电气比例阀压力自校正控制策略研究
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摘要
电气比例阀压力输出控制具有时变、非线性特点,常规PID控制方法很难适应其响应快速、控制精确高的要求,深入分析了电气比例阀结构与工作原理,建立了电气比例阀非线性数学模型。提出采用PID参数自适应整定的模糊PID控制策略,详细分析了模糊PID控制器的设计方法。在软件MATLAB/Simulink中对控制系统进行了设计与仿真,并将控制效果与常规PID控制和模糊控制效果进行了比较分析。结果表明:模糊PID控制算法能使比例阀压力输出控制具有更好的动静态特性和自适应能力。
Pressure output control of electric proportional valve has characteristics of time variation and non-linearity. Conventional PID control methods are difficult to meet the requirements of fast response and precise control. For this reason, we establish a mathematical model of electric proportional valve by analyzing structure and working principle of electric proportional valve. The fuzzy PID control strategy is proposed based on adaptive PID parameter tuning. The design method of fuzzy PID controller is analyzed in detail. A control system is designed and simulated in the software MATLAB/Simulink, and we compare the control effect with conventional PID control effect and fuzzy control effect. The results show that the fuzzy PID control algorithm can make the proportional valve pressure output control have better dynamic and static characteristics and adaptive ability.
Pressure output control of electric proportional valve has characteristics of time variation and non-linearity. Conventional PID control methods are difficult to meet the requirements of fast response and precise control. For this reason, we establish a mathematical model of electric proportional valve by analyzing structure and working principle of electric proportional valve. The fuzzy PID control strategy is proposed based on adaptive PID parameter tuning. The design method of fuzzy PID controller is analyzed in detail. A control system is designed and simulated in the software MATLAB/Simulink, and we compare the control effect with conventional PID control effect and fuzzy control effect. The results show that the fuzzy PID control algorithm can make the proportional valve pressure output control have better dynamic and static characteristics and adaptive ability.
引文
[1] 班伟.精密气动比例压力阀的关键技术研究[D].杭州:浙江大学,2015.BAN Wei.Research on Key Technology of Precision Pneumatic Proportional Pressure Valve [D].Hangzhou:Zhejiang University,2015.
[2] HAMDAN M,GAO Z Q.A Novel PID Controller for Pneumatic Proportional Valves with Hysteresis [C].Industry Applications Conference,Rome,Italy,2000,(2):1198-1201.
[3] 徐志鹏.高压气动比例减压阀的结构优化与特性研究[D].杭州:浙江大学,2010.XU Zhipeng.Structural Optimization and Characteristics of High Pressure Pneumatic Proportional Pressure Reducing Valve [D].Hangzhou:Zhejiang University,2010.
[4] 牧彬,米征,张革命,等.考虑气动比例阀终端状态的充气过程建模与仿真[J].液压与气动,2017,(4):107-110.MU Bin,MI Zheng,ZHANG Geming,et al.Modeling and Simulation of Aeration Process Considering the Terminal State of a Pneumatic Proportional Valve [J].Chinese Hydraulics & Pneumatics,2017,(4):107-110.
[5] 刘志珍,张忠祥,侯延进.电-气比例阀高压驱动与低压PWM的双压控制模式[J].农业机械学报,2008,39(7):159-163.LIU Zhizhen,ZHANG Zhongxiang,HOU Yanjin.Dual Pressure Control Mode of Electro-pneumatic Proportional Valve High Pressure Drive and Low Voltage PWM [J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(7):159-163.
[6] 路波,陶国良,袁月峰,等.高精度气动比例压力阀设计与特性分析[J].农业机械学报,2009,40(10):181-187.LU Bo,TAO Guoliang,YUAN Yuefeng,et al.Design and Characteristic Analysis of High Precision Pneumatic Proportional Pressure Valve [J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(10):181-187.
[7] 张泾周,杨伟静,张安祥.模糊自适应PID控制的研究及应用仿真[J],计算机仿真,2009,26(9):132-135.ZHANG Jingzhou,YANG Weijing,ZHANG Anxiang.Research and Application Simulation of Fuzzy Adaptive PID Control [J].Computer Simulation,2009,26(9):132-135.
[8] 钟圣国,彭光正.利用电/气比例阀的容腔压力控制系统的建模与仿真[J].机床与液压,2004,(10):90-92.ZHONG Shengguo,PENG Guangzheng.Modeling and Simulation of Cavity Pressure Control System Using Electric/Gas Proportional Valve [J].Machine Tool & Hydraulics,2004,(10):90-92.
[9] 班伟,陶国良,路波,等.新型气动比例压力阀的建模研究与特性分析[J].浙江大学学报(工学版),2012,46(11):1953-1959.BAN Wei,TAO Guoliang,LU Bo,et al.Modeling Research and Characterization of a New Pneumatic Proportional Pressure Valve [J].Journal of Zhejiang University (Engineering Science),2012,46(11):1953-1959.
