Nkhaniyi ikuyamba mndandanda wa zolemba zoperekedwa ku njira zodzipangira zokha zosinthira olamulira a PID mu chilengedwe cha Simulink. Lero tiwona momwe tingagwiritsire ntchito PID Tuner application.
Mau oyamba
Oyang'anira odziwika kwambiri omwe amagwiritsidwa ntchito m'mafakitale mumayendedwe otsekeka amatha kuonedwa ngati olamulira a PID. Ndipo ngati mainjiniya amakumbukira kapangidwe kake ndi mfundo yoyendetsera wowongolera kuyambira masiku awo ophunzira, ndiye kasinthidwe kake, i.e. kuwerengera ma coefficients owongolera akadali vuto. Pali mabuku ambiri, onse akunja (mwachitsanzo, [1, 2]) ndi apakhomo (mwachitsanzo, [3, 4]), pomwe kusintha kwa owongolera kumafotokozedwa m'chilankhulo chovuta kwambiri cha chiphunzitso chowongolera.
Nkhanizi zifotokoza njira zodziwikiratu zowongolera owongolera a PID pogwiritsa ntchito zida za Simulink monga:
- Chithunzi cha PID
- Response Optimizer
- Control System Tuner,
- Frequency Response Based PID Tuner,
- Chotsekera-Loop PID Autotuner.
Cholinga cha dongosolo lowongolera chidzakhala choyendetsa magetsi chochokera pagalimoto ya DC yomwe imakondwera ndi maginito osatha, yogwira ntchito limodzi ndi bokosi la gear kuti likhale lopanda mphamvu, ndi magawo awa:
- magetsi opangira magetsi, ;
- kukana kwamphamvu kwa ma motor armature mapiritsi, ;
- inductive reactance ya motor armature winding, ;
- injini torque coefficient, ;
- nthawi ya inertia ya motor rotor, .
Katundu ndi gearbox magawo:
- nthawi ya inertia ya katundu, ;
- chiwerengero cha zida, .
Zolembazo sizikhala ndi masamu, komabe, ndizofunika kuti owerenga ali ndi chidziwitso choyambirira mu chiphunzitso cha kulamulira kwadzidzidzi, komanso chidziwitso chojambula pamtundu wa Simulink kuti amvetse zomwe akufuna.
Mtundu wadongosolo
Tiyeni tiwone njira yoyendetsera liniya ya liwiro la servo yamagetsi yamagetsi, chithunzi chosavuta cha chipika chomwe chili pansipa.
Mogwirizana ndi dongosolo loperekedwa, chitsanzo cha dongosolo loterolo chinamangidwa mu chikhalidwe cha Simulink.
Zitsanzo zamagalimoto amagetsi (Electric actuator subsystem) ndi inertial load (Load subsystem) zidapangidwa pogwiritsa ntchito midadada ya library yofananira :
- electric drive model,
- inrtial load model.
Magalimoto amagetsi ndi mitundu yonyamula katundu imaphatikizanso ma sensor subsystem amitundu yosiyanasiyana:
- yomwe ikuyenda mumayendedwe amagetsi agalimoto (subsystem A),
- voteji pamapiritsi ake (subsystem V),
- angular velocity ya chinthu chowongolera (subsystem Ξ©).
Tisanakhazikitse magawo a wolamulira wa PID, tiyeni tiyendetse chitsanzo chowerengera, kuvomereza kusamutsa kwa wowongolera. . Zotsatira zofananira za chizindikiro cholowera cha 150 rpm zikuwonetsedwa pansipa.
Kuchokera pakuwunika kwa ma grafu omwe ali pamwambapa zikuwonekeratu kuti:
- Chotsatira chotsatira cha dongosolo lolamulira sichifika pamtengo wotchulidwa, i.e. Pali cholakwika chokhazikika mudongosolo.
- Mpweya wamagetsi pamagetsi amafika pamtengo wa 150 V kumayambiriro kwa kayeseleledwe, zomwe zingayambitse kulephera kwake chifukwa cha kuperekedwa kwa voteji wamkulu kuposa wina dzina lake (24 V) ku ma windings ake.
Lolani kuyankha kwadongosolo ku chisonkhezero chimodzi kuyenera kukwaniritsa izi:
- overshoot (Overshoot) osapitirira 10%,
- Nthawi yokwera yochepera 0.8 s,
- Nthawi yochepa (Nthawi yokhazikika) yochepera 2 s.
Kuphatikiza apo, wowongolerayo amayenera kuchepetsa ma voliyumu omwe amaperekedwa kumayendedwe amagalimoto ku mtengo wamagetsi operekera.
