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  本文關鍵詞：數(shù)字控制電液比例插裝流量閥非線性校正方法研究　出處：《太原理工大學》2015年博士論文　論文類型：學位論文

  更多相關文章： Valvistor閥 數(shù)字校正 偏差判別控制 先導壓差-位移補償

【摘要】：比例閥通過電信號實現(xiàn)對壓力、流量的連續(xù)控制,電閉環(huán)控制的引入,提高了比例閥控制精度。采用比例閥作為先導級的Valvistor閥,具有結構簡單、成本低、通流能力大等優(yōu)點,其主閥流量輸出是先導閥流量的線性放大,在工業(yè)領域中應用非常廣泛。在實際應用中,比例閥由于比例電磁鐵電磁力輸出線性度差、位移反饋檢測精度不高、閥口臺肩加工不對稱、比例閥死區(qū)較大、負載壓差變化等問題,存在較大的非線性,嚴重的影響比例閥性能。圍繞這些非線性問題,從控制電路、信號處理及控制策略等方面進行多層次的非線性校正研究,為提高比例流量閥控制精度提供先進的理論和方法,對推動我國電液比例的技術進步,提升產(chǎn)品的市場競爭力,具有實際的理論意義和經(jīng)濟價值。電液比例控制閥是一個復雜的機電液元件,其驅(qū)動控制和調(diào)整易受外界干擾和內(nèi)部特性的耦合影響,尤其是結合了新型數(shù)字控制技術的電液比例系統(tǒng)具有了更大的柔性,也增加了系統(tǒng)開發(fā)的復雜度。因此本文從傳感器反饋檢測電路、功率驅(qū)動電路、數(shù)字式非線性校正、信號處理、壓差補償這幾個方面對提高比例流量閥的控制精度開展研究。數(shù)字比例控制器的性能直接影響比例閥的輸出特性,目前電感位移傳感器檢測電路檢測精度和靈敏度不夠高,柔性小,通用性差。本文采用改進型調(diào)制解調(diào)測量放大電路,搭建測量電路試驗臺,采用三坐標測量儀進行微小位移檢測,試驗比對相敏檢波電路和改進型調(diào)制解調(diào)測放電路的靜、動態(tài)特性,結果表明,改進電路具有靈敏度高、遲滯小、線性度好、動態(tài)響應速度快等優(yōu)點,而且可以同時用于兩線圈和三線圈的三線制差動電感傳感器檢測。為了消除或減小由于線圈放電不完全造成的磁滯,采用改進型h橋反接卸荷功率放大電路來實現(xiàn)線圈電流的快速衰減,并且在電路中設置超快恢復二極管rc緩沖電路來提高電路的穩(wěn)定性,利用multisim進行功放電路的仿真分析,所設計的功率放大級電路電流紋波小、響應速度快,反接卸荷式極大提高了電流衰減速度。針對比例閥存在的沖擊過度、小干擾擾動、零位死區(qū)、摩擦滯環(huán)以及比例電磁鐵存在的非恒力輸出、磁滯等問題,采用數(shù)字校正方法進行非線性校正,在數(shù)字控制器中設置各種軟件信號處理模塊來解決以上問題,主要包括:斜坡發(fā)生器、門檻電壓、零位補償、顫振信號、增益調(diào)節(jié)、線性度調(diào)節(jié)等。搭建比例閥數(shù)字非線性校正試驗臺,采用econavant數(shù)字采集與信號分析儀進行閥芯位移檢測,通過上位機進行參數(shù)設置,檢測不同參數(shù)設置下,閥芯的位移輸出特性。試驗結果表明,數(shù)字控制非線性校正可以改變閥芯的輸出特性,從而在實際應用中可以根據(jù)負載工況進行參數(shù)調(diào)整,以達到非線性校正的目的。采用數(shù)字式非線性校正提高控制精度,降低了制造成本,且調(diào)試方便,通用性強。工業(yè)應用中控制精度和抗干擾能力一直制約valvistor插裝比例流量閥發(fā)展,為了提高其控制精度,實現(xiàn)柔性控制,提出基于偏差判別的控制算法,系統(tǒng)在大偏差、大擾動時,采用模糊pid控制算法提高控制精度和穩(wěn)定性,開口較小時,采用不完全微分pid控制,避免系統(tǒng)振蕩。建立16通徑valvistor插裝式比例流量閥的穩(wěn)態(tài)、動態(tài)數(shù)學和仿真模型,對電閉環(huán)PID控制下的比例閥進行了穩(wěn)態(tài)、動態(tài)及負載特性仿真分析,得到控制參數(shù)調(diào)整經(jīng)驗值,分析主閥位移和流量輸出與先導閥之間的關系。利用Simulink建立先導閥傳遞函數(shù)仿真模型,比較PID控制與偏差判別控制的動態(tài)響應特性,檢測先導閥的頻率響應特性,仿真結果表明偏差判別控制精度更高,穩(wěn)定性更好,且具有良好的頻率響應特性。為了提高插裝比例調(diào)速閥流量輸出的抗負載干擾能力,采用基于先導壓差-位移的流量補償校正,進行理論公式推導,得出壓差變化與輸入控制電壓信號的關系式,建立SimulationX先導閥壓差-位移補償型Valvistor插裝比例調(diào)速閥的仿真模型,搭建結合dSPACE的半實物仿真試驗平臺,利用試驗臺對Valvistor插裝流量閥進行靜態(tài)和動態(tài)性能研究,驗證模型的正確性,仿真和試驗驗結果表明通過先導壓差-電-位移補償可以實現(xiàn)對調(diào)速閥輸出流量的非線性校正,提高流量控制精度,且可以有效的抑制負載階躍變化時的超調(diào)量。
[Abstract]:Through the electrical signal proportional valve for pressure control, continuous flow, introducing the closed-loop control of electricity, improve the control precision of proportional valve. The proportional valve as the pilot valve Valvistor, has the advantages of simple structure, low cost, through the advantages of flow capacity, the main valve pilot valve flow flow output is linear amplification is widely used in industrial fields. In practical applications, due to the electromagnetic force proportional solenoid proportional valve output linearity, displacement feedback detection accuracy is not high, the valve port shoulder processing asymmetry, proportional valve dead zone is large, load pressure changes, there is a big nonlinear, serious influence of proportional valve performance. Around these nonlinear problems, from the control circuit, signal processing and control strategy and other aspects of multi-level nonlinear correction to improve the research, provide the theory and method of advanced control precision proportional flow valve, to promote The electro-hydraulic proportional technology progress in China, enhancing the market competitiveness of products, has real theoretical significance and economic value. The electro-hydraulic proportional control valve is a complex electromechanical components, driving control and adjustment easy coupling affected by external interference and internal characteristics, especially the electro-hydraulic proportional system with digital model control technology has more flexible, also increased the complexity of system development. So this paper from the sensor feedback detection circuit, power driving circuit, digital signal processing, nonlinear correction, differential pressure compensation of these aspects to improve the control precision of the proportional flow control valve is studied. The output characteristics directly affect the performance of digital proportional controller proportional valve, the current detection circuit of inductance displacement sensor detection accuracy and sensitivity is not high enough, flexible small, poor generality. This paper adopts improved amplified modulation measurement Build a test bench circuit, measuring circuit, micro