CN117927458A - Quick response sliding mode control method for air compressor system - Google Patents
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Abstract
The invention discloses a quick response sliding mode control method for an air compressor system, which relates to the field of air compressor control, and comprises the steps of designing a variable approach law sliding mode controller comprising a distant area, a buffer area and a switching band, designing different variable approach laws in different areas, ensuring the response speed of the system, inhibiting system buffeting caused by the high-speed convergence of the previous stage, finally, smoothly converging the system, obtaining control voltage and control current for controlling a frequency converter by utilizing the variable approach laws, and controlling the operation of the air compressor according to the control voltage and the control current; the comparator and the electromagnetic valve are designed to save power consumption, and the defects of low robustness of PID control on parameters and unstable control precision are overcome.
Description
Technical Field
The invention relates to the field of air compressor control, in particular to a quick response sliding mode control method for an air compressor system.
Background
The air compressor is a typical closed-loop feedback system, and the system structural parameters are also very susceptible to temperature rise. Most of traditional air compressors adopt PID control strategies, but the robustness of the traditional air compressors to parameters is not high, the control precision of the traditional air compressors is unstable, and the power consumption of the air compressors is high. The sliding mode control has the characteristic of insensitivity to system structural parameters, and can make up the defect of PID control, but the response speed of the sliding mode control and the generated high-frequency buffeting are difficult to be compatible. How to inhibit the high-frequency buffeting of the system and improve the response speed of the system needs to be further studied on the premise that the sliding mode control is adopted to control the air compressor so as to enhance the robustness of the system and reduce the power consumption of the air compressor.
Disclosure of Invention
In order to solve the problems, the invention provides a quick response sliding mode control method for an air compressor system, which controls the operation of a frequency converter by measuring the exhaust pressure value of the exhaust end of a compressor and feeding back the exhaust pressure value to a sliding mode controller, and solves the defects of low robustness and unstable control precision of PID control on parameters.
A quick response sliding mode control method for an air compressor system comprises the following steps:
Step S1, detecting actual air pressure output by an air compressor by using a pressure detection module According to a given air pressure/>And actual air pressure/>Deriving the actual error/>。
Step S2, inputting a given errorWhen the comparator detects an actual error/>With a given error/>When the two types of the electromagnetic valves are equal, the electromagnetic valves are controlled to be conducted, and the frequency converter works normally; when the comparator detects that the actual error is zero, the electromagnetic valve is controlled to be closed, so that the power consumption is saved.
Step S3, according to the actual errorConstruction of a slip form surface/>And designing a variable approach law sliding mode controller comprising a distance zone, a buffer zone and a switching zone, and changing the approach law into/>。
S4, designing an exponential variation approach law multiplied with distance when the system state is in a far-away zone so as to ensure the response speed of the system; when the system state is in the buffer zone, a variable speed change approach law is designed to ensure that system buffeting caused by high-speed convergence in the previous stage can be effectively restrained; when the system state is in the switching band, a power-of-power approach law is designed to ensure that the system can be converged smoothly.
Step S5, utilizing Lyapunov stability theorem to approach the law of convergenceStability analysis was performed.
And S6, if the system is in a stable state, obtaining control voltage and control current for controlling the frequency converter by using a variation law, and controlling the operation of the air compressor according to the control voltage and the control current.
Further, in the step S3, a sliding surfaceThe specific form is as follows:
，
wherein, Is a slip form surface,/>Is a constant greater than zero,/>Is the actual error,/>Is the derivative of the actual error.
Further, in the step S4, the exponential variation approach law is:
，
wherein, To become approximate law,/>Is a slip form surface,/>As a sign function,/>，/>，/>。
Further, in the step S4, the shift change approximation law is:
，
wherein, To become approximate law,/>，/>Is a slip form surface,/>，/>As a sign function,/>，。
Further, in the step S4, the power variation approach law is:
，
wherein, To become approximate law,/>，/>Is a slip form surface,/>，/>As a sign function,/>。
Further, in the step S5, the stability analysis function is a Lyapunov function, and the formula is as follows:
，
wherein, ，/>Is a sliding die surface;
The following is obtained:
，
wherein, ，/>Is a slip form surface,/>To become approximate law,/>，/>，/>，/>，/>，，/>，/>；
So the whole system is gradually stable.
