CN105182793A - Multi-parameter test instrument multi-mode wide-rate seamless switching method - Google Patents
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Abstract
A multi-parameter test instrument multi-mode wide-rate seamless switching method comprises the steps as follows: (1) equally dividing the rate range of a multi-parameter test instrument, and arbitrarily combining the working modes and the rate intervals obtained from equal division to obtain possible working modes; (2) establishing a control strategy library which is composed of control strategies; (3) establishing a model of the multi-parameter test instrument, finding out the working modes meeting the requirements by means of computer simulation from all the working modes, and writing the combinations of the working modes and the control strategies into a quasi mode switching look-up table; (4) using the multi-parameter test instrument to actually verify the quasi mode switching look-up table to obtain a mode switching look-up table; and (5) selecting the optimal control strategy according to the mode switching look-up table to control seamless switching in the actual operation process of the multi-parameter test instrument. By adopting the method of the invention, the switching process of the multi-parameter test instrument is fine, rapid and accurate, and the switching process is seamless in connection.
Description
Technical Field
The invention relates to a mode switching control method of a multi-parameter testing instrument.
Background
The multi-parameter testing instrument is called as a high-precision inertia device multi-parameter testing instrument, is further developed for a simulation turntable, and integrates a gyroscope and an accelerometer on the basis of the simulation turntable. The mechanism comprises a base, a frame, a precision bearing, a rotating shaft, a flange plate, a slip ring, a motor and the like, an electric part comprises a control unit, a power supply module, a power unit, a display module, an interface module, a cabinet and the like, and the working process is mainly that under the control of the control unit, a high-power torque motor provides driving force to carry out multi-axis precision rotary motion. The slip ring completes multi-mode signal synchronous follow-up transmission, the motor provides driving torque, and the control unit performs high-precision multi-mode control and mainly plays a role in multi-mode testing and calibration of optical fibers, lasers, machinery and a quick coupling inertia unit. The control unit is an electrical control main body of the multi-parameter testing instrument and comprises modules of multi-mode excitation, driving, angle measurement, multi-mode signal transmission, high-precision wide-rate control and the like, wherein the high-precision wide-rate control and seamless switching are key technologies for supporting the control unit.
The multi-parameter testing instrument has more application objects, and according to the performance index requirement of the multi-parameter testing instrument, the multi-parameter testing instrument needs to have good position precision requirement, accurate low-speed characteristic and wider speed range (0.0001-200 degrees/s). Since the motion control card chip has the maximum frequency when receiving the encoder pulse number, the subdivision multiple of the encoder cannot be constant and needs to be changed due to the limitation of the maximum frequency. For the requirement of a multi-parameter testing instrument on a wide speed range, the change of the encoder subdivision multiple can cause the change of the resolution of the instrument, particularly the feedback characteristic, and further influence the effectiveness of a control strategy. The multi-mode wide-speed high-precision index characteristic objective requirement control strategy of the testing instrument can be automatically and seamlessly switched to meet the special performance requirement of the multi-parameter testing instrument, and no generally applicable control strategy can effectively control the instrument in a multi-mode wide-speed range due to the operation characteristic of the multi-parameter instrument.
At present, the switching of the working mode of the multi-parameter testing instrument includes two steps: (1) switching the resolution of the instrument; (2) parameters are simply adjusted for the control strategy. The existing method has the following three problems: (1) the system buffeting is obvious when switching between low speed and high speed; (2) the same control strategy is used in different working modes, and optimal control cannot be achieved according to the working state of the system; (3) after the system is switched, no self-adaptive adjustment process is needed, and the adaptability is poor under different working environments.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a multi-mode wide-rate seamless switching method for a multi-parameter testing instrument, solves the problems of obvious system buffeting and poor adaptability of multiple working modes in a severe environment during mode switching of the multi-parameter instrument, and can meet the requirement of multi-mode high-precision wide-rate seamless switching of the multi-parameter instrument.
