削片机进给机构随动系统仿真分析
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摘要
为提高削片机的工作效率,保证作业的安全性,解决随动系统跟踪过程中响应慢、稳定性不足等问题。以削片机进给机构液压随动系统为研究对象,基于工作原理进一步分析系统中双喷嘴挡板二级电液伺服阀和四通阀控非对称液压缸2个主要部件的结构特性,并建立相应的数学模型。根据系统原理框图,推导随动系统的开环传递函数,采用MATLAB仿真软件搭建系统Simulink仿真框图,通过PID控制器校正系统,对比分析校正前后的仿真结果。结果表明,系统截止频率由86. 3 rad/s降为25. 8 rad/s,响应时间由0. 679 s缩短至0. 302 s,幅值裕度提高至为6. 09 dB,校正后系统稳定性增强。
In order to improve work efficiency of chipper,ensure safety of operation and solve problems of slow response and poor stability during tracking process of servo system,we take a servo system of chipper feeding system as the research object. The system consists of two main components: a double nozzle baffle secondary electro-hydraulic servo valve and a four-way valve controlled asymmetric hydraulic cylinder. By analyzing their structural characteristics,we establish a corresponding mathematical model. According to the principle block diagram of the system,an open-loop transfer function is derived,and a system simulation model is established with MATLAB. By adjusting the system with a PID controller,we compare and analyze the simulation results before and after the calibration. The result shows that the cut-off frequency and the response time are reduced,and the stability and the amplitude margin are enhanced after correction.
In order to improve work efficiency of chipper,ensure safety of operation and solve problems of slow response and poor stability during tracking process of servo system,we take a servo system of chipper feeding system as the research object. The system consists of two main components: a double nozzle baffle secondary electro-hydraulic servo valve and a four-way valve controlled asymmetric hydraulic cylinder. By analyzing their structural characteristics,we establish a corresponding mathematical model. According to the principle block diagram of the system,an open-loop transfer function is derived,and a system simulation model is established with MATLAB. By adjusting the system with a PID controller,we compare and analyze the simulation results before and after the calibration. The result shows that the cut-off frequency and the response time are reduced,and the stability and the amplitude margin are enhanced after correction.
引文
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[8]马祥丽,吴国林,李长江,等.ZXJ-1型移动式采伐剩余物削片机的研制[J].林业机械与木工设备,2015,43(3):34-36.MA Xiangli,WU Guolin,LI Changjiang,et al.Development of ZXJ-1 Type Mobile Logging Residue Chipper[J].Forestry Machinery&Woodworking Equipment,2015,43(3):34-36.
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[11]王慧,张晓曼,宋宇宁.MATLAB求解电液伺服阀的流量特性曲线[J].电子测量与仪器学报,2015,29(8):1236-1244.WANG Hui,ZHANG Xiaoman,SONG Yuning.Solving Flow Characteristic Curve of Electro-hydraulic Servo-valve with MATLAB[J].Journal of Electronic Measurement and Instrumentation,2015,29(8):1236-1244.
[12]SOMASHEKHAR S H,SINGAPERUMAL M,KUMAR RK.Mathematical Modelling and Simulation of a Jet Pipe Electrohydraulic Flow Control Servo Valve[J].Proceedings of the Institution of Mechanical Engineers,Part I(Journal of Systems and Control Engineering),2007,221(13):365-382.
[13]常同立.液压控制系统[M].北京:清华大学出版社,2014.CHANG Tongli.Hydraulic Control Systems[M].Beijing:Tsinghua University Press,2014.
[14]李洪人.非对称缸电液伺服系统分析与设计[R/OL].[2013-05-01].http://www.jcyyy.com.cn/meeting/2008120301.ppt.LI Hongren.Analysis and Design of Unsymmetrical Cylinder Electrohydraulic Servo System[R/OL].[2013-05-01].http://www.jcyyy.com.cn/meeting/2008120301.ppt.
