粉煤灰恒压输送滑模控制系统研究
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摘要
为了克服PID控制器的缺点,有效抑制状态变量的超调问题,加快系统的控制速度,增强系统的抗干扰性,针对粉煤灰恒压输送系统提出了一种自学习滑模控制方法。设计了一种非线性光滑函数,并将其应用于自抗扰控制器、跟踪微分器及滑模趋近律的设计。鉴于进一步提高系统的自适应控制能力,使用了最速下降法对滑模控制器的增益参数进行自学习镇定。仿真与实验结果表明:该方法不仅响应速度快、控制精度高,而且有效抑制和消除了系统抖振和超调现象。
In order to overcome the drawback of PID controller,effectively curb the overshoot problems of state variables,speed up the control speed of the system and enhance the anti-interference of the system,a self-learning sliding mode control(SLSMC) method was proposed for the fly ash constant pressure conveying system.A nonlinear smoothing function(NSF) was designed and then applied to the design of active disturbance rejection controller,tracking differential and sliding mode reaching law.To further improve the adaptive control ability of the system,the steepest descent method was used to update the gain parameters of the sliding mode controller through self-learning algorithm.Simulation and experimental results show that the proposed method not only has fast response speed and high control precision,but also effectively suppresses and eliminates the system chattering and the overshoot phenomenon.
In order to overcome the drawback of PID controller,effectively curb the overshoot problems of state variables,speed up the control speed of the system and enhance the anti-interference of the system,a self-learning sliding mode control(SLSMC) method was proposed for the fly ash constant pressure conveying system.A nonlinear smoothing function(NSF) was designed and then applied to the design of active disturbance rejection controller,tracking differential and sliding mode reaching law.To further improve the adaptive control ability of the system,the steepest descent method was used to update the gain parameters of the sliding mode controller through self-learning algorithm.Simulation and experimental results show that the proposed method not only has fast response speed and high control precision,but also effectively suppresses and eliminates the system chattering and the overshoot phenomenon.
引文
[1] 雷瑞,付东升,李国法,等.粉煤灰综合利用研究进展[J].洁净煤技术,2013,19(3):106-109.LEI R,FU D S,LI G F,et al.Research Progress of Fly Ash Comprehensive Utilization[J].Clean Coal Technology,2013,19(3):106-109.
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[8] 张鑫,刘凤娟,闫茂德.基于动力学模型的轮式移动机器人自适应滑模轨迹跟踪控制[J].机械科学与技术,2012,31(1):107-112.ZHANG X,LIU F J,YAN M D.Dynamic Model-based Adaptive Sliding-mode Trajectory Tracking Control Over Wheeled Mobile Robot[J].Mechanical Science and Technology for Aerospace Engineering,2012,31(1):107-112.
[9] 崔家瑞,高江峰,张波,等.永磁同步电机滑模变结构鲁棒控制[J].电机与控制学报,2016,20(5):84-89.CUI J R,GAO J F,ZHANG B,et al.Robust Control of Synchronous Motor Based on Sliding Mode Variable Structure[J].Electric Machines and Control,2016,20(5):84-89.
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[12] 孙英培,肖艳军,孟宪乐,等.粉煤灰仓泵输送系统自动作业的控制研究及故障处理[J].机床与液压,2014,42(14):128-130.SUN Y P,XIAO Y J,MENG X L,et al.Study of Control and Troubleshooting on Automatic Operation about the Conveyor System of Flying Ashes Pump System[J].Machine Tool & Hydraulics,2014,42(14):128-130.
[13] 张志勇,吴剑强,杨玉庆.正压浓相恒压输送系统的DCS控制设计及应用[J].发电与空调,2012,33(2):5-9.ZHANG Z Y,WU J Q,YANG Y Q.DCS Automation Design and Application of Dense Phase Constant Pressure Conveying System[J].Power Generation and Air Condition,2012,33(2):5-9.
[14] 李浩.气动波纹管式燃油流量调节阀控制方法研究[D].哈尔滨:哈尔滨工业大学,2010:14-21.
[15] 陈隆,崔豫泓,刘羽,等.仓泵流态化浓相输灰数值模拟[J].洁净煤技术,2016,22(4):11-14.CHEN L,CUI Y H,LIU Y,et al.Numerical Simulation of Dense Phase Pneumatic Conveying for Fluidizing Transporter[J].Clean Coal Technology,2016,22(4):11-14.
[16] 胡志强,郑海婷,陈寇忠.压风机恒压自动控制系统的设计与实现[J].煤矿机械,2012,33(6):241-243.HU Z Q,ZHENG H T,CHEN K Z.Design and Implementation of Constant Pressure Automatic Control System of Mine Air Compressor[J].Coal Mine Machinery,2012,33(6):241-243.
