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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
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No.9 Gaoguannong,Daxue Road,Hangzhou,China
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310009
E-mail:
meem_contribute@163.com
Abstract: Aiming at the problem that the direct-acting proportional directional valve was subject to nonlinear friction interference in the actual operating conditions, a joint control algorithm based on the combination of reverse step design method and genetic algorithm was proposed from the perspective of model-based friction compensation. Firstly, the kinematics equation of the direct-acting proportional directional valve was derived by force analysis method, and the characteristics of friction interference in the system were described by using the Stribeck friction model. Then, the adaptive controller was designed by using the backstepping method and Lyapunov stability theory. The problem of parameter coupling in the parameter adaptive law was solved by combining genetic algorithm, and the online identification accuracy of the nominal friction model parameters was tested by MATLAB software. Finally, an experimental test platform of proportional valve characteristics was built, and the tracking response test of the spool position of direct-acting proportional directional valve was carried out. And the friction compensation and control effects of the joint control algorithm based on the combination of reverse step design method and genetic algorithm were verified with the simulation results. The research results show that under the control of the joint control algorithm based on the combination of reverse step design method and genetic algorithm, the response error of the spool position tracking can be automatically adjusted to less than 1%. The joint control algorithm based on the combination of reverse step design method and genetic algorithm can effectively eliminate the friction interference in the actual operating conditions of directacting proportional directional valve ,based on high accuracy online parameter identification and adaptive optimization of controller parameters, and realize state feedback adaptive control compared with the valve core.
Key words: direct-acting proportional directional valve; nonlinear friction interference; Stribeck friction model; reverse step design method; genetic algorithm; parameter identification; state feedback
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