电液伺服阀阀芯粘性阻尼系数辨识方法研究
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摘要
电液伺服阀为电液伺服系统的核心元件,其模型的准确性关系到整个伺服系统模型的准确性,而阀芯粘性阻尼系数是电液伺服阀模型中的重要参数。因此,本文建立了一种基于动态测试方法的粘性阻尼系数测试系统。文章将该测试系统看作一个二阶模型系统,通过系统辨识的方法,可求解得到阀芯的粘性阻尼系数。试验结果证明了该测试及辨识方法的有效性和准确性,为电液伺服阀精确建模打下了坚实的基础,具有一定的工程应用价值。
Electro-hydraulic servo valve is a key component of electro-hydraulic servo systems. The accuracy of its model is closely related to the accuracy of the whole servo systems' model. Spool viscous damping coefficient is an important parameter for the model of electro hydraulic servo valve. Therefore,a viscous damping coefficient test system is established,which is based on a dynamic test method presented in this paper.The transfer function of the test system is regarded as a second-order model. By using system identification method,the viscous damping coefficient is able to be obtained. The validity and accuracy of the test and identification method are proven by the experiment results that can serve as foundation for accuracy modeling of electro hydraulic servo valve and has certain practical significance.
Electro-hydraulic servo valve is a key component of electro-hydraulic servo systems. The accuracy of its model is closely related to the accuracy of the whole servo systems' model. Spool viscous damping coefficient is an important parameter for the model of electro hydraulic servo valve. Therefore,a viscous damping coefficient test system is established,which is based on a dynamic test method presented in this paper.The transfer function of the test system is regarded as a second-order model. By using system identification method,the viscous damping coefficient is able to be obtained. The validity and accuracy of the test and identification method are proven by the experiment results that can serve as foundation for accuracy modeling of electro hydraulic servo valve and has certain practical significance.
引文
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[16]于刚.伺服阀控液压马达系统的辨识与控制研究[D].山东大学,2007.(Yu Gang.Study on Identification and Control of Servovalve-Controlled Motor Control System[D].Shandong University,2007.)
[17]Nied Zwiecki',Maciej,Gackowski S.On Noncausal Weighted Least Squares Identification of Nonstationary Stochastic Systems[J].Automatica,2011,47(10):2239-2244.
[18]田勇.电液比例阀控马达液压系统辨识与恒功率控制策略研究[D].长安大学,2014.(Tian Yong.The Identification of Electro-hydraulic Proportional Valvecontrolled Motor System and The Study of Constant Power Control Strategy[D].Chang’an University,2014.)
[19]弓萌野,刘向东,赖汝.一种基于Lab VIEW的新型阻尼测试系统设计[J].控制工程,2012,19(6):1206-1209.(Gong Mengye,Liu Xiangdong,Lai Ru.A Novel Damping Test System Based On Lab VIEW[J].Control Engineering.2012,19(6):1206-1209.)
[2]高炳微,邵俊鹏,韩桂华.电液伺服系统位置和力模糊切换控制方法[J].电机与控制学报,2014,18(5):99-104.(Gao Bingwei,Shao Junpeng,Han Guihua.Fuzzy Switching Control Between Position and Force for Electro-Hydraulic Servo System[J].Electric Machines and Control,2014,18(5):99-104.)
[3]Sangiah D K,Plummer A R,Bowen C R,et al.A Novel Piezo Hydraulic Aerospace Servovalve.Part 1:Design and Modelling[J].Proceedings of The Institution of Mechanical Engineers Part I Journal of Systems&Control Engineering,2013,227(4):371-389.
[4]康双琦,江林秋.电液伺服阀的发展历史及研究现状分析[J].资治文摘:管理版,2009(5):194-194.(Kang Shuangqi,Jiang Linqiu.The Development History and Research Status Analyze of Electro-Hydraulic Servo Valve[J].Views of Zizhi,2009(5):194-194.)
