大扭矩液压制动器建模分析
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摘要
为了实现大扭矩液压制动器的精确控制,首先研究了双喷嘴挡板伺服阀的结构及工作原理,建立了其力学、电磁学及流体力学的平衡方程,并根据被控负载的特性最终推导出摩擦制动器的闭环传递函数;然后,采用系统辨识的方法推导出闭环传递函数模型的结构参数,得出摩擦制动器的精确模型;最后,搭建了摩擦制动器惯性试验台架,并通过样机试验验证了模型的正确性。
The twin flapper-nozzle electro-hydraulic servo valve is analyzed in details.Moreover,the equilibrium equation of mechanics,electromagnetism and hydromechanics is built on the basis of the load characteristic.Finally,the closed loop transfer function of the friction brake is deduced.The coefficients of the established model are derived by means of system identification,and the accurate model of the friction brake is obtained.For validating the results of the proposed model,a large capacity friction brake inertia test platform is built.The static and dynamic prototype experiments are carried out and analyzed,which also proves that the high order transfer function model is highly consistent with real prototype friction brake machine.Therefore,the article lays a foundation for the proper use of large capacity friction brake in the domain of large machinery and equipment.
The twin flapper-nozzle electro-hydraulic servo valve is analyzed in details.Moreover,the equilibrium equation of mechanics,electromagnetism and hydromechanics is built on the basis of the load characteristic.Finally,the closed loop transfer function of the friction brake is deduced.The coefficients of the established model are derived by means of system identification,and the accurate model of the friction brake is obtained.For validating the results of the proposed model,a large capacity friction brake inertia test platform is built.The static and dynamic prototype experiments are carried out and analyzed,which also proves that the high order transfer function model is highly consistent with real prototype friction brake machine.Therefore,the article lays a foundation for the proper use of large capacity friction brake in the domain of large machinery and equipment.
引文
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[3] CHAN D,STACHOWIAK G W.Review of automotive brake friction materials[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2004,218(9):953-966.
[4]张剑,夏长高.盘式制动器瞬态温度场与摩擦因数分析[J].机械设计与制造,2014(2):119-121.ZHANG Jian,XIA Chang-gao.Analysis of the transient temperature field and friction factor on disc brakes[J].Machinery Design&Manufacture,2014(2):119-121.(in Chinese)
[5] BENSON R E,SHAW S M,GAVRILOS A D,et al.Electro-hydraulic Servo Systems[P].U.S.Patent:EP0294918,1994.
[6]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 Dong-jie,LI Chang-chun,YAN Hao,et al.Nonlinear simulation and linearization of twin flapper-nozzle servo valve[J].Journal of Mechanical Engineering,2012,48(2):193-198.(in Chinese)
[7]常同立.液压控制系统[M].北京:清华大学出版社,2014.
[8] JR DENNIS J E,SCHNABEL R B.Numerical Methods for Unconstrained Optimization and Nonlinear Equations[M].Philadelphia,PA:PrenticeHall Society for Industrial and Applied Mathematics,1996.
[9]王铁山,陈宏伟,任露泉,等.防抱制动中AUDI盘式制动器动态特性的系统辨识[J].吉林大学学报:工学版,2002,32(2):33-39.WANG Tie-shan,CHEN Hong-wei,REN Luquan,et al.Dynamic system identification of audi disc brake under anti-lock condition[J].Journal of Jilin University:Engineering and Technology Edition,2002,32(2):33-39.(in Chinese)
[10] MENKE W.Review of the eneralized least squares method[J].Surveys in Geophysics,2015,36(1):1-25.