摘要
针对直升机在减速制动过程中存在的精度和可靠性低的问题,采用非线性控制率对直升机刹车压力进行闭环控制。基于三通电磁比例减压阀压力闭环控制系统,在Simulink中建立其非线性动力学模型。为克服系统非线性特性,设计3种鲁棒控制器——滑模控制器(SMC)、高增益控制器(HGC)和高频控制器(HFC),通过联合仿真,对比分析各控制器在斜坡、阶跃及矩形波输入信号下的动态响应性能,最终选取综合性能最优的高频控制器(HFC)进行闭环控制验证。结果表明:采用ε=0.1的高频控制器后,电磁比例减压阀死区范围从0~370 mA缩小至0~170 mA,减小了54.1%;阶跃响应最大峰值压力减小1.06 MPa,最大超调量降低21.2%,输出压力稳态值为5.04 MPa,静态误差为0.8%;矩形波响应最大峰值压力减小1.21 MPa,最大超调量降低了24.1%;电磁比例减压阀的上升时间、延迟时间与稳定时间均大幅缩短。HFC控制器可有效解决电磁比例减压阀中存在的非线性因素对制动性能的影响,提高了系统鲁棒性以及动态特性。研究结果为直升机机轮刹车系统平稳制动提供了一种新方法。
To address the issue of low precision and reliability in helicopter deceleration braking,a nonlinear control law was employed for the closed-loop control of the helicopter′s braking pressure.A pressure closed-loop control system based on a three-way electromagnetic proportional pressure reducing valve was utilized,and its nonlinear dynamic model was established in Simulink.To overcome the system′s nonlinear characteristics,three robust controllers,a sliding mode controller(SMC),a high gain controller(HGC),and a high frequency controller(HFC),were designed.Through co-simulation,the dynamic response performance of each controller under ramp,step,and rectangular wave input signals was compared and analyzed.Ultimately,the high frequency controller(HFC),which demonstrated the best comprehensive performance,was selected for closed-loop control validation.The results indicate that after the implementation of the HFC with ε=0.1,the dead zone range of the electromagnetic proportional pressure reducing valve is reduced from 0~370 mA to 0~170 mA,decreasing by 54.1%.In the step response,the maximum peak pressure is reduced by 1.06 MPa,and the maximum overshoot is decreased by 21.2%,while the steady-state output pressure reaches 5.04 MPa,with a static error of 0.8%.In the rectangular wave response,the maximum peak pressure is reduced by 1.21 MPa,and the maximum overshoot is lowered by 24.1%.Furthermore,the rise time,delay time,and settling time of the electromagnetic proportional pressure reducing valve are all significantly shortened.The HFC controller is shown to effectively mitigate the impact of nonlinear factors present in the electromagnetic proportional pressure reducing valve system on braking performance,thereby enhancing both the system′s robustness and dynamic characteristics.This study provides a new method for achieving smooth braking in helicopter wheel brake systems.
作者
王国志
朱相林
刘书玮
杨永泰
王传辉
齐天星
WANG Guozhi;ZHU Xianglin;LIU Shuwei;YANG Yongtai;WANG Chuanhui;QI Tianxing(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu Sichuan 610031,China)
出处
《机床与液压》
北大核心
2026年第5期111-118,共8页
Machine Tool & Hydraulics
关键词
电磁比例减压阀
机轮刹车系统
闭环控制
非线性系统
高频控制器
electromagnetic proportional pressure reducing valve
locomotive wheel brake system
closed-loop control
nonlinear system
high frequency controller
