气动数字阀控制策略的研究
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摘要
随着煤炭开采科学技术的发展,科研机构对煤芯瓦斯解析测试精度提出了更高的要求,因此研究提钻取芯过程中煤芯瓦斯非等压解析特性是研究者面临的重要课题。研究者希望建立一套提钻取芯模拟系统,在实验室条件下,再现提钻取芯的压力变化过程。由于提钻时间很长,取芯模拟系统实际是一个气体微小流量的精确控制问题。本论文采用数字阀控制模拟系统的压力。电气(液)控制系统由计算机实时控制是今后气动(液压)技术发展的重要趋向,因而研究数字阀系统是当前的一个重要任务。在国内,数字阀系统的发展还不成熟,因此本论文所研究的课题在工业应用中具有重要的理论价值和实际意义。
本课题主要研究数字阀对气体微小流量精确控制的控制策略。文中提出的控制策略是模糊控制器控制脉宽调制信号占空比,该策略可以自动地控制数字阀处于开状态的时间,以提高控制精度。通过对脉宽调制技术和模糊控制技术的探讨,建立了相应的数学模型,设计了新型数字阀控制器,并应用数字仿真软件进行数字仿真,研究控制策略对控制结果的影响,为建立试验系统提供依据,在仿真的基础上建立试验系统,进行试验验证。研究结果表明:本论文提出的数字阀控制策略在仿真和试验中都得到了满意的控制效果;在试验中,压力12MPa时,气体的每段平均流量为8ml/min,可以满足提钻取芯模拟系统的压力控制要求。
With the development of coal mining science and technology, higher demand is needed for gas decompose test accuracy. To researche the characteristics of the gas non-isobaric analysis from coal core is an important problem for researchers. Pursuer hopes setting up a set of rising drill get core simulation system and reproduction the changed process of pressure in laboratory. Because of getting core need a very long time, the actual stress simulation system is a micro-flow control problem. In this paper the pressure of gas is controlled by micro-flow digital valve. The computer-based real-time control has become an important trend for pneumatic (hydraulic) control system and researching the digital valve system has become an important problem. In China, however the study of digital valve is just underway. Thus the study of this paper is of important theoretical and practical significance.
Research the digital valve controller control strategy is the main purpose of this paper. To avoid the control error in entire control process caused by differences, this paper presents a scheme of controlling PWM signal duty cycle with fuzzy controller. The scheme is changing the digital valve at the open status’s time. In order to provide the basis for setting up a test system, we study the PWM technology and fuzzy control technology firstly, design a new type of digital valve controller, set up a mathematical model and finally apply digital simulation software for numerical simulation to study the effects of the control strategy. Based on the simulation, set up a test system, and verified the simulation results. The results shows that the control scheme of digital valve controller in this paper is good, at the simulation and the testing, then can meet the requirement of controlling pneumatic in get core simulation system. The average flux is 8ml/min when the pressure at 12Mpa.
本课题主要研究数字阀对气体微小流量精确控制的控制策略。文中提出的控制策略是模糊控制器控制脉宽调制信号占空比,该策略可以自动地控制数字阀处于开状态的时间,以提高控制精度。通过对脉宽调制技术和模糊控制技术的探讨,建立了相应的数学模型,设计了新型数字阀控制器,并应用数字仿真软件进行数字仿真,研究控制策略对控制结果的影响,为建立试验系统提供依据,在仿真的基础上建立试验系统,进行试验验证。研究结果表明:本论文提出的数字阀控制策略在仿真和试验中都得到了满意的控制效果;在试验中,压力12MPa时,气体的每段平均流量为8ml/min,可以满足提钻取芯模拟系统的压力控制要求。
With the development of coal mining science and technology, higher demand is needed for gas decompose test accuracy. To researche the characteristics of the gas non-isobaric analysis from coal core is an important problem for researchers. Pursuer hopes setting up a set of rising drill get core simulation system and reproduction the changed process of pressure in laboratory. Because of getting core need a very long time, the actual stress simulation system is a micro-flow control problem. In this paper the pressure of gas is controlled by micro-flow digital valve. The computer-based real-time control has become an important trend for pneumatic (hydraulic) control system and researching the digital valve system has become an important problem. In China, however the study of digital valve is just underway. Thus the study of this paper is of important theoretical and practical significance.
