双变量电动静液作动系统研究综述
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摘要
综述了双变量电动静液作动系统近20年来的发展历程和研究现状.重点从作动系统的结构创新、数学建模与仿真方法、控制策略3个方面论述了双变量电动静液作动系统研究所取得的主要研究成果.探讨了双变量电动静液作动系统换向方式选择、量化特性分析、热控制与动态性能提升等目前亟待分析解决的问题,同时指出上述问题将是该型作动系统的未来重点研究方向.
The development and research status of the dual-variable electro hydrostatic actuation system during the last twenty years are reviewed. The main achievements on the dual-variable electro hydrostatic actuation system are investigated mainly from three aspects such as mechanical innovation, mathematic modeling and simulation method as well as control strategy of the actuation system. Some problems to be analyzed and solved are discussed, such as the selection of direction exchange mode, quantitative characteristics analysis,thermal control and dynamic performance enhancement of the dual-variable electro hydrostatic actuation system. Meanwhile, this paper points out that the above issues will be the key research direction for this type of actuation system in the future.
The development and research status of the dual-variable electro hydrostatic actuation system during the last twenty years are reviewed. The main achievements on the dual-variable electro hydrostatic actuation system are investigated mainly from three aspects such as mechanical innovation, mathematic modeling and simulation method as well as control strategy of the actuation system. Some problems to be analyzed and solved are discussed, such as the selection of direction exchange mode, quantitative characteristics analysis,thermal control and dynamic performance enhancement of the dual-variable electro hydrostatic actuation system. Meanwhile, this paper points out that the above issues will be the key research direction for this type of actuation system in the future.
引文
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[4]孙卫华,裘丽华,王占林.电机泵复合系统的协调控制[J].机床与液压,2006(6):75-77.SUN Weihua,QIU Lihua,WANG Zhanlin.Coordination control for electromotor-pump compound system[J].Machine Tool&Hydraulics,2006(6):75-77.(in Chinese)
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[6]高波,付永领.伺服变量泵在一体化电动静液作动器中的应用分析[J].液压与气动,2005(2):70-72.GAO Bo,FU Yongling.Application analysis of the servo-variable pump in integrated electrical hydrostatic actuator(EHA)[J].Chinese Hydraulics&Pneumatics,2005(2):70-72.(in Chinese)
[7]刘二东.双变量电液伺服系统状态空间建模及动态性能研究[D].西安:西安理工大学,2015.LIU Erdong.The researches of state space modeling method and dynamic properties for double-variable electro-hydraulic servo control system[D].Xi'an:Xi'an University of Technology,2015.(in Chinese)
[8]郎燕,李运华.电液复合调节作动器的建模与AMESim仿真[J].航空学报,2007,28(增):152-157.LANG Yan,LI Yunhua.Modeling and AMESim simulation of electrohydraulic compound regulating integrated actuator[J].Acta Aeronautica Et Astronautics Sinica,2007,28(S):152-157.(in Chinese)
[9]ZHANG Y,FU Y L,ZHOU W X.Optimal control for EHA-VPVM system based on feedback linearization theory[C]//11th International Conference on Control Automation Robotics&Vision,Singapore,2010:744-749.
[10]纪铁铃,齐海涛,刘子龙.基于AMESim和MATLAB联合仿真的双变量电动静液作动器性能分析[J].液压与气动,2015(5):51-57.JI Tieling,QI Haitao,LIU Zilong.Performance analysis based on AMESim and MATLAB co-simulation for dual-variable eletro-hydrostatic actuator[J].Chinese Hydraulics&Pneumatics,2015(5):51-57.(in Chinese)
[11]LI K,WANG S P.Analysis and modeling of the multidisciplinary coupling characteristics in EHA[C]//International Conference on Fluid Power and Mechatronics.Beijing,2011:602-608.
[12]LI K,WANG S P.Multidisciplinary modeling method and simulation for electro—hydrostatic actuator[C]//5th IEEE Conference on Industrial Electronics and Applications.Taichung,2010:544-548.
