比例减压阀控桨系统的模型线性化及稳定性分析
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摘要
三通式比例减压阀因其较高的性价比和易维护性而成功应用于水下远程遥控机器人的螺旋桨推进器控制。然而三通比例减压阀内部压力反馈结构复杂,存在死区和液动力等非线性因素,易受螺旋桨负载特性影响而引起压力振荡。根据主阀力平衡方程、压力流量方程和螺旋桨负载特性建立系统数学模型,并在减压阀的稳态工作点附近进行模型线性化,通过开环伯德图和闭环频响曲线分析特征参数对阀稳定性的影响。理论分析和试验结果表明,增加阀口流量压力系数和马达泄漏系数可有效提高负载环节阻尼比和稳定裕量,系统稳定性得到显著改善。
The 3-way proportional pressure reducing valves are successfully applied to the thruster control of remotely operated vehicle because of their high cost performance and easy maintenance.However the pressure feedback structure of a proportional pressure reducing valve has nonlinear factors such as dead zone and flow force,and it will cause pressure vibration by thruster load characteristics.In order to improve the stability of the pressure reducing valve control system,it is necessary to analyze the working principle of the pressure feedback system and study the influence of the hydraulic characteristic parameters on the stability.The valve model is set up according to the force balance equation of main valve spool,the load characteristics of the propeller and the flow equation.The mode is linearized near the valve operation point and the system parameters which may influence the valve stability are analyzed by open-loop bode diagram and closed-loop frequency response curve.Both the theoretical analysis and the experiment results indicate that the increase of valve flow-pressure coefficient and motor leakage coefficient will increase the damping ratio of the load sector and stability margin which will improve the system stability effectively.
The 3-way proportional pressure reducing valves are successfully applied to the thruster control of remotely operated vehicle because of their high cost performance and easy maintenance.However the pressure feedback structure of a proportional pressure reducing valve has nonlinear factors such as dead zone and flow force,and it will cause pressure vibration by thruster load characteristics.In order to improve the stability of the pressure reducing valve control system,it is necessary to analyze the working principle of the pressure feedback system and study the influence of the hydraulic characteristic parameters on the stability.The valve model is set up according to the force balance equation of main valve spool,the load characteristics of the propeller and the flow equation.The mode is linearized near the valve operation point and the system parameters which may influence the valve stability are analyzed by open-loop bode diagram and closed-loop frequency response curve.Both the theoretical analysis and the experiment results indicate that the increase of valve flow-pressure coefficient and motor leakage coefficient will increase the damping ratio of the load sector and stability margin which will improve the system stability effectively.
引文
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[9]朱康武.作业型ROV多变量位姿鲁棒控制方法研究[D].杭州:浙江大学,2012.ZHU Kangwu.Research on multivariable robust position and attitude control of work-class ROV[D].Hangzhou:Zhejiang University,2012.
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[15]贾文华,殷晨波.一种压力补偿阀的建模及稳定性分析[J].上海交通大学学报,2011,45(4):561-564.JIA Wenhua,YIN Chenbo.Modeling and stability analysis of a pressure compensator for flow control valve[J].Journal of Shanghai Jiaotong University,2011,45(4):561-564.
[16]王腾.阀控充液型液力偶合器外特性建模及其线性化[J].煤炭科学技术,2012,40(1):99-103.WANG Teng.Modeling and linearization on outer features of valve controlled filling type hydraulic coupling[J].Coal Science and Technology,2012,40(1):99-103.
[17]VAUGHAN N D,GAMBLE J B.The modeling and simulation of a proportional solenoid valve[J].Journal of Dynamic Systems Measurement&Control,1996,118(1):120-125.
[18]母东杰,李长春,延皓,等.双喷嘴挡板伺服阀非线性建模及其线性化[J].机械工程学报,2012,48(2):193-198.MU Dongjie,LI Changchun,YAN Hao,et al.Nonlinear simulation and linearization of twin flapper-nozzle servo valve[J].Journal of Mechanical Engineering,2012,48(2):193-198.
[19]周锋,顾临怡,罗高生.用于水下推进系统的先导比例减压阀的稳定性[J].浙江大学学报,2015,49(11):2047-2053.ZHOU Feng,GU Linyi,LUO Gaosheng.Stability of a pilot-operated proportional pressure reducing valve used in underwater propulsion system[J].Journal of Zhejiang University,2015,49(11):2047-2053.
[2]何仁,吴海啸,张涌,等.比例减压阀的特性及在无级变速器速比控制中的应用[J].汽车工程,2008,30(7):618-621,630.HE Ren,WU Haixiao,ZHANG Yong,et al.Characteristics of proportional pressure reducing valve and its application to speed ratio control of CVT[J].Automotive Engineering,2008,30(7):618-621,630.