[17] 杨伦,谢一华.气力输送工程[M].北京:机械工业出版社,2006.
[2] 贺春辉,陈先梅,倪红亮,等.发送罐出料方式对煤粉高压密相气力输送特性的影响[J].中国电机工程学报,2012,32(23):32-39.HE C H,CHEN X M,NI H L,et al.Influences of Discharge Types of Blow Tank on Dense Phase Pneumatic Conveying of Pulverized Coal at High Pressure[J].Proceedings of the CSEE,2012,32(23):32-39.
[3] JAIN S K,TITUS S S K.Performance of a Piezoelectric Force Actuator in Low Force Measurement Application [J].Journal of Mechatronics,2013,1(2):109-111.
[4] 楼建勇,林江.气力输送系统的研究现状及发展趋势[J].轻工机械,2008,26(3):4-7.LOU J Y,LIN J.Study Status Quo and Development Tendency of Pneumatic Conveying System[J].Light Industry Machinery,2008,26(3):4-7.
[5] 肖艳军,孙英培,孟宪乐,等.粉煤灰恒压输送PID控制系统研究[J].系统仿真学报,2015,27(1):171-178.XIAO Y J,SUN Y P,MENG X L,et al.Research of Constant Pressure Delivery PID Control System of Flying Ashes[J].Journal of System Simulation,2015,27(1):171-178.
[6] 刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2000.
[7] 张建明,邱联奎,刘启亮.四旋翼飞行器姿态的自适应反演滑模控制研究[J].计算机仿真,2015,32(3):42-47.ZHANG J M,QIU L K,LIU Q L.Research on Four-rotor Aircraft Attitude Control with Adaptive Backstepping Sliding Mode Algorithm[J].Computer Simulation,2015,32(3):42-47.
[8] 张鑫,刘凤娟,闫茂德.基于动力学模型的轮式移动机器人自适应滑模轨迹跟踪控制[J].机械科学与技术,2012,31(1):107-112.ZHANG X,LIU F J,YAN M D.Dynamic Model-based Adaptive Sliding-mode Trajectory Tracking Control Over Wheeled Mobile Robot[J].Mechanical Science and Technology for Aerospace Engineering,2012,31(1):107-112.
[9] 崔家瑞,高江峰,张波,等.永磁同步电机滑模变结构鲁棒控制[J].电机与控制学报,2016,20(5):84-89.CUI J R,GAO J F,ZHANG B,et al.Robust Control of Synchronous Motor Based on Sliding Mode Variable Structure[J].Electric Machines and Control,2016,20(5):84-89.
[10] 韩京清.自抗扰控制技术[M].北京:国防工业出版社,2008:316-331.
[11] 曾喆昭,吴亮东,杨振源,等.非仿射系统的自学习滑模抗扰控制[J].控制理论与应用,2016,33(7):980-987.ZENG Z Z,WU L D,YANG Z Y,et al.Self-learning Sliding-mode Disturbance Rejection Control for Non-affine Systems [J].Control Theory & Application,2016,33(7):980-987.
[12] 孙英培,肖艳军,孟宪乐,等.粉煤灰仓泵输送系统自动作业的控制研究及故障处理[J].机床与液压,2014,42(14):128-130.SUN Y P,XIAO Y J,MENG X L,et al.Study of Control and Troubleshooting on Automatic Operation about the Conveyor System of Flying Ashes Pump System[J].Machine Tool & Hydraulics,2014,42(14):128-130.
[13] 张志勇,吴剑强,杨玉庆.正压浓相恒压输送系统的DCS控制设计及应用[J].发电与空调,2012,33(2):5-9.ZHANG Z Y,WU J Q,YANG Y Q.DCS Automation Design and Application of Dense Phase Constant Pressure Conveying System[J].Power Generation and Air Condition,2012,33(2):5-9.
[14] 李浩.气动波纹管式燃油流量调节阀控制方法研究[D].哈尔滨:哈尔滨工业大学,2010:14-21.
[15] 陈隆,崔豫泓,刘羽,等.仓泵流态化浓相输灰数值模拟[J].洁净煤技术,2016,22(4):11-14.CHEN L,CUI Y H,LIU Y,et al.Numerical Simulation of Dense Phase Pneumatic Conveying for Fluidizing Transporter[J].Clean Coal Technology,2016,22(4):11-14.
[16] 胡志强,郑海婷,陈寇忠.压风机恒压自动控制系统的设计与实现[J].煤矿机械,2012,33(6):241-243.HU Z Q,ZHENG H T,CHEN K Z.Design and Implementation of Constant Pressure Automatic Control System of Mine Air Compressor[J].Coal Mine Machinery,2012,33(6):241-243.
[17] 杨伦,谢一华.气力输送工程[M].北京:机械工业出版社,2006.