[13]孙卫华,裘丽华,祁晓野,等.电机-泵复合控制作动系统的建模与分析[J].系统仿真学报,2005,17(2):476-478.SUN Weihua,QIU Lihua,QI Xiaoye,et al.Modeling and analysis of motor-pump compound control actuation system[J].Journal of System Simulation,2005,17(2):476-478.(in Chinese)
[14]赵进宝.火箭舵机转速排量复合调节电动静液作动器设计与研究[D].哈尔滨:哈尔滨工业大学,2014.ZHAO Jinbao.Design and research of displacementspeed composite regulating electro-hydrostatic actuator for rocket rudder[D].Harbin:Harbin Institute of Technology,2014.(in Chinese)
[15]姜继海,赵进宝,刘乔,等.火箭舵机转速排量复合控制电动静液作动系统设计与仿真[J].液压与气动,2015(1):11-16.JIANG Jihai,ZHAO Jinbao,LIU Qiao,et al.Design and simulation of electro-hydrostatic actuation system controlled by variable pump and variable motor composite for rocket rudder[J].Chinese Hydraulics&Pneumatics,2015(1):11-16.(in Chinese)
[16]白国长,王占林.变频调速-变量泵复合调节液压系统仿真研究[J].系统仿真学报,2006,18(2):424-426.BAI Guochang,WANG Zhanlin.Simulation and study of composite hydraulic system with frequency control and variable pump[J].Journal of System Simulation,2006,18(2):424-426.(in Chinese)
[17]孟庆义,宋晓东.具有相乘非线性的智能泵源精确反馈线性化[C].测控技术,2012,31(增):91-94.MENG Qingyi,SONG Xiaodong.Exact feedback linearization of the intelligent pumping source with multiplicative nonlinear property[J].Measurement&Control Technology,2012,31(S):91-94.(in Chinese)
[18]李运华,王占林.电气液压复合调节容积式舵机的精确线性化控制[J].机械工程学报,2004,40(11):21-25.LI Yunhua,WANG Zhanlin.Exact linearization control for the displacement type of actuator with electric and hydraulic compound adjustment[J].Chinese Journal of Mechanical Engineering,2004,40(11):21-25.(in Chinese)
[19]孙卫华,裘丽华,祁晓野,等.电液复合系统中的相乘非线性控制[J].北京航空航天大学学报,2005,31(5):489-493.SUN Weihua,QIU Lihua,QI Xiaoye,et al.Multiplying nonlinear control in electrohydraulic complound system[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(5):489-493.(in Chinese)
[20]白国长,祁晓野,王占林.具有相乘非线性的马达速度鲁棒控制[J].北京航空航天大学学报,2008,34(7):803-806.BAI Guochang,QI Xiaoye,WANG Zhanlin.Motor speed robust control with multiplying nonlinear property[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(7):803-806.(in Chinese)
[21]郎燕,李运华.电液复合调节作动器的精确线性化建模与控制[J].北京航空航天大学学报,2009,35(9):1062-1066.LANG Yan,LI Yunhua.Exact linearization based modeling and control for electro-hydraulic compound regulating integrated actuator[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(9):1062-1066.(in Chinese)
[22]李振,张立新,喻俊志,等.电控液压双变量施肥机排肥试验研究[J].农机化研究,2015(2):195-198.LI Zhen,ZHANG Lixin,YU Junzhi,et al.Experimental study of fertilizer electronically controlled hydraulic dual variable fertilization machine[J].Journal of Agricultural Mechanization Research,2015(2):195-198.(in Chinese)
[23]KONG X G,WANG F X,XING J Q.Temperature rise calculation of high speed PM machine based on thermal-circuit method and 3D fuid field method[C]//International Conference on Electrical Machines and Systems.Beijing,2011:1-5.
[24]FU Y L,YANG B,QI H T,et al.Optimization of the control strategy for EHA-VPVM system[C]//International Conference on Electronic&Mechanical Engineering and Information Technology.Harbin,2011:1856-1859.
[25]HO T H,AHN K K.Modeling and simulation of hydrostatic transmission system with energy regeneration using hydraulic accumulator[J].Journal of Mechanical Science and Technology,2010,24(5):1163-1175.
[26]KANG R X,JIAO Z X,WANG S P,et al.Design and simulation of electro-hydrostatic actuator with a builtin power regulator[J].Chinese Journal of Aeronautics,2009,22(6):700-706.
[27]付永领,李祝锋,安高成,等.电液泵发展现状与关键技术综述[J].机床与液压,2012,41(1):143-149.FU Yongling,LI Zhufeng,AN Gaocheng,et al.State of the art and core techniques of edropump[J].Machine Tool&Hydraulics,2012,41(1):143-149.(in Chinese)
[28]刘然,林贵平.环路热管改善用于电作动器散热研究[J].中国民航飞行学院学报,2010,21(1):48-51.LIU Ran,LIN Guiping.Improvement of loop heat pipe for heat dissipation of electric actuator[J].Journal of Civil Aviation Flight University of China,2010,21(1):48-51.(in Chinese)
[29]CHO S H,BURTON R.Position control of high performance hydrostatic actuation system using a simple adaptive control(SAC)method[J].Mechatronics,2011,21(1):109-115.
