多功能路面清雪车电液比例阀控系统的模糊-PID控制
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摘要
高速公路、普通公路、市区道路上冬季路面冰雪的清除问题多年来一直是国内外关注的重大课题,它关系到社会生产、人民生活、交通安全、环境保护等一系列问题。随着社会的发展及机械化技术水平的不断提高,人们迫切需要有一种性能良好、自动化程度较高的机械来代替传统的除冰雪方法。
为提高清雪车的自动化水平和除雪效率,本课题致力于设计和开发一种具有自动检测雪层厚度、路面随动、自动避障功能的高度自动化和智能化的高科技路面出雪机械。
本文以多功能路面清雪车电液比例阀控缸位置控制系统为研究对象,针对被控对象非线性和时变性的特点,应用模糊理论提出模糊PID控制策略,设计了模糊智能PID控制器,并将其与常规PID控制、模糊控制等控制策略进行比较论证、仿真分析和试验研究。计算机仿真和实验研究结果表明:与常规PID控制、模糊控制等控制策略相比,模糊智能PID控制具有实时性好、响应快、超调小的特点,较好地满足了系统控制要求。
How to clean the pressed snow on speedway, highway and urban street during the winter has always been an important subject which attracted much attention around the world. Snow cleaning has important social, economic, traffic and environmental impact on the inhabitants of large northern cities. With the development of society and mechanical technology, people more and more require an efficient and roboticized machine with which to clean snow and ice-snow.
In order to improve the automatization level and efficiency of snow-clean vehicles, we try to develop and research a kind of highly roboticized,intelligent and technological machine that can detect the thick of snow layer and clean snow according to the surface of road in this thesis. So we require a more efficient hydraulic control system.
At present, there are electro-hydraulic on-off control, electro-hydraulic proportional control and electro-hydraulic servo control three kinds of hydraulic control system in real application. And different system chooses different components as it’s core. Proportional valve is a kind of hydraulic component between on-off valve and servo valve. It’s cheaper and more anti-polluting than servo valve. And its performances are as good as servo valve’s except precision and response speed. Its static and dynamic characteristic can meet the needs of most of industrial control system. Compared with classic on-off valve, though proportional valve is more expensive, its good control performance made some compensation. So we use proportional valve in those occasion where high control qualities are needed in stead of on-off valve. Besides, proportional valve has the function of hybrid control of flow, pressure and direction. All these factors make proportional valve control system has better control performance and more simple structure than classic on-off valve’s.
Considering the factors of synthesis performance requirement and cost, we choose the electro-hydraulic proportional valve system as the working device of multi-function snow-clean vehicles. The purpose of the study in this thesis is to find a suitable control strategy to improve the performance of the hydraulic position servo system. Firstly, the electro-hydraulic proportional position control system of multi-function snow-clean vehicle is analyzed systemically. The working principle and structure of hydraulic system and electrical control system of snow-clean vehicle’s working device are introduced. Then we put forward the modularization design principle of software and hardware system. And make good prepare for the further study. Secondly, based on the analysis of the characteristics of system components, a mathematical model through reasonable simplification is built. We analyse the related parameters and system performances of the electro-hydraulic control system. At the research of control system, it is extraordinary important to build system mathematical model. It is a strong tool to design system, analyse system performance and improve system structure. Snow-clean vehicle control system structure is rather simple, so we choose transfer function as its mathematical model. By using the Simulink tool, the simulation of the open-loop system is done. The results of the experiments indicate that the presented model is exact. Finally, research on control strategy is a very important part in this thesis. In which feasibility is validated by simulation and experiments. In PID control, the phenomena of slowly oscillation around target value are analyzed, and some improved methods are put forward. A fuzzy controller is designed for the system and its robustness is proved. The problem of steady-state error in fuzzy control systems is analyzed through simulation and experiments. Based on conventional PID control and fuzzy control, fuzzy-intelligent PID hybrid control is adopted as the strategy to keep a good dynamic process and a better steady-state behavior. The experimental results prove that the presented method is reliable and effective. The expected control
为提高清雪车的自动化水平和除雪效率,本课题致力于设计和开发一种具有自动检测雪层厚度、路面随动、自动避障功能的高度自动化和智能化的高科技路面出雪机械。
本文以多功能路面清雪车电液比例阀控缸位置控制系统为研究对象,针对被控对象非线性和时变性的特点,应用模糊理论提出模糊PID控制策略,设计了模糊智能PID控制器,并将其与常规PID控制、模糊控制等控制策略进行比较论证、仿真分析和试验研究。计算机仿真和实验研究结果表明:与常规PID控制、模糊控制等控制策略相比,模糊智能PID控制具有实时性好、响应快、超调小的特点,较好地满足了系统控制要求。
How to clean the pressed snow on speedway, highway and urban street during the winter has always been an important subject which attracted much attention around the world. Snow cleaning has important social, economic, traffic and environmental impact on the inhabitants of large northern cities. With the development of society and mechanical technology, people more and more require an efficient and roboticized machine with which to clean snow and ice-snow.
