CN105739307A - Proportional pressure reducing valve hysteresis compensation device based on self-adaptive robust control and method thereof - Google Patents

Proportional pressure reducing valve hysteresis compensation device based on self-adaptive robust control and method thereof Download PDF

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CN105739307A
CN105739307A CN201610067362.1A CN201610067362A CN105739307A CN 105739307 A CN105739307 A CN 105739307A CN 201610067362 A CN201610067362 A CN 201610067362A CN 105739307 A CN105739307 A CN 105739307A
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pressure
reducing valve
signal
systematic parameter
proportional
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CN105739307B (en
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王庆丰
李勇
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Zhejiang University ZJU
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators

Abstract

The invention discloses a proportional pressure reducing valve hysteresis compensation device based on self-adaptive robust control. The device comprises a hysteresis compensation device and a proportional pressure reducing valve (12). The proportional pressure reducing valve (12) provides oil through a constant delivery pump (13). The output pressure signal of the proportional pressure reducing valve (12) is used for controlling proportional pressure reducing valve load (14). The hysteresis compensation device is composed of a pressure sensor (1), a low-pass filter (2), an analog quantity acquisition unit (3), a reference pressure signal generator (4), a comparator (5), an adjustment function generator (6), an adjustment function projector (7), a system parameter estimator (8), a control signal generator (9), an analog quantity output unit (10) and a proportion amplification plate (11) through combination.

