二次调节转速系统智能控制技术研究
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摘要
经济危机无法阻挡全球经济飞速发展的大趋势,如何平衡经济发展与非可再生能源消耗之间的矛盾变得迫在眉睫。能源问题解决的途径为节能与开发新能源,这也是当今的热点。二次调节系统以高利用率和节能为目的,对系统能量进行回收再利用。在企业追求高利润的今天,二次调节系统受到重视。本文在这种大背景下,选择了具有理论与实际意义的二次调节转速系统的控制为研究方向。
首先,本文对目前国内外二次调节技术的现状进行了总结,阐述了二次调节系统的特点和在工业中的应用,并对未来可能的应用前景进行了展望。二次调节系统的控制方式主要分为转速控制、功率控制和转矩控制,其中转速控制是最基本、最常用也是最容易实现的控制方式,所以本文采用转速控制方式。针对转速控制下的二次调节系统进行研究,对其结构进行了较为详细的介绍,分析了它的工作原理,在此基础上推导建立了系统的数学模型,为下面控制策略的研究打下了基础。
其次,在阅读大量相关文献的基础上,针对二次调节系统设计了控制算法。为求尽快推广使用,将目前先进的控制方法与工业中常用的控制方法相结合,设计了模糊PID控制器。对于二次调节转速系统参数的易变性,尤其是转动惯量和阻尼系数的改变以及外界干扰的存在设计了模糊滑模控制器。模糊滑模控制器利用滑模算法的强鲁棒性和对参数变化及外界干扰的不敏感来保证转速系统的稳定性,同时利用模糊算法减弱滑模控制的抖振。应用两种控制算法分别进行了仿真,取得了良好的控制效果,有效的增加了系统的自适应力和对环境改变的调节能力。
最后,在燕山大学二次调节液压系统综合实验台基础上,对二次调节转速控制系统进行了实验,与仿真对比证明了前面理论分析的可行性。
The global economic crisis can not stop the major trend of rapid economic development. How to balance economic development and non-renewable energy consumption has become an imminent conflict. The ways to solve energy problems are energy-saving and the exploiture of new energy sources, which are today's hot spots. Secondary regulation system with the purpose of high efficiency and energy saving can recycle and reuse the system energy. Today, in the high profit pursuit of the enterprises, the secondary regulation system has aroused enough attention. In this general background, this paper selects the secondary regulation speed control system with theoretical and practical significance for study direction.
Firstly, this article summarizes the technical current situation of secondary regulation at home and abroad, explains the characteristics of secondary regulation system and applications in industry, and prospects possible applications in future. Secondary regulation system control modes are divided into speed control, power control and torque control, where speed control is the most basic, the most common and most easy to implement control mode, so this paper applies speed control mode.
In this paper, the secondary regulation system is analyzed with speed control, introduced the system structure and working principle in detail. On this basis, the mathematical model of the system is established, which provides basis for the study of the following control strategy.
Secondly, based on consulting relevant data, this paper designs control algorithms for the secondary regulation system. In order to promote and use the secondary regulation system as soon as possible, this paper designs fuzzy PID controller which combines the existing advanced control methods and control methods commonly used in industry. Aimed at parameters variability of the secondary regulation speed control system, particularly the changes of inertia and damping coefficient and the presence of external interference, fuzzy sliding mode controller is designed. Fuzzy sliding mode controller uses the strong robustness of the sliding mode algorithm and insensitivity for parameters change and external interference to ensure the stability of the speed system, use fuzzy algorithm to reduce chatterings of the sliding mode control at the same time. This paper uses two kinds of control algorithm to simulate and achieves good control effect. The two kinds of control algorithm effectively increase the system's adaptivity and adjustment ability for environment change.
Finally, in YanShan university, experiments of the second regulation speed control system are studied based on the second regulation hydraulic system integrated laboratory bench, test data are compared with the simulations in order to prove the feasibility of previous theoretical analysis.