In order to improve the automatization level and efficiency of snow-clean vehicles, we try to develop and research a kind of highly roboticized,intelligent and technological machine that can detect the thick of snow layer and clean snow according to the surface of road in this thesis. So we require a more efficient hydraulic control system.
At present, there are electro-hydraulic on-off control, electro-hydraulic proportional control and electro-hydraulic servo control three kinds of hydraulic control system in real application. And different system chooses different components as it’s core. Proportional valve is a kind of hydraulic component between on-off valve and servo valve. It’s cheaper and more anti-polluting than servo valve. And its performances are as good as servo valve’s except precision and response speed. Its static and dynamic characteristic can meet the needs of most of industrial control system. Compared with classic on-off valve, though proportional valve is more expensive, its good control performance made some compensation. So we use proportional valve in those occasion where high control qualities are needed in stead of on-off valve. Besides, proportional valve has the function of hybrid control of flow, pressure and direction. All these factors make proportional valve control system has better control performance and more simple structure than classic on-off valve’s.
Considering the factors of synthesis performance requirement and cost, we choose the electro-hydraulic proportional valve system as the working device of multi-function snow-clean vehicles. The purpose of the study in this thesis is to find a suitable control strategy to improve the performance of the hydraulic position servo system. Firstly, the electro-hydraulic proportional position control system of multi-function snow-clean vehicle is analyzed systemically. The working principle and structure of hydraulic system and electrical control system of snow-clean vehicle’s working device are introduced. Then we put forward the modularization design principle of software and hardware system. And make good prepare for the further study. Secondly, based on the analysis of the characteristics of system components, a mathematical model through reasonable simplification is built. We analyse the related parameters and system performances of the electro-hydraulic control system. At the research of control system, it is extraordinary important to build system mathematical model. It is a strong tool to design system, analyse system performance and improve system structure. Snow-clean vehicle control system structure is rather simple, so we choose