[15]JIANG Lin,WU Ruolin,ZHU Zhichao.Hydraulic Selfservo Swing Cylinder Structure Optimization and Dynamic Characteri-stics Analysis Based on Genetic Algorithm[J].Journal of Harbin Institute of Technology(New series),2015,(4):36-46.
[16]郭洪波,水涌涛,李磊,等.阀控液压缸动力机构通用传递函数建模与分析[J].液压气动与密封,2018,38(2):22-25.GUO Hongbo,SHUI Yongtao,LI Lei,et al.Universal Modeling and Analysis of Hydraulic Valve-controlled Cylinder Power Mechanism[J].Hydraulics Pneumatics&Seals,2018,38(2):22-25.
[17]江桂云,王勇勤,严兴春.液压伺服阀控缸动态特性数学建模及仿真分析[J].四川大学学报(工程科学版),2008,(5):195-198.JIANG Guiyun,WANG Yongqin,YAN Xingchun.Mathematical Modeling and Simulation Analysis of Dynamic Characteristics for Hydraulic Controlled Cylinder by Servo Valve[J].Journal of Sichuan University(Engineering Science Edition),2008,(5):195-198.
[18]李玲珑,孙斌,张奇峰.阀控非对称缸液压伺服系统建模与仿真分析[J].煤矿机械,2011,32(10):89-91.LI Linglong,SUN Bin,ZHANG Qifeng.Model and Simulation Analysis of Asymmetrical Hydraulic Cylinder Controlled by Servo-valve[J].Coal Mine Machinery,2011,32(10):89-91.
[19]DONG Xinyuan,WEI Xiuling.Simulation Analysis of Rolling Mill Hydraulic Press Down System Based on MATLAB[J].Industrial Technology Innovation,2016,3(1):30-32.
[20]GU Yajun,ZHU Yuchuan,FU Tian tian.Research on Fuzzy PID Control of Electro-hydraulic Servo System Based on MATLAB-AMESim Joint Simulation[J].Machine Tool&Hydraulics,2016,44(20):144-146,154.
[2]RAFFAELE Spinelli,EUGENIO Cavallo,LARS Eliasson,et al.The Effect of Drum Design on Chipper Performance[J].Renewable Energy,2015,81:57-61.
[3]SPINELLI R,ELIASSON L,MAGAGNOTTI N.Increasing Wood Fuel Processing Efficiency by Fine-tuning Chipper Settings[J].Fuel Processing Technology,2016,151:126-130.
[4]马文龙,韩望,安珍,等.沙柳试验削片机切削机构的设计[J].林业工程学报,2016,1(4):124-128.MA Wenlong,HAN Wang,AN Zhen,et al.Design on the Cutting Mechanism of Experimental Sandy-shrub Chipper[J].Journal of Forestry Engineering,2016,1(4):124-128.
[5]马弘跃,崔红梅,安珍.削片机飞刀切削角对切屑质量影响的试验研究[J].内蒙古农业大学学报(自然科学版),2015,36(6):133-137.MA Hongyue,CUI Hongmei,AN Zhen.Cutting Performance Test and Research on the Blade of Drum Chipper[J].Journal of Inner Mongolia Agricultural University(Natural Science edition),2015,36(6):133-137.
[6]彭鑫荣.刀具材料及切削参数对木材切削表面质量影响研究[D].南京:南京林业大学,2015.PENG Xinrong.Research of the Effect of Tool Material and Cutting Parameters on Quality of Wood Cutting Surface[D].Nanjing:Nanjing Forestry University,2015.
[7]李晓旭.平口强制进料鼓式削片机削片运动学与动力学分析[J].木材加工机械,2013,24(2):5-8,12.LI Xiaoxu.Analysis of Motive and Force on the Chip of Feeding Drum Chipper[J].Wood Processing Machinery,2013,24(2):5-8,12.
[8]马祥丽,吴国林,李长江,等.ZXJ-1型移动式采伐剩余物削片机的研制[J].林业机械与木工设备,2015,43(3):34-36.MA Xiangli,WU Guolin,LI Changjiang,et al.Development of ZXJ-1 Type Mobile Logging Residue Chipper[J].Forestry Machinery&Woodworking Equipment,2015,43(3):34-36.
