CN113343365B - Method and system for accurately controlling pressure of air cavity based on double-valve regulation - Google Patents
Method and system for accurately controlling pressure of air cavity based on double-valve regulation Download PDFInfo
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Abstract
The invention provides a method and a system for accurately controlling the pressure of an air cavity based on double-valve regulation, which comprises the following steps: obtaining a representation pressure error signal, taking the representation pressure error signal as the input of a PI controller, and obtaining the virtual deflation total flow of the air cavity by adopting a PI control algorithm; according to the virtual total deflation flow, obtaining the opening area of the double regulating valve through a control distribution algorithm of LMI optimization solution; calculating the displacement of the valve core of the hydraulic cylinder of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the valve core of the hydraulic cylinder; controlling the opening of the double regulating valve according to the displacement of the valve core of the hydraulic cylinder of the double regulating valve, and controlling the pressure of the air containing cavity; the opening area of the double regulating valve comprises the opening area of the first regulating valve and the opening area of the second regulating valve, the displacement of the hydraulic cylinder valve core of the double regulating valve comprises the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement of the hydraulic cylinder valve core of the second regulating valve, and the accurate control of the air cavity pressure is realized by adopting double valve regulation.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a method and a system for accurately controlling the pressure of an air cavity based on double-valve regulation.
Background
The air cavity device is a key sub-device of a large-scale air pipeline test bed, and the pressure control effect of the air cavity device directly influences the overall performance of the test bed. Currently, a single regulating valve is used for flow regulation to control the pressure in the air cavity device. However, when the air flow is changed in a large range, the accurate control of the pressure in the cavity cannot be ensured. The use of a larger bore regulator valve increases economic costs due to the limited flow regulating capability of a single regulator valve.
However, if two regulating valves are used, the control method is applied to the field of hydraulic servo control and is not suitable for an air cavity device. Therefore, a control method for an air volume based on dual valve regulation has not been proposed.
Disclosure of Invention
In view of this, the present invention aims to provide a method and a system for accurately controlling the pressure of an air cavity based on dual-valve regulation, which implement accurate control of the pressure of the air cavity by using dual-valve regulation and have low cost.
In a first aspect, an embodiment of the present invention provides a method for accurately controlling pressure of an air cavity based on dual-valve regulation, where the method includes:
obtaining a representation pressure error signal, taking the representation pressure error signal as the input of a PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm;
calculating to obtain the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow;
calculating the displacement of the hydraulic cylinder valve core of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the hydraulic cylinder valve core;
controlling the opening of the double regulating valve according to the displacement of the hydraulic cylinder valve core of the double regulating valve, so as to control the pressure of the air cavity;
the opening area of the double regulating valve comprises the opening area of a first regulating valve and the opening area of a second regulating valve, and the displacement of the hydraulic cylinder valve core of the double regulating valve comprises the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement of the hydraulic cylinder valve core of the second regulating valve.
Further, the obtaining a representative pressure error signal includes:
acquiring a first actual pressure and a first preset pressure of the air cavity;
obtaining a second actual pressure according to the first actual pressure and the sensor gain;
obtaining a second preset pressure according to the first preset pressure and the sensor gain;
and obtaining the characterization pressure error signal according to the second actual pressure and the second preset pressure.
Further, the PI controller is designed in the following manner:
obtaining a non-linear model of the air cavity;
linearizing the nonlinear model of the air cavity to obtain a linearized model of the air cavity;
when the virtual total deflation flow of the air cavity is equal to the actual total deflation flow of the double regulating valve, the design of the PI controller is realized based on the linearized model of the air cavity;
the characteristic pressure error signal is used as the input of the PI controller, and the actual total deflation flow of the double regulating valves is obtained by adopting the PI control algorithm; and the actual total bleed air flow of the double regulating valve is used as the input of the linearization model of the air cavity, and the first actual pressure of the air cavity is obtained through output.
