基于滑模变结构理论的电控柴油机速度控制研究
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摘要
滑模变结构控制具有鲁棒性强,不受系统参数影响和抗干扰的的特性,被广泛应用于工业领域,并取得了很好的效果。电控柴油机速度控制是一种典型的多扰动动态和时滞的非线性系统,为了使电控柴油机获得优异的速度稳定性和适应各种不同的工况,本文提出用滑模变结构算法来控制电控柴油机的速度。
首先,本文分析了机械式柴油机通过齿条进行滑模变结构控制算法在调速过程中的的优缺点。建立了主要执行方式的电磁执行器的数学模型,阐述了各种参数对电磁执行器动态特性的影响,分析了电控柴油机在不同使用要求的条件下,速度控制的不同应用。同时为了更加精准的设计和调试电控柴油机的控制算法,本文通过以某电控柴油机为研究对象的大量的试验,用均值建模方法建立了高压共轨柴油机的数学模型。
然后,本文通过拟合大量数据的方法,获得以喷油量为控制量,速度为被控制量的控制模型。在阐述了滑模变结构控制理论的基础上,本文设计了传统非线性的变结构控制器。同时针对电控柴油机的应用不同,如车用,发电机组用和工程机械用,本文提出了针对不同负载特性的柴油机滑模变结构控制算法。分析了滑模变结构控制抖振产生的原因和引起的后果后,采用Terminal滑模变结构控制算法设计电控柴油机速度控制器,以达到削弱抖振和优化速度控制的目的。
为了对电控柴油机速度控制的精度进行实时的优化和调整,本文建立了电控柴油机的在环仿真平台,通过静态和动态速度响应的验证,基本达到实际柴油机使用的要求。同时建立了以喷油量为控制量,速度为被控制量的实验平台,在此平台上优化各种控制算法。通过调节电控柴油机速度控制算法的参数来优化速度控制的结果,从而验证控制算法的可行性和适应性。文中研究了传统和Terminal变结构控制算法,并设计电控柴油机速度控制器；在离线和在线仿真系统上对滑模变结构控制算法进行了仿真实验,满足不同条件下电控柴油机速度控制的稳定性和快速响应的要求。
最后,将PID控制器,传统滑模变结构控制器以及Terminal滑模变结构控制器对电控柴油机速度控制的效果进行比较和分析。详细地对比分析了速度控制跟踪系统的稳态误差,瞬态响应和对干扰的影响。得出了滑模变结构控制算法和Terminal滑模变结构控制算法具有抗干扰能力强和鲁棒性强,速度控制较稳定,超调量和稳态误差较小和响应速度较快的优点；特别是Terminal滑模变结构控制算法跟踪性能好。PID控制器结构简单和可靠性强,能达到电控柴油速度控制的要求。
Sliding Variable Control has been widely intruduced in industrial fields and get good results,because it takes strong robustness without parameters affected and anti-jamming features.The electronical control diesel engine is a typical multi-disturbance dynamic and nonlinear system of delay.In order to make the electronic control diesel engine to gain excellent speed stability and adapt to different working environment, this article introduces a variety of sliding variable structure control algorithm to control the speed of the electronic control diesel engine.
Firstly, this article analyzes advantages and disadvantages of governor process with a rack that is controlled with sliding mode variable structure algorithm from mechanical diesel engine. And it establishes a mathematical model of the electromagnetic actuator with the dynamic characteristics of the various parameters of the electromagnetic actuator impact. It analyzes the electronic control diesel engine speed control under the conditions of different requirements with different applications. Meanwhile, in order to design and debug electronic control diesel engine control algorithms, the article adopted an electronical control diesel engine research objects and a large number of trials, mean modeling approach to establish a mathematical model of the high-pressure common-rail diesel engine.
Secondly, the article designs speed control the amount of speed control model through large amounts of data fitting method to obtain fuel amount of control. After elaborating sliding mode variable structure control theory, it designs a general nonlinear variable structure controller for electronical control diesel engines machine applications, such as automotive, generating sets and construction machinery diesel engine load.design different sliding mode variable structure control diesel engine algorithms with different load characteristics of the. Sliding Mode Control buffeting causes and consequences, also analyzed Terminal sliding mode variable structure control which is senior sliding mode control algorithm design electronic control diesel engine controller, weakened in order to achieve the purpose of the buffeting and optimize the speed control.
In order to control the accuracy of electronical control diesel engine speed for real-time optimization and adjustment, the article builds electronical control diesel engine simulation platform with the loop, and it gains the actual requirements of diesel engines through validation with calculus and dynamic speed response.The article builds experimental platform of fuel amount to control the amount of speed that optimizes various control algorithms. With optimization of algorithm parameters of electronic control diesel engine speed control to adjust the accuracy of the implementing agencies the article verifys the feasibility and adaptability of the control algorithm.In this article, sliding mode variable structure and Teminal control algorithm is studied and it designs electronical control diesel engine speed controller. and takes simulation experiments in offline and online with sliding mode variable structure control algorithm as to meet stability of the control requirements under different conditions.