Further, in step S2, the comparator is triggered and turned on by the exclusive-nor logic transport, and is locked by the register, and is triggered and turned off by the exclusive-nor logic operation, and is locked by the register, so that the comparator function is realized once.
The invention has the beneficial effects that:
1. The system buffeting caused by the high-speed convergence of the previous stage is restrained while the response speed of the system is ensured, and finally the system can be converged smoothly;
2. The robustness to the parameters is high, and the control precision is stable;
3. the exhaust pressure of the compressor is kept constant, and the pressure in the compressor is prevented from being too high, so that energy sources are saved.
Drawings
Fig. 1 is a system block diagram of a fast response sliding mode control method for an air compressor system according to the present invention;
FIG. 2 is a schematic diagram of a phase trajectory of a convergence law according to the present invention;
fig. 3 is a schematic diagram illustrating pressurization comparison of the air compressor provided by the invention.
Detailed Description
The following is only a preferred embodiment of the present invention. The present invention will be described in further detail with reference to the drawings and detailed description below to facilitate understanding of the present invention by those skilled in the art, and it should be noted that all the inventions which make use of the inventive concept are protected by the present invention insofar as the various changes are within the spirit and scope of the present invention as defined and defined by the appended claims without departing from the principle of the present invention.
Fig. 1 is a system block diagram of a fast response sliding mode control method for an air compressor system according to the present invention, as shown in fig. 1, and the fast response sliding mode control method for an air compressor system includes the following steps:
Step S1, detecting actual air pressure output by an air compressor by using a pressure detection module According to a given air pressure/>And actual air pressure/>Deriving the actual error/>。
Step S2, inputting a given errorWhen the comparator detects an actual error/>With a given error/>When the two types of the electromagnetic valves are equal, the electromagnetic valves are controlled to be conducted, and the frequency converter works normally; when the comparator detects that the actual error is zero, the electromagnetic valve is controlled to be closed, so that the power consumption is saved.
Wherein the comparator control logic is: when the actual error is equal to the given error, the electromagnetic valve is conducted; when the actual error is zero, the electromagnetic valve is closed, so that the power consumption is saved; the comparator is triggered and conducted by using the AND logic transportation, is locked by using the register, is triggered and closed by using AND logic operation, and is locked by using the register, so that the function of the comparator is realized once.
Step S3, according to the actual errorConstruction of a slip form surface/>And designing a variable approach law sliding mode controller comprising a distance zone, a buffer zone and a switching zone, and changing the approach law into/>Fig. 2 is a schematic diagram of a phase trajectory of a convergence law according to the present invention, and as shown in fig. 2, the phase trajectory gradually enters a buffer zone and a switching zone from a far zone, and finally enters convergence.
Wherein, the slip form surfaceThe specific form is as follows:
，
wherein, Is a slip form surface,/>Is a constant greater than zero,/>Is the actual error,/>Is the derivative of the actual error.
S4, designing an exponential variation approach law multiplied with distance when the system state is in a far-away zone so as to ensure the response speed of the system; when the system state is in the buffer zone, a variable speed change approach law is designed to ensure that system buffeting caused by high-speed convergence in the previous stage can be effectively restrained; when the system state is in a switching band, designing a power-order approach law to ensure that the system can be converged smoothly;
Wherein, the exponential variation approach law is:
，
wherein, To become approximate law,/>Is a slip form surface,/>As a sign function,/>，/>，/>。
Wherein, the speed change approach law is:
，
wherein, To become approximate law,/>，/>Is a slip form surface,/>，/>As a sign function,/>，。
Wherein, the power becomes the law of approach:
，
wherein, To become approximate law,/>，/>Is a slip form surface,/>，/>As a sign function,/>。
Step S5, utilizing Lyapunov stability theorem to approach the law of convergencePerforming stability analysis;
the stability analysis function is a Lyapunov function, and the formula is as follows: ，
wherein, ，/>Is a sliding die surface;
The following is obtained:
，
wherein, ，/>Is a slip form surface,/>To become approximate law,/>，/>，/>，/>，/>，，/>，/>；
So the whole system is gradually stable.
