Kumisikidza PID controllers: dhiabhori anotyisa sezvavanomuita kuti ave? Chikamu 1. Single-circuit system

Ichi chinyorwa chinotanga nhevedzano yezvinyorwa zvakatsaurirwa kune otomatiki nzira dzekugadzirisa PID controller muSimulink nharaunda. Nhasi tichaona maitiro ekushanda nePID Tuner application.

Nhanganyaya

Iyo inonyanya kufarirwa mhando yevatongi vanoshandiswa muindasitiri mune yakavharwa-loop control masisitimu inogona kunzi PID controllers. Uye kana mainjiniya akayeuka chimiro uye musimboti wekushanda kwemutongi kubva kumazuva evadzidzi, ipapo kurongeka kwayo, i.e. Kuverenga kwe controller coefficients ichiri dambudziko. Kune huwandu hukuru hwemabhuku, ese ekunze (semuenzaniso, [1, 2]) uye epamba (semuenzaniso, [3, 4]), uko kugadziridzwa kwevatongi kunotsanangurwa mumutauro wakaoma weiyo otomatiki control theory.

Iyi nhevedzano yezvinyorwa inotsanangura otomatiki nzira dzekugadzirisa PID vatongi vachishandisa Simulink maturusi akadai se:

• PID Tuner
• Mhinduro Optimizer
• Kudzora System Tuner,
• Frequency Response Based PID Tuner,
• Yakavharwa-Loop PID Autotuner.

Chinhu cheiyo control system ichave yemagetsi dhiraivha yakavakirwa paDC mota inonakidzwa nemagineti echigarire, ichishanda pamwe negiya bhokisi reinertial mutoro, neanotevera paramita:

• mota yekupa voltage, ;
• kushingaira kupikisa kwemotokari armature winding, ;
• inductive reactance yemota armature winding, ;
• injini torque coefficient, ;
• nguva ye inertia ye motor rotor, .

Rodha uye gearbox paramita:

• nguva ye inertia yemutoro, ;
• giya reshiyo, .

Zvinyorwa zvacho zvinenge zvisina mafomula emasvomhu, zvisinei, zvinodikanwa kuti muverengi ave neruzivo rwekutanga mudzidziso yeotomatiki kutonga, pamwe neruzivo mukuenzanisira muSimulink nharaunda kuti anzwisise izvo zvakarongwa.

System model

Ngatitarisei mutsara wekutonga sisitimu yeangular velocity ye servo yemagetsi drive, yakapfava block dhizaini iyo inoratidzwa pazasi.

Maererano nechimiro chakapiwa, muenzaniso wegadziriro yakadaro yakavakwa munharaunda yeSimulink.

Mamodheru emagetsi dhiraivha (Electric actuator subsystem) uye inertial mutoro (Load subsystem) akagadzirwa achishandisa muviri wekuenzanisira mabhuroka eraibhurari. Simscape:

• electric drive model,

• inertial mutoro modhi.

Magetsi dhiraivha uye mitoro modhi inosanganisirawo sensor subsystems emhando dzakasiyana dzemuviri:

• ikozvino inoyerera mumhepo inotenderedza mota (subsystem A),

• voltage pamhepo yayo (subsystem V),

• angular velocity yechinhu chekutonga (subsystem Ω).

Tisati taseta maparamendi ePID controller, ngatimhanyei modhi yekuverenga, tichibvuma basa rekutamisa remutongi. . Migumisiro yekufananidza yechiratidzo chekupinza che150 rpm inoratidzwa pazasi.

Kubva pakuongorora magirafu ari pamusoro zviri pachena kuti:

• Iyo yakabuda kurongeka kweiyo control system haisviki kukosha kwakatarwa, i.e. Pane static kukanganisa muhurongwa.
• Mhepo yemagetsi pamagetsi emagetsi inosvika pakukosha kwe150 V pakutanga kwekufananidzira, izvo zvinozoita kuti kukundikana kwayo kukonzerwa nekugoverwa kwemhepo yakakura kudarika yezita (24 V) kune mhepo yayo.

Rega mhinduro yehurongwa kune imwe fungidziro inofanirwa kuzadzisa zvinotevera zvinodiwa:

• overshoot (Overshoot) kwete kupfuura 10%,
• Nguva yekusimuka isingasviki 0.8 s,
• Nguva inopfupika (Kugadzirisa nguva) isingasviki 2 s.