Description

The stagnant ring compensation device of proportional pressure-reducing valve and method based on adaptive robust control
Technical field
The present invention relates to proportional pressure-reducing valve stagnant ring compensation technique field, particularly relate to the stagnant ring compensation device of a kind of proportional pressure-reducing valve based on adaptive robust control and method.
Background technology
Proportional pressure-reducing valve, as a kind of conventional pressure-control valve, plays an important role in technical field of hydraulic.For desirable proportional pressure-reducing valve, the control electric current of its output pressure and input is directly proportional.In practice, due to the existence of ring phenomenon stagnant in the core parts proportion electro-magnet in proportional pressure-reducing valve so that the output pressure of proportional pressure-reducing valve can exist stagnant ring, and then affects its control performance.Therefore how the stagnant ring of comparative example air relief valve carries out effective compensation, just becomes a problem demanding prompt solution.
The patent of invention of the patent No. 201010157508.4 propose a kind of by superposition vibrating signal in the control signal of digital valve reduce stagnant ring on numeral valve performance impact compensation method, the method is pointed out: tremor amplitude is more big, and compensation effect is more good.But in practice, the excessive stability that may affect valve work of tremor amplitude, causes valve shake even to control pressure transient.Additionally, tremor amplitude crosses conference makes spool abrasion aggravation, shorten the working life of valve.
The utility model patent of the patent No. 200920178208.7 proposes one and utilizes overflow valve outlet pressure as feedback signal, carrys out, by PID arithmetic, the method that the stagnant ring of comparative example overflow valve compensates.Stagnant ring phenomenon is inherently and extremely complex non-linear is caused by a kind of, PID control strategy suitable in linear time invariant system can not eliminate the impact that the stagnant ring control performance on valve brings effectively, it is therefore desirable to more advanced non-linear control strategy carrys out the stagnant ring of comparative example valve and carries out effective compensation.
Adaptive robust control is as the nonlinear control method of a kind of advanced person, the control of system under parameter uncertainty, model uncertainty and outer disturbed condition is there is suitable in system, there is faster system response, the feature that control accuracy is high, therefore, the stagnant ring that adaptive robust control can be used for comparative example air relief valve effectively compensates.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of stagnant ring compensation device of the proportional pressure-reducing valve based on adaptive robust control and the method for simple in construction.
In order to solve above-mentioned technical problem, the present invention provides a kind of proportional pressure-reducing valve based on adaptive robust control stagnant ring compensation device, including stagnant ring compensation device and proportional pressure-reducing valve, described proportional pressure-reducing valve provides fluid by dosing pump, and the output pressure signal of described proportional pressure-reducing valve is used for controlling proportional pressure-reducing valve load；Described stagnant ring compensation device includes pressure transducer, low pass filter, analog acquisition unit, reference pressure signal maker, comparator, adjustment function maker, adjustment function projector, systematic parameter estimator, control signal maker, analog output unit, proportional amplifier plate；Described pressure transducer gathers the output pressure of proportional pressure-reducing valve, passes sequentially through low pass filter and analog acquisition unit obtains pressure signal；Described reference pressure signal maker produces reference pressure signal and reference pressure signal time differential signal；Described comparator obtains pressure signal and reference pressure signal, obtains tracking error after comparing；Described systematic parameter estimator produces the upper bound of the estimation difference of systematic parameter estimated value, systematic parameter bound, outer interference and modeling error；The upper bound of the estimation difference of described pressure signal, tracking error, reference pressure signal time differential signal, systematic parameter bound, systematic parameter estimated value, outer interference and modeling error passes to control signal maker, generates control signal；Described control signal passes sequentially through the output pressure of analog output unit, proportional amplifier plate control proportional pressure-reducing valve；Described control signal, systematic parameter estimated value, tracking error, pressure signal are delivered to adjustment function maker and generate systematic parameter adjustment function；Described systematic parameter adjustment function is adjusted Function Projective device and estimates system parameter variations amount；Described systematic parameter estimator produces the upper bound of the estimation difference of systematic parameter bound, outer interference and modeling error, and receives system parameter variations amount and carry out real-time update systematic parameter estimated value.
