
| CN101488010A (en) * | 2009-03-06 | 2009-07-22 | 北京理工大学 | Essentially nonlinear compensation controller of servo system |
| CN202379084U (en) * | 2011-11-25 | 2012-08-15 | 北京自动化控制设备研究所 | Multi-loop control and high-power driving circuit for quick-response electric steering engine |
| CN103207568A (en) * | 2013-03-18 | 2013-07-17 | 哈尔滨工程大学 | Steering engine saturation resistant self-adaptive control method for ship courses |
-
2015
- 2015-07-28 CN CN201510449762.4A patent/CN105093927B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5301101A (en) * | 1990-06-21 | 1994-04-05 | Honeywell Inc. | Receding horizon based adaptive control having means for minimizing operating costs |
| CN1800781A (en) * | 2004-12-30 | 2006-07-12 | 中国科学院自动化研究所 | Track autopilot control system and method thereof |
| CN101488010A (en) * | 2009-03-06 | 2009-07-22 | 北京理工大学 | Essentially nonlinear compensation controller of servo system |
| CN202379084U (en) * | 2011-11-25 | 2012-08-15 | 北京自动化控制设备研究所 | Multi-loop control and high-power driving circuit for quick-response electric steering engine |
| CN103207568A (en) * | 2013-03-18 | 2013-07-17 | 哈尔滨工程大学 | Steering engine saturation resistant self-adaptive control method for ship courses |
Non-Patent Citations (5)
| Title |
|---|
| 张明月，等: "改进自抗扰控制谐波式电动舵机伺服系统", 《光学精密工程》 * |
| 张明月，等: "电动舵机速度环改进自抗扰控制研究", 《计算机测量与控制》 * |
| 朱钰: "船舶变频液压舵机控制策略研究", 《船舶工程》 * |
| 肖亮，等: "基于高效率SVPWM控制的电动舵机", 《电力电子》 * |
| 肖前进，等: "电动舵机伺服系统非线性辨识及补偿", 《光学精密工程》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106341065A (en) * | 2016-10-12 | 2017-01-18 | 闽江学院 | Ultrasonic motor servo control system speed dead zone compensation control apparatus 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 |
| CN107065943A (en) * | 2017-05-02 | 2017-08-18 | 南京工程学院 | One kind directly turns platform position control system and 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 |
| CN108803357A (en) * | 2018-09-03 | 2018-11-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of the electric steering engine mixing control method and system of PID and improvement sliding formwork |
| 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 |
| CN110109348A (en) * | 2019-05-13 | 2019-08-09 | 河南工学院 | A kind of two-way dead-zone compensation method of hydraulic proportion valve based on depth |
| CN110109348B (en) * | 2019-05-13 | 2023-03-10 | 河南工学院 | Depth-based hydraulic proportional valve bidirectional dead zone compensation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105093927B (en) | 2017-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105093927A (en) | Reversing substitution compensation method for EMA (electromechanical actuator) dead zone | |
| CN103231798B (en) | A kind of control method utilizing digitalized electric steering engine control device | |
| CN103213666B (en) | A kind of electric steering gear device of position-based ring commutation and control method | |
| CN103701386B (en) | Based on the acquisition methods of the full rank flux observer of the Speed Sensorless Induction Motor of observation magnetic linkage error | |
| CN103281020B (en) | A kind of four-quadrant control device for electric steering engine and method thereof | |
| CN105932918A (en) | Method and apparatus for controlling operation velocity of linear servo system of high-precision numerical control machine tool | |
| CN103303454A (en) | Electric helm gear based on speed ring reversing and control method of electric helm gear | |
| CN108336935B (en) | Linear motor control method with cooperation of backstepping control and ESO | |
| CN103516280B (en) | Improving one's methods of a kind of permagnetic synchronous motor electric current loop adjuster | |
| CN103309254A (en) | Motor control system of gate | |
| CN103607149B (en) | A kind of ultrasonic motor rudder servo system and control method thereof | |
| CN205334227U (en) | Steering wheel AGV controlling means , control system | |
| CN203786565U (en) | Position loop control-based electric steering engine system | |
| CN103312248B (en) | Method for compensating inflection point error of linear acceleration to deceleration based on DSP (Digital Signal Processor) | |
| CN102672926B (en) | Molten gel back pressure control system and method for electrically controlled injection molding machine | |
| CN104635621A (en) | XY workbench over-quadrant heave compensation method based on field buses | |
| CN204810188U (en) | Three -phase induction motor direct torque control system based on model predictive control | |
| CN108599659B (en) | Servo system based on real-time motion control platform and FPGA and control method thereof | |
| CN106788014A (en) | The very fast driving method of stepper motor | |
| CN108803357B (en) | PID and improved sliding mode electric steering engine hybrid control method and system | |
| CN102541098A (en) | Electric liquid linear displacement servo system | |
| CN104476744A (en) | Energy-saving servo control system for injection molding machine | |
| CN201427265Y (en) | Cutter compensating system | |
| CN102468794A (en) | Position current double-closed loop controller of electric bicycle | |
| CN201792465U (en) | Energy-saving control system for injection molding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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 |