Further, the calculating the opening area of the double regulating valve according to the virtual total deflation flow rate and a control distribution algorithm of an LMI optimization solution includes:
constructing a double-valve control efficiency matrix;
constructing a first optimization function which meets the requirement of the virtual deflation total flow and has the minimum energy consumption of the double regulating valves according to the double valve control efficiency matrix;
converting the first optimization function into a second optimization function with a linear matrix inequality constraint and a minimum generalized eigenvalue;
under the constraint condition of an actuating mechanism, calculating the opening area of the double regulating valve according to the second optimization function;
the opening area of the double regulating valve is the opening area of the kth control period, and k is a positive integer.
Further, the controlling the opening degree of the double regulating valve according to the displacement of the hydraulic cylinder valve core of the double regulating valve, so as to control the pressure of the air cavity, includes:
controlling the opening degree of the first regulating valve according to the displacement of the valve core of the hydraulic cylinder of the first regulating valve;
controlling the opening degree of the second regulating valve according to the displacement of the hydraulic cylinder valve core of the second regulating valve;
and after the opening degree of the first regulating valve and the opening degree of the second regulating valve are regulated, the pressure of the air cavity is controlled.
In a second aspect, an embodiment of the present invention provides a system for accurately controlling air cavity pressure based on dual valve regulation, the system including: the air cavity device comprises a first adjusting valve, a second adjusting valve and an air cavity;
the upper layer controller is used for acquiring a representation pressure error signal, taking the representation pressure error signal as the input of the PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm;
the lower layer controller is used for calculating the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow; calculating the displacement of the hydraulic cylinder valve core of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the hydraulic cylinder valve core; controlling the opening of the double regulating valve according to the displacement of the hydraulic cylinder valve core of the double regulating valve, so as to control the pressure of the air cavity;
the opening area of the double regulating valve comprises the opening area of a first regulating valve and the opening area of a second regulating valve, and the displacement of the hydraulic cylinder valve core of the double regulating valve comprises the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement of the hydraulic cylinder valve core of the second regulating valve.
Further, the upper layer controller is specifically configured to:
acquiring a first actual pressure and a first preset pressure of the air cavity;
obtaining a second actual pressure according to the first actual pressure and the sensor gain;
obtaining a second preset pressure according to the first preset pressure and the sensor gain;
and obtaining the characterization pressure error signal according to the second actual pressure and the second preset pressure.
Further, the PI controller is designed in the following manner:
obtaining a non-linear model of the air cavity;
linearizing the nonlinear model of the air cavity to obtain a linearized model of the air cavity;
when the virtual total deflation flow of the air cavity is equal to the actual total deflation flow of the double regulating valve, the design of the PI controller is realized based on the linearized model of the air cavity;
the characteristic pressure error signal is used as the input of the PI controller, and the actual total deflation flow of the double regulating valves is obtained by adopting the PI control algorithm; and the actual total bleed air flow of the double regulating valve is used as the input of the linearization model of the air cavity, and the first actual pressure of the air cavity is obtained through output.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory stores a computer program that is executable on the processor, and the processor implements the method described above when executing the computer program.
In a fourth aspect, embodiments of the invention provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method as described above.