The stagnant ring compensation method of proportional pressure-reducing valve based on adaptive robust control: pressure transducer gathers the output pressure of proportional pressure-reducing valve, and after the filtering of low-pass filtered device, analog acquisition unit obtains pressure signal x；Reference pressure signal maker produces reference pressure signal x1dAnd reference pressure signal x1dTime differential signalComparator is by pressure signal x and reference pressure signal x1dCompare and obtain tracking error z=x-x1d；Systematic parameter estimator produces systematic parameter bound θmin、θmax, the upper bound δ of the estimation difference of outer interference and modeling error0, and real-time update systematic parameter estimated valueControl signal maker is by tracking error z, pressure signal x, reference pressure signal x1dTime differential signalSystematic parameter estimated valueThe bound θ of systematic parametermin、θmax, outer interference and modeling error the upper bound δ of estimation difference △0Generate compensating control signalWith stability contorting signalCompensating control signal ufWith stability contorting signal usThe control signal u=u of compositionf+usGenerate after analog output unit and proportional amplifier plate successively and control electric current i driving proportional pressure-reducing valve, control the output pressure of proportional pressure-reducing valve；Described adjustment function maker is by compensating control signal uf, systematic parameter estimated valueTracking error z and pressure signal x generates systematic parameter adjustment functionSystematic parameter adjustment function τ is adjusted Function Projective device and estimates system parameter variations amountAnd this system parameter variations amount is passed to systematic parameter estimator real-time update systematic parameter estimated valueDescribed dosing pump provides fluid to proportional pressure-reducing valve, and pressure signal produced by proportional pressure-reducing valve is used for controlling load.
Improvement as the proportional pressure-reducing valve based on adaptive robust control of the present invention stagnant ring compensation method: described compensating control signal u f = 1 θ 2 ^ ( x 1 d · - θ 1 ^ x - θ 3 ^ ) With stability contorting signal u s = 1 θ 2 m i n ( - λ z - h 2 4 ϵ z ) In, h=θ1maxx+θ3max+θ2maxuf+δ0；
Wherein:For θjEstimated value；λ is the coefficient of stability；ε is tracking error coefficient.
Further improvement as the stagnant ring compensation method of the proportional pressure-reducing valve based on adaptive robust control of the present invention: described inMiddle j=1,2,3；Described coefficient of stability λ=5；Described tracking error coefficient ε=1.
Further improvement as the proportional pressure-reducing valve based on adaptive robust control of the present invention stagnant ring compensation method: described system parameter variations amountIn:
Proj (Γ τ)=[proj ((Γ τ)1),proj((Γτ)2),proj((Γτ)3)]T
And
Wherein: Γ is 3 × 3 diagonal matrix.
Further improvement as the proportional pressure-reducing valve based on adaptive robust control of the present invention stagnant ring compensation method: described Γ=[0.5,0,0；0,10,0；0,0,1.5].
Compared with prior art, the invention has the beneficial effects as follows the stagnant ring of proportional pressure-reducing valve uncertain as the systematic parameter changed within the specific limits, and take into full account system model parameter uncertainty that other factors cause and disturb outward, utilize advanced adaptive robust control strategy to eliminate the impact because the output pressure of other non-linear factor comparative example air relief valve such as stagnant ring causes.The present invention is simple, air relief valve mathematical model parameter required precision is not high, and system has very strong robustness and parameter adaptive, and control accuracy is high, faster system response, the method be equally applicable to except proportional pressure-reducing valve other be subject to the proportioning valve of the non-linear factor such as stagnant ring impact.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is the stagnant ring compensation method schematic diagram of the proportional pressure-reducing valve based on adaptive robust control；
Fig. 2 is relation when not compensating between proportional pressure-reducing valve input current and output pressure measured by experiment；
Fig. 3 be the employing present invention measured by experiment compensation method after relation between proportional pressure-reducing valve input current and output pressure.
Detailed description of the invention
Embodiment 1, Fig. 1～Fig. 3 give the stagnant ring compensation device of a kind of proportional pressure-reducing valve based on adaptive robust control and method.
This device includes pressure transducer 1, low pass filter 2, analog acquisition unit 3, reference pressure signal maker 4, comparator 5, adjustment function maker 6, adjustment function projector 7, systematic parameter estimator 8, control signal maker 9, analog output unit 10, proportional amplifier plate 11, proportional pressure-reducing valve 12, dosing pump 13, proportional pressure-reducing valve load 14；
Wherein, the annexation of all modules is as described below:
Pressure transducer 1 gathers the output pressure of proportional pressure-reducing valve 12, passes sequentially through low pass filter 2 (filtering) and analog acquisition unit 3 obtains pressure signal；Reference pressure signal maker 4 produces reference pressure signal and reference pressure signal time differential signal；Comparator 5 obtains pressure signal and reference pressure signal, obtains tracking error after comparing；Systematic parameter estimator 8 produces the upper bound of the estimation difference of systematic parameter estimated value, systematic parameter bound, outer interference and modeling error；The upper bound of the estimation difference of pressure signal, tracking error, reference pressure signal time differential signal, systematic parameter estimated value, systematic parameter bound, outer interference and modeling error passes to control signal maker 9, generates the control signal being made up of compensating control signal and stability contorting signal；Control signal passes sequentially through analog output unit 10, proportional amplifier plate 11 controls the output pressure of proportional pressure-reducing valve 12；Dosing pump 13 provides fluid to proportional pressure-reducing valve 12；The output pressure signal of valve 12 is used for controlling proportional pressure-reducing valve load 14.
Wherein, compensating control signal, systematic parameter estimated value, tracking error, pressure signal are delivered to adjustment function maker 6 and generate systematic parameter adjustment function；Systematic parameter adjustment function is adjusted Function Projective device 7 and estimates system parameter variations amount；Systematic parameter estimator 8 produces the upper bound of the estimation difference of systematic parameter bound, outer interference and modeling error, and receives system parameter variations amount and carry out real-time update systematic parameter estimated value.
