基于辨识的低温制冷系统控制率设计方法
|
摘要
为提高低温制冷控制系统的调试效率和控制效果,文章提出一种基于阶跃响应系统辨识的低温制冷机控制率设计方法。首先分析了控温点80K附近的制冷机杜瓦组件漏热情况,结果表明在控温点附近制冷机的漏热近乎恒定不变,可以用传统阶跃响应辨识方法对制冷机进行系统辨识;然后在控温点附近输入阶跃驱动信号并采集到制冷机的系统响应曲线,通过Matlab系统辨识工具箱进行系统辨识得到制冷机传递函数;再根据控制目标和被控对象特性设计了PI控制算法,并分析了控制算法参数变化对控制效果的影响;最后将控制算法进行离散数字化,得到可以在单片机程序中运行的时域离散数字算法,并进行了实验验证。实验结果和理论仿真结果吻合较好,证明了辨识结果的正确性及通过系统辨识进行控制率设计的可行性,为进一步深入研究低温制冷系统控制算法,提高低温制冷控制系统调试效率和控制效果提供了重要依据。
A novel cryocooler control algorithm design method based on system identification is proposed for improving debug efficiency and control effect. Firstly, thermal leakage of cryocooler-dewar module round 80 K control point is analyzed; the results indicate that thermal leakage round 80 K is almost the same, and the cryocooler model can be identified by classical step-response method. Then step driving signal is added to the cryocooler to get the system response results, and the cryocooler transfer function model is identified by Matlab system identification toolbox. Next, PI control algorithm is designed in response to control target and cryocooler transfer function, and then control impact analysis is done with variable control algorithm parameters. Finally, control algorithm is digitalized to be used in microcontroller. Experimental verification proves the correction of system identification result and the feasibility of cryocooler control algorithm design based on system identification. Deeply control algorithm research shall be done to improve debug efficiency and control effect.
A novel cryocooler control algorithm design method based on system identification is proposed for improving debug efficiency and control effect. Firstly, thermal leakage of cryocooler-dewar module round 80 K control point is analyzed; the results indicate that thermal leakage round 80 K is almost the same, and the cryocooler model can be identified by classical step-response method. Then step driving signal is added to the cryocooler to get the system response results, and the cryocooler transfer function model is identified by Matlab system identification toolbox. Next, PI control algorithm is designed in response to control target and cryocooler transfer function, and then control impact analysis is done with variable control algorithm parameters. Finally, control algorithm is digitalized to be used in microcontroller. Experimental verification proves the correction of system identification result and the feasibility of cryocooler control algorithm design based on system identification. Deeply control algorithm research shall be done to improve debug efficiency and control effect.
引文
