混凝土输送泵液压系统的数字电液比例控制
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摘要
混凝土输送泵是一种将混凝土沿管路输送到施工现场的工程机械,广泛应用于基础设施的建设中。目前国产的混凝土泵仍以液压开关控制为主,这种控制方式不仅液压结构复杂、控制不方便,而且施工人员的劳动强度很大,而电液比例控制则可以克服上述缺点。
本文将已经成熟的电液比例控制技术应用到闭式混凝土泵的控制中,实现了闭式混凝土泵的恒功率控制,并且有效地消除了压力冲击。在详细分析了所设计的混凝土输送泵液压系统的基础上,对液压系统进行了数学建模与计算机仿真,分析了系统的动、静态特性。通过对电控闭式混凝土泵的实测试验,证明了该设计是有效的、可靠的。
本论文所做的研究工作对于提高国产混凝土输送泵的技术水平具有一定的理论意义和工程应用价值。
The concrete delivery pump has been one of the most widely used constructionmachinery. In recent years our country economy rapid development, theinfrastructure step sped up, which enables the concrete delivery pump technology toobtain the considerable development in our country. It can once finish horizontal andvertical transportation in succession, with high efficiency, low workforce andexpense. Especially in the construction sites that other transporters are difficult toclose, concrete delivery pump can work effectively. Today the combination of themixed concrete production and pump sending changes the appearance ofconstruction site. The skill of pump pouring promises the high efficiency and goodquality of the construction, which is more and more favored in construction field.Recently with the rapid progress of economic, the technique of concrete deliverypump has been developed remarkably.
At present the domestically produced concrete delivery pump still by thehydro-valve control primarily, this control mode not only the hydraulic structurecomplex, the control was not convenient, moreover constructor's labor intensity wasvery big, but electro-hydraulic proportional control then might overcome the aboveshortcoming. This article already applies the electro-hydraulic proportional controltechnology to the closed type concrete delivery pump control, which has realized theclosed type concrete delivery pump constant power control, and effectivelyeliminated the pressure impact.
On the base of analyzing the concrete delivery pump hydraulic system, thehydraulic system mathematics modeling has been established:
1. Transfer function modeling
s)(2ms2Bs2k)4c(1vAscs)F(s)4c(1vA(s)cAknX(s)p2eto2tLeto2tpdppp++++Φ?+=ββMay infer two systems transfer function according to the above mathematicalmodel:(1) Input transfer function:p v2ph2h hG(s) = ΦX ((ss)) =s( ωs + k2ωξs + 1)(2) Disturbance transfer function:t2p 1N 2Lh2h hG (s) = XF ((ss)) = s( ?ωs Ac + (21ωξ +ωss +) 1)Through to the system transfer function analysis, qualitative had understoodsystem each parameter to the system performance influence, optimized the design toprovide the theory basis. Velocity magnification factor kv affects directly the systemstatic error. But in kv the only variable is np, therefore rotational speed np of the oilpump should be enhanced as far as possible under the permission condition toincrease the kv value. Hydraulic natural frequency ωh tokens the cylinder speed ofresponse. Through suitably selects Vo and βe to enhance ωh value, to improve thespeed of response. Liquid damping factor ξh tokens the overall performance of thepump-control-cylinder system. Through suitably selects Vo and βe to enhanceωhvalue, to guaranteeξh between 0.1~0.2.Through to the computer simulation of system transfer function may know: Theeach dynamic target of system can answer the purpose well under the unit step leapand the unit pulse input, which explained this system may realize the stepless speedchange function in the pumping process;The system can very quickly restorestabilization when the perturbation (outside load) changes , which explained theanti-perturbation ability of the system is very strong, and explained the system can
effectively eliminate the pressure impact.2. State equation modelingQVA)RP(QQCP 1c1azlpayprayay = ????(PAFFPA)IIV 1ayzfaffyaa = +???(VAQQVA)CP 1ayc1c2cyff = +??(PAF)IV 1fyfccc = ?Through to the computer simulation of system transfer function may know: Thesystem pressure impact does not occur in the time of oil pump fast commutation, butoccurs in the advancement time after the compaction concrete. Through the computersimulated the "SN" function, saw the "SN" function may effectively eliminate thepressure impact.Through the test of electrically controlled closed type concrete pump, theConsistent between tested pressure curve and smulation curve has proven themodelling accuracy. Might see the system has the constant power function.throughthe current-pressure curve.The research work of this paper enhances the technical level of the domesticallyproduced concrete delivery pump and has project application value.