[10] 张凯,李彦良,宋文潇,等.高精度气动容腔自动调压技术研究[J].液压与气动,2017,(11):92-96.ZHANG Kai,LI Yanliang,SONG Wenxiao,et al.Research on High-precision Pneumatic Cavity Automatic Pressure Regulation Technology [J].Chinese Hydraulic & Pneumatics,2017,(11).92-96.
[11] 徐瑞亮,陈奎生,刘洋,等.基于模糊PID算法的车载液压调平动态特性联合仿真研究[J].液压与气动,2017,(8):112-117.XU Ruiliang,CHEN Kuisheng,LIU Yang,et al.Joint Simulation of Vehicle Hydraulic Leveling Dynamic Characteristics Based on Fuzzy PID Algorithm [J].Chinese Hydraulics & Pneumatics,2017,(8):112-117.
[12] 刘金琨.智能控制[M].北京:电子工业出版社,2014.LIU Jinkui.Intelligent Control [M].Beijing:Publishing House of Electronics Industry,2014.
[2] HAMDAN M,GAO Z Q.A Novel PID Controller for Pneumatic Proportional Valves with Hysteresis [C].Industry Applications Conference,Rome,Italy,2000,(2):1198-1201.
[3] 徐志鹏.高压气动比例减压阀的结构优化与特性研究[D].杭州:浙江大学,2010.XU Zhipeng.Structural Optimization and Characteristics of High Pressure Pneumatic Proportional Pressure Reducing Valve [D].Hangzhou:Zhejiang University,2010.
[4] 牧彬,米征,张革命,等.考虑气动比例阀终端状态的充气过程建模与仿真[J].液压与气动,2017,(4):107-110.MU Bin,MI Zheng,ZHANG Geming,et al.Modeling and Simulation of Aeration Process Considering the Terminal State of a Pneumatic Proportional Valve [J].Chinese Hydraulics & Pneumatics,2017,(4):107-110.
[5] 刘志珍,张忠祥,侯延进.电-气比例阀高压驱动与低压PWM的双压控制模式[J].农业机械学报,2008,39(7):159-163.LIU Zhizhen,ZHANG Zhongxiang,HOU Yanjin.Dual Pressure Control Mode of Electro-pneumatic Proportional Valve High Pressure Drive and Low Voltage PWM [J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(7):159-163.
[6] 路波,陶国良,袁月峰,等.高精度气动比例压力阀设计与特性分析[J].农业机械学报,2009,40(10):181-187.LU Bo,TAO Guoliang,YUAN Yuefeng,et al.Design and Characteristic Analysis of High Precision Pneumatic Proportional Pressure Valve [J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(10):181-187.
[7] 张泾周,杨伟静,张安祥.模糊自适应PID控制的研究及应用仿真[J],计算机仿真,2009,26(9):132-135.ZHANG Jingzhou,YANG Weijing,ZHANG Anxiang.Research and Application Simulation of Fuzzy Adaptive PID Control [J].Computer Simulation,2009,26(9):132-135.
[8] 钟圣国,彭光正.利用电/气比例阀的容腔压力控制系统的建模与仿真[J].机床与液压,2004,(10):90-92.ZHONG Shengguo,PENG Guangzheng.Modeling and Simulation of Cavity Pressure Control System Using Electric/Gas Proportional Valve [J].Machine Tool & Hydraulics,2004,(10):90-92.
[9] 班伟,陶国良,路波,等.新型气动比例压力阀的建模研究与特性分析[J].浙江大学学报(工学版),2012,46(11):1953-1959.BAN Wei,TAO Guoliang,LU Bo,et al.Modeling Research and Characterization of a New Pneumatic Proportional Pressure Valve [J].Journal of Zhejiang University (Engineering Science),2012,46(11):1953-1959.
[10] 张凯,李彦良,宋文潇,等.高精度气动容腔自动调压技术研究[J].液压与气动,2017,(11):92-96.ZHANG Kai,LI Yanliang,SONG Wenxiao,et al.Research on High-precision Pneumatic Cavity Automatic Pressure Regulation Technology [J].Chinese Hydraulic & Pneumatics,2017,(11).92-96.
[11] 徐瑞亮,陈奎生,刘洋,等.基于模糊PID算法的车载液压调平动态特性联合仿真研究[J].液压与气动,2017,(8):112-117.XU Ruiliang,CHEN Kuisheng,LIU Yang,et al.Joint Simulation of Vehicle Hydraulic Leveling Dynamic Characteristics Based on Fuzzy PID Algorithm [J].Chinese Hydraulics & Pneumatics,2017,(8):112-117.
[12] 刘金琨.智能控制[M].北京:电子工业出版社,2014.LIU Jinkui.Intelligent Control [M].Beijing:Publishing House of Electronics Industry,2014.