The embodiment of the invention provides a method and a system for accurately controlling the pressure of an air cavity based on double-valve regulation, wherein the method comprises the following steps: acquiring a representation pressure error signal, taking the representation pressure error signal as the input of a PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm; calculating to obtain the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow; calculating the displacement of the valve core of the hydraulic cylinder of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the valve core of the hydraulic cylinder; controlling the opening of the double regulating valve according to the displacement of the valve core of the hydraulic cylinder of the double regulating valve, so as to control the pressure of the air containing cavity; wherein, the open area of double governing valve includes the open area of first governing valve and the open area of second governing valve, and the pneumatic cylinder case displacement of double governing valve includes the pneumatic cylinder case displacement of first governing valve and the pneumatic cylinder case displacement of second governing valve to adopt double valve to adjust the accurate control that realizes air chamber pressure, and with low costs.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for accurately controlling air cavity pressure based on dual valve regulation according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a control process of an upper layer controller according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of simulation results of dual-valve regulation based air reservoir pressure control provided in accordance with an embodiment of the present invention;
FIG. 4 is a diagram illustrating the comparison between the actual total deflation flow rate and the virtual total deflation flow rate of the two valves according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a change in displacement of a spool of a hydraulic cylinder of a first regulator valve and a spool of a hydraulic cylinder of a second regulator valve according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a system for accurately controlling the pressure of an air cavity based on dual valve regulation according to a second embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
fig. 1 is a flowchart of a method for accurately controlling the pressure of an air cavity based on dual-valve regulation according to an embodiment of the present invention.
Referring to fig. 1, the method includes the steps of:
step S101, obtaining a representation pressure error signal, using the representation pressure error signal as an input of a PI controller, and obtaining a virtual total deflation flow of the air cavity by adopting a PI control algorithm;
here, the linearized model of the air cavity is defined as G, which is obtained by linearizing a non-linear model of the air cavity.
Designing a PI controller based on an air cavity linearization model G, and defining the PI controllerOutput of
The actual total air discharge flow of the double regulating valves is the actual total air discharge flow m of the double regulating valvesactTotal flow of virtual bleed air from air reservoir
Are equal.
Step S102, calculating to obtain the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the total virtual deflation flow;
wherein the opening area of the double regulating valve comprises the opening area of the first regulating valve and the opening area of the second regulating valve;
and designing a control distribution algorithm which adopts LMI (local mean square) optimization solution based on the virtual total deflation flow, wherein the virtual total deflation flow is used as input, the opening area of the first regulating valve and the opening area of the second regulating valve are used as output, and the opening area of the first regulating valve and the opening area of the second regulating valve are used as control commands, so that the error between the actual total deflation flow and the virtual total deflation flow of the double valves is minimum, and the energy consumption of the double valves is minimum.
Step S103, calculating the displacement of the valve core of the hydraulic cylinder of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the valve core of the hydraulic cylinder;
the hydraulic cylinder valve core displacement of the double regulating valves comprises hydraulic cylinder valve core displacement of the first regulating valve and hydraulic cylinder valve core displacement of the second regulating valve.
And step S104, controlling the opening of the double regulating valve according to the displacement of the valve core of the hydraulic cylinder of the double regulating valve, thereby controlling the pressure of the air cavity.
Here, the opening degree of the first regulating valve is controlled according to the displacement of the hydraulic cylinder spool of the first regulating valve; controlling the opening degree of the second regulating valve according to the displacement of the valve core of the hydraulic cylinder of the second regulating valve; and after the opening degree of the first regulating valve and the opening degree of the second regulating valve are regulated, the pressure of the air containing cavity is controlled.
Further, the PI controller is designed by:
acquiring a non-linear model of the air cavity;
linearizing the nonlinear model of the air cavity to obtain a linearized model of the air cavity;
when the virtual total deflation flow of the air cavity is equal to the actual total deflation flow of the double regulating valves, the design of the PI controller is realized based on the linearization model of the air cavity;
the characteristic pressure error signal is used as the input of a PI controller, and the actual total deflation flow of the double regulating valves is obtained by adopting a PI control algorithm; and the actual total deflation flow of the double regulating valve is used as the input of the linearization model of the air cavity, and the first actual pressure of the air cavity is obtained through output.
Specifically, the expression of the nonlinear model of the air cavity is shown in equation (1):
wherein the content of the first and second substances,
is a state variable, P is the actual pressure of the air cavity, T is the actual temperature of the air cavity, f represents a non-linear function,
for the control variable, mactIs the actual total bleed flow for the double regulator valve.
