Wannan labarin ya fara jerin labaran da aka keɓe ga hanyoyin sarrafa kai don daidaita masu sarrafa PID a cikin yanayin Simulink. A yau za mu gano yadda ake aiki da aikace-aikacen PID Tuner.
Gabatarwar
Mafi mashahuri nau'in masu sarrafawa da ake amfani da su a cikin masana'antu a cikin rufaffiyar tsarin kula da madauki ana iya la'akari da masu kula da PID. Kuma idan injiniyoyi sun tuna da tsari da ka'idar aiki na mai sarrafawa tun daga lokacin karatun su, to saitinsa, watau. lissafin adadin masu sarrafawa har yanzu matsala ce. Akwai ɗimbin ɗimbin wallafe-wallafe, na ƙasashen waje (misali, [1, 2]) da na cikin gida (misali, [3, 4]), inda aka bayyana daidaitawar masu gudanarwa a cikin harshe mai rikitarwa na ka'idar sarrafa atomatik.
Wannan jerin labaran za su bayyana hanyoyin sarrafa kai don daidaita masu sarrafa PID ta amfani da kayan aikin Simulink kamar:
- PID Tuner
- Response Optimizer
- Mai gyara tsarin sarrafawa,
- Matsakaicin Amsa Tambarin PID Tuner,
- Rufe-Madauki PID Autotuner.
Abu na tsarin sarrafawa zai zama injin lantarki wanda ya dogara da motar DC mai farin ciki ta hanyar maganadisu na dindindin, aiki tare da akwatin gear don nauyin inertial, tare da sigogi masu zuwa:
- karfin wutar lantarki, ;
- juriya mai aiki na iskar motar armature, ;
- inductive reactance na moto armature winding, ;
- karfin karfin injin, ;
- lokacin inertia na injin rotor, .
Load da gearbox sigogi:
- lokacin inertia na kaya, ;
- Gear rabo, .
Shafukan a zahiri ba su ƙunshi dabarun lissafi ba, duk da haka, yana da kyawawa cewa mai karatu yana da ilimi na asali a cikin ka'idar sarrafa atomatik, da kuma gogewa a cikin ƙirar ƙira a cikin yanayin Simulink don fahimtar abubuwan da aka gabatar.
Tsarin tsari
Bari mu yi la'akari da tsarin kula da linzamin kwamfuta don saurin kusurwar faifan lantarki na servo, ƙayyadadden zane wanda aka gabatar a ƙasa.
Dangane da tsarin da aka bayar, an gina samfurin irin wannan tsarin a cikin yanayin Simulink.
An ƙirƙiri samfuran injin tuƙi na lantarki (Electric actuator subsystem) da inertial load (Load subsystem) ta amfani da tubalan ɗakin karatu na zahiri. :
- Electric drive model,
- inertial load model.
Har ila yau, tuƙi na lantarki da nau'ikan kaya sun haɗa da tsarin firikwensin firikwensin na jiki daban-daban:
- halin yanzu yana gudana a cikin jujjuyawar motsi na motar (subsystem A),
- wutar lantarki akan iskar sa (subsystem V),
- saurin kusurwa na abu mai sarrafawa (ƙarashin tsarin Ω).
Kafin saita sigogi na mai sarrafa PID, bari mu gudanar da samfurin don lissafi, karɓar aikin canja wurin mai sarrafawa. . Sakamakon kwaikwayo na siginar shigarwa na 150 rpm ana nuna su a ƙasa.
Daga nazarin jadawali na sama ya bayyana cewa:
- Tsarin fitarwa na tsarin sarrafawa ba ya kai ga ƙayyadadden ƙimar, watau. Akwai kuskure a tsaye a cikin tsarin.
- Wutar lantarkin da ke kan jujjuyawar injin ya kai darajar 150 V a farkon simulation, wanda zai haifar da gazawarsa saboda samar da wutar lantarki mafi girma fiye da wanda aka sani (24V) zuwa iskarsa.
Bari martanin tsarin ga yunƙuri guda ɗaya dole ne ya cika buƙatu masu zuwa:
- overshoot (overshoot) ba fiye da 10% ba,
- Lokacin tashi sama da 0.8s,
- Lokacin wucin gadi (lokacin daidaitawa) ƙasa da s2.
Bugu da kari, mai sarrafa dole ne ya iyakance wutar lantarki da ake bayarwa ga jujjuyawar motsi zuwa ƙimar wutar lantarki.
