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| PID auto tuning method for spool position control of electro hydraulic proportional valve |
| QIN Zhanbin1, CHEN Feifei2, JIN Bo1, ZHANG Lulu1 |
| 1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. Ningbo HOYEA Machinery Manufacture Co., Ltd. Ningbo 315131, China |
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Abstract In order to obtain the optimal PID parameters of the spool position control of electro-hydraulic proportional valve more conveniently and effectively, a PID auto-tuning method is proposed. The critical PID parameters of the system were measured with relay feedback approach, and general range of optimal PID parameters can be calculated out. With ITAE serving as the objective function, three-dimensional golden section search is utilized to optimize the PID parameters, and the final result of auto-tuning is obtained, with these parameters the step response experiments are conducted to test dynamic performance indexes. In the auto-tuning process, protection measures for preventing severe oscillation are employed to eliminate the damage to the system. The method is applied to PID auto-tuning of spool position control of electro-hydraulic proportional directional valve, and several experiments are carried out to test the stability of the method. The results show the method is feasible and efficient, and the parameters obtained by this method have perfect control performance. Compared to auto-tuning simply with relay feedback approach，the result of this method can achieve less settling time and smaller overshoot in step response.
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Published: 01 August 2015
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电液比例阀阀心位置控制PID自整定方法
为了方便有效地获得电液比例阀阀心位置控制PID控制器的最优PID控制参数，提出一种PID自整定方法.由继电反馈法测得PID控制器的临界参数，计算出最优PID参数所在的大致范围.以时间乘误差绝对值积分（ITAE）为目标函数，用三维黄金分割法进行PID参数优化，得出自整定最终结果，以此实施阶跃响应实验，测试动态性能指标.在自整定过程中采取防剧烈振荡保护措施以消除自整定时可能发生的不稳定对系统的伤害.将该方法应用于电液比例方向阀阀心位置控制的PID自整定，并经多次实验测试该方法的稳定性，结果表明，方法可行而有效，所得参数具有良好控制性能.和单纯的继电反馈法自整定相比，该方法所得结果的阶跃响应调节时间更短，超调量更小.
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