transfer function as its mathematical model. By using the Simulink tool, the simulation of the open-loop system is done. The results of the experiments indicate that the presented model is exact. Finally, research on control strategy is a very important part in this thesis. In which feasibility is validated by simulation and experiments. In PID control, the phenomena of slowly oscillation around target value are analyzed, and some improved methods are put forward. A fuzzy controller is designed for the system and its robustness is proved. The problem of steady-state error in fuzzy control systems is analyzed through simulation and experiments. Based on conventional PID control and fuzzy control, fuzzy-intelligent PID hybrid control is adopted as the strategy to keep a good dynamic process and a better steady-state behavior. The experimental results prove that the presented method is reliable and effective. The expected control
引文
[1] 路甫祥等,电液比例控制技术,机械工业出版社,1988
[2] 黎启柏,电液比例阀控制与数字控制系统. 机械工业出版社,1997
[3] 杨叔子杨克冲,机械工程控制基础,华中理工大学出版社,1984
[4] 吴根茂邱敏秀王庆丰,实用电液比例技术,浙江大学出版社,1993,13～22
[5] 金以慧等,过程控制,清华大学出版社,1993
[6] 雷天觉,新编液压工程手册,北京理工大学出版社,1998
[7] 章卫国杨向忠,模糊控制理论与应用,西北工业大学出版社,2000,48～63
[8] 王磊王为民,模糊控制理论及应用,国防工业出版社,1997,18～96
[9] 诸静等,模糊控制原理与应用,机械工业出版社,1995,194～311
[10]何平王鸿绪,模糊控制器的设计及应用,科学出版社,1997
[11]胡寿松,自动控制原理(第3版),国防工业出版社,1994,542～551
[12]冯冬青谢宋和,模糊智能控制,化学工业出版社,1998
[13]董景新赵长德,控制工程基础,清华大学出版社,1992
[14]房建东等,电液控制系统控制策略研究分析,机床与液压,2003.3,114～115
[15]李金良吕恬生,腿轮式机器人的模糊PID自适应控制,机床与液压,2003.3,198～199
[16]吴振顺,液压系统仿真与CAD,哈尔滨工业大学出版社,2000
[17]林建亚何存兴,液压元件,机械工业出版社,1988
[18]周恩涛等,电液比例阀控系统模糊-PID控制的研究,机床与液压,2003.3,225～227
[19]王占林,近代液压控制,机械工业出版社,1997
[20]曹鑫铭,液压伺服系统,冶金工业出版社,1991
[21]陈陈,优化方法与最优控制,机械工业出版社,1993
[22]舒迪前饶立昌柴天佑,自适应控制,东北大学出版社,1993
[23]李学桥马莉,神经网络工程应用,重庆大学出版社,1996
[24]顾瑞龙,控制理论及电液控制系统,机械工业出版社,1984
[25]沈辉,精通SIMULINK系统仿真与控制,北京大学出版社,2003,34～236
[26]张铮杨文平等,MATLAB程序设计与实例应用,中国铁道出版社,2003,251～275
[27]何玉彬李新忠,神经网络控制技术及其应用,科学出版社,2000
[28]魏克新王云亮陈志敏,MATLAB语言与自动控制系统设计,机械工业出版社,1999
[29]薛定宇,控制系统计算机辅助设计——MATLAB语言及应用,清华大学出版社,1996
[30]陶永华尹怡欣葛芦生,新型PID控制及其应用,机械工业出版社,2000
[31]宋俊殷庆文,液压系统优化,机械工业出版社,1996
[32]刘长年,液压伺服系统优化设计理论,冶金工业出版社,1989
[33]刘曙光等,模糊控制技术,中国纺织出版社,2001.
[34]李友善等,模糊控制理论及其在过程控制中的应用,国防工业出版社,1993.
[35]武自芳等,微机控制系统及其应用,西安交通大学出版社,1998
[36]胡良某等,基于MATLAB/SIMULINK的电液伺服控制系统的建模与仿真,机床与液压,2003.3,230～231
[37]龙先行,电液伺服系统FUZZY-PID复合控制器的设计,机床与液压,2003.3,181～183
[38]宋胜利等,PID参数模糊自调整技术的应用研究,机床与液压,2003.3,157～159
[39]凌波朱志坚,多功能道路清雪机的液机联合传动,液压与气动,2003.10,43～44
[40]崔平正,组合式清雪机除雪装置的机液伺服系统设计,液压与气动,2003.2,107
[41]黎启柏等,二次调节液压系统的开关-模糊-PID控制,液压与气动,2003.2,90～91
[42]李士勇等,模糊控制和智能控制理论与应用,哈尔滨工业大学出版社,1990
[43]薛定宇,基于MATLAB/Simulink的系统仿真技术与应用,清华大学出版社,2002.
[44]吴晓莉林哲辉等,MATLAB辅助模糊系统设计,西安电子科技大学出版社,2002.
