Lesi sihloko siqala uchungechunge lwama-athikili anikelwe ezindleleni ezizenzakalelayo zokushuna izilawuli ze-PID endaweni ye-Simulink. Namuhla sizobona ukuthi singasebenza kanjani ngohlelo lokusebenza lwe-PID Tuner.
Isingeniso
Uhlobo oludume kakhulu lwabalawuli olusetshenziswa embonini kumasistimu okulawula iluphu evaliwe lungabhekwa njengezilawuli ze-PID. Futhi uma onjiniyela bekhumbula isakhiwo kanye nesimiso sokusebenza kwesilawuli kusukela ezinsukwini zabo zabafundi, khona-ke ukucushwa kwayo, i.e. ukubalwa kwama-coefficient wesilawuli kuseyinkinga. Kunenani elikhulu lezincwadi, kokubili angaphandle (isibonelo, [1, 2]) kanye nezasekhaya (isibonelo, [3, 4]), lapho ukulungiswa kwabalawuli kuchazwa ngolimi oluyinkimbinkimbi kakhulu lwethiyori yokulawula okuzenzakalelayo.
Lolu chungechunge lwama-athikili luzochaza izindlela ezizenzakalelayo zokushuna izilawuli ze-PID usebenzisa amathuluzi we-Simulink afana nalawa:
- Ishuna ye-PID
- Isilungisi Sempendulo
- Lawula ishuna yesistimu,
- Ishuna ye-PID Esekelwe Ukuphendula Imvamisa,
- I-Closed-Loop PID Autotuner.
Inhloso yesistimu yokulawula kuzoba idrayivu kagesi esekelwe ku-DC motor ejatshuliswe yizibuthe ezihlala njalo, esebenza kanye nebhokisi legiya lomthwalo we-inertial, elinamapharamitha alandelayo:
- motor supply voltage, ;
- ukumelana okusebenzayo kwe-motor armature winding, ;
- ukusabela kwe-inductive kwe-motor armature winding, ;
- I-coefficient ye-torque yenjini, ;
- umzuzwana we-inertia ye-motor rotor, .
Ipharamitha yokulayisha kanye nebhokisi lamagiya:
- umzuzu we-inertia yomthwalo, ;
- isilinganiso segiya, .
Ama-athikili empeleni awaqukethe amafomula ezibalo, nokho-ke, kuyafiseleka ukuthi umfundi abe nolwazi oluyisisekelo kumbono wokulawula okuzenzakalelayo, kanye nolwazi lokumodela endaweni ye-Simulink ukuze aqonde izinto ezihlongozwayo.
Imodeli yesistimu
Ake sicabangele uhlelo lokulawula oluqondile lwesivinini se-angular yedrayivu kagesi ye-servo, umdwebo owenziwe lula webhulokhi ovezwa ngezansi.
Ngokuhambisana nesakhiwo esinikeziwe, imodeli yesistimu enjalo yakhiwe endaweni ye-Simulink.
Amamodeli wedrayivu kagesi (i-electric actuator subsystem) kanye nomthwalo ongasebenzi (Layisha uhlelo olungaphansi) adalwe kusetshenziswa amabhulokhi welabhulali eyimodeli ebonakalayo :
- imodeli yokushayela kagesi,
- imodeli yokulayisha inertial.
Idrayivu kagesi namamodeli wokulayisha nawo afaka izinzwa ezingaphansi zamanani ahlukahlukene omzimba:
- ukugeleza kwamanje ekujikeni kwe-armature ye-motor (uhlelo olungaphansi A),
- i-voltage ekujikeni kwayo (i-subsystem V),
- isivinini se-angular sento yokulawula (isistimu engaphansi Ω).
Ngaphambi kokusetha amapharamitha wesilawuli se-PID, ake siqalise imodeli yokubala, samukele umsebenzi wokudlulisa wesilawuli. . Imiphumela yokulingisa yesiginali yokufaka engu-150 rpm ikhonjisiwe ngezansi.
Kusukela ekuhlaziyweni kwamagrafu angenhla kuyacaca ukuthi:
- I-coordinate ephumayo yesistimu yokulawula ayifinyeleli inani elishiwo, i.e. Kunephutha elimile ohlelweni.
- I-voltage kuma-motor windings ifinyelela inani le-150 V ekuqaleni kokulingisa, okuzoholela ekuhlulekeni kwayo ngenxa yokuhlinzekwa kwe-voltage enkulu kuneyodwa ebizwa ngokuthi (24 V) kuma-windings ayo.
Vumela impendulo yesistimu kumfutho owodwa kumele ihlangabezane nezidingo ezilandelayo:
- ukudubula ngokweqile (Overshoot) akukho ngaphezu kwe-10%,
- Isikhathi sokukhuphuka esingaphansi kwe-0.8 s,
- Isikhathi esidlulayo (Isikhathi sokumisa) singaphansi kwemizuzwana emi-2.