Saita mai sarrafawa
Ana saita sigogi masu sarrafawa ta amfani da kayan aiki , wanda ke samuwa kai tsaye a cikin PID Controller toshe sigogi taga.
Ana ƙaddamar da aikace-aikacen ta latsa maɓalli Tuna…located a kan panel Gyaran atomatik. Shi ne ya kamata a lura da cewa kafin yin mataki na kafa sigogi masu sarrafawa wajibi ne don zaɓar nau'in sa (P, PI, PD, da dai sauransu), da nau'in (analog ko mai hankali).
Tunda ɗaya daga cikin buƙatun shine iyakance daidaitawar fitarwa (ƙarfin wutar lantarki akan injin motsi), yakamata a ƙayyade iyakar ƙarfin lantarki da aka halatta. Don wannan:
- Jeka tab Cikewa Fitowa.
- Danna maɓallin tuta Iyakance fitarwa, sakamakon haka filayen don saita babba (Upper iyaka) da ƙananan (ƙananan iyaka) iyakokin ƙimar fitarwa suna kunna.
- Saita iyakar iyaka.
Daidaitaccen aiki na sashin mai gudanarwa a matsayin wani ɓangare na tsarin ya haɗa da amfani da hanyoyin da ke da nufin yaƙar jikewa. Toshe yana aiwatar da hanyoyi guda biyu: lissafin baya-baya da mannewa. Ana samun cikakkun bayanai game da waɗannan hanyoyin . Menu mai saukarwa na hanyar zaɓi yana kan panel Anti-windup.
A wannan yanayin, za mu rubuta dabi'u 24 da -24 a cikin filayen Babban iyaka и Limitananan iyaka bisa ga haka, da kuma amfani da hanyar clamping don kawar da cikakken jikewa.
Kuna iya lura cewa bayyanar toshe mai sarrafawa ya canza: alamar jikewa ta bayyana kusa da tashar fitarwa ta toshe.
Na gaba, karɓi duk canje-canje ta latsa maɓallin Aiwatar, koma shafin Main da sauransu Tuna…, wanda zai buɗe sabon taga aikace-aikacen PIDTuner.
A cikin zane-zane na taga, ana nuna matakai guda biyu na wucin gadi: tare da sigogi na yanzu na mai sarrafawa, watau. don mai sarrafawa mara tsari, kuma don ƙimar da aka zaɓa ta atomatik. Ana iya duba sabbin ma'auni ta danna maɓallin Nuna Ma'auniwanda yake a kan kayan aiki. Lokacin da ka danna maɓallin, tebur guda biyu za su bayyana: sigogin da aka zaɓa na mai sarrafawa (Parameters Controller) da kuma kimanta halaye na tsarin wucin gadi tare da sigogi da aka zaɓa (Ayyuka da Ƙarfi).
Kamar yadda ake iya gani daga ƙimar tebur na biyu, ƙididdigar masu sarrafawa ta atomatik sun cika duk buƙatun.
Ana kammala saitin mai gudanarwa ta latsa maɓallin tare da koren alwatika wanda ke hannun dama na maɓallin Nuna Ma'auni, bayan haka sabon ma'auni za su canza ta atomatik a cikin filayen da suka dace a cikin PID Controller toshe saitunan saiti.
Ana nuna sakamakon kwaikwayon tsarin tare da na'ura mai kulawa don siginonin shigarwa da yawa a ƙasa. A babban matakan shigarwar siginar (layin shuɗi), tsarin zai yi aiki a yanayin saturation na ƙarfin lantarki.
Yi la'akari da cewa kayan aikin PID Tuner yana zaɓar ƙididdiga masu sarrafawa bisa ga ƙirar layi, don haka lokacin motsawa zuwa samfurin da ba na layi ba, ya zama dole don bayyana sigoginsa. A wannan yanayin, zaku iya amfani da aikace-aikacen .
Litattafai
- Dokokin Tuning na PI da PID Controller. Aidan O'Dwyer asalin
- Tsarin Tsarin Kula da PID da Tunatarwa ta atomatik ta amfani da MATLAB, Simulink. Wang L.
- Ikon PID a cikin tsari mara tsauri. Karpov V.E.
- PID masu kula. Abubuwan aiwatarwa. Sashe na 1, 2. Denisenko V.
source: www.habr.com