The technical solution of the invention is as follows: a multi-mode wide-rate seamless switching method for a multi-parameter testing instrument comprises the following steps:
(1) dividing the speed range of the multi-parameter testing instrument into n1 equal parts to obtain n1 speed intervals, and combining the working modes of the multi-parameter testing instrument and the n1 speed intervals in pairs to obtain 3n1 working modes; the working modes comprise a speed working mode, a position working mode and a dynamic simulation working mode;
the n1 rate intervals are:
wherein,m is the bandwidth of the multi-parameter testing instrument, n is the number of lines of the multi-parameter testing instrument, and k is the subdivision multiple.
(2) Establishing a control strategy library of the multi-parameter testing instrument; the control strategy library is composed of control strategies, the control strategies comprise a combination of a control rate and a fuzzy self-tuner, and the fuzzy self-tuner carries out self-adaptive adjustment on the control rate; the control rate controls the operation of the multi-parameter testing instrument in a determined working mode, and is a sliding film control rate;
(3) establishing a model of a multi-parameter testing instrument, verifying each control strategy of the control strategy library in the step (2) one by one in a computer simulation mode for 3n1 working modes in the step (1), finding out a combination of the working modes and the control strategies which can meet the requirements, and writing the combination into a quasi-mode switching lookup table;
(4) carrying out actual verification by using a multi-parameter testing instrument to align the mode switching table, finding out the unique optimal control strategy in each working mode, and writing the optimal control strategy into the mode switching lookup table;
(5) and in the actual operation process of the multi-parameter testing instrument, searching a mode switching lookup table according to the actual working mode of the multi-parameter testing instrument, and selecting an optimal control strategy according to the mode switching lookup table to perform seamless switching control.
Compared with the prior art, the invention has the advantages that:
(1) according to the method, the optimal control strategy is selected through the mode switching lookup table verified in advance according to the correlation among the running state, the index requirement and the control strategy of the multi-parameter instrument, so that the problem that the optimal control cannot be achieved according to the working state of the system when the same control strategy is used in different working modes of the multi-parameter instrument is solved;
(2) the method of the invention combines the current working state, performance index and optimal mode switching lookup table of the instrument to select the optimal control strategy, so that the instrument system is always in the optimal working state, the performance index requirement of the instrument system can be effectively realized under multiple modes, the performance of the instrument system is exerted to the maximum extent, the adaptability of the multi-parameter instrument to various testing environments is ensured, the method is simple, effective, intelligent in switching, strong in adaptability and high in automation degree;
(3) the method utilizes the mode switching lookup table which is verified in advance and stored in the memory to switch the control strategy, has the advantages of simplicity, good real-time property, accurate and reliable switching, can fully utilize the effectiveness of the switching strategy verified in advance, can fully utilize the prior knowledge, can artificially reduce the error probability to the lowest, and has the switching process close to the actual condition;
(4) the method of the invention fully considers the uncertainty generated by adopting other intelligent algorithms to switch the control strategy, has no predictability, utilizes the lookup table to switch the modes, has fine, quick and accurate switching process, ensures seamless connection of the switching process, ensures that the performance index of the instrument is not reduced under multiple working modes and severe working environments, and can ensure accurate and reliable switching process through a large amount of pre-verification.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention;
FIG. 2 is a flow chart of the mode switching lookup table establishment in accordance with the present invention;
FIG. 3 is a diagram of a control strategy simulation control structure according to the present invention.
Detailed Description
In order to be compatible with different characteristic requirements of position accuracy and speed accuracy, a control strategy and a control method with excellent performance are needed. Seamless handover mainly solves the control problem of multimode (position and speed), high precision and wide speed. The seamless handover technique includes: under the condition of ensuring the speed precision, smoothly switching between a high speed and a low speed; good switching between modes of operation (position, velocity, servo) is required depending on the testing requirements of the inertial device.