[1]刘兆军,周峰,李瑜.航天光学遥感器对红外探测器的需求分析[J].红外与激光工程,2008,37(1):25-29.LIU Zhaojun,ZHOU Feng,LI Yu.Demands Analysis of IR Detector for Space Remote Sensor[J].Infrared and Laser Engineering,2008,37(1):25-29.(in Chinese)
[2]龙亮,王世涛,周峰,等.空间红外点目标遥感探测系统在轨辐射定标[J].航天返回与遥感,2012,33(2):73-80.LONG Liang,WANG Shitao,ZHOU Feng,et al.In-orbit Radiometric Calibration Methods for Remote Sensing System to Detect Space Infrared Point Target[J].Spacecraft Recovery&Remote Sensing,2012,33(2):73-80.(in Chinese)
[3]高海亮,顾行发,余涛,等.星载光学遥感器可见近红外通道辐射定标研究进展[J].遥感信息,2010(4):117-119.GAO Hailiang,GU Xingfa,YU Tao,et a1.The Research Overview on Visible and Near-infrared Channels Radiometric Calibration of Space-borne Optical Remote Sensors[J].Remote Information,2010(4):117-119.(in Chinese)
[4]王成刚,东海杰.超长线列碲镉汞红外探测器拼接方式对比分析[J].激光与红外,2013,43(8):920-923.WANG Chenggang,DONG Haijie.Butted Manner Analysis of Long Linear Infrared Focal Plane Detectors of MCT[J].Laser&Infrared,2013,43(8):920-923.(in Chinese)
[5]朱建炳.空间深空探测低温制冷技术的发展[J].航天返回与遥感,2010,31(6):39-45.ZHU Jianbing.Development of Cryogenic Refrigeration Technology for Deep Space Explorations[J].Spacecraft Recovery&Remote Sensing,2010,31(6):39-45.(in Chinese)
[6]韦孟柳,杨开响,刘冬毓,等.80K/2W斯特林制冷机全性能实验研究[J].低温工程,2011(1):16-31.WEI Mengliu,YANG Kaixiang,LIU Dongyu,et al.Experimental Research of Thermal Performance on 80K/2W Stirling Cryocooler[J].Cryogenics,2011(1):16-31.(in Chinese)
[7]杨雪,茅年清,徐圣亚.制冷机在空间红外遥感领域的应用研究[J].真空与低温,2014,20(2):113-124.YANG Xue,MAO Nianqing,XU Shengya.Research of Cryocooler Application in Space Infrared Remote Sensor System[J].Vacuum&Cryogenics,2014,20(2):113-124.(in Chinese)
[8]贾旭鹏,姜继善,于秀明,等.斯特林制冷机温度闭环控制系统的探讨[J].真空与低温,2006,12(3):176-179.JIA Xupeng,JIANG Jishan,YU Xiuming,et al.Study of Stirling Cryocooler Temperature Closed Loop Control System[J].Vacuum and Cryogenics,2006,12(3):176-179.(in Chinese)
[9]朱鹏,傅雨田.空间用斯特林制冷机的过程控制[J].低温与超导,2011,39(2):1-3,9.ZHU Peng,FU Yutian.Process Control of Space-used Stirling Cryocooler[J].Cryogenics and Superconductivity,2011,39(2):1-3,9.(in Chinese)
[10]周芳.基于DSP的直线电机制冷控制器的研制[D].合肥:安徽理工大学,2010.ZHOU Fang.Research of Linear Motor Cryocooler Controller Based on DSP[D].Hefei:Anhui University of Science and Technology,2010.(in Chinese)
[11]闫涛,李亚丽,李建国,等.脉冲管制冷机冷却大热容对象的温度控制策略研究[J].真空与低温,2011,8(1):76-79.YAN Tao,LI Yali,LI Jianguo,et al.Temperature Control Method Research of Heavy Thermal System Cooled by Pulse Tube Cryocoolers[J].Vacuum&Cryogenics,2011,8(1):76-79.(in Chinese)
[12]侯森,王波,甘智华,等.斯特林与脉管制冷机控制系统的研究进展[J].低温工程,2014,197(1):6-16.HOU Sen,WANG Bo,GAN Zhihua,et al.Research Progress in Control Electronics for Stirling and Pulse Tube Cryocoolers[J].Cryogenics,2014,197(1):6-16.(in Chinese)
