CN105242541A - Temperature compensation control method for response delay process - Google Patents
Temperature compensation control method for response delay process Download PDFInfo
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- CN105242541A CN105242541A CN201510708068.XA CN201510708068A CN105242541A CN 105242541 A CN105242541 A CN 105242541A CN 201510708068 A CN201510708068 A CN 201510708068A CN 105242541 A CN105242541 A CN 105242541A
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Abstract
The invention provides a temperature compensation control method for the response delay process. The method comprises the following steps: 1) determining delay time of a product under the maximum load function, wherein the delay time is determined based on the material, structure features and temperature of the product; 2) determining preheating/ precooling time of the product according to the delay time; 3) obtaining the difference between the delay time and the preheating/ precooling time of the product to serve as delay time of control input, and determining control law parameters according to the follow-up temperature variation predication; and 4) determining temperature control of the product according to the control law parameters. According to the method, the control law parameters are determined through an optimization algorithm, so that temperature compensation can be realized quickly and conveniently; one-time test success rate is greatly improved, and thus over test check is effectively prevented; and the method is suitable for various tests and production processes having response delay, and has a positive driving effect for improving the test and production quality and improving process control precision.
Description
Technical field
The present invention relates to test and the method for testing technical field of testpieces, particularly, relate to a kind of temperature compensation control method towards the sluggish process of response.
Background technology
At space product ground experiment engineering field, especially cryogenic environment simulation is with Aerodynamic Heating process of the test, extensively there is product temperature of participating in the experiment and responded slow phenomenon, the Total Product temperature that causes participating in the experiment is difficult to accurate control, and control signal easily the problems such as saltus step occurs.Therefore, to considering that the control method demand of temperature compensation is urgent.Such as: in the test of carrier rocket fuel-supply pipe low temperature shock, by filling liquid nitrogen simulative tube road cryogenic environment, liquid nitrogen flow velocity is regulated according to each measuring point temperature feedback.But, filling initial stage measuring point temperature-responsive (showing as temperature drop) is slow, control signal reaches very soon and exports the upper limit and maintain a period of time, and after pipeline is cold, observed temperature (-196 DEG C) is lower than liquid oxygen (-183 DEG C) temperature, occurs excessively examining.And for example: in certain type hypersonic vehicle cabin body ground pneumatic heat test, quartz is utilized to wait heat radiation simulation thermal force, electronic device serviceability in examination cabin.Aircraft exterior heat insulation material, section structure and internal insulation layer make indoor environment temperature-responsive far lag behind surface, cabin, and similarly, quartz lamp output power significantly promotes fast, also causes excessive examination.
In engineer applied field, about have the space product ground experiment of 95% to adopt traditional PID control method at present, the advantage of the method is simplicity of design, implements conveniently.For there is the shorter process of the test of response lag time, though continue to use PID control method can realize stability contorting, but control accuracy is not high, and easily overtesting occurs, and causes unnecessary damage to product of participating in the experiment.
In control algolithm field, Smithpredictor is considered to process the most convenient effective control algolithm of linear hysteresis system, but its range of application is only limitted to stable, that lag time is shorter process.The control algolithm similar with Smithpredictor also has Artsteinmodelreduction and finitespectrumassignment (FSA), but is only applicable to the less linear process of response change scope.In recent years, adopt system optimizing control to realize sluggish process and accurately control to cause academia's extensive concern, but this type of H
∞the design process of controller is complicated, operand large, and the configuration requirement of smooth enforcement to test unit used of algorithm is higher, does not therefore obtain extensive engineer applied.Control method based on Lyapunov equation effectively can realize the control of Complex Nonlinear System, and this control algolithm solves extremely not easily, although possess very high learning value, engineer applied is worth not high.
