Beruflich Dokumente
Kultur Dokumente
Abstract
Solenoid valve is a non-linear actuating device
used as on-off control in many hydraulic industrial applications.
This paper presents conversion of on-off solenoid valve into
proportional actuator using sliding mode controller (SMC). A
mathematical model of a solenoid valve is developed using
first principle approach. As the model is nonlinear, design
of proportional actuator becomes challenging. Initially force
control strategy is used to ensure the desired plunger position
using two PI controllers. Simulation results show deterioration
of the performance in presence of parametric variations and
disturbances even for the best tuned PI gains. Hence, a sliding
mode controller is investigated for accommodating robustness.
Gaos power rate and constant rate reaching law is used for
SM control design.
Keywords Solenoid Valve; Non Linear Magnetic Force;
Proportional Actuator; Sliding Mode Control.
I. I NTRODUCTION
A solenoid valve is a device used to control the flow
of liquid or gas in a system. It is usually powered by
electromagnetic energy in a coil. Hence, solenoids are widely
used as switching actuators. They are simple in construction,
rugged and relatively cheap to produce. For these reasons
they can be found in many industrial and domestic apparatus
in which limited stroke, on-off mechanical movements are
required. In the hydraulics industry, the term proportional
valve refers to a specific type of valve in which displacement
of plunger occurs in proportion to current flowing through
the solenoid coil. The function of proportional valves is to
provide a smooth and continuous variation in flow or pressure
in response to an electrical input.
Mathematical modeling and control of valves is reported
by very few researchers in literature. N.C.Cheung in [1] considered piecewise linear approximation to model nonlinear
magnetic characteristics of the solenoid valve. Viktor Szente
in [2] performed experimental and computational studies on
the dynamic behavior of a pneumatic solenoid valve and
pointed out that the plunger causes repetitive flexible collision
(bouncing) at its opened end-position. In this paper, a method
for reducing vibrating motion of the plunger by using advanced modeling environment simulations tool box has been
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1020
solenoid.
B. Paper Structure
This paper is organized as follows. In Section II mathematical modeling of solenoid valve is presented. Section III
describes conversion of on off solenoid valve into proportional actuator using two PI controllers. Section IV describes
implementation of proportional actuator using SMC and
comparative study of PI controller and SMC. Section V
concludes the paper.
v
M
K
i
Fmag
R0
x
id
: Flux (wb).
: Emf induced in coil (V).
: Coefficient of friction.
: Thickness of guide tube (m).
L
b
g
l
l0
L0
a
dx
gr
0
A
A ferromagnetic plunger is allowed to move linearly within
the guide tube whenever the current starts flowing through
the coil. As soon as the current i starts flowing through the
coil, depending on mmf N i and the reluctance of magnetic
path, magnetic flux is set up. Thus the strong magnetic field
is produced in upward direction which pulls the plunger in
upward direction. As the plunger moves in upward direction,
the cross section area A (through which flux linkage occurs
between plunger and cylindrical iron strips of valve) increases
which results in the decrease of reluctance hence, increase in
inductance of coil [6].
Following are the parameters and constants of limited travel
: Cross sectional area for iron core and air gap (m2 ).
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1021
d
,
dt
(1)
W 0 f ld (i, x)
.
(3)
x
The co-energy can be estimated from the integration of flux
linkage against current.
Fmag =
W 0 f ld (i, x) =
Zi
(i, x)di =
1
L(x)i2 .
2
(4)
Parameters
v
R
d
g
b
K
N
M
a
f
gr
Values
230 (V)
5540 ()
0.008 (m)
0.0012 (m)
4.25
90.5 (N/m)
3750 (Turns-Weber)
0.0035 (Kg)
0.006 (m)
50 (Hz)
9.8 (m/s2 )
Displacement (m)
Fmag =
i
aL
.
2 (a + x)2
(6)
0.2
0.3
Time (Sec.)