In recent years, the functions of test instruments are continuously expanded, which puts higher requirements on the adaptability of control systems, the software and hardware performance of the control systems is continuously improved, and various advanced control algorithms such as: the continuous maturity of the sliding film control and the fuzzy control creates conditions for adopting a complex control strategy in the scheme design of the multi-parameter instrument control system, and further provides a foundation for the design of the complex control strategy.
The principle of the invention is as follows: the control strategy of the multi-parameter instrument cannot be only one, and the same control strategy cannot meet the requirements of the multi-parameter instrument on different working modes, operation speeds and precision at the same time. Multi-parameter instruments must accomplish multiple tasks in one job. Therefore, the verified optimal control strategy can be selected according to the task requirement of the multi-parameter instrument at a certain moment, and after the control strategy is selected, a plurality of unrelated self-tuning methods are used for self-adaptively adjusting the specific control law according to the speed range and the precision requirement. Generally speaking, the method selects a control strategy according to the working state of the system, and then adaptively adjusts the control law according to the performance index, so as to achieve seamless switching of tasks required by multiple modes, wide speed, high precision and the like.
As shown in FIG. 1, the multi-mode wide-rate seamless switching method of the multi-parameter testing instrument of the present invention comprises the following steps:
(1) and establishing a system working mode table.
The multi-parameter testing instrument is divided into three working modes according to functions: speed working mode, position working mode and dynamic simulation working mode. The speed of the instrument is an important index for mode subdivision of the system in three working modes, because the speed is closely related to the bandwidth and the resolution of the instrument. In other words, the bandwidth of the instrument, the resolution of the instrument, determines the maximum operational rate of the instrument. If the maximum operating rate of the instrument exceeds the range of operable rates determined by the instrument bandwidth and instrument resolution, the mode of the instrument must be switched. Therefore, the rate of operation of the instrument is a key indicator for making finer mode switches.
According to the line number of the encoder of the instrument object, the current subdivision multiple and the instrument bandwidth, the rate range division is carried out according to the following formula:
where v represents the instrument running rate, M represents the instrument bandwidth, n represents the number of encoder lines, k represents the subdivision factor, and the instrument resolution is n × k, the system maximum rate can be calculated from the above equation. For example, the number of lines of the encoder is 23600 lines, when the subdivision multiple is 1000 times, the system bandwidth is only 10M pulses/s, and the maximum value of the rate can be 152 °/s; when the subdivision factor is 500 times, the maximum value that can be reached by the rate is 304 °/s.
When the speed range of the system is divided, the system is equally divided according to the system bandwidth, assuming that the system bandwidth is M, and the system speed range is divided into n1, the speed interval is calculated by adopting the following formula:
the rate division of the system is calculated as follows:
according to the working mode of the multi-parameter testing instrument and the division of the speed range, a system mode combination can be constructed and a system working mode table can be derived. The generation of the system operating mode table is shown in fig. 2. In this example, in order to ensure that the multi-parameter testing apparatus can switch the control strategy for different speed segments, the speed segments are divided as follows: 0.0001-100 DEG/s (ultra low speed), 100 DEG/s (low speed), 200 DEG/s (medium speed), 300 DEG/s (high speed) or more. Twelve operating modes of the system are thus available: high speed, medium speed, low speed, ultra-low speed, high speed at position, medium speed at position, low speed at position, ultra-low speed at position, high speed for dynamic simulation, medium speed for dynamic simulation, low speed for dynamic simulation, and ultra-low speed for dynamic simulation.
(2) And establishing a control strategy library to be adopted.
The control strategy library comprises a control rate library and a fuzzy self-tuner library, and the control rate library and the fuzzy self-tuner library are combined randomly to form a control strategy. The fuzzy self-tuner can carry out self-adaptive adjustment on the control rate, and the adaptive capacity of a specific control strategy is improved. The control strategy is generated by a control law, different control strategies are generated by different control laws in the same control algorithm, and the control performance difference is large. The fuzzy self-tuner is used for self-adaptively adjusting parameters of the control strategy according to the environment condition, so that the adaptability of the specific control strategy to the changing environment is enhanced.