Research the digital valve controller control strategy is the main purpose of this paper. To avoid the control error in entire control process caused by differences, this paper presents a scheme of controlling PWM signal duty cycle with fuzzy controller. The scheme is changing the digital valve at the open status’s time. In order to provide the basis for setting up a test system, we study the PWM technology and fuzzy control technology firstly, design a new type of digital valve controller, set up a mathematical model and finally apply digital simulation software for numerical simulation to study the effects of the control strategy. Based on the simulation, set up a test system, and verified the simulation results. The results shows that the control scheme of digital valve controller in this paper is good, at the simulation and the testing, then can meet the requirement of controlling pneumatic in get core simulation system. The average flux is 8ml/min when the pressure at 12Mpa.
引文
[1]李胜,阮健,裴翔.数字阀控制器的研究[J].机电工程,2001.18(5):151-152
[2]项祖丰,姜伟,殷建军.基于微小流量阀的匀速加载压力控制系统研究[J].机床与液压,2003.4:142-143
[3]赵晓燕,张胜昌,许仰曾等.数字阀的优化设计研究[J].机床与液压,2004.10:66-68
[4] Yang,Zhong-jiong;He,Qing-Hua;Liu,Bo.Dynamic characteristics of hydraulic power steering system with accumulator in load-haul-dump Vehicle [J].Journal of Central South University of Technoloty.2004.12(11):451-456
[5] Mohan, B.M.; Sinha, Arpita.Analytical structure and stability analysis of a fuzzy PID controller [J].Applied Soft Computing.2008.1(8):749-758
[6]准保健,李已新.基于比例阀门的精密气压控制方法研究[J].计算机测量与控制,2005.12:1366-1367
[7]江竹,于兰英,柯坚.超高速比例阀用电磁铁的研究与开发[J].机械设计与制造, 2005.5:1-3
[8] Messina, Arcangelo; Giannoccaro, Nicola Ivan; Gentile, Angelo. Experimenting and modeling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique [J].Mechatronics.2005,.9(15):859-881
[9] Yun, Sonam; Lee, Kyungwoo; Kim, Honghee etal.Development of the pneumatic valve with bimorph type PZT actuator [J].Materials Chemistry and Physics, 2006.5(97):1-4
[10] Belforte, Guido; Mauro, Stefano; Mattiazzo, Giuliana. A method for increasing the dynamic performance of pneumatic servosystems with digital valves [J].Mechatronics, 2004.12(14):1105-1120
[11] Topc, Elif Erzan; Yuksel, Ibrahim; Kamis, Zeliha.Development of electro-pneumatic fast switching valve and investigation of its characteristics [J]. Mechatronics, 2006.7(16):365-378
[12] Burton,R.etc.Analysis of electromagnetic nonlinearities in stage mental of a stepper motor and spool valve [J] . Journal of Dynamic Systems , Measurement , and Control ,2003(9):405-412
