| Mechanical Engineering |
|
|
|
|
| Analysis for drive circuit and improved current controller for proportional amplifier |
| XU Bing, SU Qi, ZHANG Jun-hui, LU Zhen-yu |
| State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China |
|
|
|
Abstract
The lager tracking error will appear when tracking a reference input near zero by the classical proportion-integrated controller because the current character of the inverse discharging drive circuit is nonlinear. A mathematical model was proposed to carefully describe the piecewise nonlinearities in the inverse discharging type drive circuit in order to solve the problem. A test setup was built for the model validation. A novel current controller was designed based on the analysis results. The innovation of this controller includes the dead zone compensation and the anti-wind up design, which is proposed to quickly skip the nonlinear part of the drive circuit. The experimental results show that the controller can effectively eliminate the zero lag.
|
|
Published: 25 April 2017
|
|
|
|
Cite this article:
XU Bing, SU Qi, ZHANG Jun-hui, LU Zhen-yu. Analysis for drive circuit and improved current controller for proportional amplifier. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(4): 800-806.
|
比例放大器驱动电路特性分析及控制器设计
由于“反接卸荷”式驱动电路电流的非线性特性,当采用传统比例积分控制器进行电磁铁电流闭环控制时存在零位滞后现象,为了解决这一问题,建立“反接卸荷”式驱动电路的非线性数学模型.通过实验验证了该模型的有效性,分析非线性对电流控制器的设计影响.基于分析结论,提出新型的电流控制器设计方案.该方案的主要特征是通过采用死区跨越和抗饱和控制思路,使控制器快速跨越驱动电路的非线性区域.试验结果表明,该控制器能够有效地消除零位滞后现象.
|
|
| ［1］ 吴根茂.新编实用电液比例技术［M］.杭州：浙江大学出版社,2006: 52-56．
［2］ CANUTO E, ACUNA B W, AGOSTANI M, et al. Digital current regulator for proportional electro-hydraulic valves with unknown disturbance rejection ［J］. Isa Transactions, 2013, 53(4): 909-919．
［3］ LIU Guo-ping, XIA Wu-xing, QI Da-wei, et al. Analysis of Dither in PWM control on electro-hydraulic proportional valve ［J］. TELKOMNIKA: Indonesian Journal of Electrical Engineering, 2013, 11(11): 6808-6814．
［4］ 傅林坚.大流量高响应电液比例阀的设计及关键技术研究［D］.杭州:浙江大学,2010: 69-71．
FU Lin-jian. Research on the design and key technology of the electro-hydraulic proportional valve with large flow rate and high responsibility ［D］. Hangzhou: Zhejiang University, 2010: 69-71．
［5］ 姚磊,邢科礼,金侠杰,等.电液比例放大器的电路设计［J］.机床与液压,2008,36(6)： 82-84．
YAO Lei, XING Ke-li, JIN Xia-jie, et al. The design of electro-circuit of electro-hydraulic proportion amplifier ［J］. Machine Tool and Hydraulics, 2008, 36(6):82-84.
［6］ NIE Yong, WANG Qing-feng. Tri-state modulation power driving of electrohydraulic proportional amplifier ［J］. Chinese Journal of Mechanical Engineering, 2009(5): 639-644．
［7］ ELMER K F, GENTLE C R. A parsimonious model for the proportional control valve ［J］. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2001, 215(11): 1357-1363．
［8］ OPDENBOSCH P, SADEGH N, BOOK W, et al. Modeling an electro-hydraulic poppet valve ［J］. International Journal of Fluid Power, 2009, 10(1): 7-15．
［9］ WANG B, SHI G, YU L. Modeling and analysis of the electro-hydraulic proportional valve controlled motor system supplied by variable pressure accumulator ［C］∥International Conference on Fluid Power and Mechatronics. Harbin: IEEE, 2015．
［10］ CRISTOFORI D, VACCA A. The Modeling of electrohydraulic proportional valves ［J］. Journal ofDynamic Systems, Measurement, and Control, 2012, 134(2): 2100821013．
［11］ 张德盛.基于ARM的数字式比例放大器的研究［D］.杭州:浙江大学,2012: 51-55．
ZHANG Desheng. Research on digital proportional amplifer based on ARM ［D］. Hangzhou: ZhejiangUniversity, 2012: 51-55．
［12］ CRISTOFORI D, VACCA A. Analysis of the dynamics of a proportional valve operated by an electronic controller ［C］∥6th FPNI PhD Symposium. West Lafayette: FPNI Fluid Power Net Publications,2010:199-214.
［13］ GALEANI S, TARBOURIECH S, TURNER M, et al. A tutorial on modern antiwindup design ［C］∥ European Control Conference (ECC). Budapest: IEEE, 2009: 306-323．
［14］ DA SILVA J G, TARBOURIECH S. Antiwindup design with guaranteed regions of stability for discretetime linear systems ［J］. Systems and Control Letters, 2006, 55(3): 184-192． |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
