基于反步法的电磁气量调节执行机构自适应积分滑模控制  

Adaptive integral backstepping sliding mode control of the electromagnetic volume control actuator

作　　者：张睿[1] 张旭龙 王瑶[1] 张进杰[1] 赵得赓 ZHANG Rui;ZHANG Xulong;WANG Yao;ZHANG Jinjie;ZHAO Degeng(State Key Laboratory of High-end Compressor and System Technology,Beijing University of Chemical Technology,Beijing 100029,China;CSSC Systems Engineering Research Institute,China State Shipbuilding Co.,Ltd.,Beijing 100094,China)

机构地区：[1]北京化工大学高端压缩机及系统技术全国重点实验室,北京100029 [2]中国船舶集团有限公司系统工程研究院,北京100094

出　　处：《机电工程》2024年第9期1575-1583,共9页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(52101343);中央高校基本科研业务费专项(ZY2455)。

摘　　要：往复压缩机电磁气量调节执行机构是一种利用电磁驱动力控制进气阀启闭的装置。传统的脉冲电压控制方法存在高频快速响应与低落座速度的矛盾,以及抗扰动性能差等问题,为此,提出了一种基于反步法的自适应积分滑模控制。首先,针对电磁气量调节执行机构建立了考虑扰动的非线性模型;其次,利用反步法设计思想将高阶的电磁气量调节执行机构系统分解成了两个互相串联的低阶子系统,并在此基础上,结合滑模控制、自适应控制和积分控制的特点设计了一种复合型控制方法;最后,采用AMESim-Simulink联合仿真平台,对该控制方法与传统PID控制、滑模控制进行了不同角度的仿真分析对比。研究结果表明:在该控制方法下,电磁气量调节执行机构在的顶出和撤回过程中的最大跟踪误差平均值分别为9.6%和10.8%,平均落座速度分别为0.32 mm/s和0.98 mm/s,扰动造成的最大位移偏移量为1.3%。该控制方法能够保证跟踪误差快速收敛,提高位移跟踪精度,降低电磁气量调节执行机构的落座冲击,并对外部扰动具有强鲁棒性。The electromagnetic gas volume control actuator of reciprocating compressor is a device that using electromagnetic driving force to control the opening and closing of the inlet valve.In order to solve the problems of ordinary pulse voltage control method,such as the contradiction between high frequency fast response and low seating speed,poor anti-disturbance performance and so on,an adaptive integral sliding mode control based on backstepping method was proposed.Firstly,a nonlinear model that considering disturbance was established for the electromagnetic gas volume control actuator.Secondly,the high-order system of electromagnetic gas volume control actuator was decomposed into two serial low-order subsystems by using the backstepping design idea.On this basis,a composite control method was designed,which combined the characteristics of sliding mode control,adaptive control and integral control.Finally,through the AMESim-Simulink joint simulation platform,the control method was analyzed and compared from different aspects with the traditional PID control method and the sliding mode control method.The experimental results show that the average tracking errors of the electromagnetic gas volume control actuator in the ejection and withdrawal processes are respectively 9.6% and 10.8%,the average seating speeds are respectively 0.32 mm/s and 0.98 mm/s.The maximum displacement offset caused by the external disturbance is 1.3%.It shows that the adaptive integral backstepping sliding mode control method can ensure the fast convergence of the tracking error,improve the displacement tracking accuracy,effectively reduce the seating impact of the electromagnetic gas volume control actuator,and have strong robustness to external disturbances.

关 键 词：往复压缩机 电磁气量调节执行机构 无级气量调节 反步控制 自适应控制 积分滑模控制 平均跟踪误差 落座冲击 

分 类 号：TH457[机械工程—机械制造及自动化]