[13] Ruan,J.; Burton,R.;Ukrainetz,P.;Some experimental considerations of stage control in digital valves.American Society of Mechanical Engineers[J],The Fluid Power and Systems Technology Division (Publication),2002(9):55-62
[14] Lin, Yeong-Tsair; Jena, Mei-Chu; Chung, Wen-Yaw etal.A monolithic buck DC–DCconverter with on-chip PWM circuit [J]. Microelectronics Journal, 2007.8(38):923-930
[15]许宇翔.基于DSP的数字阀控制器的研究[D].浙江:浙江大学机械电子工程,2008.5:1-6
[16]赵晓燕.HGDV脉冲调制开关式数字阀的理论及应用研究[D].兰州:兰州理工大学机械电子工程,2004.12.4-6
[17]黄中华.高速开关阀控汽车液压主动悬架系统模糊控制研究[D].南京:中南大学,2002.11:15-23
[18]郝鸿雁,计青山,刘国平.高性能电液比例阀的现场总线接口[J].液压与气动, 2006.6:66-68
[19] Miyajima, Takashi; Fujita, Toshinori; Sakaki, Kazutoshi etal.Development of a digital control system for high-performance pneumatic servo valve [J].Precision Engineering, 2007.4(31):156-161
[20]吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用[J].哈尔滨工业大学学报,2004,11:1578-1581
[21]刘新亮,张建武,陈兆能.高速开关阀功率驱动特性研究及电路实现[J],液压气动与密封,1998.2
[22]吕红兵.斩波恒流式高速开关阀驱动装置及其应用[J].机电工程,1998.4
[23]李庆春.基于高速开关阀的某飞机刹车系统压力控制研究[D].南京:中南工业大学,1998
[24]朱梅生.基于PWM高速开关阀的液压位置系统最优控制研究[D].南京:中南工业大学,1999.12
[25]黄中华.高速开关阀控汽车液压主动悬架系统模糊控制研究[D].南京:中南大学机械电子工程, 2002.11:15-23
[26]罗艳蕾,胡应曦.用二通插装式控制阀实现液压传动系统的集成[J].煤矿机械,2004.(3): 90-91
[27]黄人豪.二通插装阀的结构原理和功能分析[J].流体传动与控制,2004.7 (4):51-53
[28]许宇翔.基于DSP的数字阀控制器的研究[D].浙江:浙江大学机械电子工程,2008.5:3-4
[29]张斌.用于汽车制动力分配的数字电液比例系统[D].长春:吉林大学机械电子工程, 2003.12.13-15
[30]何青玮.高速开关阀控制的可调阻尼减振器的研究[D].上海:上海大学机械电子工程, 2002.1:36-39
[31]诸静.模糊控制原理与应用[M].北京:机械工业出版社,1995
[32]王耀南.智能控制系统·模糊逻辑专家系统·神经网络控制[M].长沙:湖南大学出版社,1996
[33]李士勇.模糊控制·神经网络和智能控制论[M].哈尔滨:哈尔滨工业大学出版社,1998
[34]余永权.单片机模糊逻辑控制[M].北京:北京航空航天大学出版社,2000
[35]闻新,周露,李东江等.模糊逻辑工具箱的分析与应用[M].北京:科学出版社,2001:35-39
[36]曾光其,胡均安,王东等.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006:45-54
[37]蔡自兴.智能控制:基础与应用[M].北京:国防工业出版社,1998.10
[38]窦振中.模糊逻辑控制技术及其应用[M].北京:北京航空航天大学出版社,1995.7
[39]国香恩.液压挖掘机节能模糊控制系统研究[D].吉林:吉林大学机械电子工程, 2004.12.63-65
[40] SANVILLE FE. New method of specifying the flow capacity of pneumatic fluid power valves.Second Fluid Power Symposium[J], Hydraul Pneum Power,1971,5(17):120-126
[41]吴百诗.大学物理学[M].北京:高等教育出版社,2004:248-253
[42]白继平.2D气动数字伺服阀研究[D].杭州:浙江大学机械电子工程, 2005.3:13-23
[43]杨丽红.容器放气过程的数值模拟及热力学模型研究[D].上海:上海交通大学机械电子工程, 2007.5:29-35
[44]曲以义.气压伺服系统[M].上海:上海大学出版社,1985:13-50
[45]郑洪生.气压传动与控制[M].北京:机械工业出版社,1988:8-15
[46]罗浩.基于比例方向阀的气动位置伺服系统的研究[D].西安:西安交通大学机械电子工程, 2003.3:19-22。
[47]周海强.基于高速开关阀的气动比例调压阀的开发[D].洛阳:河南科技大学机械电子工程,2004.5:10-14
[48]汤展跃.高速开关阀控锥阀──油缸系统模糊PID控制研究[D].南京:中南大学机械电子工程, 2006.12:24-27
[49]吴晓莉,林哲辉.MATLAB辅助模糊系统设计西安[M].西安,西安电子科技大学出版社,2002.