displacement detection using three coordinate measuring instrument, test comparison of phase sensitive detection circuit and improved measuring circuit of modulation and demodulation of the static, dynamic characteristics, the results show that the improved circuit has the advantages of high sensitivity, small hysteresis, good linearity, fast dynamic response speed, but also can for the three wire differential inductance sensor two coil and the three coil detection. In order to eliminate or reduce the coil discharge caused by the incomplete hysteresis, using the improved H bridge anti unloading power amplifying circuit to realize the coil current fast decay, and set the ultra fast recovery diode RC buffer circuit to improve the stability of the circuit in the circuit. Analysis and Simulation of power amplifier circuit based on Multisim, the design of the power amplifier stage circuit of low current ripple, fast response speed, anti unloading greatly improves the current decay According to the existing proportional valve. The impact of excessive interference, small disturbance, zero dead zone, there is friction hysteresis and non constant output proportional solenoid, hysteresis and other issues, using a digital correction method of nonlinear correction, set up a variety of software signal processing module to solve the above problems, in the digital controller including: ramp generator, threshold voltage, zero compensation, flutter signal gain adjustment, linearity adjustment. To build digital proportional valve test bench for nonlinear correction, spool displacement detection using econavant digital acquisition and signal analyzer, set the parameters through the host computer, setting different parameter detection, the output characteristics of the spool displacement. The experimental results show that the nonlinear digital control correction of output characteristics can change the spool, thus in practical application according to adjusting the parameters of load, in order to achieve the nonlinear correction Objective. The digital nonlinear correction to improve the control precision, reduce manufacturing cost, convenient debugging and versatility. The ability to control the precision and anti-jamming in industrial application has been restricted valvistor cartridge proportional flow valve, in order to improve the control accuracy, flexible control, a control algorithm is presented based on the judgement of the deviation, in a large system deviation, large disturbance, the fuzzy PID control algorithm to improve the control precision and stability, the opening is small, the incomplete differential PID control, avoid system oscillation. The steady state established 16 path valvistor cartridge proportional flow valve, dynamic mathematical model and simulation model, the electric closed loop PID under the control of proportional valve steady state, dynamic load characteristics and simulation analysis, control parameter adjustment experience, analysis of the relationship between the main valve and pilot valve displacement and output flow. Using Simulink to establish a pilot valve transfer function The number of simulation model, the dynamic response characteristics of PID control and deviation control discrimination, detection of the pilot valve frequency response characteristics, the simulation results show that the deviation of discrimination of higher control precision, better stability, and has good frequency response characteristics. In order to improve the anti-interference of load plug flow output proportional control valve, the pilot pressure difference flow compensation displacement correction based on theoretical formula, the pressure difference and the relation between the input control voltage signal, a simulation model of SimulationX pilot valve pressure displacement compensation Valvistor cartridge proportional control valve, set up semi physical simulation platform with dSPACE, using a test rig of Valvistor plug flow the valve of the static and dynamic performance study, verify the correctness of the model, simulation and test results show that the pilot pressure electric displacement compensation can be achieved on the speed The nonlinear correction of the valve output flow can improve the flow control precision, and can effectively restrain the overshoot when the load step change is changed.

【學位授予單位】：太原理工大學
【學位級別】：博士
【學位授予年份】：2015
【分類號】：TH137.52

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本文編號：1358520