2D伺服阀步进电机式电-机械转换器控制研究  

Study on 2D servo valve electro-mechanical converter

作　　者：黄铁隆 李胜[1] 阮健[1] 陈滋凯 Huang Tielong;Li Sheng;Ruan Jian;Chen Zikai(Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou 310023)

机构地区：[1]特种装备制造与先进加工技术教育部重点实验室(浙江工业大学),杭州310014

出　　处：《高技术通讯》2020年第12期1300-1308,共9页Chinese High Technology Letters

基　　金：国家自然科学基金(51675482)资助项目。

摘　　要：为了解决2D伺服阀步进电机式电-机械转换器传统工作方式所存在的分辨率与响应速度之间的矛盾,同时,保证其在系统内部参数变化及外部扰动作用下也能具有良好的控制效果,本文提出了基于自抗扰控制(ADRC)的位置和电流双闭环同步跟踪控制算法。首先,阐述了步进电机式电-机械转换器的同步控制原理,建立了数学模型,设计了自抗扰控制器;其次,根据位置、电流双闭环同步跟踪控制算法,利用Matlab/Simulink对电-机械转换器进行了仿真分析,仿真结果表明,该电-机械转换器具有良好的动静态特性,同时在不同电感、摩擦力等内部参数变化以及外部脉冲干扰作用下也具有良好的控制能力,与传统PID控制相比具有较好的控制效果;最后,为了验证分析的正确性和控制算法的有效性,设计了该电-机械转换器的嵌入式控制系统,搭建了步进电机式电-机械转换器及2D伺服阀特性测试平台,电-机械转换器所测得的对应-3 dB、-90°的频宽为250 Hz,上升时间约为5 ms,实验结果和理论分析较吻合;采用该电-机械转换器的2D伺服阀所测得的对应-3 dB、-90°的频宽约为135 Hz,阶跃响应的上升时间约为8 ms,实验验证了在系统工作压力变化时,系统也具有良好的控制效果。理论分析和实验表明,该电-机械转换器在基于自抗扰控制的位置和电流双闭环同步跟踪控制算法下具有良好的动静态特性,同时具有良好的鲁棒性、抗干扰性。In order to solve the contradiction between the resolution and response speed of the traditional working mode of 2D servo valve step-type electro-mechanical converter,and ensure good control effect when the system internal parameters change and external disturbance action,a double-closed-loop synchronous control algorithm is proposed based on active disturbance rejection control(ADRC).Firstly,this paper introduces the synchronous control principle of electro-mechanical converter,establishes its mathematical model and designs the active disturbance rejection controller.Secondly,according to the double closed loop synchronous tracking control algorithm,using Matlab/Simulink analysis shows that the electro-mechanical converter has good dynamic and static characteristic,and also has good control effect under the influence of internal parameters such as different inductance and friction and external pulse interference.Compared with PID control,it has better control effect.Finally,in order to verify the correctness of the analysis and the effectiveness of the control algorithm,the embedded control system of the electro-mechanical converter is designed,and the test platform is built.The experimental results show that the bandwidth of the electro-mechanical converter corresponding to-3 dB,-90°is 250 Hz,and the rise time is about 5 ms.The experimental results are in good agreement with the theoretical analysis.The corresponding-3 dB and-90°bandwidth of the 2D servo valve is about 135 Hz,and the rise time is about 8 ms.The system also has good control effects when the system work pressure changes.Theoretical analysis and experiments show that the electro-mechanical converter has good dynamic and static characteristic,and has good robustness and anti-interference.

关 键 词：电-机械转换器 自抗扰控制(ADRC) 双闭环控制 2D伺服阀 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]