高速开关阀流量非线性分析及补偿控制验证

doi:10.3969/j.issn.1000-1093.2015.01.024

摘要/Abstract

摘要： 针对高速开关阀流量控制中存在的死区、饱和区和非线性区问题，在对比脉宽调制（PWM）控制及传统PWM补偿控制的基础上，提出了两种非线性控制方法，基于死区和饱和区分段补偿的PWM控制和脉宽调制-脉频调制（PWM-PFM）控制。基于这两种非线性控制方法，分析高速开关阀的流量特性，并搭建了高速开关阀控制液压缸位置回路，从仿真和实验的角度，对比分析高速开关阀在PWM控制、传统PWM补偿和文中提到的两种非线性控制下的液压缸位置控制特性。研究结果表明：两种非线性控制方法分别从占空比和工作频率的角度对高速开关阀的死区、饱和区和非线性区进行补偿，使高速开关阀在0%~100%占空比范围内流量线性化;在仿真与实验验证中能够有效解决由于流量控制死区和饱和区所造成的液压缸启动和到位过程中误差较大的问题。

关键词: 机械学, 高速开关阀, 流量特性, 非线性控制, 脉宽调制控制, 脉频调制控制

Abstract: The nonlinear control methods of compensated pulse width modulation(PWM) control based on the dead and saturated zones and PWM-PFM(pulse frequency modulation) control are presented for the dead, saturated and non-linear zones in the flow control of high-speed on-off valve, which are compared with the PWM control and the traditional PWM control. The flow characteristic of HSV with the nonlinear control is analyzed and simulated, and a hydraulic loop controlled by HSV is set up to verify the nonlinear control by simulation and experiment. The result shows that the nonlinear control method compensates the dead, saturated and nonlinear zones in the terms of duty ratio and frequency and can linearizes the flow with the duty ratio of 0%~100%; the large tracking error resulting from the dead zone and saturated zone is avoided effectively in simulation and experiment.

Key words: mechanics, high-speed on-off valve, flow characteristic, nonlinear control, pulse width modulation control, pulse frequency modulation control

中图分类号:

TH137.7

刘志浩，高钦和，管文良. 高速开关阀流量非线性分析及补偿控制验证[J]. 兵工学报, 2015, 36(1): 163-174.

LIU Zhi-hao, GAO Qin-he, GUAN Wen-liang. Flow Nonlinear Analysis and Compensation Control Validation for High-speed On-off Valve[J]. Acta Armamentarii, 2015, 36(1): 163-174.

参考文献

［1］向忠,陶国良,谢建蔚，等.气动高速开关阀动态压力特性仿真与实验研究[J].浙江大学学报：工学版,2008,42(5):845-849.
XIANG Zhong, TAO Guo-liang, XIE Jian-wei,et al. Simulation and experimental investigation on pressure dynamics of pneumatic high-speed on/off valve [J]. Journal of Zhejiang University:Engineering Science, 2008,42(5):845-849.(in Chinese)
[2] 林锐.高速开关阀的研究与数字仿真[D].武汉：武汉理工大学,2005.
LIN Rui. Research and simulation of high-speed on-off valve[D].Wuhan: Wuhan University of Technology,2005. (in Chinese)
[3] 高钦和，宋海洲，刘志浩，等. 高速开关阀在液压缸起动与到位过程中的速度控制研究[J].中国机械工程，2013,24(1):47-51
GAO Qin-he, SONG Hai-zhou, LIU Zhi-hao, et al. Research on speed control in the starting and stopping processes of hydraulic cylinder with high speed on-off valve[J]. China Mechanical Engineering, 2013,24(1):47-51. (in Chinese)
[4] Liu Zhi-hao, Gao Qin-he, Niu Hai-long. Theposition control of the hydraulic cylinder controlled by the high-speed on-off valve[J]. Sensors and Transducer,2013,160(12):590-601.
[5] Wang Feng, Gu Lin-yi, Chen Ying. A hydraulic pressure-boost system based on high-speed on-off valves [J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(2): 733-743.
[6] Venkataraman K A, Kanthavel K, Kumar B N. Investigations of response time parameters of a pneumatic 3/2 direct acting solenoid valve under various working pressure conditions [J].ETASR-Engineering：Technology & Applied Science Research,2013,3(4):502-505.
[7] Szente V,Vad J. Computational and experimental investigation on solenoid valve dynamic[C]∥2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Processing. Como,Italy: IEEE, 2001:618-623.
[8] Kajima T, Kawamura Y. Development of a high-speed solenoid valve:investigation of solenoids[J]. IEEE/ASME Transactions on Mechatronics, 1995, 42(1)：1-8.
[9] Taghizadeh M,Ghaffari A, Najafi F. Modeling and identification of a solenoid valve for PWM control applications [J]. Comptes Rendus Mecanique， 2009，337： 131-140.
[10] Liu Zhi-zhen, Zhang Zhong-xiang, Nie Xiao-tao. Second modulate method of the high speed on-off electromagnetic valve and its application to pressure regulating valves [C]∥33rd Annual Conference of the IEEE Industrial Electronics Society (IECON). Taipei, Taiwan： IEEE Industrial Electronics Society，2007：5-8.
[11] Topcu E E, Yuksel I, Kams Z. Development of electro-pneumatic fast switching valve and investigation of its characteristics [J]. Mechatronics，2006, 16(6)： 365-378.
[12] Wang Qi-lei, Yang Feng-yu, Yang Qian,et al. Experimental analysis of new high-speed powerful digital solenoid valves [J]. Energy Conversion and Management, 2011,52(5):2309-2313.
[13] Varseveld R B, Bone G M. Accurate position control of a pneumatic actuator using on/off solenoid valves [J]. IEEE/ASME Transaction on Mechatronics, 1997, 2(3)：195-204.
[14] Rosas-Flores J A,Flores-Campos J A,Corona-Ram′rez L G. Optimal linearization of the dynamic behavior of an on/off actuated single pneumatic cylinder [C]∥5th International Conference on Electrical Engineering, Computing Science and Automatic Control. Mexico City, Mexico: IEEE,2008:380-385.
[15] Ahn K, Yokota S. Intelligent switching control of pneumatic actuator using on/off solenoid valves[J]. Mechatronics，2005,15:683-702.
[16] Taghizadeh M, Ghaffari A, Najafi F. Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit [J]. ISA Transactions,2009, 48(4): 512-518.
[17] Nguyen T, Leavitt J, Jabbari F. Accurate sliding-mode control of pneumatic systems using low-cost solenoid valves[J]. IEEE/ASME Transactions on Mechatronics, 2007,12(2):216-219.
[18] 高钦和，刘志浩，牛海龙，等.高速开关阀控液压缸的位置控制[J].中国机械工程，2014，25（20）:2775-2781.
GAO Qin-he, LIU Zhi-hao, NIU Hai-long,et al. Position control of hydraulic cylinder controlled by high-speed on-off valve[J]. China Mechanical Engineering, 2014，25（20）:2775-2781. (in Chinese)
[19] 高钦和,刘志浩,宋海洲,等.基于高速开关阀的液压缸速度控制系统设计[J].流体传动与控制,2013(2):5-9.
GAO Qin-he, LIU Zhi-hao, SONG Hai-zhou,et al. Design of hydraulic cylinder speed control system based on high-speed on-off valve [J].Fluid Power Transmission & Control,2013(2):5-9. (in Chinese)
[20] Liu Zhi-hao, Gao Qin-he,Niu Hai-long．The research on the position control of the hydraulic cylinder based on the compound algorithm of fuzzy & feed forward-feedback[J]．Sensors & Transducers, 2014, 162(1)：314-325.