In sum, traditional PID control method can not meet the control overflow responding sluggish process gradually, existing hysteresis compensation control method is (as Smithpredictor, Artsteinmodelreduction, FSA etc.) only can realize the control overflow of the sluggish process of part, and optimal control method, based on the control algolithm of Lyapunov equation because of design process and the higher hardware configuration requirement of its complexity, be difficult to be widely used in engineering field.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of temperature compensation control method towards the sluggish process of response.
According to an aspect of the present invention, a kind of temperature compensation control method towards the sluggish process of response is provided, it is characterized in that, comprise the steps:
(1) determine the lag time of product under maximum load effect, described lag time is determined by the material of described product, architectural characteristic and temperature;
(2) according to the preheating/pre-coo time of described lag time determination product;
(3) by the described lag time of product and described preheating/pre-coo time poor, as the time delay of control inputs, according to following temperature change expectation determine control law parameter;
(4) control according to the temperature of described control law parameter determination product.
Preferably, in described (1) step, determine that described lag time process is: carry out test of repeatedly knowing the real situation, the mean value getting response lag time is final lag time.
Preferably, in described (1) step, determine that described lag time process is: utilize the material property equation of product to determine lag time by emulation.
Preferably, in described (2) step, if preheating/pre-coo time exceedes preset value, then by providing activation energy to shorten described preheating/pre-coo time.
Preferably, it is characterized in that, described (3) step comprises following little step:
A () sets up heat transfer model according to the temperature changing regularity at product emphasis examination position;
B () to meet with a response temperature according to described heat transfer model;
C () combines the temperature rise/temperature drop rate preset, determine described control law parameter.
Preferably, in described (a) small step, adopt the frequency response function of input delay process to describe relation that input control signal and product temperature respond is to set up described heat transfer model.
Preferably, in described (b) small step, the convolution of frequency response function and control signal is used to obtain described response temperature.
Compared with prior art, the present invention has following beneficial effect:
(1) by optimized algorithm determination control law parameter, thus temperature compensation is realized quickly and easily;
(2) significantly improve the one step completed success ratio of test, effectively prevent overtesting examination;
(3) be applicable to all kinds of test and the production run that there is operating lag, to lifting process control accuracy, improve test and actively promote effect with the quality of production.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the overall framework figure of temperature compensation control method;
Fig. 2 is the technological approaches figure of temperature compensation control method;
Fig. 3 is high velocity of sound aircraft ground aerothermodynamics experiment temperature control curve;
Fig. 4 is cabin section ground pneumatic heat test temperature control curve;
Fig. 5 is CZ-5 circulating precooling pipeline commissure temperature curve;
Fig. 6 is the closed-loop control figure under the different input delay time.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
So-called " temperature compensation control method towards the sluggish process of response ", refer to the process of the test for there is feedback signal (as temperature) delayed response, take participate in the experiment part preheating or the control method based on part state expectation of participating in the experiment, realize temperature compensation, ensure higher part temperature control precision of participating in the experiment.Apply overtesting phenomenon, lifting test and test mass that this control method can effectively avoid system responses sluggishness to cause.
The present invention is applied in the temperature controlled processes of carrier rocket pipeline low-temperature vibration test and certain model supersonic vehicle cabin body ground pneumatic heat test.Low load on rate is adopted to pick out process of the test response time constant, and in this, as the criterion of product preheating/pre-coo time of determining to participate in the experiment, the Changing Pattern of frequency response function to follow-up product temperature of participating in the experiment based on process of the test works out the calculation, by optimized algorithm determination control law parameter, thus realize temperature compensation quickly and easily.
For the process of the test that there is temperature-responsive sluggishness, the present invention seriously restricts for solving the overtesting etc. that product temperature control accuracy is not high, control signal is undergone mutation causes of participating in the experiment the engineering problem testing difficulty action accomplishment.Adopt preheating/precooling adjustment method to combine the control algolithm estimated based on following temperature change, achieve the temperature responding sluggish process quickly and easily and accurately control, significantly improve the one step completed success ratio of test, effectively prevent overtesting examination.