Actual total bleed flow m with double regulating valvesactTaking the first actual pressure of the air cavity as an output for input, linearizing the nonlinear model of the air cavity as shown in equation (2):
where Δ x is a state variation from a steady-state point, Δ y is an output variation from the steady-state point, and Δ u is an input variation from the steady-state point, and the above-mentioned linearized model is defined as G.
Further, obtaining the characteristic pressure error signal is realized by the following steps:
step S201, acquiring a first actual pressure and a first preset pressure of an air cavity;
step S202, obtaining a second actual pressure according to the first actual pressure and the sensor gain;
step S203, obtaining a second preset pressure according to the first preset pressure and the sensor gain;
and step S204, obtaining a representation pressure error signal according to the second actual pressure and the second preset pressure.
Specifically, referring to fig. 2, an embodiment of the present invention provides designing a PI controller based on a linearized model G; aiming at the control system, a PID Tuner tool box of MATLAB is adopted to carry out PI controller parameter design; wherein, PsetIs a first preset pressure, K is the sensor gain, e is a characteristic pressure error signal, mdesTotal flow of virtual bleed air for the air volume, mactIs the actual total bleed flow rate of the dual regulator valve, P is the first actual pressure of the air volume; multiplying the first actual pressure by the sensor gain to obtain a second actual pressure, and multiplying the first preset pressure by the sensor gain to obtain a second preset pressure; and subtracting the second actual pressure from the second preset pressure to obtain a characteristic pressure error signal. I.e. PsetTaking K-PK as e, e as the input of the PI controller, adopting PI control algorithm, and outputting to obtain the actual total deflation flow m of the double regulating valveact(ii) a Actual total deflation flow m of double regulating valvesactThe first actual pressure P of the air cavity is obtained through output as the input of the linearization model G;
when designing the PI controller, the virtual total air bleed flow m of the air cavity is setdesActual total bleed flow m with double regulating valvesactAnd when the PI controllers are designed, keeping the PI controllers equal through the algorithm of a lower layer controller.
Referring to fig. 3, a simulation result of the air reservoir pressure control based on dual valve regulation is shown.
Specifically, the constant pressure chamber pressure command is set as follows: 0-5 s holding time of 1.5 x 105Pa is constant, 5-10 s is 1.5 multiplied by 105Pa is increased to 1.7X 10 according to the slope instruction5Pa, 10-30 s holding 1.7 × 105Pa is unchanged; the opening degree of the second regulating valve is kept unchanged within 0-15 s, the opening degree is increased within 15-20 s, so that the air flow of the constant pressure cavity to the test chamber is increased from 68.7kg/s to 461.8kg/s, and the opening degree of the second regulating valve is kept unchanged within 20-30 s.
After the double-valve-based regulation control of the pressure of the air containing cavity is used, the pressure simulation result is shown in fig. 3, the change of the instruction pressure can be accurately tracked by the controlled pressure for 5-10 s, and the dynamic relative error of the pressure is lower than 0.02 percent, which indicates that the servo tracking capability of the system is strong;
wherein the content of the first and second substances,
the pressure dynamic relative error is lower than 0.02%, namely the pressure dynamic relative error at each moment in 5-10 s is not more than 0.02%;
strong external interference exists in the system when 15-20 s, the maximum deviation of the controlled pressure is lower than 520Pa, the maximum instantaneous fluctuation amount is 0.3%, the pressure adjusting time is lower than 5s after the disturbance disappears in the 20 th s, and the anti-interference capability of the system is strong because 15-20 s are large interference, the simulation result has small deviation and is adjusted quickly;
wherein the maximum deviation of the controlled pressure is lower than 520Pa, which means that the maximum deviation of the actual pressure and the command pressure is 15-30 s, namely 20s, the maximum deviation is not more than 520 Pa; the maximum instantaneous fluctuation amount of 0.3% means that at the maximum deviation, i.e., 20s, the pressure dynamic relative error is 0.3%; a pressure regulation time below 5s means that 20s starts and the actual pressure starts to get closer to the command pressure, which is reached before 25s, i.e. the regulation time is below 5 s.