Taking synovial membrane control and fuzzy self-tuner as an example, a control strategy library generated by a control rate library and a fuzzy self-tuner library is shown in fig. 2, and the specific generation method is as follows:
according to the control principle of the sliding film, different approach rates are adopted to lead to different specific tracks of the approach movement of the control rate of the sliding film, and different approach rates have different effects on improving the dynamic quality of the approach movement. The approach rate library used in this example includes an isokinetic approach rate, an exponential approach rate, a power approach rate, and a general approach rate.
The fuzzy logic adaptive tuner is a mapping relation set, and the structure of the fuzzy logic adaptive tuner is as simple as possible in consideration of the real-time performance of an algorithm. The fuzzy adaptive tuner used in this example has the form: let s (k) be input and q (k) be output, the mapping relationship is: hq:s(k)->q (k). The fuzzy self-tuner process is as follows: first, establishing input-output division of the fuzzy self-tuner, wherein the input division comprises Jin＝{NL,NB,NM,ZO,PM,PB,PL}、Jin＝{NB,NM,ZO,PM,PB}，JinOutput split includes J ═ NM, ZO, PM }out＝{NL,NB,NM,ZO,PM,PB,PL}、Jout＝{NB,NM,ZO,PM,PB}，Jout{ NM, ZO, PM }. NL, NB, NM, ZO, PM, PB, PL represent negative limit, negative large, negative middle, zero, middle, positive large, respectively, and the positive limit, which is an expression of ambiguity and is a degree of fuzzy description. Nine fuzzy self-tuners can be built according to the input (3) and output (3) divisions, and the input division J is usedinOutput division J ═ NB, NM, ZO, PM, PB }outWherein the input s (k) is divided into fuzzy sets JinP ═ NB, NM, ZO, PM, PB }, where1,p2,p3,p4,p5,p6,p7Divide the value of input s (k), let NB ═ p1,p2,p3}，NM＝{p2,p3,p4}，ZO＝{p3,p4,p5}，PM＝{p4,p5,p6}，PB＝{p5,p6,p7}. Is provided withIs a membership function representing the degree to which s (k) belongs to NB, NM, ZO, PM, PB. Output q (k) of fuzzy logic adaptive tuner is divided into fuzzy set JoutThe value of Q (k) is divided into Q ═ Q, ZO, PM, PB }, where Q is expressed as1,q2,q3,q4,q5,q6,q7Define the output membership function asIn order to realize the real-time performance of the fuzzy tuning algorithm, the fuzzy rule should be simplified as much as possible to save the calculation time, and the self-tuner adopts the following rule:
by the above method, a single-input single-output fuzzy self-tuner library containing all combinations can be established. The fuzzy self-tuner principle can be found in G.K.I.Mann, B.Hu, R.G.Gosine, analysis of direct conversion of the pIDControlller structures, IEEETransSystems ManCybernet, PartB29(1999) 371-.
The self-tuner adopts the following rules to realize the real-time performance of the fuzzy tuning algorithm: when slip surface buffeting is greater, smaller parameters should be used to prevent torque saturation, and when slip surface buffeting is smaller, the parameter values should be increased to further reduce buffeting amplitude. From the four synovial control rates, nine fuzzy self-tuners give a total of thirty-six possible control strategy libraries as shown in FIG. 1.
(3) Establishing an instrument system model containing disturbance and system errors, simulating a control strategy to be adopted by the system in a computer simulation mode, and deriving a quasi-mode switching lookup table to be adopted according to a simulation result, wherein a control strategy simulation control structure is shown in fig. 3. In the figure, the simulation control structure comprises a mode input module, a control strategy module, an instrument physical model module, an instrument output module, an index output module and an angle measurement module. The working mode is a simulation condition, simulation input data are generated by the working mode and the resolution of the angle measurement module is determined, and the instrument simulation model is a comprehensive action model of an instrument physical model and the working mode. In the simulation process, the difference between the input and the feedback comparison of the angle measurement module is used as the input of a control strategy, and the output of the control strategy is used as a control quantity to be input into an instrument physical model and generate instrument output. The instrument output and input are processed to generate index output. The effectiveness of the control strategy can be judged according to the output index. It should be noted that, during simulation, the simulation period matches the actual instrument servo period.