[9]WU Xiaoming,LUO Qian,LI Xin.The Four-chamber Hydraulic Cylinder[J].Machine Tool&Hydraulics,2016,(4):27-31.
[10]AUNG Nay Zar,LI Songjing.A Numerical Study of Cavitation Phenomenon in a Flapper-nozzle Pilot Stage of an Electrohydraulic Servo-valve with an Innovative Flapper Shape[J].Energy Conversion and Management,2014,77:31-39.
[11]王慧,张晓曼,宋宇宁.MATLAB求解电液伺服阀的流量特性曲线[J].电子测量与仪器学报,2015,29(8):1236-1244.WANG Hui,ZHANG Xiaoman,SONG Yuning.Solving Flow Characteristic Curve of Electro-hydraulic Servo-valve with MATLAB[J].Journal of Electronic Measurement and Instrumentation,2015,29(8):1236-1244.
[12]SOMASHEKHAR S H,SINGAPERUMAL M,KUMAR RK.Mathematical Modelling and Simulation of a Jet Pipe Electrohydraulic Flow Control Servo Valve[J].Proceedings of the Institution of Mechanical Engineers,Part I(Journal of Systems and Control Engineering),2007,221(13):365-382.
[13]常同立.液压控制系统[M].北京:清华大学出版社,2014.CHANG Tongli.Hydraulic Control Systems[M].Beijing:Tsinghua University Press,2014.
[14]李洪人.非对称缸电液伺服系统分析与设计[R/OL].[2013-05-01].http://www.jcyyy.com.cn/meeting/2008120301.ppt.LI Hongren.Analysis and Design of Unsymmetrical Cylinder Electrohydraulic Servo System[R/OL].[2013-05-01].http://www.jcyyy.com.cn/meeting/2008120301.ppt.
[15]JIANG Lin,WU Ruolin,ZHU Zhichao.Hydraulic Selfservo Swing Cylinder Structure Optimization and Dynamic Characteri-stics Analysis Based on Genetic Algorithm[J].Journal of Harbin Institute of Technology(New series),2015,(4):36-46.
[16]郭洪波,水涌涛,李磊,等.阀控液压缸动力机构通用传递函数建模与分析[J].液压气动与密封,2018,38(2):22-25.GUO Hongbo,SHUI Yongtao,LI Lei,et al.Universal Modeling and Analysis of Hydraulic Valve-controlled Cylinder Power Mechanism[J].Hydraulics Pneumatics&Seals,2018,38(2):22-25.
[17]江桂云,王勇勤,严兴春.液压伺服阀控缸动态特性数学建模及仿真分析[J].四川大学学报(工程科学版),2008,(5):195-198.JIANG Guiyun,WANG Yongqin,YAN Xingchun.Mathematical Modeling and Simulation Analysis of Dynamic Characteristics for Hydraulic Controlled Cylinder by Servo Valve[J].Journal of Sichuan University(Engineering Science Edition),2008,(5):195-198.
[18]李玲珑,孙斌,张奇峰.阀控非对称缸液压伺服系统建模与仿真分析[J].煤矿机械,2011,32(10):89-91.LI Linglong,SUN Bin,ZHANG Qifeng.Model and Simulation Analysis of Asymmetrical Hydraulic Cylinder Controlled by Servo-valve[J].Coal Mine Machinery,2011,32(10):89-91.
[19]DONG Xinyuan,WEI Xiuling.Simulation Analysis of Rolling Mill Hydraulic Press Down System Based on MATLAB[J].Industrial Technology Innovation,2016,3(1):30-32.
[20]GU Yajun,ZHU Yuchuan,FU Tian tian.Research on Fuzzy PID Control of Electro-hydraulic Servo System Based on MATLAB-AMESim Joint Simulation[J].Machine Tool&Hydraulics,2016,44(20):144-146,154.