| 摘 要: 电液比例换向阀是液压伺服系统实现精确流量与方向调节的关键元件，其动态特性受阀芯摩擦与死区、供压波动、负载变化以及温度导致的参数漂移影响，导致建模误差与外扰难以避免，传统PID控制在多工况下性能易退化。为此，本文提出一种自适应Youla(Q)参数化控制方法。首先，设计一个中央控制器来稳定比例阀系统,然后利用递推最小二乘(RLS)自适应算法将中心控制器增广为Youla(Q)参数化的fir型自适应控制器，并在线调整Q参数至期望值，以提升系统对模型误差的鲁棒性，适应系统变化。同时，基于建模与辨识传递函数模型仿真模型，验证阀的Youla自适应算法。仿真结果验证了所提算法要优于传统的PID控制器，为液压系统降低成本和同类型换向阀性能优化提供了参考。 |
| 关键词: 电比例换向阀 RLS自适应控制 Youla参数化 |
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| 基金项目: 上海市自然科学基金项目 |
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| Design of Proportional Directional Valve Controller Based on Youla Parameterization |
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lijiachang
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上海理工大学
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| Abstract: Electro-hydraulic proportional directional valves are key components in hydraulic servo systems for precise flow and directional control. Their dynamic characteristics are influenced by spool friction and dead zone, supply pressure fluctuations, load variations, and parameter drift due to temperature changes, resulting in inevitable modeling errors and external disturbances. Consequently, conventional PID control often exhibits performance degradation under multi-condition operations. To address these limitations, this paper proposes an adaptive Youla (Q) parameterization control method. First, a central controller is designed to stabilize the proportional valve system. Then, a Recursive Least Squares (RLS) adaptive algorithm is used to augment the central controller into an FIR-type adaptive controller via Youla (Q) pa-rameterization. The Q parameters are adjusted online to their desired values, enhancing system robustness against ?model errors and enabling adaptation to system variations. Concurrently, a simulation model based on the identified transfer function model is established to validate the valve's Youla adaptive algorithm. Simulation results demonstrate that the proposed algorithm outperforms traditional PID controllers, providing a reference for reducing costs in hydraulic systems and optimizing performance for similar types of directional control valves. |
| Keywords: Electro-hydraulic proportional directional valve RLS adaptive control Youla parameterization |