0.4
0.5
10
8
6
4
2
0
0
0.1
12
(8)
Inductance (H)
1
M
x3
aL
Kx1 M gr bx2 , (9)
2 (a + x1 )2
!
a + x1
aL0
x 3 =
v Rx3
(10)
2 x3 x2 .
x1 L0
(x1 + a)
x 2 =
(7)
x 1 = x2 ,
0
0
0
x 10
3
4
Displacement (m)
7
3
x 10
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1022
VALVE USING
PI
0.3
CONTROLLERS
Displacement (m)
10
x 10
8
6
4
0
2
0
0.2
0.4
0.6
Time (sec)
0.8
Nominal Parameters
Parameters (+25%)
Parameters (25%)
0.2
0.1
0
0.1
0
0.2
0.4
0.6
Time (sec)
0.8
IV. P ROPORTIONAL
VALVE USING
SMC
Nominal Parameters
Parameters (+25%)
Parameters (25%)
Velocity (m/s)
III. P ROPORTIONAL
(11)
(12)
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1023
z1
z2
=
11
A11
A21
A12
A22
z1
z2
0
b2
u (16)
from (2),
11
where, z1 <
and z2 < .
The switching function matrix partitioned compatibly in Z
co-ordinate as, s = c1 z1 + c2 z2 = 0 Ms z1 + z2 = 0,
11
where Ms = c1
. Using this, null space
2 c1 and Ms <
dynamics of (16) can be written as,
z1 = A11 z1 + A12 z2 = (A11 A12 Ms )z1
(17)
(18)
(19)
(20)
(25)
(21)
x 3 =
1
dL
v Rx3 x3 x2
.
L
dx
(26)
(27)
x 3 x d = k1 sgn(s)
(28)
C. Simulation Results
Desired current and magnetic force profile is shown in
Fig.7 and Fig.8. The performance of SMC is verified and
compared with PI controller in simulation. Design parameters
of SMC are cT = [5 1], k = 1.5, = 0.9 for position
controller and k1 = 9 for current controller. Following Figures
elaborate superior performance of SMC over PI controller.
Tracking of plunger displacement shows less peak overshoot
for SMC than PI controller is shown in Fig.9. Velocity of
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1024
Velocity (m/s)
0.1
PI controller
SMC
0.05
0.2
0.4
0.6
Time (sec)
0.8
0.8
0.06
0.04
PI controller
SMC
0.02
0
0
0.2
0.4
0.6
Time (sec)
0.8
Current (A)
0.08
0.05
0.05
0
0.2
0.4
0.6
Time (sec)
0.6
0.4
0.6
Control Input
0.2
0
0
0.2
0.4
0.6
Time (sec)
0.8
0.4
0.2
0
0
0.2
0.4
0.6
Time (sec)
0.8
Displacement (m)
x 10
8
6
D. External Disturbance
Desired x
PI controller
SMC
2
0
0
0.2
0.4
0.6
Time (sec)
0.8
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1025
600
0.02
500
Control Input
Sliding Surface
0.03
0.01
0
400
300
200
0.01
0
0.2
0.4
0.6
Time (sec)
0.8
100
0
0.2
0.4
0.6
Time (sec)
0.8
0.1
Sliding Surface
0.2
0.4
0.6
Time (sec)
0.8
Displacement(m)
Displacement (m)
x 10
8
6
2
0.2
0.4
0.6
Time (sec)
0.8
With Disturbance
Without Disturbance
0.02
Nominal Parameters
Parameters (+25%)
Parameters (25%)
0.015
0.01
0.005
0
0
0.2
0.4
0.6
Time (sec)
0.8
0
0
0.8
0.025
Displacement of Plunger
0.4
0.6
Time (sec)
Velocity (m/s)
0.2
x 10
Nominal Parameters
Parameters (+25%)
Parameters (25%)
With Disturbance
Without Disturbance
0
0
Displacement (m)
0
0
x 10
0.2
0.4
0.6
Time (sec)
0.8
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1026
Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 2013
1027