[2] 黎启柏,电液比例阀控制与数字控制系统. 机械工业出版社,1997
[3] 杨叔子杨克冲,机械工程控制基础,华中理工大学出版社,1984
[4] 吴根茂邱敏秀王庆丰,实用电液比例技术,浙江大学出版社,1993,13～22
[5] 金以慧等,过程控制,清华大学出版社,1993
[6] 雷天觉,新编液压工程手册,北京理工大学出版社,1998
[7] 章卫国杨向忠,模糊控制理论与应用,西北工业大学出版社,2000,48～63
[8] 王磊王为民,模糊控制理论及应用,国防工业出版社,1997,18～96
[9] 诸静等,模糊控制原理与应用,机械工业出版社,1995,194～311
[10]何平王鸿绪,模糊控制器的设计及应用,科学出版社,1997
[11]胡寿松,自动控制原理(第3版),国防工业出版社,1994,542～551
[12]冯冬青谢宋和,模糊智能控制,化学工业出版社,1998
[13]董景新赵长德,控制工程基础,清华大学出版社,1992
[14]房建东等,电液控制系统控制策略研究分析,机床与液压,2003.3,114～115
[15]李金良吕恬生,腿轮式机器人的模糊PID自适应控制,机床与液压,2003.3,198～199
[16]吴振顺,液压系统仿真与CAD,哈尔滨工业大学出版社,2000
[17]林建亚何存兴,液压元件,机械工业出版社,1988
[18]周恩涛等,电液比例阀控系统模糊-PID控制的研究,机床与液压,2003.3,225～227
[19]王占林,近代液压控制,机械工业出版社,1997
[20]曹鑫铭,液压伺服系统,冶金工业出版社,1991
[21]陈陈,优化方法与最优控制,机械工业出版社,1993
[22]舒迪前饶立昌柴天佑,自适应控制,东北大学出版社,1993
[23]李学桥马莉,神经网络工程应用,重庆大学出版社,1996
[24]顾瑞龙,控制理论及电液控制系统,机械工业出版社,1984
[25]沈辉,精通SIMULINK系统仿真与控制,北京大学出版社,2003,34～236
[26]张铮杨文平等,MATLAB程序设计与实例应用,中国铁道出版社,2003,251～275
[27]何玉彬李新忠,神经网络控制技术及其应用,科学出版社,2000
[28]魏克新王云亮陈志敏,MATLAB语言与自动控制系统设计,机械工业出版社,1999
[29]薛定宇,控制系统计算机辅助设计——MATLAB语言及应用,清华大学出版社,1996
[30]陶永华尹怡欣葛芦生,新型PID控制及其应用,机械工业出版社,2000
[31]宋俊殷庆文,液压系统优化,机械工业出版社,1996
[32]刘长年,液压伺服系统优化设计理论,冶金工业出版社,1989
[33]刘曙光等,模糊控制技术,中国纺织出版社,2001.
[34]李友善等,模糊控制理论及其在过程控制中的应用,国防工业出版社,1993.
[35]武自芳等,微机控制系统及其应用,西安交通大学出版社,1998
[36]胡良某等,基于MATLAB/SIMULINK的电液伺服控制系统的建模与仿真,机床与液压,2003.3,230～231
[37]龙先行,电液伺服系统FUZZY-PID复合控制器的设计,机床与液压,2003.3,181～183
[38]宋胜利等,PID参数模糊自调整技术的应用研究,机床与液压,2003.3,157～159
[39]凌波朱志坚,多功能道路清雪机的液机联合传动,液压与气动,2003.10,43～44
[40]崔平正,组合式清雪机除雪装置的机液伺服系统设计,液压与气动,2003.2,107
[41]黎启柏等,二次调节液压系统的开关-模糊-PID控制,液压与气动,2003.2,90～91
[42]李士勇等,模糊控制和智能控制理论与应用,哈尔滨工业大学出版社,1990
[43]薛定宇,基于MATLAB/Simulink的系统仿真技术与应用,清华大学出版社,2002.
[44]吴晓莉林哲辉等,MATLAB辅助模糊系统设计,西安电子科技大学出版社,2002.