[50]张志涌.精通MATLAB 6.5版[M].北京,北京航空航天大学出版社,2003
[2]项祖丰,姜伟,殷建军.基于微小流量阀的匀速加载压力控制系统研究[J].机床与液压,2003.4:142-143
[3]赵晓燕,张胜昌,许仰曾等.数字阀的优化设计研究[J].机床与液压,2004.10:66-68
[4] Yang,Zhong-jiong;He,Qing-Hua;Liu,Bo.Dynamic characteristics of hydraulic power steering system with accumulator in load-haul-dump Vehicle [J].Journal of Central South University of Technoloty.2004.12(11):451-456
[5] Mohan, B.M.; Sinha, Arpita.Analytical structure and stability analysis of a fuzzy PID controller [J].Applied Soft Computing.2008.1(8):749-758
[6]准保健,李已新.基于比例阀门的精密气压控制方法研究[J].计算机测量与控制,2005.12:1366-1367
[7]江竹,于兰英,柯坚.超高速比例阀用电磁铁的研究与开发[J].机械设计与制造, 2005.5:1-3
[8] Messina, Arcangelo; Giannoccaro, Nicola Ivan; Gentile, Angelo. Experimenting and modeling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique [J].Mechatronics.2005,.9(15):859-881
[9] Yun, Sonam; Lee, Kyungwoo; Kim, Honghee etal.Development of the pneumatic valve with bimorph type PZT actuator [J].Materials Chemistry and Physics, 2006.5(97):1-4
[10] Belforte, Guido; Mauro, Stefano; Mattiazzo, Giuliana. A method for increasing the dynamic performance of pneumatic servosystems with digital valves [J].Mechatronics, 2004.12(14):1105-1120
[11] Topc, Elif Erzan; Yuksel, Ibrahim; Kamis, Zeliha.Development of electro-pneumatic fast switching valve and investigation of its characteristics [J]. Mechatronics, 2006.7(16):365-378
[12] Burton,R.etc.Analysis of electromagnetic nonlinearities in stage mental of a stepper motor and spool valve [J] . Journal of Dynamic Systems , Measurement , and Control ,2003(9):405-412
[13] Ruan,J.; Burton,R.;Ukrainetz,P.;Some experimental considerations of stage control in digital valves.American Society of Mechanical Engineers[J],The Fluid Power and Systems Technology Division (Publication),2002(9):55-62
[14] Lin, Yeong-Tsair; Jena, Mei-Chu; Chung, Wen-Yaw etal.A monolithic buck DC–DCconverter with on-chip PWM circuit [J]. Microelectronics Journal, 2007.8(38):923-930
[15]许宇翔.基于DSP的数字阀控制器的研究[D].浙江:浙江大学机械电子工程,2008.5:1-6
[16]赵晓燕.HGDV脉冲调制开关式数字阀的理论及应用研究[D].兰州:兰州理工大学机械电子工程,2004.12.4-6