本文将已经成熟的电液比例控制技术应用到闭式混凝土泵的控制中,实现了闭式混凝土泵的恒功率控制,并且有效地消除了压力冲击。在详细分析了所设计的混凝土输送泵液压系统的基础上,对液压系统进行了数学建模与计算机仿真,分析了系统的动、静态特性。通过对电控闭式混凝土泵的实测试验,证明了该设计是有效的、可靠的。
本论文所做的研究工作对于提高国产混凝土输送泵的技术水平具有一定的理论意义和工程应用价值。
The concrete delivery pump has been one of the most widely used constructionmachinery. In recent years our country economy rapid development, theinfrastructure step sped up, which enables the concrete delivery pump technology toobtain the considerable development in our country. It can once finish horizontal andvertical transportation in succession, with high efficiency, low workforce andexpense. Especially in the construction sites that other transporters are difficult toclose, concrete delivery pump can work effectively. Today the combination of themixed concrete production and pump sending changes the appearance ofconstruction site. The skill of pump pouring promises the high efficiency and goodquality of the construction, which is more and more favored in construction field.Recently with the rapid progress of economic, the technique of concrete deliverypump has been developed remarkably.
At present the domestically produced concrete delivery pump still by thehydro-valve control primarily, this control mode not only the hydraulic structurecomplex, the control was not convenient, moreover constructor's labor intensity wasvery big, but electro-hydraulic proportional control then might overcome the aboveshortcoming. This article already applies the electro-hydraulic proportional controltechnology to the closed type concrete delivery pump control, which has realized theclosed type concrete delivery pump constant power control, and effectivelyeliminated the pressure impact.
On the base of analyzing the concrete delivery pump hydraulic system, thehydraulic system mathematics modeling has been established:
1. Transfer function modeling
s)(2ms2Bs2k)4c(1vAscs)F(s)4c(1vA(s)cAknX(s)p2eto2tLeto2tpdppp++++Φ?+=ββMay infer two systems transfer function according to the above mathematicalmodel:(1) Input transfer function:p v2ph2h hG(s) = ΦX ((ss)) =s( ωs + k2ωξs + 1)(2) Disturbance transfer function:t2p 1N 2Lh2h hG (s) = XF ((ss)) = s( ?ωs Ac + (21ωξ +ωss +) 1)Through to the system transfer function analysis, qualitative had understoodsystem each parameter to the system performance influence, optimized the design toprovide the theory basis. Velocity magnification factor kv affects directly the systemstatic error. But in kv the only variable is np, therefore rotational speed np of the oilpump should be enhanced as far as possible under the permission condition toincrease the kv value. Hydraulic natural frequency ωh tokens the cylinder speed ofresponse. Through suitably selects Vo and βe to enhance ωh value, to improve thespeed of response. Liquid damping factor ξh tokens the overall performance of thepump-control-cylinder system. Through suitably selects Vo and βe to enhanceωhvalue, to guaranteeξh between 0.1~0.2.Through to the computer simulation of system transfer function may know: Theeach dynamic target of system can answer the purpose well under the unit step leapand the unit pulse input, which explained this system may realize the stepless speedchange function in the pumping process;The system can very quickly restorestabilization when the perturbation (outside load) changes , which explained theanti-perturbation ability of the system is very strong, and explained the system can
effectively eliminate the pressure impact.2. State equation modelingQVA)RP(QQCP 1c1azlpayprayay = ????(PAFFPA)IIV 1ayzfaffyaa = +???(VAQQVA)CP 1ayc1c2cyff = +??(PAF)IV 1fyfccc = ?Through to the computer simulation of system transfer function may know: Thesystem pressure impact does not occur in the time of oil pump fast commutation, butoccurs in the advancement time after the compaction concrete. Through the computersimulated the "SN" function, saw the "SN" function may effectively eliminate thepressure impact.Through the test of electrically controlled closed type concrete pump, theConsistent between tested pressure curve and smulation curve has proven themodelling accuracy. Might see the system has the constant power function.throughthe current-pressure curve.The research work of this paper enhances the technical level of the domesticallyproduced concrete delivery pump and has project application value.