首先,本文对目前国内外二次调节技术的现状进行了总结,阐述了二次调节系统的特点和在工业中的应用,并对未来可能的应用前景进行了展望。二次调节系统的控制方式主要分为转速控制、功率控制和转矩控制,其中转速控制是最基本、最常用也是最容易实现的控制方式,所以本文采用转速控制方式。针对转速控制下的二次调节系统进行研究,对其结构进行了较为详细的介绍,分析了它的工作原理,在此基础上推导建立了系统的数学模型,为下面控制策略的研究打下了基础。
其次,在阅读大量相关文献的基础上,针对二次调节系统设计了控制算法。为求尽快推广使用,将目前先进的控制方法与工业中常用的控制方法相结合,设计了模糊PID控制器。对于二次调节转速系统参数的易变性,尤其是转动惯量和阻尼系数的改变以及外界干扰的存在设计了模糊滑模控制器。模糊滑模控制器利用滑模算法的强鲁棒性和对参数变化及外界干扰的不敏感来保证转速系统的稳定性,同时利用模糊算法减弱滑模控制的抖振。应用两种控制算法分别进行了仿真,取得了良好的控制效果,有效的增加了系统的自适应力和对环境改变的调节能力。
最后,在燕山大学二次调节液压系统综合实验台基础上,对二次调节转速控制系统进行了实验,与仿真对比证明了前面理论分析的可行性。
The global economic crisis can not stop the major trend of rapid economic development. How to balance economic development and non-renewable energy consumption has become an imminent conflict. The ways to solve energy problems are energy-saving and the exploiture of new energy sources, which are today's hot spots. Secondary regulation system with the purpose of high efficiency and energy saving can recycle and reuse the system energy. Today, in the high profit pursuit of the enterprises, the secondary regulation system has aroused enough attention. In this general background, this paper selects the secondary regulation speed control system with theoretical and practical significance for study direction.
Firstly, this article summarizes the technical current situation of secondary regulation at home and abroad, explains the characteristics of secondary regulation system and applications in industry, and prospects possible applications in future. Secondary regulation system control modes are divided into speed control, power control and torque control, where speed control is the most basic, the most common and most easy to implement control mode, so this paper applies speed control mode.
In this paper, the secondary regulation system is analyzed with speed control, introduced the system structure and working principle in detail. On this basis, the mathematical model of the system is established, which provides basis for the study of the following control strategy.
Secondly, based on consulting relevant data, this paper designs control algorithms for the secondary regulation system. In order to promote and use the secondary regulation system as soon as possible, this paper designs fuzzy PID controller which combines the existing advanced control methods and control methods commonly used in industry. Aimed at parameters variability of the secondary regulation speed control system, particularly the changes of inertia and damping coefficient and the presence of external interference, fuzzy sliding mode controller is designed. Fuzzy sliding mode controller uses the strong robustness of the sliding mode algorithm and insensitivity for parameters change and external interference to ensure the stability of the speed system, use fuzzy algorithm to reduce chatterings of the sliding mode control at the same time. This paper uses two kinds of control algorithm to simulate and achieves good control effect. The two kinds of control algorithm effectively increase the system's adaptivity and adjustment ability for environment change.
Finally, in YanShan university, experiments of the second regulation speed control system are studied based on the second regulation hydraulic system integrated laboratory bench, test data are compared with the simulations in order to prove the feasibility of previous theoretical analysis.
