叶片马达凸轮转子过渡曲线特性分析
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摘要
介绍了一种新型凸轮转子连续回转电液伺服叶片马达的工作原理,推导了马达瞬时驱动转矩和瞬时转速的解析式,分析了过渡曲线的动态特性和力学特性,讨论了凸轮转子过渡曲线对提高马达性能的作用和设计准则,对二次等加速等减速、二次正弦和余弦及二次阿基米德等过渡曲线进行了理论推导与分析.结果表明,二次余弦曲线适用于作为三轴仿真转台所用凸轮转子叶片马达的过渡曲线,并有利于提高马达的性能.
A novel continuous revolving electro-hydraulic servo cam-rotor vane motor was introduced with its operating principle.The analytic formulae of the motor's instantaneous torque and speed were derived. The effect of cam-rotor transition curves on improving the motor's performance and the design criterion were discussed from the aspects of motor's torque and speed fluctuation,and the dynamic and forcing characteristics of transition curves.The theoretical inference and characteristic analysis of four transition curves were conducted including secondary uniform acceleration-deceleration curve,secondary sine curve, secondary cosine curve and secondary Archimedes curve.Experimental results proved that the secondary cosine curve was suitable for the transition curve of the cam-rotor vane motor,which was used in three-axis motion simulator,and was also in favor of improving the performance of the motor.
A novel continuous revolving electro-hydraulic servo cam-rotor vane motor was introduced with its operating principle.The analytic formulae of the motor's instantaneous torque and speed were derived. The effect of cam-rotor transition curves on improving the motor's performance and the design criterion were discussed from the aspects of motor's torque and speed fluctuation,and the dynamic and forcing characteristics of transition curves.The theoretical inference and characteristic analysis of four transition curves were conducted including secondary uniform acceleration-deceleration curve,secondary sine curve, secondary cosine curve and secondary Archimedes curve.Experimental results proved that the secondary cosine curve was suitable for the transition curve of the cam-rotor vane motor,which was used in three-axis motion simulator,and was also in favor of improving the performance of the motor.
引文
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[6]王忠楗.TYB型凸轮转子叶片泵[J].机床与液压,1982(6):11-31.WANG Zhong-jian.Cam-rotor vane pump type TYB[J].Machine Tool and Hydraulics,1982(6):11-31.
[7]林信彰.凸轮转子叶片马达的研究[J].福州大学学报:自然科学版,1995,23(2):59-64.LIN Xin-zhang.The research of cam-rotor vane motor[J].Journal of Fuzhou University:Natural Sciences Edition,1995,23(2):59-64.
[8]刘鹏,王旭永,陶建峰,等.无磁仿真转台用凸轮转子马达叶片干扰力矩[J].上海交通大学学报,2010,44(12):1773-1777.LIU Peng,WANG Xu-yong,TAO Jian-feng,et al.Disturbance torque produced by vanes of cam rotor motor on non-magnetic motion simulator[J].Journal of Shanghai Jiaotong University,2010,44(12):1773-1777.
[9]邱永榴,陈楚琳.凸轮转子式叶片泵的流量和叶片马达的转矩问题分析[J].机床与液压,1978(2):1-15.QIU Yong-liu,CHEN Chu-lin.Analysis of the flow rate of cam-rotor vane pump and the torque of the vane motor[J].Machine Tool and Hydraulics,1978(2):1-15.
[10]苏建红.无磁转台用液压连续回转伺服马达控制系统的设计与实现[D].上海:上海交通大学机械与动力工程学院,2008.
[2]Liu Hu-ran.An introduction to the new kind hydraulic motor-Development and history[C]∥Applied Mechanics and Materials.Clausthal-Zellerfeld:Trans Tech Publications,2011:2210-2213.
[3]Bobrow J E,Lum K.Adaptive,high bandwidth control of a hydraulic actuator[C]∥Proceeding of the American Control Conference.Washington:IEEE Service Center,1995:71-75.
[4]Alfayad S,OueZdou F B,Namoun F,et al.High performance integrated electro-hydraulic actuator for robotics.Part I:Principle,prototype design and first experiments[J].Sensors and Actuators A:Physical,2011,169(1):115-123.
[5]La Hera P M,Mettin U,Westerberg S,et al.Modeling and control of hydraulic rotary actuators used in forestry cranes[C]∥Proceedings-IEEE International Conference on Robotics and Automation.Piscataway,USA:Institute of the Electrical and Electronics Engineers Inc,2009:1315-1320.
[6]王忠楗.TYB型凸轮转子叶片泵[J].机床与液压,1982(6):11-31.WANG Zhong-jian.Cam-rotor vane pump type TYB[J].Machine Tool and Hydraulics,1982(6):11-31.
[7]林信彰.凸轮转子叶片马达的研究[J].福州大学学报:自然科学版,1995,23(2):59-64.LIN Xin-zhang.The research of cam-rotor vane motor[J].Journal of Fuzhou University:Natural Sciences Edition,1995,23(2):59-64.
[8]刘鹏,王旭永,陶建峰,等.无磁仿真转台用凸轮转子马达叶片干扰力矩[J].上海交通大学学报,2010,44(12):1773-1777.LIU Peng,WANG Xu-yong,TAO Jian-feng,et al.Disturbance torque produced by vanes of cam rotor motor on non-magnetic motion simulator[J].Journal of Shanghai Jiaotong University,2010,44(12):1773-1777.
[9]邱永榴,陈楚琳.凸轮转子式叶片泵的流量和叶片马达的转矩问题分析[J].机床与液压,1978(2):1-15.QIU Yong-liu,CHEN Chu-lin.Analysis of the flow rate of cam-rotor vane pump and the torque of the vane motor[J].Machine Tool and Hydraulics,1978(2):1-15.
[10]苏建红.无磁转台用液压连续回转伺服马达控制系统的设计与实现[D].上海:上海交通大学机械与动力工程学院,2008.