电控多路阀系统特性及主阀芯位移控制方法研究

doi:10.3901/JME.260332

机械工程学报 ›› 2026, Vol. 62 ›› Issue (12): 380-388.doi: 10.3901/JME.260332

• 交叉与前沿 • 上一篇

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电控多路阀系统特性及主阀芯位移控制方法研究

吉鑫浩¹, 谢海波^1,3, 王承震^2,3

1. 浙江大学流体动力基础件与机电系统全国重点实验室杭州 310058;
2. 中铁工程装备集团有限公司郑州 450016;
3. 浙江大学高端装备研究院杭州 311199

收稿日期:2025-07-02 修回日期:2025-12-20 发布日期:2026-08-03
作者简介:吉鑫浩，男，1995年出生，博士研究生。主要研究方向为电液系统高能效、高性能控制。E-mail:jixinhao@zju.edu.cn
谢海波(通信作者)，男，1975年出生，博士，教授，博士研究生导师。主要研究方向为电液高端装备系统、元件及控制。E-mail:hbxie@zju.edu.cn
基金资助:
国家重点研发计划(2023YFB3406602)和浙江省“领雁”研发攻关计划(2023C01SA1I0898)资助项目。

Research on Characteristics and Main Stage Spool Displacement Control Method of Multi-way Valves Controlled by Proportional Solenoid Valves

JI Xinhao¹, XIE Haibo^1,3, WANG Chengzhen^2,3

1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058;
2. State China Railway Engineering Equipment Group Co., Ltd., Zhengzhou 450016;
3. Institute of Advanced Machine Zhejiang University, Hangzhou 311199

Received:2025-07-02 Revised:2025-12-20 Published:2026-08-03

摘要/Abstract

摘要： 因无法实时测量主阀芯两端的压力状态，导致现代控制技术难以应用于电控多路阀的主阀芯位移控制。为此，首先分析系统特性得知主阀芯两端控制腔压力动态的响应速度远大于主阀芯的机械动态，基于该特性建立系统的降阶模型，避免了状态变量无法测量问题。然后，针对降阶模型中存在的不确定参数以及不确定扰动问题，设计自适应鲁棒控制算法，通过自适应控制算法实时估计并补偿模型中不确定项的低频分量，通过鲁棒反馈算法有效抑制模型中不确定项的高频分量，通过李雅普诺夫理论证明所设计控制算法的稳定性，并对系统最大跟踪误差的收敛性进行定量分析。最后，搭建试验平台，对控制算法的可行性及有效性进行试验验证。试验结果表明，所设计算法的控制性能明显优于目前常用的比例-积分-微分(Proportional-integral-derivative, PID)控制器，在中、小幅值阶跃响应测试中，响应时间减少20%以上，稳态误差减少48%以上，在三角波的跟踪测试中，最大跟踪误差减小53%，位移滞环小于1%。

关键词: 多路阀, 降阶模型, 自适应控制, 鲁棒控制

Abstract: In the multi-way valves controlled by proportional solenoid valves, the pressure at both ends of the main stage spool cannot be measured in real time, which makes it difficult for modern control technology to be applied to the displacement control of the main stage spool. Therefore, the characteristics of the control system were analyzed first. Based on the fact that the hydraulic dynamics of the control system is much faster than the mechanical dynamics, a reduced-order model is established to avoid the immeasurable problem of state variables. Then, an adaptive robust controller is designed to deal with the uncertain parameters and disturbances in the reduced-order model. The role of the adaptive control algorithm is to estimate and compensate for the low-frequency component of uncertainty. The role of the robust feedback algorithm is to effectively suppress the high-frequency component of uncertainty. The stability of the designed control algorithm is proved by the Lyapunov theory, and the convergence of the maximum tracking error is quantitatively analyzed. Finally, a test platform is established to verify the feasibility and effectiveness of the proposed control algorithm. The experimental results show that the control performance of the developed algorithm is significantly better than that of the commonly used Proportional-integral-derivative(PID) controller. In the medium and small amplitude step response tests, the response time is reduced by more than 20% and the steady-state error is reduced by more than 48%. In the triangular wave test, the maximum tracking error is reduced by 53%, and the displacement hysteresis is less than 1%.

Key words: multi-way valves, reduced-order model, adaptive control, robust control

中图分类号:

TH137

吉鑫浩, 谢海波, 王承震. 电控多路阀系统特性及主阀芯位移控制方法研究[J]. 机械工程学报, 2026, 62(12): 380-388.

JI Xinhao, XIE Haibo, WANG Chengzhen. Research on Characteristics and Main Stage Spool Displacement Control Method of Multi-way Valves Controlled by Proportional Solenoid Valves[J]. Journal of Mechanical Engineering, 2026, 62(12): 380-388.

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电控多路阀系统特性及主阀芯位移控制方法研究

Research on Characteristics and Main Stage Spool Displacement Control Method of Multi-way Valves Controlled by Proportional Solenoid Valves

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