[5]Sangiah D K,Plummer A R,Bowen C R,et al.Modelling and Experimental Validation of a Novel Piezo hydraulic Servo-valve[C].ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control.2011:343-350.
[6]陈彬,易孟林.电液伺服阀的研究现状和发展趋势[J].液压与气动,2005,(6):5-8.(Chen Bin,Yi Menglin.The Present Research and Prospects of Electro-Hydraulic Servo Valve[J].Chinese Hydraulics&Pneumatics,2005,(6):5-8.)
[7]邹方晨,郭栋.电液伺服阀静动态性能测试台的设计[J].辽宁工业大学学报(自然科学版),2016,36(3):156-159.(Zou Fangchen,Guo Dong.Design of Static and Dynamic Performance Test Device for ElectroHydraulic Servo Valve[J].Journal of Liaoning University of Technology(Natural Science Edition),2016,36(3):156-159.)
[8]Shin W,Choi H,Shin H,et al.Development of a Direct Drive Servo Valve With Flow Force Compensated Spool[C].Asme/jsme 2003,Joint Fluids Summer Engineering Conference.2003:633-637.
[9]水清皎.SM4-20双喷嘴挡板式电液伺服阀特性研究[D].兰州理工大学,2013.(Shui Qingjiao.The Research of Characteristic O-n SM4-20 Twin Falapper-nozzle Servo Valve[D].Lanzhou University of Technology,2013:62-90.)
[10]Pan X.Measurement of Spool Valve Overlap Value of Servo Valve[J].Journal of Vibration Measurement&Diagnosis,2009.
[11]Kadri M B.Comparison of Least Square Identification Schemes for a Model-Free Fuzzy Adaptive Controller[J].Arabian Journal for Science&Engineering,2014,39(4):3067-3076.
[12]宋涛,于存贵.基于MATLAB/Simulink液压伺服系统辨识仿真[J].液压与气动,2015,(10):120-123.(Song Tao,Yu Cungui.Hydraulic Servo System Identification Simulation Based on MATLAB/Simulink[J].Chinese Hydraulics&Pneumatics,2015,(10):120-123.
[13]Wang D,Ding F.Input-output Data Filtering Based Recursive Least Squares Identification for CARARMA Systems[M].Digital Signal Processing,2010,20(4):991-999.
[14]蒙杨超,董自安,王珂.电液比例泵控马达系统辨识及实验分析研究[J].液压气动与密封,2015,(3):35-40.(Meng Yangchao,Dong Zian,Wang Ke.Identification and Experimental Analysis of Electro-hydraulic Proportial Pump Control Motor System[J].Hydraulics Pneumatics&Seals,2015,(3):35-40.)
[15]姚巍.自行车机器人系统辨识及MATLAB仿真[D].北京邮电大学,2008.(Yu Wei.System Identification and Simulation of Bicycle Robot[D].Beijing University of Post and Telecommunication,2008.)
[16]于刚.伺服阀控液压马达系统的辨识与控制研究[D].山东大学,2007.(Yu Gang.Study on Identification and Control of Servovalve-Controlled Motor Control System[D].Shandong University,2007.)
[17]Nied Zwiecki',Maciej,Gackowski S.On Noncausal Weighted Least Squares Identification of Nonstationary Stochastic Systems[J].Automatica,2011,47(10):2239-2244.
[18]田勇.电液比例阀控马达液压系统辨识与恒功率控制策略研究[D].长安大学,2014.(Tian Yong.The Identification of Electro-hydraulic Proportional Valvecontrolled Motor System and The Study of Constant Power Control Strategy[D].Chang’an University,2014.)
[19]弓萌野,刘向东,赖汝.一种基于Lab VIEW的新型阻尼测试系统设计[J].控制工程,2012,19(6):1206-1209.(Gong Mengye,Liu Xiangdong,Lai Ru.A Novel Damping Test System Based On Lab VIEW[J].Control Engineering.2012,19(6):1206-1209.)