基于滑模扰动观测器的阀门开度预测控制  

Predictive control of valve opening based on disturbed sliding mode observer

作　　者：史晓娟[1] 王磊 汪学明 宋传智 SHI Xiaojuan;WANG Lei;WANG Xueming;SONG Chuanzhi(Mechanics Institute,Xi'an University of Science and Technology,Xi'an710054,China;Tiandi(Changzhou)AutomationCo.,Ltd.,Changzhou213015,China;CCTEG Changzhou Research Institute,Changzhou213015,China)

机构地区：[1]西安科技大学机械学院,西安710054 [2]天地(常州)自动化股份有限公司,江苏常州213015 [3]中煤科工集团常州研究院有限公司,江苏常州213015

出　　处：《流体机械》2024年第5期64-70,共7页Fluid Machinery

基　　金：2023年度西藏自治区科技重点研发计划项目(XZ202301ZY0002G)。

摘　　要：针对电动阀门在运行过程中,由于外部干扰、系统参数变化、摩擦力等非重复干扰的影响而难以达到高精度控制的问题,提出一种基于滑模扰动观测器的预测控制方法。通过对阀门驱动原理进行深入研究,构建阀门的数学模型,根据模型中电机电流与总负载扰动的正相关性,以电机电流、阀门转速为输入量,采用滑模扰动观测器对系统总负载扰动进行估计。设计模型预测控制器,对扰动估计值进行补偿,实现对阀门开度控制的准确性,鲁棒性以及对总扰动值跟踪的快速性。理论分析、仿真和试验表明:观测器仅0.001 s便跟踪到了设定值,收敛速度快,阀门开度精度误差在0.2%以内,完全达到控制目标,开度控制效果良好。可充分验证该控制方法在不同的负载扰动下,依然能使电动阀门保持良好的开度控制精度以及抗扰动能力。A predictive control method based on sliding mode disturbance observer was proposed to address the problem of difficulty in achieving high-precision control of electric valves during operation due to non-repetitive disturbances such as external disturbances,system parameter changes,and friction.Through in-depth research on the valve actuation principle,a mathematical model of the valve was constructed.Based on the positive correlation between the motor current and the total load disturbance in the model,the motor current and valve speed were used as inputs,and a sliding mode disturbance observer was used to estimate the total load disturbance of the system.A model predictive controller was designed to compensate the estimated disturbance value,so as to achieve the accuracy,robustness and fast tracking of the total disturbance value of the valve opening control.The theoretical analysis,simulation and experiment show that the observer can track the set value in 0.001 s,the rate of convergence is fast,and the accuracy error of valve opening is within 0.2%.The control goal is fully achieved,and the opening control effect is good.It can be fully verified that this control method still can maintain good opening control accuracy and anti-disturbance ability of electric valves under different load disturbances.

关 键 词：电动阀门 预测控制 扰动补偿 滑模观测器 执行器测试台 

分 类 号：TH138[机械工程—机械制造及自动化] TK138[动力工程及工程热物理—热能工程]