[30]AHN K K,NAM D N C,JIN M.Adaptive backstepping control of an electrohydraulic actuator[J].IEEE/ASME Transactions on Mechatronics,2014,19(3):987-995.
[2]费浚纯.EHA-VPVM驱动舵机系统:201511003155.1[P].2016-03-09.FEI Junchun.EHA-VPVM driven rudder system:201511003155.1[P].2016-03-09.(in Chinese)
[3]祁晓野,付永领,王占林.功率电传机载作动系统方案分析[J].北京航空航天大学学报,1999,25(4):426-430.QI Xiaoye,FU Yongling,WANG Zhanlin.Scheme analysis of power-by-wire airborne actuation systems[J].Journal of Beijing University of Aeronautics and Astronautics,1999,25(4):426-430.(in Chinese)
[4]孙卫华,裘丽华,王占林.电机泵复合系统的协调控制[J].机床与液压,2006(6):75-77.SUN Weihua,QIU Lihua,WANG Zhanlin.Coordination control for electromotor-pump compound system[J].Machine Tool&Hydraulics,2006(6):75-77.(in Chinese)
[5]GAO B,FU Y L,PEI Z C,et al.Research on dualvariable integrated electro hydrostatic actuator[J].Chinese Journal of Aeronautics,2006,19(1):77-82.
[6]高波,付永领.伺服变量泵在一体化电动静液作动器中的应用分析[J].液压与气动,2005(2):70-72.GAO Bo,FU Yongling.Application analysis of the servo-variable pump in integrated electrical hydrostatic actuator(EHA)[J].Chinese Hydraulics&Pneumatics,2005(2):70-72.(in Chinese)
[7]刘二东.双变量电液伺服系统状态空间建模及动态性能研究[D].西安:西安理工大学,2015.LIU Erdong.The researches of state space modeling method and dynamic properties for double-variable electro-hydraulic servo control system[D].Xi'an:Xi'an University of Technology,2015.(in Chinese)
[8]郎燕,李运华.电液复合调节作动器的建模与AMESim仿真[J].航空学报,2007,28(增):152-157.LANG Yan,LI Yunhua.Modeling and AMESim simulation of electrohydraulic compound regulating integrated actuator[J].Acta Aeronautica Et Astronautics Sinica,2007,28(S):152-157.(in Chinese)
[9]ZHANG Y,FU Y L,ZHOU W X.Optimal control for EHA-VPVM system based on feedback linearization theory[C]//11th International Conference on Control Automation Robotics&Vision,Singapore,2010:744-749.
[10]纪铁铃,齐海涛,刘子龙.基于AMESim和MATLAB联合仿真的双变量电动静液作动器性能分析[J].液压与气动,2015(5):51-57.JI Tieling,QI Haitao,LIU Zilong.Performance analysis based on AMESim and MATLAB co-simulation for dual-variable eletro-hydrostatic actuator[J].Chinese Hydraulics&Pneumatics,2015(5):51-57.(in Chinese)
[11]LI K,WANG S P.Analysis and modeling of the multidisciplinary coupling characteristics in EHA[C]//International Conference on Fluid Power and Mechatronics.Beijing,2011:602-608.
[12]LI K,WANG S P.Multidisciplinary modeling method and simulation for electro—hydrostatic actuator[C]//5th IEEE Conference on Industrial Electronics and Applications.Taichung,2010:544-548.