Referring to fig. 4, a graph of the comparison of the total flow of actual bleed air to the total flow of virtual bleed air for the dual valve is shown.
The discharge flow dynamics relative error is less than 1.52%, wherein,
the dynamic relative error of the discharge amount is less than 1.52%, which means that the dynamic relative error of the discharge amount at each moment of 0-30 s is not more than 1.52%.
Further, step S103 includes the steps of:
step S301, constructing a double-valve control efficiency matrix;
here, the total amount of actual bleed air of the double valve is as shown in equation (3):
mact＝BeffAact (3)
wherein the content of the first and second substances,
to control the efficiency matrix, R is the ideal gas constant,
is the flow coefficient of the first regulating valve,
is the flow coefficient of the second regulating valve, Aact＝[Aact1 Aact2]TWherein A isact1Is the actual opening area of the first regulating valve, Aact2Is the actual opening area of the second regulating valve.
Step S302, constructing a first optimization function which meets the requirement of virtual air bleeding total flow and has the minimum energy consumption of a double regulating valve according to the double valve control efficiency matrix;
the opening area of the double regulating valve is the opening area of the kth control period, and k is a positive integer; the kth control cycle is the control cycle in which the controller is currently operating.
Here, the first optimization function that satisfies the requirement of the virtual bleed total flow and minimizes the energy consumption of the double-regulating valve is shown in equation (4):
wherein, Wu、WeRespectively representing weights among optimization targets by positive and definite diagonal matrixes and normal numbers; decision variable Aact(k +1) is limited to
And
wherein, in Amin＝[Amin1 Amin2]TIn (A)minIs the minimum flow area vector, Amin1Is the minimum flow area of the first regulating valve, Amin2Is the minimum flow area of the second regulating valve, at Amax＝[Amax1 Amax2]TIn (A)maxIs the maximum flow area vector, Amax1Is the maximum flow area of the first regulating valve, Amax2Is the maximum flow area of the second regulating valve
In the step (1), the first step,
the maximum velocity vector for the reverse change in flow area,
the maximum rate of reverse change of the flow area of the first regulator valve,
the maximum rate of reverse change of the flow area of the second regulating valve is
In (1),
is a positive change in flow areaThe maximum rate vector is then used to determine the maximum rate,
the maximum rate of positive change of the flow area of the first regulator valve,
is the maximum rate of positive change, T, of the flow area of the second regulating valvesFor a control period, k is a positive integer and represents the moment of the current control period, a control efficiency matrix is generated by system parameters of the kth control period, and a decision variable Aact(k +1) is the actual opening area of the regulator valve in the (k +1) th control cycle.
Step S303, converting the first optimization function into a second optimization function with linear matrix inequality constraint and minimum generalized eigenvalue;
here, converting the first optimization function into the second optimization function having the minimum generalized eigenvalue with the linear matrix inequality constraint is as shown in equation (5):
solving a second optimization function in real time in each control period to obtain the actual opening area A of the double valve required by the (k +1) th control periodact(k+1)。
Step S304, under the constraint condition of the actuating mechanism, calculating the opening area of the double regulating valve according to a second optimization function;
here, the equivalent dynamic process of the opening area of the regulator valve is simplified as shown in equation (6):
wherein, tau1Is the dynamic time constant of the first regulating valve, tau2Is the dynamic time constant of the second regulating valve, at Acmd＝[Acmd1 Acmd2]TIn (A)cmdTo circulateVector of area instruction values, Acmd1Is a flow area command value of the first regulating valve, Acmd2Is a flow area command value of the second regulator valve.