Ukwengeza, umlawuli kufanele akhawulele i-voltage enikezwa kuma-motor winding enanini le-voltage yokuhlinzeka.
Isetha isilawuli
Amapharamitha esilawuli alungiswa kusetshenziswa ithuluzi , etholakala ngokuqondile efasiteleni lemingcele ye-PID Controller block.
Uhlelo lokusebenza lwethulwa ngokucindezela inkinobho Shuna...etholakala kuphaneli Ukushuna okuzenzakalelayo. Kuyaphawuleka ukuthi ngaphambi kokwenza isigaba sokusetha imingcele yesilawuli, kubalulekile ukukhetha uhlobo lwayo (P, PI, PD, njll.), kanye nohlobo lwayo (i-analog noma i-discrete).
Njengoba enye yezidingo iwukukhawulela ukudidiyelwa kwayo kokuphumayo (i-voltage ku-motor winding), ububanzi be-voltage obuvunyelwe kufanele bucaciswe. Kwalokhu:
- Iya kuthebhu Ukugcwala Kokukhiphayo.
- Chofoza inkinobho yokuhlaba umkhosi Khawulela okukhiphayo, njengomphumela wokuthi izinkambu zokusetha imingcele ephezulu (Engaphezulu) kanye nephansi (Umkhawulo Ophansi) yobubanzi benani lokukhiphayo iyasebenza.
- Setha imingcele yobubanzi.
Ukusebenza okulungile kweyunithi yokulawula njengengxenye yesistimu kuhilela ukusetshenziswa kwezindlela ezihloselwe ukulwa nokugcwaliswa kwe-integrated saturation. Ibhulokhi isebenzisa izindlela ezimbili: i-back-calculation kanye ne-clamping. Imininingwane eminingi ngalezi zindlela itholakala . Imenyu yokudonsela phansi yokukhetha indlela itholakala kuphaneli I-Anti-windip.
Kulokhu, sizobhala amanani 24 kanye -24 emikhakheni Umkhawulo ophezulu и Umkhawulo ophansi ngokufanele, futhi usebenzise indlela yokubopha ukuze uqede ukugcwaliswa kwe-ingawa.
Ungaqaphela ukuthi ukubukeka kwebhulokhi yesilawuli kushintshile: uphawu lokugcwala luvele eduze kwembobo yokuphuma kwebhulokhi.
Okulandelayo, yamukela zonke izinguquko ngokucindezela inkinobho Faka isicelo, buyela kuthebhu Main futhi нажимаем кнопку Shuna..., elizovula iwindi elisha lohlelo lokusebenza lwe-PIDTuner.
Endaweni yesithombe sewindi, kuboniswa izinqubo ezimbili zesikhashana: ngemingcele yamanje yesilawuli, i.e. yesilawuli esingalungisiwe, kanye namanani akhethwe ngokuzenzakalelayo. Amanani amasha epharamitha angabukwa ngokuchofoza inkinobho Bonisa Amapharamithaebekwe kubha yamathuluzi. Uma ucindezela inkinobho, kuzovela amathebula amabili: amapharamitha akhethiwe wesilawuli (Amapharamitha wesilawuli) kanye nokuhlolwa kwezici zenqubo yesikhashana namapharamitha akhethiwe (Ukusebenza Nokuqina).
Njengoba kungabonakala kumanani ethebula lesibili, ama-coefficients esilawuli abalwa ngokuzenzakalelayo anelisa zonke izidingo.
Ukulungiselelwa kwesilawuli kuqedwa ngokucindezela inkinobho enonxantathu oluhlaza otholakala kwesokudla senkinobho Bonisa Amapharamitha, ngemva kwalokho amanani epharamitha amasha azoshintsha ngokuzenzakalelayo ezinkambini ezihambisanayo kuwindi lezilungiselelo zepharamitha ye-PID Controller.
Imiphumela yokulingisa isistimu ngesilawuli esishuniwe samasignali okokufaka ambalwa iboniswa ngezansi. Emazingeni esignali aphezulu okokufaka (umugqa oluhlaza okwesibhakabhaka), isistimu izosebenza kumodi yokugcwalisa i-voltage.
Qaphela ukuthi ithuluzi le-PID Tuner likhetha ama-coefficients wesilawuli ngokusekelwe kumodeli yomugqa, ngakho-ke lapho uthuthela kumodeli engaqondile, kuyadingeka ukucacisa amapharamitha ayo. Kulokhu, ungasebenzisa uhlelo lokusebenza .
Izincwadi
- I-Handbook ye-PI kanye ne-PID Controller Tuning Rules. U-Aidan O'Dwyer
- I-PID Control System Design kanye Nokushuna Okuzenzakalelayo kusetshenziswa i-MATLAB, iSimulink. Wang L.
- Ukulawulwa kwe-PID ngendlela engaqinile. Karpov V.E.
- Izilawuli ze-PID. Izinkinga zokusebenzisa. Izingxenye 1, 2. UDenisenko V.
Source: www.habr.com