Self-adaptive compensation system based on actuating mechanism viscosity and dead zone characteristics

Abstract

The utility model discloses a self-adaptive compensation system based on the viscosity and dead zone characteristics of an actuating mechanism, relates to the technical field of automatic control equipment, and mainly aims to provide a self-adaptive compensation system based on the viscosity and dead zone characteristics of the actuating mechanism, which can improve the control precision and the robustness of the system. According to the main technical scheme, the self-adaptive compensation system based on the viscosity and dead zone characteristics of the executing mechanism comprises a detection component, the detection component comprises a detector and the executing mechanism, the detector is installed on the executing mechanism, the executing mechanism comprises a controller and a compensator, the controller is installed on a pipeline, and the compensator is installed on the pipeline. The compensator and the detector are connected to the controller; the control component comprises a chip component, a storage component and a power supply component, and the chip component is connected to the storage component, the power supply component, the detector, the compensator and the controller. The utility model is mainly used for automatic control of the actuating mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic control equipment, in particular to an adaptive compensation system based on the viscosity and dead zone characteristics of an actuator. Background Art

[0002] Actuator stiction and dead zone are common problems in mechanical systems that affect the performance and accuracy of mechanical systems. Stiction refers to the fact that the actuator requires a certain torque to move when starting the movement, and requires continuous torque to maintain the movement during the movement. This phenomenon is called stiction. The cause of stiction may be due to friction between mechanical parts, air resistance, fluid resistance, etc. Dead zone refers to the area between the output signal and the input signal of the actuator. In this area, the output signal does not change with the change of the input signal. This phenomenon is called dead zone. The cause of the dead zone phenomenon may be due to looseness of mechanical parts or elastic deformation, etc.

[0003] The influence of actuator stickiness and dead zone on the control system is mainly manifested in the following aspects:

[0004] First, delayed response: Due to the existence of actuator stickiness and dead zone, the control signal cannot be transmitted to the actuator in time, resulting in delayed response. This will cause the control system to respond slowly, and in severe cases, it may even cause the control system to be unstable; Second, imprecise control: Actuator stickiness and dead zone will also cause errors between the output of the control system and the expected value. Stickiness makes it difficult to achieve the exact position or speed when the actuator moves, and the dead zone will prevent the control signal from being executed within the dead zone. The superposition of these errors will make it difficult to accurately control the output of the control system; Third, design issues: The control system needs to take into account the effects of actuator stickiness and dead zone when designing, otherwise it may lead to insufficient control system design. For example, the gain of the control system may need to be increased to compensate for the effects of actuator stickiness and dead zone; Fourth, the system needs to be adjusted: In actual applications, some conditions may change, such as temperature, humidity, working hours, etc. Changes in these conditions may cause changes in actuator stickiness and dead zone, thereby affecting the stability and performance of the control system. Therefore, the system needs to be adjusted regularly to adapt to the new working environment.

[0005] An improved hysteresis compensation method has been proposed in the prior art, which sets a threshold condition for the compensation signal, that is, the compensation signal only takes effect when the change in the controller output exceeds a certain threshold. This method can effectively reduce the number of times the regulating device is actuated and extend the service life of the regulating device. The disadvantage is that the accuracy of the regulation is reduced. Utility Model Content

[0006] In view of this, an embodiment of the utility model provides an adaptive compensation system based on the viscosity and dead zone characteristics of the actuator, the main purpose of which is to provide an adaptive compensation system based on the viscosity and dead zone characteristics of the actuator that can improve the control accuracy and improve the robustness of the system.

[0007] In order to achieve the above purpose, the utility model mainly provides the following technical solutions:

[0008] The embodiment of the utility model provides an adaptive compensation system based on the stickiness and dead zone characteristics of the actuator, the system comprising:

[0009] A detection component, the detection component includes a detector and an actuator, the detector is installed on the actuator, the actuator includes a controller and a compensator, the controller is installed on the pipeline, and the compensator and the detector are connected to the controller;

[0010] The control component includes a chip component, a storage component and a power supply component, and the chip component is respectively connected to the storage component, the power supply component, the detector, the compensator and the controller.

[0011] Furthermore, the execution mechanism also includes an execution chip, and the execution chip is arranged inside the controller.

[0012] Furthermore, the execution mechanism also includes a feature model unit, and the feature model unit is arranged in the execution chip.

[0013] Furthermore, the characteristic model unit is a Preisach model or a Bouc-Wen model.

[0014] Furthermore, the actuator also includes an adaptive compensation model unit, and the adaptive compensation model unit is arranged in the compensator.

[0015] Furthermore, the control component also includes a feedback observer, which is disposed on the controller and connected to the chip component.