Further, with TsFor sampling time, the above dynamic system is discretized as shown in equation (7):
the opening area of the dual valve in the kth control period is shown in equation (8):
Acmd(k)＝(CdBd)-1[Aact(k+1)-CdAdAact(k)] (8)
further, step S104 includes the steps of:
here, the double-regulator-valve hydraulic cylinder spool displacement is as shown in equation (9):
wherein f is1Is a function relation between the opening area of the first regulating valve and the displacement of the valve core of the corresponding hydraulic cylinder, f2Is a function relationship between the opening area of the second regulating valve and the displacement of the valve core of the corresponding hydraulic cylinder, Lcmd1(k) Displacement of the spool of the hydraulic cylinder of the first regulating valve, Lcmd2(k) The valve core of the hydraulic cylinder of the second regulating valve is displaced.
Specifically, the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement change of the hydraulic cylinder valve core of the second regulating valve are shown in fig. 5, and the displacement change of the hydraulic cylinder valve core of the first regulating valve and the displacement change of the hydraulic cylinder valve core of the second regulating valve are both in a normal working range and move stably, which shows that the control distribution algorithm can coordinate the movement of the double valves to achieve the target of the virtual total deflation flow.
The normal working range is 0-0.22 m, the displacement change of the hydraulic cylinder valve core of the first regulating valve and the displacement change of the hydraulic cylinder valve core of the second regulating valve are always in the range, and phenomena such as mutation, step change, oscillation, large-amplitude swing and the like do not occur.
The embodiment of the invention provides a method for accurately controlling the pressure of an air cavity based on double-valve regulation, which comprises the following steps: obtaining a representation pressure error signal, taking the representation pressure error signal as the input of a PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm; calculating to obtain the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow; calculating the displacement of the valve core of the hydraulic cylinder of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the valve core of the hydraulic cylinder; controlling the opening of the double regulating valve according to the displacement of the valve core of the hydraulic cylinder of the double regulating valve, so as to control the pressure of the air containing cavity; wherein, the open area of double governing valve includes the open area of first governing valve and the open area of second governing valve, and the pneumatic cylinder case displacement of double governing valve includes the pneumatic cylinder case displacement of first governing valve and the pneumatic cylinder case displacement of second governing valve to realize the accurate control to air cavity pressure based on double valve is adjusted.
Example two:
FIG. 6 is a schematic diagram of a system for accurately controlling the pressure of an air cavity based on dual valve regulation according to a second embodiment of the present invention.
Referring to fig. 6, the system includes: the device comprises an upper layer controller, a lower layer controller and an air cavity device, wherein the air cavity device comprises a first regulating valve, a second regulating valve and an air cavity;
the upper layer controller is used for acquiring a representation pressure error signal, taking the representation pressure error signal as the input of the PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm;
the lower layer controller is used for calculating the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow; calculating the displacement of the valve core of the hydraulic cylinder of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the valve core of the hydraulic cylinder; controlling the opening of the double regulating valve according to the displacement of the valve core of the hydraulic cylinder of the double regulating valve, so as to control the pressure of the air containing cavity;
the opening area of the double regulating valve comprises the opening area of the first regulating valve and the opening area of the second regulating valve, and the displacement of the hydraulic cylinder valve core of the double regulating valve comprises the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement of the hydraulic cylinder valve core of the second regulating valve.
Further, the upper layer controller is specifically configured to:
acquiring a first actual pressure and a first preset pressure of an air cavity;
obtaining a second actual pressure according to the first actual pressure and the sensor gain;
obtaining a second preset pressure according to the first preset pressure and the sensor gain;
and obtaining a characteristic pressure error signal according to the second actual pressure and the second preset pressure.