[13]刘静洁,李飞艳,李海英,等.变速积分PID控制算法在斯特林制冷机驱控电路上的应用[C].第十届全国低温工程大会暨中国航天低温专业信息网2011年度学术交流会,兰州,2011.LIU Jingjie,LI Feiyan,LI Haiying,et a1.The Speed Integral PID Control Algorithm in the Application of Stirling Cryocooler Drive Control Circuit[C].The l0th National Conference on Cryogenic Engineering,Lanzhou,2011.(in Chinese)
[14]高小赟,阎治安,夏建民,等.基于DSP的斯特林制冷机控制系统的研制[J].微电机,2006,39(5):29-33.GAO Xiaoyun,YAN Zhian,XIA Jianmin,et a1.Development of a Control System for Stirling Cryoeooler Based on DSP[J].Micromotors,2006,39(5):29-33.(in Chinese)
[15]黄存坚,尚群立,余善恩,等.基于阶跃响应二阶加纯滞后模型的系统辨识[J].机械制造,2010,48(554):19-21.HUANG Cunjian,SHANG Qunli,YU Shanen,et al.System Identification of Second-order Plus Dead-time Model Based on Step Response[J].Machinery,2010,48(554):19-21.(in Chinese)
[16]王正林,郭阳宽.MATLAB/Simulink与过程控制系统仿真[M].北京:电子工业出版社,2012:95-103.WANG Zhenglin,GUO Yangkuan.MATLAB/Simulink and Process Control System Simulation[M].Beijing:Publishing House of Electronics Industry,2012:95-103.(in Chinese)
[17]孙启扬,金占雷,毛毅华,等.基于分段阶跃响应法的制冷系统传递函数辨识[J].真空与低温,2015(5):307-310.SUN Qiyang,JIN Zhanlei,MAO Yihua,et al.System Identification of Refrigerating System Transfer Function by Partition Step-responsep[J].Vacuum&Cryogenics,2015(5):307-310.(in Chinese)
[18]鄢景华.自动控制原理[M].哈尔滨:哈尔滨工业大学出版社,2000:86-89,142-143.YAN Jinghua.Auto-Control Theory[M].Harbin:Harbin Institute of Technology Press,2000:86-89,142-143.(in Chinese)
[2]龙亮,王世涛,周峰,等.空间红外点目标遥感探测系统在轨辐射定标[J].航天返回与遥感,2012,33(2):73-80.LONG Liang,WANG Shitao,ZHOU Feng,et al.In-orbit Radiometric Calibration Methods for Remote Sensing System to Detect Space Infrared Point Target[J].Spacecraft Recovery&Remote Sensing,2012,33(2):73-80.(in Chinese)
[3]高海亮,顾行发,余涛,等.星载光学遥感器可见近红外通道辐射定标研究进展[J].遥感信息,2010(4):117-119.GAO Hailiang,GU Xingfa,YU Tao,et a1.The Research Overview on Visible and Near-infrared Channels Radiometric Calibration of Space-borne Optical Remote Sensors[J].Remote Information,2010(4):117-119.(in Chinese)
[4]王成刚,东海杰.超长线列碲镉汞红外探测器拼接方式对比分析[J].激光与红外,2013,43(8):920-923.WANG Chenggang,DONG Haijie.Butted Manner Analysis of Long Linear Infrared Focal Plane Detectors of MCT[J].Laser&Infrared,2013,43(8):920-923.(in Chinese)
[5]朱建炳.空间深空探测低温制冷技术的发展[J].航天返回与遥感,2010,31(6):39-45.ZHU Jianbing.Development of Cryogenic Refrigeration Technology for Deep Space Explorations[J].Spacecraft Recovery&Remote Sensing,2010,31(6):39-45.(in Chinese)
[6]韦孟柳,杨开响,刘冬毓,等.80K/2W斯特林制冷机全性能实验研究[J].低温工程,2011(1):16-31.WEI Mengliu,YANG Kaixiang,LIU Dongyu,et al.Experimental Research of Thermal Performance on 80K/2W Stirling Cryocooler[J].Cryogenics,2011(1):16-31.(in Chinese)