The model establishment of the multi-parameter instrument system adopts the following mode: because the response bandwidth of the whole system is wider, a frequency method is adopted to identify a system model, 2 Hz-70 Hz sine waves are input into the system under the condition that the sampling period of the system is 125 mu s, the output of the system is sine oscillation under the condition, and the amplitude of the output of the system is acquired for the input waveform of each frequency. And identifying the open-loop system model by a frequency domain method according to the corresponding relation between the input frequency and the output amplitude of the system. Through frequency domain identification experiments, the identification model of the instrument generally has the following form:b、a0、a1、a2there is no specific physical meaning for identifying the parameter. The recognition model may perform all simulation verifications. In fact, the structure of the identification model is not unique, but has a similarity index, and the structure of the identification model is generally estimated first, and then model parameters are estimated by a frequency domain method from collected input and output experimental data, such as: b. a is0、a1、a2. And after the model parameters are estimated, inputting the input data acquired by the experiment into the identification model to obtain the output of the identification model. Similarity is determined by the output of the identification model and the output of the actual acquisitionAnd calculating the correlation of the data to obtain, and regarding the identified model to replace the actual model for simulation as long as the similarity index meets the requirement.
Establishing an identification model of a system in a computer, and carrying out computer simulation on each control strategy in a control strategy library, wherein the simulation process is as follows: selecting a working mode from the working mode table, selecting a control strategy from the control strategy table, establishing a computer simulation model by the working mode, the control strategy and the physical model of the instrument, verifying the system performance index under the control strategy through the simulation model, and entering the working mode and the corresponding control strategy into a quasi-mode switching lookup table if the system performance index is met. Otherwise, selecting the next control strategy from the control strategy table, and verifying the system performance index again. Comparing the output of the simulation as an index with the actual index requirement of the system, if the simulation result is superior to the system requirement index, entering the control strategy into a quasi-mode switching lookup table, otherwise discarding the control strategy; the process is iterated until all control strategies are verified. And finally, establishing a quasi-mode switching lookup table to be adopted according to a simulation result.
The physical model of the instrument is built from the frequency domain response. During simulation of computer simulation, the model is adaptively adjusted according to a specific working mode. The simulation model is a comprehensive model of the physical model with the added conditions in the specific working mode. Different modes of operation have integrated models corresponding thereto. The instrument indexes are different in different working modes, mainly the position precision in the position mode, mainly the speed precision in the speed mode, and mainly the frequency, amplitude and phase indexes in the dynamic simulation mode. Under different working modes, the computer simulation output is the simulation index which is compared with the actual requirement index of the instrument under the mode. The standard of judgment is whether the index simulated by the computer is higher than the actual required index. The quasi-modal switching look-up table is created by computer simulation and is referred to as a quasi-modal switching look-up table because it has not been actually verified. It may provide a basis for actual verification. Without the quasi-mode switching lookup table, the establishment process of the mode switching lookup table is a blind purpose, which will greatly increase the workload.
The superposition of the working modes is mainly that the frequency domain identification model of the instrument superposes different input and angular position inverse resolutions. If the position mode is adopted, the position input is superposed, the rate mode is superposed with the rate input, and the superposed input of the dynamic simulation mode is an oscillating wave with certain frequency and amplitude. And (3) reversely deducing the angular position resolution according to the calculation formula of the speed in the step (1). The method is a method for superposing the instrument frequency domain models according to different working modes.
(4) And performing actual operation verification on the system alignment control strategy lookup table, and establishing a verified mode switching lookup table according to the actual operation effect of the system.