And S6, if the system is in a stable state, obtaining control voltage and control current for controlling the frequency converter by using a variation law, and controlling the operation of the air compressor according to the control voltage and the control current.
Fig. 3 is a schematic diagram of pressurization comparison of the frequency converter provided by the invention, and compared with a PID algorithm, as shown in fig. 3, a pressurization value obtained by a sliding mode control algorithm is closer to an expected pressurization value, so that the defects of low robustness of the PID control on parameters and unstable control precision are overcome, the exhaust pressure of the compressor can be kept constant, and the pressure in the compressor is prevented from being too high, thereby saving energy sources.
Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.
Claims (7)
1. The quick response sliding mode control method for the air compressor system is characterized by comprising the following steps of:
Step S1, detecting actual air pressure output by an air compressor by using a pressure detection module According to a given air pressure/>And actual air pressure/>Deriving the actual error/>；
Step S2, inputting a given errorWhen the comparator detects an actual error/>With a given error/>When the two types of the electromagnetic valves are equal, the electromagnetic valves are controlled to be conducted, and the frequency converter works normally; when the actual error is detected to be zero by the comparator, the electromagnetic valve is controlled to be closed, so that the power consumption is saved;
Step S3, according to the actual error Construction of a slip form surface/>And designing a variable approach law sliding mode controller comprising a distance zone, a buffer zone and a switching zone, and changing the approach law into/>；
S4, designing an exponential variation approach law multiplied with distance when the system state is in a far-away zone so as to ensure the response speed of the system; when the system state is in the buffer zone, a variable speed change approach law is designed to ensure that system buffeting caused by high-speed convergence in the previous stage can be effectively restrained; when the system state is in a switching band, designing a power-order approach law to ensure that the system can be converged smoothly;
Step S5, utilizing Lyapunov stability theorem to approach the law of convergence Performing stability analysis;
And S6, if the system is in a stable state, obtaining control voltage and control current for controlling the frequency converter by using a variation law, and controlling the operation of the air compressor according to the control voltage and the control current.
2. The method according to claim 1, wherein in the step S3, the sliding-mode surface is formed as follows:
，
wherein, Is a slip form surface,/>Is a constant greater than zero,/>Is the actual error,/>Is the derivative of the actual error.
3. The method according to claim 1, wherein in the step S4, the exponential approach law is:
，
wherein, To become approximate law,/>Is a slip form surface,/>As a sign function,/>，/>，/>。
4. The method according to claim 1, wherein in the step S4, the speed change approach law is:
，
wherein, To become approximate law,/>，/>Is a slip form surface,/>，/>As a sign function,/>，/>。
5. The method according to claim 1, wherein in the step S4, the power variation approach law is:
，
wherein, To become approximate law,/>，/>Is a slip form surface,/>，/>As a sign function,/>。
6. The method according to claim 1, wherein in step S5, the stability analysis function is a Lyapunov function, and the formula is as follows:
，
wherein, ，/>Is a sliding die surface;
The following is obtained:
，
wherein, ，/>Is a slip form surface,/>To become approximate law,/>，/>，/>，/>，/>，/>，，/>；
So the whole system is gradually stable.
7. The method according to claim 1, wherein in the step S2, the comparator is triggered to be turned on by an exclusive or logic transportation, and is locked by a register, and is triggered to be turned off by an exclusive or logic operation, and is locked by a register, so as to realize the function of the comparator.
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