引文
1桑勇,王占林,祁晓野等.液压传动系统中节能技术的探索.机床与液压,200 7,35(3):83-86
2 SopuluchukWu Samuel, Celestine Okoye. Energy Saving and Utilization in Secondary Controlled Hydraulic Pressure Forming of Sheet Metal. The seventh International Conference on Fluid Power Transmission and Control, Hangzhou, 2009:632-636
3徐绳武.从节能看液压传动控制系统发展的三个阶段.液压气动与密封, 2005,(5):22-28
4强宝民,李洪光.节能技术在液压系统中的应用.煤矿机械,2008,29(6):151-153
5 K. K. Ahn, Y. R. Cho, J. S. Kim, et al. A Study on the Energy Saving Hydraulic Control System Using CPS. The 5th International Symposium on Fluid Power Transmission and Control,2007:153-157
6张彦廷,王庆丰,肖清.混合动力液压挖掘机液压马达能量回收的仿真及实验.机械工程学报,2007,43(8):218-223
7 Seppo Tikkanenm, Markus G Kliffken, Christine Ehret. Hydraulic Hybrid Systems for Working Machines and Commercial Vehicles. NCFP, 2006:531-536
8 Okoli Victor Chuma, Nwinyinya Agwu James, et al. Energy Recovery and Management in Pressure Coupled Hydraulic Hybrid Bus Using New Hydraulic Transformer and Clean Diesel Combustion Engine. The seventh International Conference on Fluid Power Transmission and Control, Hangzhou, 2009:632-636
9 Schroeder CC, Elahinia MH. Research and Education with a Hydraulic Hybrid Vehicle Laboratory. ASME International Mechanical Engineering Congress and Exposition,2009:423-430
10林述温,花海燕.1种挖掘机恒压网络二次调节液压系统及其能耗分析.中国电机工程学报,2009,7(1):52-55
11黎松辉,李笑.二次调节技术在盾构EPB模拟系统惯性能回收中的应用.机床与液压,2008,36(3):89-92
12 Miguel A. Moreno, Pedro A. Carrion, Patricio Planells. Measurement and improvement of the energy efficiency at pumping stations. Biosystems Engineering, 2007,(8):479-486
13陈宝江,曹泛.节能、快响应、高精度电液控制系统.机械工程学报,2005,41(5):191-195
14刘鹃,孔祥东,何龙等.二次调节系统四象限工作特性及节能分析.液压与气动,2008,18(10):15-18
15 Rydberg.KE. Hydraulic Accumulators as Key Component in Energy Efficient Mobile Systems. The 6th International Conference on Fluid Power Transmission and Control, 2005:124-129
16陈元建,权龙.应用二次调节技术的修磨机台车转速控制特性研究.流体传动与控制,2009,4(35):9-12
17王爱芳,刘秀莲,周平.二次调节静液传动技术在液压电梯系统中的节能应用.机床与液压,2008,36(4):86-89
18张维刚,谭彧,朱小林.液压技术在混合动力汽车节能方面的应用.机床与液压,2006,(6):144-146
19 Karl-Erik Rydberg. Hydraulic Hybrids - the New Generation of Energy Efficient Drives. The seventh International Conference on Fluid Power Transmission and Control, Hangzhou, 2009:899-905
20彭玲玲.能量回收系统在城市公共汽车上的应用.能源研究与信息, 2008,24(3):152-156
21魏英俊.新型液压混合动力运动型多用途车的研究.中国机械工程, 2006,17(15):1645-1648
22 X.Kong, F.Zang. Study on the Intelligent Hybrid Control for Secondary Regulation Transmission System, Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009:726-729
23 Roopaei, M.Zolghadri.Jahromi. Chattering-free Fuzzy Sliding Mode Control in MIMO Uncertain Systems, Nonlinear Analysis, Theory, Methods and Applications, 2009,71(10):4430-4437
24 X.Luo, X.Liang. A Self-adaptive Control Approach for the Attitude of Aerocraft with Double-loop SMC, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008:1396-1399
25 X.J.Ban, Y.Yang. A Self-adaptive Control Algorithm of the Artificial Fish Formation, IEEE International Conference on Fuzzy Systems, 2009:1903-1908