[0016] Compared with the prior art, the utility model has the following technical effects:

[0017] In the technical solution provided by the embodiment of the utility model, the function of the detection component is to monitor the viscosity and dead zone parameters of the actuator in real time, the detection component includes a detector and an actuator, the detector is installed on the actuator, the actuator includes a controller and a compensator, the controller is installed on the pipeline, and the compensator and the detector are connected to the controller; the function of the control component is to compensate for system parameters and transmit information to the detection component, the control component includes a chip component, a storage component and a power supply component, the chip component is respectively connected to the storage component, the power supply component, the detector, the compensator and the controller, compared with the prior art , a threshold condition is set for the compensation signal, that is, when the change of the controller output exceeds a certain threshold, the compensation signal will take effect. This method can effectively reduce the number of times the regulating device is operated and extend the service life of the regulating device. The disadvantage is that the accuracy of the regulation is reduced. In this technical solution, the input and output characteristics of the controller are monitored in real time by a detector to determine whether the controller has viscosity and dead zone characteristics, and then an adaptive compensation algorithm is designed according to the viscosity and dead zone parameters, the adaptive compensation algorithm is written into the compensator, and then the compensator is set on the controller. The chip component identifies online and calculates the compensation amount in real time, and the compensation amount is superimposed on the controller, thereby achieving the technical effect of improving the accuracy and stability of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of an adaptive compensation system based on the stickiness and dead zone characteristics of an actuator provided by an embodiment of the utility model;

[0019] Figure 2 A schematic diagram of the circuit structure of an adaptive compensation system based on the viscosity and dead zone characteristics of an actuator provided in an embodiment of the utility model;

[0020] Figure 3 A control performance comparison test curve comparison diagram with and without a hysteresis compensation loop provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0021] The utility model is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0022] like Figures 1 to 3 As shown, the embodiment of the utility model provides an adaptive compensation system based on the viscosity and dead zone characteristics of the actuator, the system comprising:

[0023] A detection component, the detection component includes a detector 11 and an actuator, the detector 11 is installed on the actuator, the actuator includes a controller 121 and a compensator 122, the controller 121 is installed on the pipeline 9, and the compensator 122 and the detector 11 are connected to the controller 121;

[0024] The control component includes a chip component 21, a storage component 22 and a power supply component 23, and the chip component 21 is respectively connected to the storage component 22, the power supply component 23, the detector 11, the compensator 122 and the controller 121.

[0025] In the technical solution provided by the embodiment of the utility model, the function of the detection component is to monitor the viscosity and dead zone parameters of the actuator in real time, the detection component includes a detector 11 and an actuator, the detector 11 is installed on the actuator, the actuator includes a controller 121 and a compensator 122, the controller 121 is installed on the pipeline 9, and the compensator 122 and the detector 11 are connected to the controller 121; the function of the control component is to compensate for the system parameters and transmit information to the detection component, the control component includes a chip component 21, a storage component 22 and a power supply component 23, the chip component 21 is respectively connected to the storage component 22, the power supply component 23, the detector 11, the compensator 122 and the controller 12 1. Compared with the prior art, a threshold condition is set for the compensation signal, that is, when the change in the output of the controller 121 exceeds a certain threshold, the compensation signal will take effect. This method can effectively reduce the number of times the regulating device is operated and extend the service life of the regulating device. The disadvantage is that the accuracy of the regulation is reduced. In this technical solution, the input and output characteristics of the controller 121 are monitored in real time by the detector 11 to determine that the controller 121 has viscosity and dead zone characteristics, and then an adaptive compensation algorithm is designed according to the viscosity and dead zone parameters, and the adaptive compensation algorithm is written into the compensator 122, and then the compensator 122 is set on the controller 121, and the chip component 21 identifies and calculates the compensation amount online in real time, and superimposes the compensation amount on the controller 121, thereby achieving the technical effect of improving the accuracy and stability of the control system.