[7]杨雪,茅年清,徐圣亚.制冷机在空间红外遥感领域的应用研究[J].真空与低温,2014,20(2):113-124.YANG Xue,MAO Nianqing,XU Shengya.Research of Cryocooler Application in Space Infrared Remote Sensor System[J].Vacuum&Cryogenics,2014,20(2):113-124.(in Chinese)
[8]贾旭鹏,姜继善,于秀明,等.斯特林制冷机温度闭环控制系统的探讨[J].真空与低温,2006,12(3):176-179.JIA Xupeng,JIANG Jishan,YU Xiuming,et al.Study of Stirling Cryocooler Temperature Closed Loop Control System[J].Vacuum and Cryogenics,2006,12(3):176-179.(in Chinese)
[9]朱鹏,傅雨田.空间用斯特林制冷机的过程控制[J].低温与超导,2011,39(2):1-3,9.ZHU Peng,FU Yutian.Process Control of Space-used Stirling Cryocooler[J].Cryogenics and Superconductivity,2011,39(2):1-3,9.(in Chinese)
[10]周芳.基于DSP的直线电机制冷控制器的研制[D].合肥:安徽理工大学,2010.ZHOU Fang.Research of Linear Motor Cryocooler Controller Based on DSP[D].Hefei:Anhui University of Science and Technology,2010.(in Chinese)
[11]闫涛,李亚丽,李建国,等.脉冲管制冷机冷却大热容对象的温度控制策略研究[J].真空与低温,2011,8(1):76-79.YAN Tao,LI Yali,LI Jianguo,et al.Temperature Control Method Research of Heavy Thermal System Cooled by Pulse Tube Cryocoolers[J].Vacuum&Cryogenics,2011,8(1):76-79.(in Chinese)
[12]侯森,王波,甘智华,等.斯特林与脉管制冷机控制系统的研究进展[J].低温工程,2014,197(1):6-16.HOU Sen,WANG Bo,GAN Zhihua,et al.Research Progress in Control Electronics for Stirling and Pulse Tube Cryocoolers[J].Cryogenics,2014,197(1):6-16.(in Chinese)
[13]刘静洁,李飞艳,李海英,等.变速积分PID控制算法在斯特林制冷机驱控电路上的应用[C].第十届全国低温工程大会暨中国航天低温专业信息网2011年度学术交流会,兰州,2011.LIU Jingjie,LI Feiyan,LI Haiying,et a1.The Speed Integral PID Control Algorithm in the Application of Stirling Cryocooler Drive Control Circuit[C].The l0th National Conference on Cryogenic Engineering,Lanzhou,2011.(in Chinese)
[14]高小赟,阎治安,夏建民,等.基于DSP的斯特林制冷机控制系统的研制[J].微电机,2006,39(5):29-33.GAO Xiaoyun,YAN Zhian,XIA Jianmin,et a1.Development of a Control System for Stirling Cryoeooler Based on DSP[J].Micromotors,2006,39(5):29-33.(in Chinese)
[15]黄存坚,尚群立,余善恩,等.基于阶跃响应二阶加纯滞后模型的系统辨识[J].机械制造,2010,48(554):19-21.HUANG Cunjian,SHANG Qunli,YU Shanen,et al.System Identification of Second-order Plus Dead-time Model Based on Step Response[J].Machinery,2010,48(554):19-21.(in Chinese)
[16]王正林,郭阳宽.MATLAB/Simulink与过程控制系统仿真[M].北京:电子工业出版社,2012:95-103.WANG Zhenglin,GUO Yangkuan.MATLAB/Simulink and Process Control System Simulation[M].Beijing:Publishing House of Electronics Industry,2012:95-103.(in Chinese)
[17]孙启扬,金占雷,毛毅华,等.基于分段阶跃响应法的制冷系统传递函数辨识[J].真空与低温,2015(5):307-310.SUN Qiyang,JIN Zhanlei,MAO Yihua,et al.System Identification of Refrigerating System Transfer Function by Partition Step-responsep[J].Vacuum&Cryogenics,2015(5):307-310.(in Chinese)
[18]鄢景华.自动控制原理[M].哈尔滨:哈尔滨工业大学出版社,2000:86-89,142-143.YAN Jinghua.Auto-Control Theory[M].Harbin:Harbin Institute of Technology Press,2000:86-89,142-143.(in Chinese)