26 Poza, J.Oyarbide, E.Vector. Control Design and Experimental Evaluation for the Brushless Doubly fed Machine, IET Electric Power Applications, 2009,3(4):247-256
27 Kumar, Rajesh.R.A. Vector Control Techniques for Induction Motor Drive: A Review, International Journal of Automation and Control, 2009,3(4): 284-306
28 Moezzi, Kaveh.Aghdam, Amir.G. Adaptive Robust Control of Uncertain Neutral Time-delay Systems, Proceedings of the American Control Conference, 2008: 5162-5167
29 Budiyono. Robust Control Synthesis for an Unmanned Underwater Vehicle, Proceedings of World Academy of Science, Engineering and Technology, 2009, (60): 48-55
30刘海昌,姜继海.二次调节流量耦联系统精确线性化控制,电机与控制学报,2008,12(6):723-726
31 Loría, Antonio. Robust Linear Control of (chaotic) Permanent-magnet Synchronous Motors with Uncertainties, IEEE Transactions on Circuits and Systems, 2009,56(9):2109-2122
32 Ayob, S.M.Salam. Piecewise Linear Control Surface for Single Input Nonlinear PI-fuzzy Controller, Proceedings of the International Conference on Power Electronics and Drive Systems, 2007:1533-1536
33曹辉.最优控制理论在泵一马达实验系统中的应用,沈阳工业大学学报,2007,29(1):14-16
34 Kirillova, Evgenia Hoch, Thomas. Optimal Control of a Spin System Acting on a Single Quantum bit, WSEAS Transactions on Mathematics, 2008,7(10): 609-614
35 Y.Hai, O.Umit. Adaptive Seeking Sliding Mode Control, Proceedings of the American Control Conference, 2006:4694-4699
36 Yu.Ancai, Jiang.Jihai. Research on the Regenerative Braking Control Strategy for Secondary Regulation Hydrostatic Transmission Excavators, IEEE International Conference on Mechatronics and Automation, ICMA 2009:4600-4604
37王慧,杨婷婷,王超等.二次调节伺服加载试验台转矩控制系统的动态鲁棒补偿,机床与液压,2008,36(10):92-95
38何龙,孔祥东,高英杰.二次调节转速控制系统的H∞鲁棒控制策略研究,机床与液压,2008,36(10):98-101
39 Celestine.N.Okoye, Jiang Jihai, Liu Yuhui. Design and Development of Secondary Controlled Industrial Palm Kernel Nut Vegetable Oil Expeller Plant for Eergy Saving and Recuperation. Journal of Food Engnieering,2008,(87):578-590
40 Rydberg K-E. Energy Efficient Hydraulic Systems and Regenerative Capabilities. The
9th Scandinavian International Conference on Fluid Power, Sweden,2005:541-548
41郭培培,秘嘉川,丘铭军.二次调节静液传动技术在公交车辆中的应用.机械与设备, 2006,32(10):333-335
42 H.Nikolaus. Hydrostatic Mobile and Which Drives with Energy reclamation. Hydrostatic Transmission for Vehicle Application, I Mesh E ,1991:55-58
43姜继海.二次调节静液传动技术.第三届全国流体传动及控制学术会议论文集,广州, 2004:32-36
44 X.D.Kong, L.He. The Control Systems of Secondary Regulation and Theirs Coupling and Decoupling Characteristics Analysis, Proceedings of the IEEE International Conference on Automation and Logistics, 2007:735-739
45 Zang.F.Y. Research on the Performance Simulation of the Transmission System of Loader with Secondary Regulating Technique, Key Engineering Materials,2010: 299-302
46 Bing Xu, Jian Yang, Huangyong Yang. CoMParison of Energy-saving on the Speed Control of VVVF Hydraulic Elevator with and without the Pressure Accumulator. Mechatronics, 2005,15(10):1159-1174
