DOI:10.3785/j.issn.1008—973X.2015.05.009
锥阀式气动比例压力阀压力控制器的设计
班
伟1,陶国良1,孟
德远1’2,刘
昊1,钱鹏飞
(1.浙江大学流体传动及控制国家重点实验室,浙江杭州310027;
2.中国矿业大学机电工程学院,江苏徐州221116)
摘要:为解决由于气体压缩性造成的锥阀式气动比例压力阀输出压力的可控性差的问题,设计一种基于电流环/
压力环双闭环反馈的压力控制器.电流环单元采用基于电流比例负反馈的模拟电路实现,额定输出为O~O.9 A,最
大电流纹波为35 mA,驱动035型比例电磁铁时的截止频率可达22.5 Hz.压力环单元采用数字反馈控制算法实
现,分为2个阶段:当误差较大时,采用自抗扰控制器来补偿未知扰动对阀的输出压力的动态性能的不良影响;在
设定压力附近,则切换为非线性PID控制器来提高压力控制精度和稳定性.同时,引入输入信号的轨迹规划进一步
改善控制器的性能.实验结果表明,该控制器可以实现输出压力在o~6× 105
Pa内连续控制,压力控制误差在± 1
kPa以内,且对下游负载变化具有较强的鲁棒性.
关键词:比例压力阀;气动电子;自抗扰控制器;非线性P1
138.523
中图分类号:TH
文献标志码:A
文章编号:1008—973X(2015)05一0873一07
of
controller for
Velopment
pressure
poppet type pneumatic
ValVe
proportional pressure
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Abstract:The
valve(PPPV),driven
sole—
poppet type pneumatic proportional pressure
due to the
by proportional
The idea of the
combining
of
of the
noid,is
control
air.
poor controllability
compressibility
pressure
with the current control
was
to soIve the
Thecurrent control
was
loop
loop
proposed
problem.
loop
achieved
a
by special designed analog proportional amplify
circuit,and was
of
the current
providing
capable
22.5
of the circuit about
to O.9
maximumcurrent
is 35
cut
is
A.The
mA,andthe
off
up
ripple
frequency
Hz when driving
a
035
The software based
control
was divided
pressure
to drive the the
output pressure tracking
solenoid.
type proportional
loop
into two
disturbance
contr01 was
adopted
rejection
parts:active
command
when the feedback error is
nonlinear PID controller was switched on to enhance
signal
big;the
both the
and the
when error wassmall. Thereference
wasfurther
accuracy
stability
signaI profile planning
that the PPPV can
proposed
involved to
the
of the valve.
results
improve
performance
Experiment
proves
a
variable
achieve
adjustment in the
of 0 to 600 kPa,wh订e the control
accuracy
continuously
pressure
range
is within± 1
it is also robust to the downstream
kPa,and
disturbance.
disturbance
PI
control,nonlinear
rejection
Key words:proportional pressure valve,electrO-pneumatic,active
收稿日期 :2014一03—17.
浙江大学学报{工学版)网址:www.journals.zju.edu.cn/eng
基金项目 :国家自然科学基金资助项目(51375430).
作者简介 班伟(1984一),男,博士,主要从事气动电子技术研究.E—mail:realbw@zju.edu.cn
通信联系人:陶国良,男,教授,博导.E—mail:gltao@zju.edu.cn
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