Further, in the above-mentioned case,
the PI controller is designed in the following way:
acquiring a non-linear model of the air cavity;
linearizing the nonlinear model of the air cavity to obtain a linearized model of the air cavity;
when the virtual total deflation flow of the air cavity is equal to the actual total deflation flow of the double regulating valve, the design of the PI controller is realized based on the linearization model of the air cavity;
the characteristic pressure error signal is used as the input of a PI controller, and the actual total deflation flow of the double regulating valves is obtained by adopting a PI control algorithm; and the actual total deflation flow of the double regulating valve is used as the input of the linearization model of the air cavity, and the first actual pressure of the air cavity is obtained through output.
The embodiment of the invention provides an air cavity pressure accurate control system based on double-valve regulation, which comprises: obtaining a representation pressure error signal, taking the representation pressure error signal as the input of a PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm; calculating to obtain the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow; calculating the displacement of the valve core of the hydraulic cylinder of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the valve core of the hydraulic cylinder; controlling the opening of the double regulating valve according to the displacement of the hydraulic cylinder valve core of the double regulating valve so as to control the pressure of the air accommodating cavity; wherein, the open area of double governing valve includes the open area of first governing valve and the open area of second governing valve, and the pneumatic cylinder case displacement of double governing valve includes the pneumatic cylinder case displacement of first governing valve and the pneumatic cylinder case displacement of second governing valve to realize the accurate control to air cavity pressure based on double valve is adjusted.
The embodiment of the invention also provides electronic equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein the processor realizes the steps of the method for accurately controlling the pressure of the air cavity based on the double-valve regulation when executing the computer program.
Embodiments of the present invention further provide a computer readable medium having non-volatile program code executable by a processor, where the computer readable medium has a computer program stored thereon, and the computer program, when executed by the processor, performs the steps of the method for accurately controlling pressure of an air volume based on dual-valve regulation according to the above embodiments.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the system and the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A method for accurate control of air reservoir pressure based on dual valve regulation, said method comprising:
obtaining a representation pressure error signal, taking the representation pressure error signal as the input of a PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm;
calculating to obtain the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow;
calculating the displacement of the hydraulic cylinder valve core of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the hydraulic cylinder valve core;
controlling the opening of the double regulating valve according to the displacement of the hydraulic cylinder valve core of the double regulating valve so as to control the pressure of the air cavity;
the opening area of the double regulating valve comprises the opening area of a first regulating valve and the opening area of a second regulating valve, and the displacement of a hydraulic cylinder valve core of the double regulating valve comprises the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement of the hydraulic cylinder valve core of the second regulating valve;
the control distribution algorithm that according to virtual gassing total flow, through LMI optimal solution calculates and obtains the opening area of two governing valves, includes:
constructing a double-valve control efficiency matrix;
constructing a first optimization function which meets the requirement of the virtual deflation total flow and has the minimum energy consumption of the double regulating valves according to the double valve control efficiency matrix;
converting the first optimization function into a second optimization function with a linear matrix inequality constraint and a minimum generalized eigenvalue;
under the constraint condition of an actuating mechanism, calculating the opening area of the double regulating valve according to the second optimization function;
the opening area of the double regulating valve is the opening area of the kth control period, and k is a positive integer.
2. The method for precise control of air volume pressure based on dual valve regulation of claim 1,
the obtaining a representative pressure error signal includes:
acquiring a first actual pressure and a first preset pressure of the air cavity;
obtaining a second actual pressure according to the first actual pressure and the sensor gain;
obtaining a second preset pressure according to the first preset pressure and the sensor gain;
and obtaining the characterization pressure error signal according to the second actual pressure and the second preset pressure.
3. The method for precise control of air volume pressure based on dual valve regulation of claim 2,
the PI controller is designed in the following way:
obtaining a non-linear model of the air cavity;
linearizing the nonlinear model of the air cavity to obtain a linearized model of the air cavity;
when the virtual total deflation flow of the air cavity is equal to the actual total deflation flow of the double regulating valves, the design of the PI controller is realized based on the linearized model of the air cavity;
the characteristic pressure error signal is used as the input of the PI controller, and the actual total deflation flow of the double regulating valves is obtained by adopting the PI control algorithm; and the actual total bleed air flow of the double regulating valve is used as the input of the linearization model of the air cavity, and the first actual pressure of the air cavity is obtained through output.
