锥阀式气动比例压力阀压力控制器的设计  

Development of pressure controller for poppet type pneumatic proportional pressure valve

作　　者：班伟[1] 陶国良[1] 孟德远[1,2] 刘昊[1] 钱鹏飞[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,浙江杭州310027 [2]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《浙江大学学报（工学版）》2015年第5期873-879,992,共8页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(51375430)

摘　　要：为解决由于气体压缩性造成的锥阀式气动比例压力阀输出压力的可控性差的问题,设计一种基于电流环/压力环双闭环反馈的压力控制器.电流环单元采用基于电流比例负反馈的模拟电路实现,额定输出为0~0.9A,最大电流纹波为35mA,驱动035型比例电磁铁时的截止频率可达22.5 Hz.压力环单元采用数字反馈控制算法实现,分为2个阶段：当误差较大时,采用自抗扰控制器来补偿未知扰动对阀的输出压力的动态性能的不良影响;在设定压力附近,则切换为非线性PID控制器来提高压力控制精度和稳定性.同时,引入输入信号的轨迹规划进一步改善控制器的性能.实验结果表明,该控制器可以实现输出压力在0~6×10^5 Pa内连续控制,压力控制误差在±1kPa以内,且对下游负载变化具有较强的鲁棒性.The poppet type pneumatic proportional pressure valve （PPPV）, driven by a proportional sole- noid, is of poor controllability due to the compressibility of the air. The idea of combining the pressure control loop with the current control loop was proposed to solve the problem. The current control loop was achieved by a special designed analog proportional amplify circuit, and was capable of providing the current up to 0. 9 A. The maximum current ripple is 35 mA, and the cut off frequency of the circuit is about 22.5 Hz when driving a 035 type proportional solenoid. The software based pressure control loop was divided into two parts, active disturbance rejection control was adopted to drive the output pressure tracking the command signal when the feedback error is big~ the nonlinear PID controller was switched on to enhance both the accuracy and the stability when error was small. The reference signal profile planning was further involved to improve the performance of the valve. Experiment results proves that the proposed PPPV can achieve a continuously variable pressure adjustment in the range of 0 to 600 kPa, while the control accuracy is within ±kPa, and it is also robust to the downstream disturbance.

关 键 词：比例压力阀 气动电子 自抗扰控制器 非线性PI 

分 类 号：TH138.523[机械工程—机械制造及自动化]