基于改进PNM控制的并联数字阀及其系统主动容错控制研究

doi:10.3901/JME.2025.16.321

机械工程学报 ›› 2025, Vol. 61 ›› Issue (16): 321-337.doi: 10.3901/JME.2025.16.321

• 交叉与前沿 • 上一篇

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基于改进PNM控制的并联数字阀及其系统主动容错控制研究

王佩^1,2,3, 高紫乐 LINJAMA Matti¹, 王定煜⁴, 姚静¹

1. 燕山大学机械工程学院秦皇岛 066004；
2. 起重机械关键技术全国重点实验室秦皇岛 066004；
3. 河北省轻质结构装备设计与制备工艺技术创新中心秦皇岛 066004；
4. 坦佩雷大学工程与自然科学学院坦佩雷 33720 芬兰

接受日期:2024-09-05 出版日期:2025-03-20 发布日期:2025-03-20
作者简介:王佩，女，1991年出生，博士，讲师。主要研究方向为数字液压。E-mail：wpei@ysu.edu.cn;姚静(通信作者)，女，1978年出生，博士，教授，博士研究生导师。主要研究方向为重型装备、油箱轻量化设计。E-mail：jyao@ysu.edu.cn
基金资助:
国家自然科学基金(51975507，52405075)、河北省自然科学基金青年科学基金(E2024203157)和河北省教育厅科学研究(QN2024237)资助项目

Active Fault-tolerant Control of Parallel Digital Valves and Its System Based on Improved PNM Control

WANG Pei^1,2,3, GAO Zile¹, LINJAMA Matti⁴, WANG Dingyu¹, YAO Jing^1,2

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. National Key Laboratory of Hoisting Machinery Key Technology, Qinhuangdao 066004;
3. Hebei Innovation Center for Equipment Lightweight Design and Manufacturing, Qinhuangdao 066004;
4. Faculty of Engineering and Natural Sciences, Tampere University, Tampere, 33720 Finland

Accepted:2024-09-05 Online:2025-03-20 Published:2025-03-20

摘要/Abstract

摘要： 并联数字阀由多个结构简单、耐污能力强且可靠性高的开关阀组成，具备独特硬件冗余优势，一定程度保证了系统安全可靠性。然而，长期高频切换不可避免会导致其组成阀发生卡滞和泄漏等故障，使得原有开关组合控制失效，无法匹配目标需求，导致性能降级。因此，提出改进的脉冲数调制(Pulsenumber modulation, PNM)控制及故障自适应循环切换控制在减少切换次数下保证控制精度与各阀切换均匀性。在此基础上，提出基于信号自适应重构的主动容错控制方法改善故障性能。首先，介绍并联数字阀工作原理，基于高速开关阀的典型故障建立各故障下并联数字阀流量模型，利用并联数字阀独特的冗余特性，设计自适应信号在线重构以实现剩余功能重组与典型Ⅰ、Ⅱ类故障的容错机制，建立故障发生在泵侧和油箱侧的容错流量方程，设计不同工况下容错切换监督控制，分析不同工况下两类典型故障信号并联数字阀自适应重构机制与阀组协同控制下交叉错流的容错补偿效果，形成自适应主动容错补偿控制方法，优化故障下系统性能并保证可靠运行。基于等编码并联数字阀控缸试验台进行容错试验，结果表明，Ⅰ类故障最大误差可减少约27%；Ⅱ类故障最大误差可减少约12%，平均误差减少约12.5%。

关键词: 数字液压, 并联数字阀, 脉冲数调制, 信号自适应重构, 主动容错

Abstract: Parallel digital valves, which are composed of multiple on/off valves with simple structure, low sensitivity to fluid pollution and robustness against disturbances, and unique hardware redundancy, ensure the safety and reliability of the system to a certain extent. However, some of its valves will inevitably lead to failures such as stuck and leakage under long-term high-frequency switching, making its remaining functions not match the target requirements, and resulting in performance deterioration. Therefore, the improved PNM control and adaptive circulating switching control for faults are proposed to improve the control accuracy and ensure the switching uniformity of each valve under fewer switching numbers. On this basis, the active fault-tolerant control method based on signal adaptive reconstruction is proposed to improve the fault performance. The working principle of the parallel digital valves and the typical faults of the high-speed on-off valve is introduced. The flow model of the parallel digital valves under each fault is established. Using the unique redundancy characteristics of the parallel digital valves, the adaptive reconstruction of the control signal online and the fault-tolerant mechanism for type I and type II are designed to realize the residual function recombination. The fault-tolerant flow equations of faults on the pump side and the tank side are established. The segmented fault-tolerant switching supervisory control under different operating conditions is designed. The fault-tolerant compensation effects of the adaptive reconstruction mechanism of parallel digital valves and the cross-flow of parallel digital valves manifold with cooperative control on two typical fault signals under different working conditions are analyzed. The adaptive compensation of the active fault-tolerant control method is proposed to optimize system performance under fault and ensure reliable operation. The test bench of equal-coded parallel digital valves-controlled cylinder system was built to carry out fault-tolerant test. The results show that the maximum error of type I fault can be reduced by about 27%. The maximum error of type II fault can be reduced by about 12%, and the average error can be reduced by about 12.5%.

Key words: digital hydraulic, parallel digital valves, PNM, signal adaptive reconstruction, active fault tolerance

中图分类号:

TG137

王佩, 高紫乐 LINJAMA Matti, 王定煜, 姚静. 基于改进PNM控制的并联数字阀及其系统主动容错控制研究[J]. 机械工程学报, 2025, 61(16): 321-337.

WANG Pei, GAO Zile, LINJAMA Matti, WANG Dingyu, YAO Jing. Active Fault-tolerant Control of Parallel Digital Valves and Its System Based on Improved PNM Control[J]. Journal of Mechanical Engineering, 2025, 61(16): 321-337.

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基于改进PNM控制的并联数字阀及其系统主动容错控制研究

Active Fault-tolerant Control of Parallel Digital Valves and Its System Based on Improved PNM Control

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