变排量非对称轴向柱塞泵控制特性分析
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摘要
变排量非对称轴向柱塞泵(Variable-displacement asymmetric axial piston pump,VDAAPP)直接控制单活塞杆缸闭式系统具有结构紧凑、能效高的优势。在定排量三配流窗口轴向柱塞泵的基础上,提出基于斜盘摆角位置反馈的PD变排量控制策略。建立VDAAPP的数学模型,运用近似线性化及降阶的方法分析影响VDAAPP频响的因素,并对斜盘变量阻力矩进行研究。在AMESim中建立VDAAPP电液仿真模型,通过对斜盘受力特性的仿真分析,验证了阻力矩计算的正确性。搭建VDAAPP试验平台,对系统的动态性能进行测试。试验和仿真结果表明,当非对称轴向柱塞泵一个配流窗口吸油、两个配流窗口排油时,非对称轴向柱塞泵斜盘存在较大的单向阻力矩,此单向力矩会降低斜盘摆角减小过程中的动态响应;当采用PD控制、比例系数kp=3时,VDAAPP可实现零超调的变排量控制,且具有较高的响应速度,验证了所提控制方法的合理性。
Variable-displacement asymmetric axial piston pump( VDAAPP) directly control single piston rod hydraulic cylinder closed loop system has the advantages of compact structure and high energy efficiency. In order to develop VDAAPP,according to the fixed-displacement asymmetric axial piston pump with three flow distribution windows,a PD variable displacement control scheme based on position feedback of swashplate angle was proposed. The mathematical model of VDAAPP was established. The factors affecting the frequency response of VDAAPP were analyzed by using approximate linearization and order reduction methods. The resistance torque of swashplate was also studied. The electro-hydraulic simulation model of VDAAPP was established in AMESim. The correctness of the resistance moment formula was verified by simulation analysis of force characteristics of swashplate. The experimental platform of VDAAPP was built to test the dynamic performance of the system. The results of experiment and simulation showed that when VDAAPP sucked oil by one flow distribution window and discharged oil by two flow distribution windows,the VDAAPP swashplate had a large one-way resistance moment,which would reduce the dynamic response of the swashplate in the process of reducing the swashplate angle;when the PD control was used and the proportional gain kpwas 3,VDAAPP can achieve zero overshoot variable displacement control and had high response speed,which demonstrated the rationality of the proposed control scheme.
Variable-displacement asymmetric axial piston pump( VDAAPP) directly control single piston rod hydraulic cylinder closed loop system has the advantages of compact structure and high energy efficiency. In order to develop VDAAPP,according to the fixed-displacement asymmetric axial piston pump with three flow distribution windows,a PD variable displacement control scheme based on position feedback of swashplate angle was proposed. The mathematical model of VDAAPP was established. The factors affecting the frequency response of VDAAPP were analyzed by using approximate linearization and order reduction methods. The resistance torque of swashplate was also studied. The electro-hydraulic simulation model of VDAAPP was established in AMESim. The correctness of the resistance moment formula was verified by simulation analysis of force characteristics of swashplate. The experimental platform of VDAAPP was built to test the dynamic performance of the system. The results of experiment and simulation showed that when VDAAPP sucked oil by one flow distribution window and discharged oil by two flow distribution windows,the VDAAPP swashplate had a large one-way resistance moment,which would reduce the dynamic response of the swashplate in the process of reducing the swashplate angle;when the PD control was used and the proportional gain kpwas 3,VDAAPP can achieve zero overshoot variable displacement control and had high response speed,which demonstrated the rationality of the proposed control scheme.
引文
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[17] MANRING N D,MEHTA V S. Physical limitations for the bandwidth frequency of a pressure controlled,axial-piston pump[J]. Journal of Dynamic Systems Measurement and Control,2011,133(6):061005.
[18] MANRING N D. Designing a control and containment device for cradle-mounted,transverse-actuated swash plates[J]. Journal of Mechanical Design,2001,123(3):447-455.
[19]邢宗义,张媛,侯远龙,等.电液伺服系统的建模方法研究与应用[J].系统仿真学报,2009,21(6):1719-1725.XING Zongyi,ZHANG Yuan,HOU Yuanlong,et al. Modeling of electrohydraulic system and its application[J]. Journal of System Simulation,2009,21(6):1719-1725.(in Chinese)
[20] DU H,MANRING N D. A single-actuator control design for hydraulic variable displacement pumps[C]∥American Control Conference,2001. Proceedings of the IEEE,2001:4484-4489.
[21] WANG L,BOOK W J,HUGGINS J D. Application of singular perturbation theory to hydraulic pump controlled systems[J].IEEE/ASME Transactions on Mechatronics,2012,17(2):251-259.
[2] SPROCKHOFF V. Research on the system performance of servo pump controlled cylinder[D]. Aachen:RWTH Aachen University,1979.
[3] QUAN Z,QUAN L,ZHANG J. Review of energy efficient direct pump controlled cylinder electro-hydraulic technology[J].Renewable and Sustainable Energy Reviews,2014,35:336-346.
