先导式电液比例阀非线性位置自适应补偿控制  

Nonlinear Position Adaptive Compensation Control of Pilot Operated Electro-hydraulic Proportional Valve

作　　者：陈立娟 彭泽钦 孙家庆 高伟 华钟 艾超[3] CHEN Li-juan;PENG Ze-qin;SUN Jia-qing;GAO Wei;HUA Zhong;AI Chao(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing,Jiangsu 211167;Branch of Hydraulic Technology Application,China Aerospace Science&Industry Nanjing Chenguang Group,Nanjing,Jiangsu 210006;School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167 [2]江苏南京晨光集团有限公司液压技术应用分公司,江苏南京210006 [3]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《液压与气动》2021年第8期64-71,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51775476);南京工程学院校级青年基金(QKJ201810)。

摘　　要：为了提高先导式电液比例阀的位置控制性能,解决大批量先导式电液比例阀生产带来的不一致性问题,首先,建立了比例阀的非线性数学模型,针对比例阀死区不一致且难检测的问题,提出死区在线检测方法,采集主阀开始运动时的先导阀电磁铁电流值来表征死区大小,将当前死区值通过上位机在线读出并进行补偿;然后,针对普通PID固定增益带来的控制效率和精度低下的缺点,设计了基于死区在线检测的模糊PID自适应位置控制器,实时动态调整控制器各项参数;最后,基于MATLAB软件和先导式电液比例阀测试平台,验证所提出的控制方法的有效性。研究结果为先导式电液比例阀的批量化生产奠定了理论基础。In order to improve the position control performance of the pilot operated electro-hydraulic proportional valve,and solve the inconsistency problem caused by the mass production of the pilot operated electro-hydraulic proportional valve.Firstly,a non-linear mathematical model of the proportional valve is established.Secondly,for the problem of inconsistent and difficult detection of the proportional valve dead zone,an online dead zone detection method is proposed to collect the solenoid current value of the pilot valve when the main valve starts to move,the current that read online by the host computer for precise compensation is used to characterize the size of the dead zone.Then,aiming at the shortcomings of low control efficiency and accuracy caused by ordinary PID of fixed gain,a fuzzy PID adaptive position controller based on dead zone online detection is designed to dynamically adjust various parameters of the controller in real time.Finally,based on MATLAB software and proportional valve test platform,the effectiveness of the control method is verified.The research results lay a theoretical foundation for the mass production of pilot operated electro-hydraulic proportional valves.

关 键 词：先导式电液比例阀 非线性死区 死区在线检测 模糊PID 

分 类 号：TH137[机械工程—机械制造及自动化]