[1]	赵慧鹏，周俊杰，包倩倩，马惠臣. 高速开关阀引导的智能换向阀特性分析[J]. 兵工学报, 2022, 43(10): 2473-2484.
[2]	周俊杰, 苑士华，荆崇波. 考虑空化效应的齿轮泵流量特性研究[J]. 兵工学报, 2020, 41(1): 189-195.
[3]	邱明，周大威，庞晓旭. 织物衬垫编织工艺对自润滑关节轴承摩擦学性能的影响[J]. 兵工学报, 2017, 38(9): 1867-1872.
[4]	曲梦可，王洪波，荣誉. 轮腿混合机器人机械腿动力学建模与驱动预估[J]. 兵工学报, 2017, 38(8): 1619-1629.
[5]	黄大荣, 陈长沙，孙国玺，赵玲，米波. 复杂装备轴承多重故障的线性判别分析与反向传播神经网络协作诊断方法[J]. 兵工学报, 2017, 38(8): 1649-1657.
[6]	周荻，董金鲁. 带襟翼的飞行器非线性控制系统分析和设计[J]. 兵工学报, 2017, 38(7): 1322-1329.
[7]	牛荣军，徐金超，邵秀华，邓四二. 双排非对称四点接触球转盘轴承刚度分析[J]. 兵工学报, 2017, 38(6): 1239-1248.
[8]	谢宏伟，陶忠，侯军占，张卫国. 多绳精密传动的传动精度实验研究[J]. 兵工学报, 2017, 38(4): 728-734.
[9]	胡俊峰，蔡建阳. 基于振动控制的微小物体释放操作方法与实验研究[J]. 兵工学报, 2017, 38(4): 802-809.
[10]	谢克峰，张合，刘善增，李豪杰. 海上柔性并联平台空间动力学建模与分析[J]. 兵工学报, 2017, 38(3): 512-519.
[11]	李志农，朱明. 基于变分模态分解的机械故障诊断方法研究[J]. 兵工学报, 2017, 38(3): 593-599.
[12]	李世尧，张卫国，侯军占，段文博，迟圣威，郭冰涛. 减振器动刚度特性研究[J]. 兵工学报, 2017, 38(11): 2274-2279.
[13]	邱明，梁霞, 李迎春. 注塑改性尼龙杆端关节轴承的摩擦学性能[J]. 兵工学报, 2017, 38(10): 2075-2080.
[14]	李豪杰，张合，李珂翔，谢克峰. 考虑铰链间隙的水面并联稳定平台动力学分析[J]. 兵工学报, 2017, 38(1): 129-134.
[15]	黄泽好，刘通，雷伟，万鑫. 盘式制动器噪声、振动与声振粗糙度特性的复模态评价[J]. 兵工学报, 2016, 37(7): 1275-1281.