See accompanying drawing 1, basic thought of the present invention is, Product Status variable (temperature) of participating in the experiment response exists that to postpone long with lag time be the main cause causing existing PID control method and other delay compensation control method to be difficult to realize accurate process controlling.Therefore, by carrying out preheating/precooling treatment to product of participating in the experiment, it is characterized in that reducing the response lag time in process of the test, again the process that there is shorter response sluggishness is converted into the process of the shorter control signal input delay of existence, it is characterized in that this equivalent process is by the design and implementation of great convenience control algolithm.
See accompanying drawing 2, realize the technological approaches of temperature compensation control method, implementation step comprises: 1. identification response lag time; 2. preheating/precooling treatment time is determined; 3. sluggish for response process is converted into control inputs deferring procedure, determines control law parameter according to following temperature change expectation.
1. described step needs to determine that (unit: s), namely product arrives the time of testing requirements temperature to product temperature response lag time under maximum load effect.It is characterized in that must in conjunction with the material of product of participating in the experiment, architectural characteristic and temperature check requirements determination lag time.
Preferably, carry out test of repeatedly knowing the real situation, the mean value getting response lag time is final process lag time; Also material property equation can be utilized to carry out emulation and to determine lag time.
2. described step needs the preheating/pre-coo time confirming official test according to step conclusion 1..It is characterized in that, for product of participating in the experiment (material) provides activation energy, making it stride across energy barrier fast, effectively reducing lag time.Preferably, preheating/pre-coo time length should have more product material and design feature is determined, avoids preheating/pre-coo time long as far as possible.
3. sluggish for response process is equivalent to control signal input delay process by described step, and is L time delay.It is characterized in that: first, being wherein process response lag time, is preheating/precooling treatment time; Secondly, for the process that there is shorter control signal input delay, the control algolithm estimated based on following temperature change can be selected to realize accurately controlling.
3. described step can be divided into again (1) process model building further; (2) following temperature change estimates that the temperature determining to realize participating in the experiment product with (3) control law parameter controls.
Described point of process (1) is process of the test modeling, it is characterized in that setting up heat transfer model according to product emphasis examination spot temperature Changing Pattern, and this model possesses measuring-signal for temperature feedback and control inputs.
Preferably, the frequency response function of employing input delay process describes the relation that input control signal (being generally curtage) responds with product temperature; For the process of the test that actual measurement response is more, the modeling of using state variable equation can be considered.
The expectation that described point of process (2) changes for following temperature, it is characterized in that the model set up according to described point of process (1), extrapolate the response temperature after the L unit interval, can prove, the error of estimating temperature and actual temperature is limited.
Preferably, the convolution of frequency response function and control signal can be used to estimate process of the test following temperature, complete by Computing.
Described point of process (3) is for determining the parameter of control law, it is characterized in that the temperature rise/temperature drop rate needing to reach required by binding tests process, and the restriction that testing equipment exports control signal (namely exporting threshold values), rationally, optimum option control law parameter (pole location), ensure that this control algolithm can effectively realize.
Preferably, closed loop procedure pole location is chosen at 3-5 times away from ring opening process pole location, and for the process of the test that temperature rise/temperature drop rate is high, closed loop procedure pole location may be selected in farther place.
Below by application example, the present invention is elaborated.
See accompanying drawing 3, it is superelevation velocity of sound aircraft ground aerothermodynamics experiment inner wall temperature controlling curve.The front 20s of process of the test is warm, marked change does not occur through response temperature, but product material of participating in the experiment has obtained enough ability hasty breaching temperature rise energy barriers.20s-40s is rapid warm raising section, and control accuracy is better.Because process of the test does not arrange control of initiatively lowering the temperature, temperature drop section error is larger.
See accompanying drawing 4, be cabin section ground pneumatic heat test temperature control curve, similarly, before test, 16s is preheating time, and the control accuracy of temperature rise section is higher.