47朱建公.变量泵恒功率控制方法研究.液压与气动,2005,(7):61-62
48王春行.液压控制系统.北京:机械工业出版社, 1999:95-96 40-43
49沈柏桥,潘海鹏.BP网络智能PID控制算法在交流调速系统中的应用,电机与控制学报,2007,11(7):412-415
50程启明,程尹曼,郑勇.基于模糊径向基函数神经网络的PID算法球磨机控制系统研究,中国电机工程学报,2009,29(35):22-26
51白寒,王庆九,徐振.阀控非对称缸系统多级滑模鲁棒自适应控制,农业机械学报,2009,40(10):194-196
52刘金琨.滑模变结构MATLAB仿真.北京:清华大学出版社,2005:1-5
53 Jiao Zongxia, Shen Dongkai, Wang Shaoping. The Inertia Simulation System Based on Hydrostatic Secondary Control. 6th JFPS International Symposium on Fluid Power, 2008:262-268
54张彦廷,王庆丰,肖清.液压驱动惯性负载系统能量回收的节能实验研究.机床与液压,2007,35(7):91-92
55李智,杨士敏,邵建波.二次调节静液传动技术在工程机械多功能实验台的应用.中国工程机械学报,2005,3(2):205-210
2 SopuluchukWu Samuel, Celestine Okoye. Energy Saving and Utilization in Secondary Controlled Hydraulic Pressure Forming of Sheet Metal. The seventh International Conference on Fluid Power Transmission and Control, Hangzhou, 2009:632-636
3徐绳武.从节能看液压传动控制系统发展的三个阶段.液压气动与密封, 2005,(5):22-28
4强宝民,李洪光.节能技术在液压系统中的应用.煤矿机械,2008,29(6):151-153
5 K. K. Ahn, Y. R. Cho, J. S. Kim, et al. A Study on the Energy Saving Hydraulic Control System Using CPS. The 5th International Symposium on Fluid Power Transmission and Control,2007:153-157
6张彦廷,王庆丰,肖清.混合动力液压挖掘机液压马达能量回收的仿真及实验.机械工程学报,2007,43(8):218-223
7 Seppo Tikkanenm, Markus G Kliffken, Christine Ehret. Hydraulic Hybrid Systems for Working Machines and Commercial Vehicles. NCFP, 2006:531-536
8 Okoli Victor Chuma, Nwinyinya Agwu James, et al. Energy Recovery and Management in Pressure Coupled Hydraulic Hybrid Bus Using New Hydraulic Transformer and Clean Diesel Combustion Engine. The seventh International Conference on Fluid Power Transmission and Control, Hangzhou, 2009:632-636
9 Schroeder CC, Elahinia MH. Research and Education with a Hydraulic Hybrid Vehicle Laboratory. ASME International Mechanical Engineering Congress and Exposition,2009:423-430
10林述温,花海燕.1种挖掘机恒压网络二次调节液压系统及其能耗分析.中国电机工程学报,2009,7(1):52-55
11黎松辉,李笑.二次调节技术在盾构EPB模拟系统惯性能回收中的应用.机床与液压,2008,36(3):89-92
12 Miguel A. Moreno, Pedro A. Carrion, Patricio Planells. Measurement and improvement of the energy efficiency at pumping stations. Biosystems Engineering, 2007,(8):479-486
13陈宝江,曹泛.节能、快响应、高精度电液控制系统.机械工程学报,2005,41(5):191-195
14刘鹃,孔祥东,何龙等.二次调节系统四象限工作特性及节能分析.液压与气动,2008,18(10):15-18
15 Rydberg.KE. Hydraulic Accumulators as Key Component in Energy Efficient Mobile Systems. The 6th International Conference on Fluid Power Transmission and Control, 2005:124-129
16陈元建,权龙.应用二次调节技术的修磨机台车转速控制特性研究.流体传动与控制,2009,4(35):9-12
17王爱芳,刘秀莲,周平.二次调节静液传动技术在液压电梯系统中的节能应用.机床与液压,2008,36(4):86-89
18张维刚,谭彧,朱小林.液压技术在混合动力汽车节能方面的应用.机床与液压,2006,(6):144-146
19 Karl-Erik Rydberg. Hydraulic Hybrids - the New Generation of Energy Efficient Drives. The seventh International Conference on Fluid Power Transmission and Control, Hangzhou, 2009:899-905
20彭玲玲.能量回收系统在城市公共汽车上的应用.能源研究与信息, 2008,24(3):152-156
21魏英俊.新型液压混合动力运动型多用途车的研究.中国机械工程, 2006,17(15):1645-1648
22 X.Kong, F.Zang. Study on the Intelligent Hybrid Control for Secondary Regulation Transmission System, Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009:726-729