Firstly, selecting an operating mode 1, wherein the mode 1 is a position mode, and the operating state when the speed range is 0.0001-100 degrees/s. In the mode 1, the control strategy of the instrument selects the strategy 1, the performance index verification is started on the strategy 1, and if the performance index of the system meets the requirement under the strategy 1, the traversal process of the control strategy is ended (for a single working mode, only the control strategy meeting the index requirement under the mode is found, which is optimal on the whole, and certainly, the optimal control strategy in pursuit of the single mode is better, but the workload is huge). And compiling the mode 1 and the control strategy 1 into an algorithm lookup table. If under control strategy 1, the system does not reach the performance index, then strategy 2 continues to be verified until a control strategy is found that can satisfy the compliance conditions of mode 1. And compiling the mode 1 and the corresponding control strategy into a lookup table. The method comprises the steps of firstly carrying out system simulation verification according to a system comprehensive model before actual system verification, carrying out computer simulation on a system working mode and a control strategy, establishing a quasi-mode switching lookup table according to a simulation result, and finally carrying out actual system verification by aligning the mode switching lookup table.
(5) And (4) iterating until reasonable control strategies are selected for all the working modes and the rates, and establishing a mode switching lookup table for the reasonable control strategies, wherein the establishment process of the mode switching lookup table is shown in fig. 2. And establishing a mode switching lookup table under all working modes and speed partitions of the system in a memory of a system controller.
(6) When the system works, the controller automatically traverses the mode switching lookup table to select the optimal control strategy to carry out seamless switching control according to the input system working mode.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (3)
1. A multi-mode wide-rate seamless switching method for a multi-parameter testing instrument is characterized by comprising the following steps:
(1) dividing the speed range of the multi-parameter testing instrument into n1 equal parts to obtain n1 speed intervals, and combining the working modes of the multi-parameter testing instrument and the n1 speed intervals in pairs to obtain 3n1 working modes; the working modes comprise a speed working mode, a position working mode and a dynamic simulation working mode;
(2) establishing a control strategy library of the multi-parameter testing instrument; the control strategy library is composed of control strategies, the control strategies comprise a combination of a control rate and a fuzzy self-tuner, and the fuzzy self-tuner carries out self-adaptive adjustment on the control rate; the control rate controls the operation of the multi-parameter testing instrument in a determined working mode;
(3) establishing a model of a multi-parameter testing instrument, verifying each control strategy of the control strategy library in the step (2) one by one in a computer simulation mode for 3n1 working modes in the step (1), finding out a combination of the working modes and the control strategies which can meet the requirements, and writing the combination into a quasi-mode switching lookup table;
(4) carrying out actual verification by using a multi-parameter testing instrument to align the mode switching table, finding out the unique optimal control strategy in each working mode, and writing the optimal control strategy into the mode switching lookup table;
(5) and in the actual operation process of the multi-parameter testing instrument, searching a mode switching lookup table according to the actual working mode of the multi-parameter testing instrument, and selecting an optimal control strategy according to the mode switching lookup table to perform seamless switching control.
2. The multi-parameter testing instrument multi-mode wide-rate seamless switching method according to claim 1, characterized in that: the n1 rate intervals in the step (1) are respectively
Wherein,m is the bandwidth of the multi-parameter testing instrument, n is the number of lines of the multi-parameter testing instrument, and k is the subdivision multiple.
3. The multi-parameter testing instrument multi-mode wide-rate seamless switching method according to claim 1 or 2, characterized in that: and (3) controlling the synovial membrane in the step (2).
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| CN109001980B (en) * | 2018-08-28 | 2021-09-24 | 中国科学院近代物理研究所 | High Frequency Resonator Tuning Method |
| CN114017010A (en) * | 2021-10-29 | 2022-02-08 | 中国石油天然气集团有限公司 | Multi-parameter self-adaptive transmission method for downhole drilling |
| CN114017010B (en) * | 2021-10-29 | 2024-04-26 | 中国石油天然气集团有限公司 | Multi-parameter self-adaptive transmission method for underground drilling |
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