Kukhazikitsa controller
Zowongolera zowongolera zimakonzedwa pogwiritsa ntchito chida , yomwe imapezeka mwachindunji pawindo la PID Controller block parameters.
Pulogalamuyi imayambitsidwa ndikudina batani Onerani...ili pa gulu Makina osintha. Ndikoyenera kudziwa kuti musanayambe siteji yokhazikitsa magawo owongolera, ndikofunikira kusankha mtundu wake (P, PI, PD, etc.), komanso mtundu wake (analogi kapena discrete).
Popeza chimodzi mwazofunikira ndikuchepetsa kutulutsa kwake (voltage pamayendedwe amagalimoto), mtundu wovomerezeka wamagetsi uyenera kufotokozedwa. Za ichi:
- Pitani ku tabu Kuchuluka kwa Zotulutsa.
- Dinani pa batani la mbendera Chepetsani zotuluka, chifukwa chake minda yoyika malire apamwamba (Upper malire) ndi otsika (otsika malire) malire a mtengo wamtengo wapatali amatsegulidwa.
- Ikani malire a mtunda.
Kuchita bwino kwa gawo lowongolera monga gawo la dongosolo kumaphatikizapo kugwiritsa ntchito njira zomwe zimalimbana ndi kukhutitsidwa kophatikizana. Chidacho chimagwiritsa ntchito njira ziwiri: kuwerengera kumbuyo ndi kukakamiza. Zambiri za njirazi zilipo . Menyu yotsitsa yosankha njira ili pagawo Anti-windup.
Pankhaniyi, tidzalemba mfundo 24 ndi -24 m'minda Malire apamwamba ΠΈ Malire otsika moyenerera, komanso gwiritsani ntchito njira yokhotakhota kuti muchepetse kukhudzika kofunikira.
Mutha kuzindikira kuti mawonekedwe a block block asintha: chizindikiro cha machulukitsidwe chawonekera pafupi ndi doko lotulutsa block.
Kenako, vomerezani zosintha zonse podina batani Ikani, bwererani ku tabu Main ndi Π½Π°ΠΆΠΈΠΌΠ°Π΅ΠΌ ΠΊΠ½ΠΎΠΏΠΊΡ Onerani..., yomwe idzatsegule zenera latsopano la PIDTuner.
Pazithunzi za zenera, njira ziwiri zosakhalitsa zimawonetsedwa: ndi magawo apano a woyang'anira, i.e. kwa woyang'anira wosasinthidwa, komanso pamakhalidwe osankhidwa okha. Zatsopano za parameter zitha kuwonedwa ndikudina batani Onetsani Ma Parametersili pa toolbar. Mukakanikiza batani, matebulo awiri adzawonekera: magawo osankhidwa a wolamulira (Zowongolera Zowongolera) ndi kuwunika kwa mawonekedwe a kachitidwe kakang'ono ndi magawo osankhidwa (Kugwira Ntchito ndi Kulimba).
Monga tikuwonera pamikhalidwe ya tebulo lachiwiri, ma coefficients owerengera okha amakwaniritsa zofunikira zonse.
Kukhazikitsa kwa regulator kumamalizidwa ndikudina batani lokhala ndi makona atatu obiriwira omwe ali kumanja kwa batani Onetsani Ma Parameters, pambuyo pake zikhalidwe zatsopano zidzasintha zokha m'magawo ofanana pawindo la PID Controller block parameter.
Zotsatira za kuyezetsa kachitidwe kokhala ndi chowongolera chowongolera ma siginali angapo olowetsa zikuwonetsedwa pansipa. Pamilingo yayikulu yolowera (mzere wabuluu), makinawo azigwira ntchito mumayendedwe amagetsi.
Zindikirani kuti chida cha PID Tuner chimasankha ma coefficients olamulira pogwiritsa ntchito chitsanzo cha mzere, kotero pamene mukusunthira ku chitsanzo chopanda mzere, m'pofunika kufotokozera magawo ake. Pankhaniyi, mutha kugwiritsa ntchito pulogalamuyi .
Mabuku
- Handbook of PI ndi PID Controller Tuning Rules. Aidan O'Dwyer
- PID Control System Design ndi Kukonzekera Mwadzidzidzi pogwiritsa ntchito MATLAB, Simulink. Wang L.
- Kuwongolera kwa PID mu mawonekedwe osakhazikika. Karpov V.E.
- Owongolera a PID. Nkhani zokhazikitsa. Gawo 1, 2. Denisenko V.
Source: www.habr.com