23 Roopaei, M.Zolghadri.Jahromi. Chattering-free Fuzzy Sliding Mode Control in MIMO Uncertain Systems, Nonlinear Analysis, Theory, Methods and Applications, 2009,71(10):4430-4437
24 X.Luo, X.Liang. A Self-adaptive Control Approach for the Attitude of Aerocraft with Double-loop SMC, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2008:1396-1399
25 X.J.Ban, Y.Yang. A Self-adaptive Control Algorithm of the Artificial Fish Formation, IEEE International Conference on Fuzzy Systems, 2009:1903-1908
26 Poza, J.Oyarbide, E.Vector. Control Design and Experimental Evaluation for the Brushless Doubly fed Machine, IET Electric Power Applications, 2009,3(4):247-256
27 Kumar, Rajesh.R.A. Vector Control Techniques for Induction Motor Drive: A Review, International Journal of Automation and Control, 2009,3(4): 284-306
28 Moezzi, Kaveh.Aghdam, Amir.G. Adaptive Robust Control of Uncertain Neutral Time-delay Systems, Proceedings of the American Control Conference, 2008: 5162-5167
29 Budiyono. Robust Control Synthesis for an Unmanned Underwater Vehicle, Proceedings of World Academy of Science, Engineering and Technology, 2009, (60): 48-55
30刘海昌,姜继海.二次调节流量耦联系统精确线性化控制,电机与控制学报,2008,12(6):723-726
31 Loría, Antonio. Robust Linear Control of (chaotic) Permanent-magnet Synchronous Motors with Uncertainties, IEEE Transactions on Circuits and Systems, 2009,56(9):2109-2122
32 Ayob, S.M.Salam. Piecewise Linear Control Surface for Single Input Nonlinear PI-fuzzy Controller, Proceedings of the International Conference on Power Electronics and Drive Systems, 2007:1533-1536
33曹辉.最优控制理论在泵一马达实验系统中的应用,沈阳工业大学学报,2007,29(1):14-16
34 Kirillova, Evgenia Hoch, Thomas. Optimal Control of a Spin System Acting on a Single Quantum bit, WSEAS Transactions on Mathematics, 2008,7(10): 609-614
35 Y.Hai, O.Umit. Adaptive Seeking Sliding Mode Control, Proceedings of the American Control Conference, 2006:4694-4699
36 Yu.Ancai, Jiang.Jihai. Research on the Regenerative Braking Control Strategy for Secondary Regulation Hydrostatic Transmission Excavators, IEEE International Conference on Mechatronics and Automation, ICMA 2009:4600-4604
37王慧,杨婷婷,王超等.二次调节伺服加载试验台转矩控制系统的动态鲁棒补偿,机床与液压,2008,36(10):92-95
38何龙,孔祥东,高英杰.二次调节转速控制系统的H∞鲁棒控制策略研究,机床与液压,2008,36(10):98-101
39 Celestine.N.Okoye, Jiang Jihai, Liu Yuhui. Design and Development of Secondary Controlled Industrial Palm Kernel Nut Vegetable Oil Expeller Plant for Eergy Saving and Recuperation. Journal of Food Engnieering,2008,(87):578-590
40 Rydberg K-E. Energy Efficient Hydraulic Systems and Regenerative Capabilities. The
9th Scandinavian International Conference on Fluid Power, Sweden,2005:541-548
41郭培培,秘嘉川,丘铭军.二次调节静液传动技术在公交车辆中的应用.机械与设备, 2006,32(10):333-335
42 H.Nikolaus. Hydrostatic Mobile and Which Drives with Energy reclamation. Hydrostatic Transmission for Vehicle Application, I Mesh E ,1991:55-58
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