See accompanying drawing 5, it is CZ-5 circulating precooling pipeline commissure temperature curve.First 200 seconds of whole process of the test is pipeline precooling treatment, and by regulating the temperature of liquid nitrogen flow control commissure, as shown in the figure, departure, within ± 3 DEG C, achieves accurate control.
The detailed algorithm substep of the function of temperature compensation control above in embodiment is described below:
The detailed algorithm substep of function of temperature compensation control is described below:
Analysis is participated in the experiment product material characteristic, design feature, the product temperature change curve of participating in the experiment that binding tests requires, carries out test of knowing the real situation, calculates the temperature-responsive lag time λ of this product.
Determine to participate in the experiment by the test of low load on rate the preheating/pre-coo time λ of product official test
*.
Be preheating/precooling treatment by the sluggish process equivalent conversion of response and the process of the test that there is shorter control inputs and postpone, time delay L=λ-λ
*.
Use frequency response function to complete process of the test modeling, the relation between the control inputs/response output signal of process of the test can be expressed as:
Wherein B (s) and A (s) is respectively n rank, m rank polynomial expression, and L is the input delay time; Y (s) is the process response under frequency domain, and U (s) is the control inputs signal under frequency domain.
Response after the L unit interval is estimated to be expressed as
Previous moment t the participates in the experiment response of product that what wherein the Section 1 of right formula represented is, works as t=0, represents the product temperature response of participating in the experiment at the end of preheating/precooling treatment just; The Section 2 of right formula is an integral operation, and function h (t) loads impulse Response Function for the product under time domain, is the transport function of process of the test after Laplace conversion.
Utilize the product temperature response estimated
determine control law, its expression formula is as follows:
Wherein all need the zero point of A (s) R (s)+B (s) S (s) to be less than zero to ensure that closed-loop system is stablized.
Simulating, verifying uses the closed loop procedure after this control method, and the closed-loop simulation result of certain second order control inputs deferring procedure as shown in Figure 6.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1., towards a temperature compensation control method for the sluggish process of response, it is characterized in that, comprise the steps:
(1) determine the lag time of product under maximum load effect, described lag time is determined by the material of described product, architectural characteristic and temperature;
(2) according to the preheating/pre-coo time of described lag time determination product;
(3) by the described lag time of product and described preheating/pre-coo time poor, as the time delay of control inputs, according to following temperature change expectation determine control law parameter;
(4) control according to the temperature of described control law parameter determination product.
2. the temperature compensation control method towards the sluggish process of response according to claim 1, it is characterized in that, in described (1) step, determine that described lag time process is: carry out test of repeatedly knowing the real situation, the mean value getting response lag time is final lag time.
3. the temperature compensation control method towards the sluggish process of response according to claim 1, is characterized in that, in described (1) step, determine that described lag time process is: utilize the material property equation of product to determine lag time by emulation.
4. the temperature compensation control method towards the sluggish process of response according to claim 1, is characterized in that, in described (2) step, if preheating/pre-coo time exceedes preset value, then by providing activation energy to shorten described preheating/pre-coo time.
5. the temperature compensation control method towards the sluggish process of response according to any one of claim 1 to 4, it is characterized in that, described (3) step comprises following little step:
A () sets up heat transfer model according to the temperature changing regularity at product emphasis examination position;
B () to meet with a response temperature according to described heat transfer model;
C () combines the temperature rise/temperature drop rate preset, determine described control law parameter.
6. the temperature compensation control method towards the sluggish process of response according to claim 5, it is characterized in that, in described (a) small step, adopt the frequency response function of input delay process to describe relation that input control signal and product temperature respond is to set up described heat transfer model.
7. the temperature compensation control method towards the sluggish process of response according to claim 5, is characterized in that, in described (b) small step, uses the convolution of frequency response function and control signal to obtain described response temperature.
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| CN113168196A (en) * | 2018-12-27 | 2021-07-23 | 株式会社Kelk | Temperature control device |
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