The correlation technique of the present invention can be realized by devices discussed above.Its method is as follows:
Relation between output pressure and the input current of proportional pressure-reducing valve 12 can represent with first order inertial loop:
p · = - 1 T p + k T i + d 0 + Δ - - - ( 1 )
Wherein: p is the output pressure of proportional pressure-reducing valve 12, i is the input current of proportional pressure-reducing valve 12, and k is proportionality coefficient, and T is time constant, d0For the estimated value of outer interference and modeling error, △ is the estimation difference of outer interference and modeling error.
Definition status variable x=p, output variable y=x, be expressed as (1):
x · = θ 1 x + θ 2 i + θ 3 + Δ y = x - - - ( 2 )
Wherein, θ 1 = - 1 T , θ 2 = k T , θ 3 = d 0 For systematic parameter.
By system is analyzed:
Systematic parameter θ=[θ1,θ2,θ3]T, outer interference and modeling error estimation difference △ bounded and its bound known:
θmin≤θ≤θmax,-δ0≤△≤δ0(3)
Wherein: θmin=[θ1min,θ2min,θ3min]T, θmax=[θ1max,θ2max,θ3max]T, δ0It it is a normal number.
For desirable proportional pressure-reducing valve, its output pressure is proportional with input current: p=ki.For the proportional pressure-reducing valve in this example, k=3.8.Due to the existence of stagnant ring, when input current increases or reduces, proportionality coefficient k is not for same constant (see Fig. 2).The change of the proportionality coefficient k caused because of stagnant ring is regarded the uncertainty of systematic parameter by the present invention, utilizes adaptive robust control to eliminate the impact that valve performance is caused by stagnant ring.
Concrete enforcement step is as follows:
Pressure transducer 1 collects pressure signal x through analog acquisition unit 3 after gathering output pressure low-pass filtered device 2 filtering of proportional pressure-reducing valve 12.
Reference pressure signal maker 4 produces reference pressure signal x1dAnd reference pressure signal x1dTime differential signal
Systematic parameter estimator 8 produces systematic parameter bound θmin、θmax, outer interference and modeling error the upper bound δ of estimation difference0And real-time update systematic parameter estimated valueAdditionally, systematic parameter estimated valueInitial valueEstimate to obtain by off-line.
In this example: θmin=[-10,18.37,0]T, θmax=[-5,39.25,0.15]T, δ0=0.1；
θ 0 ^ = [ θ 10 ^ , θ 20 ^ , θ 30 ^ T ] = [ - 6.67 , 25.33 , 0.15 ] T , Wherein θ j 0 ^ , ( j = 1 , 2 , 3 ) Initial value for jth systematic parameter.
Comparator 5 is by pressure signal x and reference pressure signal x1dCompare and obtain tracking error z=x-x1d。
Control signal maker 9 is by tracking error z, pressure signal x, reference pressure signal x1dTime differential signalSystematic parameter estimated valueThe bound θ of systematic parameterminAnd θmax, outer interference and modeling error the upper bound δ of estimation difference △0Generate compensating control signalWith stability contorting signal u s = 1 θ 2 min ( - λ z - h 2 4 ϵ z ) .
Wherein: h=θ1maxx+θ3max+θ2maxuf+δ0；
For θjEstimated value j=1,2,3；
λ is the coefficient of stability, takes λ=5 in this example；
ε is tracking error coefficient, takes ε=1 in this example.
Described compensating control signal ufWith described stability contorting signal usComposition control signal u=uf+us, this control signal u generates after analog output unit 10 and proportional amplifier plate 11 successively and controls electric current i driving proportional pressure-reducing valve 12, controls the output pressure of proportional pressure-reducing valve 12.
Wherein, above-described adjustment function maker 6 is by compensating control signal uf, systematic parameter estimated valueTracking error z and pressure signal x generates systematic parameter adjustment functionThis systematic parameter adjustment function τ is adjusted Function Projective device 7 and estimates system parameter variations amount:And described system parameter variations amount is passed to described systematic parameter estimator 8 real-time update systematic parameter estimated value.
Wherein: proj (Γ τ)=[proj ((Γ τ)1),proj((Γτ)2),proj((Γτ)3)]T
And
Γ is 3 × 3 diagonal matrix, Γ=[0.5,0,0 in this example；0,10,0；0,0,1.5].
Above-described dosing pump 13 provides fluid to proportional pressure-reducing valve 12, and pressure signal produced by proportional pressure-reducing valve 12 is used for controlling load 14, and the load 14 in this example is multi-way valve of hydraulic excavator valve group.Electric current increases
The outlet pressure of the dosing pump 13 in this example is 3.9MPa, and proportional pressure-reducing valve 12 is He Deke PDR08-02 type threeway proportional pressure-reducing valve, and input current ranges for 0～1A, and output pressure ranges for 0～3.8MPa.
The range of pressure transducer 1 is 0～6MPa, and precision is the 0.5% of range, i.e. 0.03MPa.
The input current of proportional pressure-reducing valve 12 is slowly increased to from 0 1A, is more slowly reduced to 0 from 1A, figure it is seen that during not compensated, the stagnant ring maximum of output pressure of proportional pressure-reducing valve is 6.6%, is 0.25MPa, proportional pressure-reducing valve poor-performing.From figure 3, it can be seen that after nonlinear compensation, the stagnant ring maximum of output pressure of proportional pressure-reducing valve 12 is 1%, is 0.038MPa, close to the certainty of measurement of pressure transducer 1, with do not compensate before compare, after compensation, stagnant ring reduces 84.8%.As can be seen here, the stagnant ring compensation method of proportional pressure-reducing valve that the present invention proposes has obviously effect.
Finally, in addition it is also necessary to be only the specific embodiment of the present invention it is noted that listed above.It is clear that the invention is not restricted to above example, it is also possible to there are many deformation.All deformation that those of ordinary skill in the art can directly derive from present disclosure or associate, are all considered as protection scope of the present invention.