[13]孙卫华,裘丽华,祁晓野,等.电机-泵复合控制作动系统的建模与分析[J].系统仿真学报,2005,17(2):476-478.SUN Weihua,QIU Lihua,QI Xiaoye,et al.Modeling and analysis of motor-pump compound control actuation system[J].Journal of System Simulation,2005,17(2):476-478.(in Chinese)
[14]赵进宝.火箭舵机转速排量复合调节电动静液作动器设计与研究[D].哈尔滨:哈尔滨工业大学,2014.ZHAO Jinbao.Design and research of displacementspeed composite regulating electro-hydrostatic actuator for rocket rudder[D].Harbin:Harbin Institute of Technology,2014.(in Chinese)
[15]姜继海,赵进宝,刘乔,等.火箭舵机转速排量复合控制电动静液作动系统设计与仿真[J].液压与气动,2015(1):11-16.JIANG Jihai,ZHAO Jinbao,LIU Qiao,et al.Design and simulation of electro-hydrostatic actuation system controlled by variable pump and variable motor composite for rocket rudder[J].Chinese Hydraulics&Pneumatics,2015(1):11-16.(in Chinese)
[16]白国长,王占林.变频调速-变量泵复合调节液压系统仿真研究[J].系统仿真学报,2006,18(2):424-426.BAI Guochang,WANG Zhanlin.Simulation and study of composite hydraulic system with frequency control and variable pump[J].Journal of System Simulation,2006,18(2):424-426.(in Chinese)
[17]孟庆义,宋晓东.具有相乘非线性的智能泵源精确反馈线性化[C].测控技术,2012,31(增):91-94.MENG Qingyi,SONG Xiaodong.Exact feedback linearization of the intelligent pumping source with multiplicative nonlinear property[J].Measurement&Control Technology,2012,31(S):91-94.(in Chinese)
[18]李运华,王占林.电气液压复合调节容积式舵机的精确线性化控制[J].机械工程学报,2004,40(11):21-25.LI Yunhua,WANG Zhanlin.Exact linearization control for the displacement type of actuator with electric and hydraulic compound adjustment[J].Chinese Journal of Mechanical Engineering,2004,40(11):21-25.(in Chinese)
[19]孙卫华,裘丽华,祁晓野,等.电液复合系统中的相乘非线性控制[J].北京航空航天大学学报,2005,31(5):489-493.SUN Weihua,QIU Lihua,QI Xiaoye,et al.Multiplying nonlinear control in electrohydraulic complound system[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(5):489-493.(in Chinese)
[20]白国长,祁晓野,王占林.具有相乘非线性的马达速度鲁棒控制[J].北京航空航天大学学报,2008,34(7):803-806.BAI Guochang,QI Xiaoye,WANG Zhanlin.Motor speed robust control with multiplying nonlinear property[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(7):803-806.(in Chinese)
[21]郎燕,李运华.电液复合调节作动器的精确线性化建模与控制[J].北京航空航天大学学报,2009,35(9):1062-1066.LANG Yan,LI Yunhua.Exact linearization based modeling and control for electro-hydraulic compound regulating integrated actuator[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(9):1062-1066.(in Chinese)
[22]李振,张立新,喻俊志,等.电控液压双变量施肥机排肥试验研究[J].农机化研究,2015(2):195-198.LI Zhen,ZHANG Lixin,YU Junzhi,et al.Experimental study of fertilizer electronically controlled hydraulic dual variable fertilization machine[J].Journal of Agricultural Mechanization Research,2015(2):195-198.(in Chinese)
[23]KONG X G,WANG F X,XING J Q.Temperature rise calculation of high speed PM machine based on thermal-circuit method and 3D fuid field method[C]//International Conference on Electrical Machines and Systems.Beijing,2011:1-5.
[24]FU Y L,YANG B,QI H T,et al.Optimization of the control strategy for EHA-VPVM system[C]//International Conference on Electronic&Mechanical Engineering and Information Technology.Harbin,2011:1856-1859.
[25]HO T H,AHN K K.Modeling and simulation of hydrostatic transmission system with energy regeneration using hydraulic accumulator[J].Journal of Mechanical Science and Technology,2010,24(5):1163-1175.
[26]KANG R X,JIAO Z X,WANG S P,et al.Design and simulation of electro-hydrostatic actuator with a builtin power regulator[J].Chinese Journal of Aeronautics,2009,22(6):700-706.
[27]付永领,李祝锋,安高成,等.电液泵发展现状与关键技术综述[J].机床与液压,2012,41(1):143-149.FU Yongling,LI Zhufeng,AN Gaocheng,et al.State of the art and core techniques of edropump[J].Machine Tool&Hydraulics,2012,41(1):143-149.(in Chinese)
[28]刘然,林贵平.环路热管改善用于电作动器散热研究[J].中国民航飞行学院学报,2010,21(1):48-51.LIU Ran,LIN Guiping.Improvement of loop heat pipe for heat dissipation of electric actuator[J].Journal of Civil Aviation Flight University of China,2010,21(1):48-51.(in Chinese)
[29]CHO S H,BURTON R.Position control of high performance hydrostatic actuation system using a simple adaptive control(SAC)method[J].Mechatronics,2011,21(1):109-115.
[30]AHN K K,NAM D N C,JIN M.Adaptive backstepping control of an electrohydraulic actuator[J].IEEE/ASME Transactions on Mechatronics,2014,19(3):987-995.