[0026] The function of the detection component is to monitor the viscosity and dead zone parameters of the actuator in real time. The detection component includes a detector 11 and an actuator. The detector 11 is installed on the actuator. The actuator includes a controller 121 and a compensator 122. The controller 121 is installed on the pipeline 9. The compensator 122 and the detector 11 are connected to the controller 121. The controller 121 usually adopts a valve, such as a butterfly valve, a ball valve, etc. The compensator 122 adopts an adaptive compensator 122, for example, an adaptive proportional integral differential controller 121 or a model reference adaptive controller 121, wherein the adaptive proportional integral differential controller The controller 121 uses the feedback signal of the system to control the addition of a given value, while the model reference adaptive controller 121 uses the model reference to track and execute the system to reduce nonlinear errors. Specifically, the actuator also includes an execution chip 123, which is arranged inside the controller 121. The characteristic model unit is arranged in the execution chip 123 and can execute the instructions issued by the chip 123 component 21. First, it is necessary to design a suitable compensator 122 according to the characteristics of the actuator, and use the detector 11 to detect the actuator by feedback control, feedforward control or combined control to determine whether the actuator has viscosity and dead zone. Characteristics, and then establish a characteristic model unit, the characteristic model unit is a Preisach model or a Bouc-Wen model, the Preisach model or the Bouc-Wen model is used to describe the nonlinear characteristics of the actuator, the nonlinear characteristics of the actuator are modeled and the nonlinear equations of the reaction viscosity and dead zone are obtained; the function of the control component is to compensate the system parameters and transmit information to the detection component, the control component includes a chip component 21, a storage component 22 and a power supply component 23, the chip component 21 is respectively connected to the storage component 22, the power supply component 23, the detector 11, the compensator 122 and the controller 121, the storage Component 22 is used to store relevant data of different actuators, power supply component 23 provides electric energy, and chip component 21 is a core computing unit that provides computing power. In this technical solution, the input and output characteristics of controller 121 are monitored in real time by detector 11 to determine whether controller 121 has viscosity and dead zone characteristics, and then an adaptive compensation algorithm is designed according to viscosity and dead zone parameters, and the adaptive compensation algorithm is written into compensator 122, and then compensator 122 is set on controller 121. Chip component 21 identifies online and calculates the compensation amount in real time, and superimposes the compensation amount on controller 121, thereby achieving the technical effect of improving the accuracy and stability of the control system. The adaptive compensation system loop is as follows: Figure 2 As shown, GT(s) is the transfer function of the controller 121;

[0027] GI(s) is the transfer function of the sticking link of the actuator;

[0028] GZ(s) is the transfer function of the actuator;

[0029] GJ(s) is the transfer function of the viscosity link connecting the components;

[0030] GF(s) is the transfer function of the valve-flow object;

[0031] G(s) is the transfer function of the controlled object;

[0032] Since the valve-flow object is usually a first-order inertia link, it is expressed by the following formula:

[0033]

[0034] Among them, k F is the gain of the valve-flow object, and T is the inertia time of the valve-flow object.

[0035] Further, the actuator also includes an adaptive compensation model unit 125, and the adaptive compensation model unit 125 is arranged in the compensator 122. In this embodiment, the actuator is further defined, and an adaptive compensation algorithm is arranged in the adaptive compensation model unit 125, and an adaptive compensation model is established according to the viscosity and dead zone parameters, that is, the control input of the compensator 122 is adjusted from the static standard value to the adaptive compensation value to suppress the influence of the viscosity and dead zone of the actuator, and then the corresponding adaptive compensation algorithm is designed according to the nonlinear model of the viscosity and dead zone. The algorithm can adopt neural network control, mainly using the neural network to learn nonlinear characteristics to realize the adaptive compensation algorithm. Self-tuning control can also be adopted to adjust the compensation amount in real time by online identification of nonlinear parameters. Specifically, the control component also includes a feedback observer 124, and the feedback observer 124 is arranged on the controller 121. The feedback observer 124 is connected to the chip component 21, and the nonlinear parameters are identified online according to the feedback observer 124 through the input and output data of the system, and the parameter changes are tracked in real time, and then the compensation amount is calculated in real time, and the compensation amount is superimposed on the output of the controller 121 to offset the nonlinear effect.

[0036] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. An adaptive compensation system based on the stickiness and dead zone characteristics of an actuator, characterized in that: include: A detection component, the detection component includes a detector and an actuator, the detector is installed on the actuator, the actuator includes a controller and a compensator, the controller is installed on the pipeline, and the compensator and the detector are connected to the controller; The control component includes a chip component, a storage component and a power supply component, and the chip component is respectively connected to the storage component, the power supply component, the detector, the compensator and the controller.

2. The adaptive compensation system based on the viscosity and dead zone characteristics of the actuator according to claim 1, characterized in that: The execution mechanism further includes an execution chip, and the execution chip is arranged inside the controller.

3. The adaptive compensation system based on the stickiness and dead zone characteristics of the actuator according to claim 2, characterized in that: The execution mechanism further includes a feature model unit, and the feature model unit is arranged in the execution chip.

4. The adaptive compensation system based on the viscosity and dead zone characteristics of the actuator according to claim 3, characterized in that: The characteristic model unit is a Preisach model or a Bouc-Wen model.

5. The adaptive compensation system based on the stickiness and dead zone characteristics of the actuator according to claim 3, characterized in that: The actuator further comprises an adaptive compensation model unit, and the adaptive compensation model unit is arranged in the compensator.

6. The adaptive compensation system based on the viscosity and dead zone characteristics of the actuator according to claim 5, characterized in that: The control component further includes a feedback observer, which is disposed on the controller and connected to the chip component.

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