基于参数辨识的比例阀非线性摩擦自适应补偿控制方法  

Nonlinear friction adaptive compensation control method of proportional valve based on parameter identification

作　　者：王涛 郝云晓 赵斌 刘赫 WANG Tao;HAO Yunxiao;ZHAO Bin;LIU He(Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学新型传感器与智能控制教育部与山西省重点实验室,山西太原030024

出　　处：《机电工程》2023年第9期1403-1410,共8页Journal of Mechanical & Electrical Engineering

基　　金：国家重点研发计划项目(2019YFB2004502)。

摘　　要：针对直动式比例换向阀在实际运行工况中受到非线性摩擦干扰的问题,从基于模型的摩擦补偿角度出发,提出了一种基于反步设计法和遗传算法的联合控制算法。首先,采用受力分析法,推导了直动式比例换向阀的运动学方程,并使用斯特里贝克(Stribeck)摩擦模型描述了系统中受到的摩擦干扰的特性;然后,采用反步方法及李雅普诺夫(Lyapunov)稳定性理论,设计了自适应控制器,结合遗传算法,解决了参数自适应律中存在的参数耦合问题,并利用MATLAB软件对摩擦名义模型参数的在线辨识精度进行了测试;最后,搭建了比例阀特性实验测试平台,进行了直动式比例换向阀阀芯位置的跟踪响应测试,根据仿真结果,对基于反步设计法和遗传算法的联合控制算法的摩擦补偿及控制效果进行了验证。研究结果表明:在基于反步设计法和遗传算法的联合控制算法的控制下,阀芯位置跟踪响应误差可自动调整到1%以内;基于反步设计法和遗传算法的联合控制算法可以在基于较高精度在线参数辨识及自适应优化控制器参数的情况下,有效地消除直动式比例换向阀实际运行工况中的摩擦干扰,并对比例阀阀芯进行状态反馈自适应控制。Aiming at the problem that the direct-acting proportional directional valve was subject to nonlinear friction interference in the actual operating conditions,a joint control algorithm based on the combination of reverse step design method and genetic algorithm was proposed from the perspective of model-based friction compensation.Firstly,the kinematics equation of the direct-acting proportional directional valve was derived by force analysis method,and the characteristics of friction interference in the system were described by using the Stribeck friction model.Then,the adaptive controller was designed by using the backstepping method and Lyapunov stability theory.The problem of parameter coupling in the parameter adaptive law was solved by combining genetic algorithm,and the online identification accuracy of the nominal friction model parameters was tested by MATLAB software.Finally,an experimental test platform of proportional valve characteristics was built,and the tracking response test of the spool position of direct-acting proportional directional valve was carried out.And the friction compensation and control effects of the joint control algorithm based on the combination of reverse step design method and genetic algorithm were verified with the simulation results.The research results show that under the control of the joint control algorithm based on the combination of reverse step design method and genetic algorithm,the response error of the spool position tracking can be automatically adjusted to less than 1%.The joint control algorithm based on the combination of reverse step design method and genetic algorithm can effectively eliminate the friction interference in the actual operating conditions of direct-acting proportional directional valve,based on high accuracy online parameter identification and adaptive optimization of controller parameters,and realize state feedback adaptive control compared with the valve core.

关 键 词：直动式比例换向阀 非线性摩擦干扰 斯特里贝克摩擦模型 反步设计法 遗传算法 参数辨识 状态反馈 

分 类 号：TH137.5[机械工程—机械制造及自动化] TH-39