Finally, the sliding variable controller with electronical control diesel engine speed control effect are made to comparison with PID controller. Sliding variable and Terminal sliding variable has strong robust and anti-interference ability, stable speed control error is smaller. Especially the Terminal sliding mode variable structure control algorithm has good tracking performance. PID controller has simple structure and high reliability, can meet the requirements of diesel electronic speed control.
首先,本文分析了机械式柴油机通过齿条进行滑模变结构控制算法在调速过程中的的优缺点。建立了主要执行方式的电磁执行器的数学模型,阐述了各种参数对电磁执行器动态特性的影响,分析了电控柴油机在不同使用要求的条件下,速度控制的不同应用。同时为了更加精准的设计和调试电控柴油机的控制算法,本文通过以某电控柴油机为研究对象的大量的试验,用均值建模方法建立了高压共轨柴油机的数学模型。
然后,本文通过拟合大量数据的方法,获得以喷油量为控制量,速度为被控制量的控制模型。在阐述了滑模变结构控制理论的基础上,本文设计了传统非线性的变结构控制器。同时针对电控柴油机的应用不同,如车用,发电机组用和工程机械用,本文提出了针对不同负载特性的柴油机滑模变结构控制算法。分析了滑模变结构控制抖振产生的原因和引起的后果后,采用Terminal滑模变结构控制算法设计电控柴油机速度控制器,以达到削弱抖振和优化速度控制的目的。
为了对电控柴油机速度控制的精度进行实时的优化和调整,本文建立了电控柴油机的在环仿真平台,通过静态和动态速度响应的验证,基本达到实际柴油机使用的要求。同时建立了以喷油量为控制量,速度为被控制量的实验平台,在此平台上优化各种控制算法。通过调节电控柴油机速度控制算法的参数来优化速度控制的结果,从而验证控制算法的可行性和适应性。文中研究了传统和Terminal变结构控制算法,并设计电控柴油机速度控制器；在离线和在线仿真系统上对滑模变结构控制算法进行了仿真实验,满足不同条件下电控柴油机速度控制的稳定性和快速响应的要求。
最后,将PID控制器,传统滑模变结构控制器以及Terminal滑模变结构控制器对电控柴油机速度控制的效果进行比较和分析。详细地对比分析了速度控制跟踪系统的稳态误差,瞬态响应和对干扰的影响。得出了滑模变结构控制算法和Terminal滑模变结构控制算法具有抗干扰能力强和鲁棒性强,速度控制较稳定,超调量和稳态误差较小和响应速度较快的优点；特别是Terminal滑模变结构控制算法跟踪性能好。PID控制器结构简单和可靠性强,能达到电控柴油速度控制的要求。
Sliding Variable Control has been widely intruduced in industrial fields and get good results,because it takes strong robustness without parameters affected and anti-jamming features.The electronical control diesel engine is a typical multi-disturbance dynamic and nonlinear system of delay.In order to make the electronic control diesel engine to gain excellent speed stability and adapt to different working environment, this article introduces a variety of sliding variable structure control algorithm to control the speed of the electronic control diesel engine.
Firstly, this article analyzes advantages and disadvantages of governor process with a rack that is controlled with sliding mode variable structure algorithm from mechanical diesel engine. And it establishes a mathematical model of the electromagnetic actuator with the dynamic characteristics of the various parameters of the electromagnetic actuator impact. It analyzes the electronic control diesel engine speed control under the conditions of different requirements with different applications. Meanwhile, in order to design and debug electronic control diesel engine control algorithms, the article adopted an electronical control diesel engine research objects and a large number of trials, mean modeling approach to establish a mathematical model of the high-pressure common-rail diesel engine.
Secondly, the article designs speed control the amount of speed control model through large amounts of data fitting method to obtain fuel amount of control. After elaborating sliding mode variable structure control theory, it designs a general nonlinear variable structure controller for electronical control diesel engines machine applications, such as automotive, generating sets and construction machinery diesel engine load.design different sliding mode variable structure control diesel engine algorithms with different load characteristics of the. Sliding Mode Control buffeting causes and consequences, also analyzed Terminal sliding mode variable structure control which is senior sliding mode control algorithm design electronic control diesel engine controller, weakened in order to achieve the purpose of the buffeting and optimize the speed control.
In order to control the accuracy of electronical control diesel engine speed for real-time optimization and adjustment, the article builds electronical control diesel engine simulation platform with the loop, and it gains the actual requirements of diesel engines through validation with calculus and dynamic speed response.The article builds experimental platform of fuel amount to control the amount of speed that optimizes various control algorithms. With optimization of algorithm parameters of electronic control diesel engine speed control to adjust the accuracy of the implementing agencies the article verifys the feasibility and adaptability of the control algorithm.In this article, sliding mode variable structure and Teminal control algorithm is studied and it designs electronical control diesel engine speed controller. and takes simulation experiments in offline and online with sliding mode variable structure control algorithm as to meet stability of the control requirements under different conditions.
Finally, the sliding variable controller with electronical control diesel engine speed control effect are made to comparison with PID controller. Sliding variable and Terminal sliding variable has strong robust and anti-interference ability, stable speed control error is smaller. Especially the Terminal sliding mode variable structure control algorithm has good tracking performance. PID controller has simple structure and high reliability, can meet the requirements of diesel electronic speed control.
引文
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