Uye zvakare, regulator inofanirwa kudzikamisa voltage inopihwa kune iyo motor winding kune kukosha kweiyo magetsi ekupa.

Kugadzirisa controller

Iyo controller parameter inogadziriswa uchishandisa chishandiso PID Tuner, iyo inowanikwa zvakananga muPID Controller block paramita hwindo.

Iyo application inotangwa nekudzvanya bhatani Tune...iri pane panel Automated tuning. Zvinokosha kucherechedza kuti usati waita danho rekuisa controller parameters, zvinofanirwa kusarudza mhando yayo (P, PI, PD, nezvimwewo), pamwe nemhando yayo (analog kana discrete).

Sezvo chimwe chezvinodiwa chiri kudzikamisa kuburitsa kwayo kurongeka (voltage pamhepo inovhuvhuta), iyo inobvumidzwa voltage renji inofanirwa kutsanangurwa. Nokuda kweizvi:

1. Enda kune tab Output Saturation.
2. Dzvanya pabhatani remureza Limit output, semugumisiro wekuti minda yekuisa yepamusoro (Upper limit) uye yakaderera (Lower limit) miganhu yehuwandu hwehuwandu hwehuwandu hunogadziriswa.
3. Isa miganhu yemhando.

Kururamisa kushanda kweiyo regulator unit sechikamu chehurongwa kunosanganisira kushandiswa kwenzira dzakanangana kurwisa kusanganisa saturation. Iyo block inoshandisa nzira mbiri: back-calculation uye clamping. Ruzivo rwakadzama nezve nzira idzi dziripo pano. Iyo nzira yekusarudza yekudonha-pasi menyu iri pane pane pane Anti-windip.

Muchiitiko ichi, tichanyora kukosha 24 uye -24 muminda Kumusoro muganho и Lower muganhu maererano, uye zvakare shandisa iyo clamping nzira yekubvisa yakabatana saturation.

Iwe unogona kuona kuti kutaridzika kweiyo regulator block kwachinja: chiratidzo chekuzadza chaonekwa padivi pechiteshi chekubuda chebhuroka.

Tevere, gamuchira shanduko dzese nekudzvanya bhatani Shandisa, dzokera kune tab kuru wobva wadzvanya bhatani Tune..., iyo ichavhura hwindo rekushandisa rePIDTuner.

Munzvimbo yegraphical yehwindo, maviri enguva pfupi maitiro anoratidzwa: neazvino ma paramita emutongi, i.e. kune isina kurongeka controller, uye yemakoshero anosarudzwa otomatiki. Nyowani parameter tsika inogona kutariswa nekudzvanya bhatani Ratidza Parametersiri patoolbar. Paunodzvanya bhatani, matafura maviri anozoonekwa: iyo yakasarudzwa paramita yemutongi (Controller Parameters) uye ongororo yehunhu hwenguva pfupi neiyo yakasarudzwa paramita (Performance and Robustness).

Sezvinogona kuoneka kubva kuhunhu hwetafura yechipiri, iyo otomatiki yakaverengerwa controller coefficients inogutsa zvese zvinodiwa.

Regulator setting inopedzwa nekudzvanya bhatani rine girini retatu riri kurudyi kwebhatani Ratidza Parameters, mushure meiyo mitsva yeparameter inozochinja otomatiki muminda inoenderana muPID Controller block parameter hwindo.

Mhedzisiro yekufananidza sisitimu ine tuned controller yemasaini akati wandei inoratidzwa pazasi. Pamazinga epamusoro ekuisa chiratidzo (yebhuruu mutsara), iyo sisitimu inoshanda mune voltage saturation mode.

Cherechedza kuti PID Tuner tool inosarudza coefficients coefficients zvichienderana nemuenzaniso wemutsara, saka kana uchienda kune imwe nzira isina mutsara, zvakakosha kujekesa maitiro ayo. Muchiitiko ichi, unogona kushandisa application Mhinduro Optimizer.

Literature

1. Handbook yePI uye PID Controller Tuning Mitemo. Aidan O'Dwyer
2. PID Kudzora System Dhizaini uye otomatiki Tuning uchishandisa MATLAB, Simulink. Wang L.
3. PID kutonga mune isiri-yakaomesesa fomu. Karpov V.E.
4. PID controllers. Mamiriro ezvinhu. Zvikamu 1, 2. Denisenko V.

Source: www.habr.com