引文
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[2] 秦剑秋. 闭式泵控混凝土输送驱动泵. 建筑机械. 1998(5)41~45
[3] 黎启柏. 电液比例阀控制与数字控制系统. 机械工业出版社. 1997
[4] 胡寿松. 自动控制原理(第 4 版). 国防工业出版社. 2005
[5] 潘亚东. 键合图理论—一种系统动力学方法. 重庆大学出版社. 1990
[6] 刘白雁. 机电系统动态仿真. 机械工业出版社. 2005
[7] 贺利乐等. 建设机械液压与液力传动. 机械工业出版社. 2004
[8] 黎启柏. 液压元件手册. 机械工业出版社. 2000
[9] 李永堂等. 液压系统建模与仿真. 冶金工业出版社. 2002
[10] 邓延光等. 译系统动力学-应用键合图. 机械工业出版社. 1985
[11] 李玉柱等. 流体力学. 高等教育出版社. 1998
[12] 张志涌. 精通 MATLAB 6_5. 版北京航空航天大学出版社. 2003
[13] 黄文海. 系统分析与仿真—MATLAB 语言及应用. 国防科技大学出版社. 1999
[14] 陆建浙. 混凝土泵推送系统的动态分析与设计. 建设机械技术与管理. 1998(2) 17~19
[15] 王华兵等. 混凝土输送泵换向液压冲击仿真研究. 建设机械技术与管理. 2003(8) 18~20
[16] 伍伟强等. 浅析混凝土泵送阻力的影响因素及泵的选型. 广东土木与建筑. 2001(3) 17~19
[17] 傅磊等. 混凝土泵车液压系统仿真研究. 大连理工大学学报. 2000(1) 76~79
[18] 贺尚红等. 混凝土泵液压系统动态仿真. 长沙理工大学学报(自然科学版). 2004(6) 61~64
[19] 张秀伟. 混凝土泵泵送能力指数的理论计算公式. 建筑机械. 1998(11) 17~18
[20] 魏吉祥等. 混凝土泵出口压力的理论探讨与分析. 建筑机械. 2000(11) 36~38
[21] 朱纬中. 实际施工中混凝土输送泵的工作能力计算. 工程机械(21 卷) 56~58
[22] 范建勇. 混凝土泵闭式液压回路微机控制系统. 建筑机械. 2002(7) 35~37
[23] 梁莎. 微控制器在混凝土输送泵液压系统控制中的应用. 建筑机械. 2001(9) 79~80
[24] 刘迎春等. 用单片机实现混凝土泵转速控制器. 建筑机械 2001(5)38~39
[25] 罗娟等. PLC 在液压混凝土泵上的应用. 山东工程学院学报 1999(6)58~61
[26] 冯秦淮等. 混凝土泵全液压逻辑伺服控制系统. 水利电力机械 2001(8)33~35
[27] 李富兴. S 管阀混凝土泵的三种水洗方法. 建筑机械化. 2003(6)42~43
[28] 蒋沛. 软启动器在混凝土泵中的应用. 建设机械技术与管理. 2000(2)18~20
[29] 蒋沛. MC6H/32 控制器在混凝土拖泵中的应用. 建设机械技术与管理. 2004(1)
[30] 廖清德. 混凝土泵摆动系统蓄能器的计算. 建筑机械. 1999(11)54~55
[31] 刘春荣. 闭式液压系统回油管路的压力冲击. 机床与液压. 1998(4)61~62
[32] 周维科. 混凝土泵车主油缸速度慢问题分析与排除. 液压与气动. 2000(3)22~23
[33] 王孝敬. 浅谈国产混凝土泵分配阀的几种型式. 建筑机械. 1998(11)39~40
[34] 王绍华等. 面向对象的混凝土泵车臂架设计混合型专家系统. 机械设计与制造. 1999(2)20~21
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