基于低阶模型的含压力补偿比例阀控系统平稳控制  

Low-order model based smooth control of proportional valve controlled hydraulic system with pressure compensation

作　　者：贾连辉 魏齐 陶建峰[2,3] 郑永光 文勇亮 胡燕伟 姜礼杰 JIA Lianhui;WEI Qi;TAO Jianfeng;ZHENG Yongguang;WEN Yongliang;HU Yanwei;JIANG Lijie(China Railway Engineering Equipment Group Co.Ltd.,Zhengzhou 450000,China;School of Mechanical Enginnering,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Mechanical System and Vibration,Shanghai 200240,China)

机构地区：[1]中铁工程装备集团有限公司,河南郑州450000 [2]上海交通大学机械与动力工程学院,上海200240 [3]机械系统与振动国家重点实验室,上海200240

出　　处：《中南大学学报（自然科学版）》2024年第3期928-938,共11页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(52075320);上海市浦江人才计划项目(21PJ1407100);机械系统与振动国家重点实验室开放基金资助项目(MSVZD202006)。

摘　　要：液压工程机械负载变化大、受到控制器计算性能限制,常导致运动控制出现强烈冲击和精度降低等问题,为此提出一种基于低阶模型的含压力补偿比例阀控系统平稳控制方法。首先,证明了含压力补偿比例阀控系统可近似为线性系统,提出一种低阶建模方法,利用分段线性随机系统作为原系统的全局近似,并定量给出分段线性随即系统的协方差矩阵;其次,在所提出的建模方法基础上,设计了稳态卡尔曼速度观测器,提出基于速度观测的双回路控制器,利用精确的观测速度与速度内环控制提高系统阻尼,达到抑制振荡的目的;最后,在盾构管片拼装机举重臂上开展实验验证,实验包括AMESim与Simulink联合仿真实验和PLC控制的实机应用实验。研究结果表明:所提出的低阶建模方法在常见阀参数下与精确模型的精度相对误差不超过3%,所提出的控制方法在低算力控制器上实现了阶跃位置目标轨迹的低冲击、高精度控制,显著增加了系统阻尼,获得了更平滑的速度曲线,减小了稳态误差,力冲击峰值减少21.6 kN,振幅降低约39%,具有较高的工程应用价值。To address the issues of strong impact and low accuracy in position control of hydraulic construction machinery due to large load variations and limited controller computational capabilities,a low-order model based smooth control method for a pressure-compensated proportional valve-controlled hydraulic system was proposed.Firstly,a pressure-compensated proportional valve-controlled system,which can be approximated as a linear system was proved.A novel low-order modeling approach was introduced by using a piecewise linear stochastic system for a global approximation of the original system,and the quantitative covariance matrices were given.Secondly,a steady-state Kalman velocity observer and a dual-loop controller reliant on velocity observation were introduced.This approach utilizes precise velocity measurements and internal control loops to enhance system damping,thereby effectively reducing oscillations.Finally,the proposed method was experimentally validated on the lifting arm of a shield segment assembly machine,involving both AMESim-Simulink co-simulation experiments and real-machine experiments controlled by PLC.The results show that the proposed low-order model ensures that the relative error of accuracy under typical valve parameters remains below 3%by comparing with accurate model,and the proposed control method achieves low-impact,high-precision control of step position targets on low-computational-power controllers.It improves system damping,smoothes the velocity curve and reduces steady-state errors.The method reduces peak force impact by 21.6 kN and amplitude by about 39%,showing higer engineering potential.

关 键 词：工程机械 压力补偿 平衡阀 运动控制 振动抑制 

分 类 号：TH137[机械工程—机械制造及自动化]