基于阀补偿的电液流量匹配节能系统的动态性能改进（英文）
|
摘要
目的:电液流量匹配系统通过前馈指令信号来调节泵排量,故可采用增大阀口开度的方法来降低能量损失,但是该方法降低了超越负载工况下的操控性能。为改进该工况下的系统动态性能,本文旨在研究电液流量匹配系统泵阀控制方法,在提高系统效率的前提下,提高系统动态性能。创新点:提出了基于比例阀补偿的动态性能改进方法,研制了考虑动静态性能补偿的比例阀控制器,提高了系统速度控制性能。方法:1.建立电液流量匹配节能系统数学模型,分析在超越或阻抗工况下的系统速度控制需求;2.提出基于比例阀开口补偿的控制方法(图2)以提高系统动态性能;3.相对于传统阀口控制方法,分析提出的方法在不同负载工况下的节能特性;4.通过频域分析法研究系统稳定性,并提出保证系统稳定和动态性能的参数选取准则。结论:1.相比传统阀口控制方法,提出的基于比例阀补偿的控制方法能够提高3.2%~6.8%的系统效率;2.相对于阀口全开控制方法,所提方法的优势在于能保证系统在不同工况下的动态控制性能,尤其能保证在超越负载工况下的系统可控性;3.所提方法不仅提高了设备的效率,也保证了系统的操控性能。
The energy-saving electrohydraulic flow matching(EFM) system opens up an opportunity to minimize valve losses by fully opening the control valves,but the controllability is lost under overrunning load conditions.To address this issue,this paper proposes a valve-based compensator to improve the controllability of the energy-saving EFM system.The valve-based compensator consists of a static compensator and a differential dynamic compensator based on load conditions.The energy efficiency,the stability performance,and the damping characteristic are analyzed under different control parameters.A parameter selection method is used to improve the efficiency,ensure the stability performance,and obtain good dynamic behavior.A test rig with a 2-t hydraulic excavator is built,and experimental tests are carried out to validate the proposed valve-based compensator.The experimental results indicate that the controllability of the EFM system is improved,and the characteristic of high energy efficiency is obtained by the proposed compensator.
The energy-saving electrohydraulic flow matching(EFM) system opens up an opportunity to minimize valve losses by fully opening the control valves,but the controllability is lost under overrunning load conditions.To address this issue,this paper proposes a valve-based compensator to improve the controllability of the energy-saving EFM system.The valve-based compensator consists of a static compensator and a differential dynamic compensator based on load conditions.The energy efficiency,the stability performance,and the damping characteristic are analyzed under different control parameters.A parameter selection method is used to improve the efficiency,ensure the stability performance,and obtain good dynamic behavior.A test rig with a 2-t hydraulic excavator is built,and experimental tests are carried out to validate the proposed valve-based compensator.The experimental results indicate that the controllability of the EFM system is improved,and the characteristic of high energy efficiency is obtained by the proposed compensator.
引文
Axin,M.,2013.Fluid Power Systems for Mobile Applications:with a Focus on Energy Efficiency and Dynamic Characteristics.Licentiate Thesis,Link?ping University,Link?ping,Sweden.
Axin,M.,Eriksson,B.,Krus,P.,2014.Flow versus pressure control of pumps in mobile hydraulic systems.Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,228(4):245-256.http://dx.doi.org/10.1177/0959651813512820
Borghi,M.,Zardin,B.,Pintore,F.,et al.,2014.Energy savings in the hydraulic circuit of agricultural tractors.Energy Procedia,45:352-361.http://dx.doi.org/10.1016/j.egypro.2014.01.038
Cristofori,D.,Vacca,A.,Ariyur,K.,2012.A novel pressurefeedback based adaptive control method to damp instabilities in hydraulic machines.SAE International Journal on Commercial Vehicles,5(2):586-596.http://dx.doi.org/10.4271/2012-01-2035
Daher,N.,Ivantysynova,M.,2015.Yaw stability control of articulated frame off-highway vehicles via displacement controlled steer-by-wire.Control Engineering Practice,45:46-53.http://dx.doi.org/10.1016/j.conengprac.2015.08.011
De Boer,C.C.,Yao,B.,2001.Velocity control of hydraulic cylinders with only pressure feedback.Proceedings of ASME International Mechanical Engineering Congress and Exposition.
Du,C.,Plummer,A.,Johnston,N.,2016.Performance analysis of an energy-efficient variable supply pressure electrohydraulic motion control system.Control Engineering Practice,48:10-21.http://dx.doi.org/10.1016/j.conengprac.2015.12.013
Ekoru,J.E.,Pedro,J.O.,2013.Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems.Journal of Zhejiang University-SCIENCE A(Applied Physics&Engineering),14(6):401-416.http://dx.doi.org/10.1631/jzus.A1200161
Finzel,R.,Helduser,S.,2008.Energy-efficient electrohydraulic control systems for mobile machinery/flow matching.Proceedings of the 6th International Fluid Power Conference.
Garimella,P.,Yao,B.,2002.Nonlinear adaptive robust observer for velocity estimation of hydraulic cylinders using pressure measurement only.Proceedings of ASMEInternational Mechanical Engineering Congress and Exposition.
Heikkil?,M.,Linjama,M.,2013.Displacement control of a mobile crane using a digital hydraulic power management system.Mechatronics,23(4):452-461.http://dx.doi.org/10.1016/j.mechatronics.2013.03.009
Heybroek,K.,2008.Saving Energy in Mobile Machinery Using Displacement Control Hydraulics:Concept Realization and Validation.Ph D Thesis,Link?ping University,Link?ping,Sweden.