Claims (6)

1. based on the stagnant ring compensation device of the proportional pressure-reducing valve of adaptive robust control, including stagnant ring compensation device and proportional pressure-reducing valve (12), described proportional pressure-reducing valve (12) provides fluid by dosing pump (13), and the output pressure signal of described proportional pressure-reducing valve (12) is used for controlling proportional pressure-reducing valve load (14)；It is characterized in that: described stagnant ring compensation device includes pressure transducer (1), low pass filter (2), analog acquisition unit (3), reference pressure signal maker (4), comparator (5), adjustment function maker (6), adjustment function projector (7), systematic parameter estimator (8), control signal maker (9), analog output unit (10), proportional amplifier plate (11)；
Described pressure transducer (1) gathers the output pressure of proportional pressure-reducing valve (12), passes sequentially through low pass filter (2) and analog acquisition unit (3) obtains pressure signal；
Described reference pressure signal maker (4) produces reference pressure signal and reference pressure signal time differential signal；
Described comparator (5) obtains pressure signal and reference pressure signal, obtains tracking error after comparing；
Described systematic parameter estimator (8) produces the upper bound of the estimation difference of systematic parameter estimated value, systematic parameter bound, outer interference and modeling error；
The upper bound of the estimation difference of described pressure signal, tracking error, reference pressure signal time differential signal, systematic parameter bound, systematic parameter estimated value, outer interference and modeling error passes to control signal maker (9), generates control signal；
Described control signal passes sequentially through the output pressure of analog output unit (10), proportional amplifier plate (11) control proportional pressure-reducing valve (12)；
Described control signal, systematic parameter estimated value, tracking error, pressure signal are delivered to adjustment function maker (6) and generate systematic parameter adjustment function；
Described systematic parameter adjustment function is adjusted Function Projective device (7) and estimates system parameter variations amount；
Described systematic parameter estimator (8) produces the upper bound of the estimation difference of systematic parameter bound, outer interference and modeling error, and receives system parameter variations amount and carry out real-time update systematic parameter estimated value.
2. based on the stagnant ring compensation method of the proportional pressure-reducing valve of adaptive robust control, it is characterized in that: pressure transducer (1) gathers the output pressure of proportional pressure-reducing valve (12), and after the filtering of low-pass filtered device (2), analog acquisition unit (3) obtain pressure signal x；
Reference pressure signal maker (4) produces reference pressure signal x1dAnd reference pressure signal x1dTime differential signal
Comparator (5) is by pressure signal x and reference pressure signal x1dCompare and obtain tracking error z=x-x1d；
Systematic parameter estimator (8) produces systematic parameter bound θmin、θmax, the upper bound δ of the estimation difference of outer interference and modeling error0, and real-time update systematic parameter estimated value
Control signal maker (9) is by tracking error z, pressure signal x, reference pressure signal x1dTime differential signalSystematic parameter estimated valueThe bound θ of systematic parametermin、θmax, outer interference and modeling error the upper bound δ of estimation difference △0Generate compensating control signalWith stability contorting signal u s = 1 θ 2 m i n ( - λ z - h 2 4 ϵ z ) ;
Compensating control signal ufWith stability contorting signal usThe control signal u=u of compositionf+usGenerate after analog output unit (10) and proportional amplifier plate (11) successively and control electric current i driving proportional pressure-reducing valve (12), control the output pressure of proportional pressure-reducing valve (12)；
Described adjustment function maker (6) is by compensating control signal uf, systematic parameter estimated valueTracking error z and pressure signal x generates systematic parameter adjustment function
Systematic parameter adjustment function τ is adjusted Function Projective device (7) and estimates system parameter variations amountAnd this system parameter variations amount is passed to systematic parameter estimator (8) real-time update systematic parameter estimated value
Described dosing pump (13) provides fluid to proportional pressure-reducing valve (12), and pressure signal produced by proportional pressure-reducing valve (12) is used for controlling load (14).
3. the stagnant ring compensation method of the proportional pressure-reducing valve based on adaptive robust control according to claim 2, is characterized in that: described compensating control signalWith stability contorting signalIn, h=θ1maxx+θ3max+θ2maxuf+δ0；
Wherein:For θjEstimated value；
λ is the coefficient of stability；
ε is tracking error coefficient.
4. the stagnant ring compensation method of the proportional pressure-reducing valve based on adaptive robust control according to claim 3, is characterized in that: described inMiddle j=1,2,3；
Described coefficient of stability λ=5；
Described tracking error coefficient ε=1.
5. the stagnant ring compensation method of the proportional pressure-reducing valve based on adaptive robust control according to claim 4, is characterized in that: described system parameter variations amountIn:
Proj (Γ τ)=[proj ((Γ τ)1),proj((Γτ)2),proj((Γτ)3)]T
And
Wherein: Γ is 3 × 3 diagonal matrix.
6. the stagnant ring compensation method of the proportional pressure-reducing valve based on adaptive robust control according to claim 5, is characterized in that: described Γ=[0.5,0,0；0,10,0；0,0,1.5].
CN201610067362.1A 2016-01-29 2016-01-29 The stagnant ring compensation device of proportional pressure-reducing valve based on adaptive robust control and method Expired - Fee Related CN105739307B (en)

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