[4] JING Y,PEI W,CAO X,et al. Independent volume-in and volume-out control of an open circuit pump-controlled asymmetric cylinder system[J]. Journal of Zhejiang University—Science A(Applied Physics&Engineering),2018,19(3):203-210.
[5]权龙.泵控缸电液技术研究现状、存在问题及创新解决方案[J].机械工程学报,2008,44(11):87-92.QUAN Long. Current state,problems and the innovative solution of electro-hydraulic technology of pump controlled cylinder[J]. Chinese Journal of Mechanical Engineering,2008,44(11):87-92.(in Chinese)
[6] LODEWYKS J. Differential cylinder in a closed hydrostatic transmission[D]. Aachen:RWTH Aachen University,1994.
[7] RAHMFELD R. Development and control of energy saving hydraulic servo drives for mobile systems[D]. Aachen:RWTH Aachen University,2002.
[8]张晓刚,闫政,权龙,等.双排油轴向柱塞泵配流特性理论分析与试验[J/OL].农业机械学报,2017,48(6):378-385,417.ZHANG Xiaogang,YAN Zheng,QUAN Long,et al. Theoretical analysis and experiment on flow allocation characteristics of dual discharging axial piston pump[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(6):378-385,417. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20170649&flag=1&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 06. 049.(in Chinese)
[9] HUANG J,ZHAO H,QUAN L,et al. Development of an asymmetric axial piston pump for displacement-controlled system[J].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2014,228(8):1418-1430.
[10]张晓刚,权龙,杨阳,等.并联型三配流窗口轴向柱塞泵特性理论分析及试验研究[J].机械工程学报,2011,47(14):151-157.ZHANG Xiaogang,QUAN Long,YANG Yang,et al. Theoretical analysis and experimental research on characteristics of parallel three assignment windows axial piston pump[J]. Journal of Mechanical Engineering,2011,47(14):151-157.(in Chinese)
[11] GE L,QUAN L,LI Y,et al. A novel hydraulic excavator boom driving system with high efficiency and potential energy regeneration capability[J]. Energy Conversion and Management,2018,166(1):308-317.
[12]王成宾,权龙.泵控差动缸系统带负载力补偿量速度/位置复合控制方法[J/OL].农业机械学报,2018,49(4):420-426.WANC Chengbin,QUAN Long. Method of pump-control differential cylinder system with speed and position compound servo control with compensation amount of load force[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(4):420-426. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180450&flag=1&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 04. 050.(in Chinese)
[13]景健,权龙,黄家海,等.非对称泵直驱液压挖掘机斗杆特性研究[J].机械工程学报,2016,52(6):188-196.JING Jian,QUAN Long,HUANG Jiahai,et al. Research on the characteristics of asymmetric pump directed controlled arm cylinder of excavator[J]. Journal of Mechanical Engineering,2016,52(6):188-196.(in Chinese)
[14]高有山,成杰,黄家海,等.变排量非对称轴向柱塞泵特性仿真分析及试验[J].机械工程学报,2018,54(14):215-224.GAO Youshan,CHENG Jie,HUANG Jiahai,et al. Simulation analysis and test of variable-displacement asymmetric axial piston pump[J]. Journal of Mechanical Engineering,2018,54(14):215-224.(in Chinese)
[15] IVANTYSYN J,IVANTYSYNOVA M. Hydrostatic pumps and motors:principles,design,performance,modelling,analysis,control and testing[M]. New Delhi:Tech Books International,2003:119-124.
[16]欧阳小平,李磊,方旭,等.双压力航空柱塞泵压力切换动态特性[J].浙江大学学报(工学版),2016,50(3):397-404.OUYANG Xiaoping,LI Lei,FANG Xu,et al. Dynamic characteristics of dual-pressure switch for aircraft piston pump[J].Journal of Zhejiang University(Engineering Science),2016,50(3):397-404.(in Chinese)
[17] MANRING N D,MEHTA V S. Physical limitations for the bandwidth frequency of a pressure controlled,axial-piston pump[J]. Journal of Dynamic Systems Measurement and Control,2011,133(6):061005.
[18] MANRING N D. Designing a control and containment device for cradle-mounted,transverse-actuated swash plates[J]. Journal of Mechanical Design,2001,123(3):447-455.
[19]邢宗义,张媛,侯远龙,等.电液伺服系统的建模方法研究与应用[J].系统仿真学报,2009,21(6):1719-1725.XING Zongyi,ZHANG Yuan,HOU Yuanlong,et al. Modeling of electrohydraulic system and its application[J]. Journal of System Simulation,2009,21(6):1719-1725.(in Chinese)
[20] DU H,MANRING N D. A single-actuator control design for hydraulic variable displacement pumps[C]∥American Control Conference,2001. Proceedings of the IEEE,2001:4484-4489.
[21] WANG L,BOOK W J,HUGGINS J D. Application of singular perturbation theory to hydraulic pump controlled systems[J].IEEE/ASME Transactions on Mechatronics,2012,17(2):251-259.