[3]郁凯元,路甬祥,权龙,等.三通型先导比例减压阀的研究[J].液压与气动,1991(1):9-12.YU Kaiyuan,LU Yongxiang,QUAN Long,et al.Research on pilot proportional pressure reducing valve of3-way type[J].Chinese Hydraulics&Pneumatics,1991(1):9-12.
[4]YAO G,LIN M.Simulation research of proportional pressure-reducing valve[C]//Advanced Technology of Design and Manufacture(ATDM 2010),International Conference on.November 23-25,2010,Beijing,China.London:IET,2010:121-126.
[5]杜和来.3DRE比例减压阀及其应用[J].液压与气动,2000(1):51-52.DU Helai.Proportional pressure reducing valve and its application[J].Chinese Hydraulics&Pneumatics,2000(1):51-52.
[6]胡燕平,莫虎,余洪伟,等.基于比例减压阀控制的液压架空乘人装置特性研究[J].湖南科技大学学报,2011,26(3):22-25.HU Yanping,MO Hu,YU Hongwei,et al.Characteristics of hydraulic-colliery cableway based on proportional pressure-reducing valve[J].Journal of Hunan University of Science&Technology,2011,26(3):22-25.
[7]王晶晶,胡军科,唐省名,等.比例减压阀在轮轴加载系统中的节能分析[J].中南林业科技大学学报,2010,30(11):149-153.WANG Jingjing,HU Junke,TANG Shengming,et al.Energy saving analysis of proportional pressure relief valve used in wheel axle loading system[J].Journal of Central South University of Forestry&Technology,2010,30(11):149-153.
[8]ZHOU F,GU L Y,LUO G S,et al.Development of a hydraulic propulsion system controlled by proportional pressure valves for the 4500m work-class ROV[C]//OCEANS,23-27 September,2013,San Diego,USA.New York:IEEE,2013:1-6.
[9]朱康武.作业型ROV多变量位姿鲁棒控制方法研究[D].杭州:浙江大学,2012.ZHU Kangwu.Research on multivariable robust position and attitude control of work-class ROV[D].Hangzhou:Zhejiang University,2012.
[10]陈宗恒,盛堰,陶军.遥控水下机器人(ROV)结构综述以hysub130—4000ROV系统为例[J].海洋地质,2009(3):64-71.CHEN Zongheng,SHENG Yan,TAO Jun.ROV structure review illustrated by the case of hysub130—4000ROV system[J].Hai Yang Di Zhi,2009(3):64-71.
[11]Thruster.Forun energy techologies[EB-OL].[2015-06-15].http://www.f-e-t.com/our_products_technologies/subseasolutions/components-and-tooling/.
[12]吴根茂,邱敏秀.实用电液比例技术[M].杭州:浙江大学出版社,1993.WU Genmao,QIU Minxiu.Electro-hydraulic proportional technique in theory and application[M].Hangzhou:Zhejiang University Press,1993.
[13]党锡淇,黄幼玲.工程中的管道振动问题[J].力学与实践,1993,15(4):9-16.DANG Xiqi,HANG Youling.Pipe vibration problem on engineering[J].Mechanics in Engineering,1993,15(4):9-16.
[14]SLOTINE J J E,LI Weiping.Applied nonlinear control[M].New Jersey:Prentice Hall,1991.
[15]贾文华,殷晨波.一种压力补偿阀的建模及稳定性分析[J].上海交通大学学报,2011,45(4):561-564.JIA Wenhua,YIN Chenbo.Modeling and stability analysis of a pressure compensator for flow control valve[J].Journal of Shanghai Jiaotong University,2011,45(4):561-564.
[16]王腾.阀控充液型液力偶合器外特性建模及其线性化[J].煤炭科学技术,2012,40(1):99-103.WANG Teng.Modeling and linearization on outer features of valve controlled filling type hydraulic coupling[J].Coal Science and Technology,2012,40(1):99-103.
[17]VAUGHAN N D,GAMBLE J B.The modeling and simulation of a proportional solenoid valve[J].Journal of Dynamic Systems Measurement&Control,1996,118(1):120-125.
[18]母东杰,李长春,延皓,等.双喷嘴挡板伺服阀非线性建模及其线性化[J].机械工程学报,2012,48(2):193-198.MU Dongjie,LI Changchun,YAN Hao,et al.Nonlinear simulation and linearization of twin flapper-nozzle servo valve[J].Journal of Mechanical Engineering,2012,48(2):193-198.
[19]周锋,顾临怡,罗高生.用于水下推进系统的先导比例减压阀的稳定性[J].浙江大学学报,2015,49(11):2047-2053.ZHOU Feng,GU Linyi,LUO Gaosheng.Stability of a pilot-operated proportional pressure reducing valve used in underwater propulsion system[J].Journal of Zhejiang University,2015,49(11):2047-2053.