4. The method for accurately controlling pressure of an air cavity based on double-valve regulation according to claim 1, wherein the controlling the opening degree of the double-regulating valve according to the displacement of the spool of the hydraulic cylinder of the double-regulating valve so as to control the pressure of the air cavity comprises the following steps:
controlling the opening degree of the first regulating valve according to the displacement of the hydraulic cylinder valve core of the first regulating valve;
controlling the opening degree of the second regulating valve according to the displacement of the hydraulic cylinder valve core of the second regulating valve;
and after the opening degree of the first regulating valve and the opening degree of the second regulating valve are regulated, the pressure of the air cavity is controlled.
5. A dual valve regulation based accurate control system for air reservoir pressure, said system comprising: the air cavity device comprises a first adjusting valve, a second adjusting valve and an air cavity;
the upper layer controller is used for acquiring a representation pressure error signal, taking the representation pressure error signal as the input of the PI controller, and obtaining the virtual total deflation flow of the air cavity by adopting a PI control algorithm;
the lower layer controller is used for calculating the opening area of the double regulating valve through a control distribution algorithm of LMI (local mean square) optimization solution according to the virtual deflation total flow; calculating the displacement of the hydraulic cylinder valve core of the double regulating valve according to the functional relation between the opening area of the double regulating valve and the displacement of the hydraulic cylinder valve core; controlling the opening of the double regulating valve according to the displacement of the hydraulic cylinder valve core of the double regulating valve, so as to control the pressure of the air cavity;
the opening area of the double regulating valve comprises the opening area of a first regulating valve and the opening area of a second regulating valve, and the displacement of the hydraulic cylinder valve core of the double regulating valve comprises the displacement of the hydraulic cylinder valve core of the first regulating valve and the displacement of the hydraulic cylinder valve core of the second regulating valve;
the lower layer controller is specifically configured to:
constructing a double-valve control efficiency matrix;
constructing a first optimization function which meets the requirement of the virtual deflation total flow and has the minimum energy consumption of the double regulating valves according to the double valve control efficiency matrix;
converting the first optimization function into a second optimization function with a linear matrix inequality constraint and a minimum generalized eigenvalue;
under the constraint condition of an actuating mechanism, calculating the opening area of the double regulating valve according to the second optimization function;
the opening area of the double regulating valve is the opening area of the kth control period, and k is a positive integer.
6. The dual-valve regulation-based accurate air cavity pressure control system as claimed in claim 5, wherein said upper level controller is specifically configured to:
acquiring a first actual pressure and a first preset pressure of the air cavity;
obtaining a second actual pressure according to the first actual pressure and the sensor gain;
obtaining a second preset pressure according to the first preset pressure and the sensor gain;
and obtaining the characterization pressure error signal according to the second actual pressure and the second preset pressure.
7. The dual valve regulation-based accurate air plenum pressure control system of claim 6, wherein the PI controller is designed by:
obtaining a non-linear model of the air cavity;
linearizing the nonlinear model of the air cavity to obtain a linearized model of the air cavity;
when the virtual total deflation flow of the air cavity is equal to the actual total deflation flow of the double regulating valve, the design of the PI controller is realized based on the linearized model of the air cavity;
the characteristic pressure error signal is used as the input of the PI controller, and the actual total deflation flow of the double regulating valves is obtained by adopting the PI control algorithm; and the actual total bleed air flow of the double regulating valve is used as the input of the linearization model of the air cavity, and the first actual pressure of the air cavity is obtained through output.
8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 4 when executing the computer program.
9. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 4.
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| CN110056551A (en) * | 2019-04-03 | 2019-07-26 | 燕山大学 | Using special-shaped pressure stabilizing cavity body hydraulic valve bank |
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