[17]黄中华.高速开关阀控汽车液压主动悬架系统模糊控制研究[D].南京:中南大学,2002.11:15-23
[18]郝鸿雁,计青山,刘国平.高性能电液比例阀的现场总线接口[J].液压与气动, 2006.6:66-68
[19] Miyajima, Takashi; Fujita, Toshinori; Sakaki, Kazutoshi etal.Development of a digital control system for high-performance pneumatic servo valve [J].Precision Engineering, 2007.4(31):156-161
[20]吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用[J].哈尔滨工业大学学报,2004,11:1578-1581
[21]刘新亮,张建武,陈兆能.高速开关阀功率驱动特性研究及电路实现[J],液压气动与密封,1998.2
[22]吕红兵.斩波恒流式高速开关阀驱动装置及其应用[J].机电工程,1998.4
[23]李庆春.基于高速开关阀的某飞机刹车系统压力控制研究[D].南京:中南工业大学,1998
[24]朱梅生.基于PWM高速开关阀的液压位置系统最优控制研究[D].南京:中南工业大学,1999.12
[25]黄中华.高速开关阀控汽车液压主动悬架系统模糊控制研究[D].南京:中南大学机械电子工程, 2002.11:15-23
[26]罗艳蕾,胡应曦.用二通插装式控制阀实现液压传动系统的集成[J].煤矿机械,2004.(3): 90-91
[27]黄人豪.二通插装阀的结构原理和功能分析[J].流体传动与控制,2004.7 (4):51-53
[28]许宇翔.基于DSP的数字阀控制器的研究[D].浙江:浙江大学机械电子工程,2008.5:3-4
[29]张斌.用于汽车制动力分配的数字电液比例系统[D].长春:吉林大学机械电子工程, 2003.12.13-15
[30]何青玮.高速开关阀控制的可调阻尼减振器的研究[D].上海:上海大学机械电子工程, 2002.1:36-39
[31]诸静.模糊控制原理与应用[M].北京:机械工业出版社,1995
[32]王耀南.智能控制系统·模糊逻辑专家系统·神经网络控制[M].长沙:湖南大学出版社,1996
[33]李士勇.模糊控制·神经网络和智能控制论[M].哈尔滨:哈尔滨工业大学出版社,1998
[34]余永权.单片机模糊逻辑控制[M].北京:北京航空航天大学出版社,2000
[35]闻新,周露,李东江等.模糊逻辑工具箱的分析与应用[M].北京:科学出版社,2001:35-39
[36]曾光其,胡均安,王东等.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006:45-54
[37]蔡自兴.智能控制:基础与应用[M].北京:国防工业出版社,1998.10
[38]窦振中.模糊逻辑控制技术及其应用[M].北京:北京航空航天大学出版社,1995.7
[39]国香恩.液压挖掘机节能模糊控制系统研究[D].吉林:吉林大学机械电子工程, 2004.12.63-65
[40] SANVILLE FE. New method of specifying the flow capacity of pneumatic fluid power valves.Second Fluid Power Symposium[J], Hydraul Pneum Power,1971,5(17):120-126
[41]吴百诗.大学物理学[M].北京:高等教育出版社,2004:248-253
[42]白继平.2D气动数字伺服阀研究[D].杭州:浙江大学机械电子工程, 2005.3:13-23
[43]杨丽红.容器放气过程的数值模拟及热力学模型研究[D].上海:上海交通大学机械电子工程, 2007.5:29-35
[44]曲以义.气压伺服系统[M].上海:上海大学出版社,1985:13-50
[45]郑洪生.气压传动与控制[M].北京:机械工业出版社,1988:8-15
[46]罗浩.基于比例方向阀的气动位置伺服系统的研究[D].西安:西安交通大学机械电子工程, 2003.3:19-22。
[47]周海强.基于高速开关阀的气动比例调压阀的开发[D].洛阳:河南科技大学机械电子工程,2004.5:10-14
[48]汤展跃.高速开关阀控锥阀──油缸系统模糊PID控制研究[D].南京:中南大学机械电子工程, 2006.12:24-27
[49]吴晓莉,林哲辉.MATLAB辅助模糊系统设计西安[M].西安,西安电子科技大学出版社,2002.
[50]张志涌.精通MATLAB 6.5版[M].北京,北京航空航天大学出版社,2003