高速开关阀控位置伺服系统的模式切换控制  

Model Switch Control of Position Servo System Using High-speed On/Off Valve

作　　者：王玉文 朱玉川[1] 陈晓明 WANG Yu-wen;ZHU Yu-chuan;CHEN Xiao-ming(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 210016)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《液压与气动》2023年第4期36-45,共10页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51975275);江苏省重点发计划(BE2021034)。

摘　　要：针对高速开关阀阀控位置伺服系统在脉宽调制信号驱动下,存在控制精度差的问题,提出了一种“模式切换”算法以提高其控制精度。首先介绍了系统结构与工作原理,并在此基础上建立系统数学模型。分析了四个高速开关阀开、关状态组合形成的七种工作模式,舍弃两种会产生较大流量变化的工作模式,选择剩余的五种工作模式以满足微小位置误差调节的需求。设计了“PID+模式切换”控制器,使用位置误差的PID控制器输出值和主阀两腔压力作为工作模式切换的依据,通过工作模式的实时切换,实现了主阀的高精度位置控制。试验表明在跟踪幅值为4.5 mm,频率为0.5 Hz的正弦轨迹时,主阀最大跟踪误差、平均跟踪误差及标准跟踪误差分别为0.46, 0.08, 0.07 mm,与传统PID控制器相比,所提控制器能够获得良好的位置控制性能,且高速开关阀总的开、关次数也减少了38%。A model switch algorithm is proposed to improve its control accuracy of the position servo system using high-speed on/off valve(HSV)which driven by pulse width modulation(PWM)signal.The structure and working principle of the system are presented,and its mathematical model is established.There are seven operating modes are considered from the state of the four HSVs present in the system.Two of the operating modes that can produce large flow changes are abandoned,and the remaining five operating modes are used to meet the needs of small position error adjustment.A“PID+model switch”controller is designed.The output value of PID controller with position error and the pressure of two vessel are used as the basis of mode switching.The high precision position control of the main valve is realized through real-time switching of operating mode.In tracking a sinusoidal trajectory with amplitude of 4.5 mm,frequency of 0.5 Hz,the maximum tracking error,the average tracking error and the root-mean-square tracking error are 0.46,0.08,0.07 mm respectively.The experimental results show that the proposed control can achieved higher performance,which better than traditional PID controller,and the total opening and closing times of high-speed on-off valve are reduced by 38%.

关 键 词：脉宽调制信号 高速开关阀 位置伺服系统 模式切换 PID 

分 类 号：TH137[机械工程—机械制造及自动化]