Inderelst,M.,Sgro,S.,Murrenhoff,H.,2010.Energy recuperation in working hydraulics of excavators.The Bath/ASME Symposium on Fluid Power and Motion Control.
Ketonen,M.,Linjama,M.,Huhtala,K.,2010.Retrofitting digital hydraulics-an analytical study.Proceedings of the9th International Fluid Power Conference.
Kim,D.,Son,D.H.,Jeon,D.,2012.Feed-system autotuning of a CNC machining center:rapid system identification and fine gain tuning based on optimal search.Precision Engineering,36(2):339-348.http://dx.doi.org/10.1016/j.precisioneng.2011.09.007
Kogler,H.,Scheidl,R.,2008.Two basic concepts of hydraulic switching converters.Proceedings of the 1st Workshop on Digital Fluid Power.
Laamanen,M.S.A.,Vilenius,M.,2003.Is it time for digital hydraulics?Proceedings of the 8th Scandinavian International Conference on Fluid Power.
Lin,X.,Pan,S.,Wang,D.,2008.Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator.Journal of Zhejiang University-SCIENCE A,9(5):624-632.http://dx.doi.org/10.1631/jzus.A071552
Linjama,M.,2011.Digital fluid power:state of the art.Proceedings of the 12th Scandinavian International Conference on Fluid Power.
Liu,W.,2011.Investigation into the Characteristics of Electrohydraulic Flow Matching Control Systems for Excavators.Ph D Thesis,Zhejiang University,Hangzhou,China(in Chinese).
Merrill,K.J.,Holland,M.A.,Lumkes,J.H.,2010.Efficiency analysis of a digital pump/motor as compared to a valve plate design.Proceedings of the 7th International Fluid Power Conference.
Mett?l?,K.,Djurovic,M.,Keuper,G.,et al.,2007.Intelligent oil flow management with EFM:the potentials of electrohydraulic flow matching in tractor hydraulics.Proceedings of the 10th Scandinavian International Conference on Fluid Power,p.25-34.
Minav,T.A.,Laurila,L.I.E.,Pyrh?nen,J.J.,2013.Design and control of a closed-loop hydraulic energy-regenerative system.Automation in Construction,30:144-150.http://dx.doi.org/10.1016/j.autcon.2012.11.009
Stelson,K.A.,2011.Saving the world’s energy with fluid power.Proceedings of the 8th JFPS Intentional Symposium on Fluid Power.
Troxel,N.A.,Yao,B.,2011.Hydraulic cylinder velocity control with energy recovery:a comparative simulation study.Proceedings of the ASME 2011 Dynamic Systems and Control Conference.
Wang,T.,Wang,Q.,2014.An energy-saving pressurecompensated hydraulic system with electrical approach.IEEE/ASME Transaction on Mechatronics,19(2):570-578.http://dx.doi.org/10.1109/TMECH.2013.2250296
Xu,B.,Cheng,M.,Yang,H.,et al.,2015a.A hybrid displacement/pressure control scheme for an electrohydraulic flow matching system.IEEE/ASME Transaction on Mechatronics,20(6):2771-2782.http://dx.doi.org/10.1109/TMECH.2015.2411315
Xu,B.,Sun,Y.H.,Zhang,J.H.,et al.,2015b.A new design method for the transition region of the valve plate for an axial piston pump.Journal of Zhejiang UniversitySCIENCE A(Applied Physics&Engineering),16(3):229-240.http://dx.doi.org/10.1631/jzus.A1400266
Xu,B.,Ding,R.Q.,Zhang,J.H.,et al.,2015c.Pump/valves coordinate control of the independent metering system for mobile machinery.Automation in Construction,57:98-111.http://dx.doi.org/10.1016/j.autcon.2015.04.012
Xu,B.,Hu,M.,Zhang,J.H.,et al.,2016.Characteristics of volumetric losses and efficiency of axial piston pump with respect to displacement conditions.Journal of Zhejiang University-SCIENCE A(Applied Physics&Engineering),17(3):186-201.http://dx.doi.org/10.1631/jzus.1500197
Yang,H.Y.,Pan,M.,2015.Engineering research in fluid power:a review.Journal of Zhejiang UniversitySCIENCE A(Applied Physics&Engineering),16(6):427-442.http://dx.doi.org/10.1631/jzus.A1500042
Zaev,E.,Rath,G.,Kargl,H.,et al.,2013.Energy efficient active vibration damping.Proceedings of the 13th Scandinavian International Conference on Fluid Power.
Axin,M.,Eriksson,B.,Krus,P.,2014.Flow versus pressure control of pumps in mobile hydraulic systems.Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,228(4):245-256.http://dx.doi.org/10.1177/0959651813512820
Borghi,M.,Zardin,B.,Pintore,F.,et al.,2014.Energy savings in the hydraulic circuit of agricultural tractors.Energy Procedia,45:352-361.http://dx.doi.org/10.1016/j.egypro.2014.01.038
Cristofori,D.,Vacca,A.,Ariyur,K.,2012.A novel pressurefeedback based adaptive control method to damp instabilities in hydraulic machines.SAE International Journal on Commercial Vehicles,5(2):586-596.http://dx.doi.org/10.4271/2012-01-2035
Daher,N.,Ivantysynova,M.,2015.Yaw stability control of articulated frame off-highway vehicles via displacement controlled steer-by-wire.Control Engineering Practice,45:46-53.http://dx.doi.org/10.1016/j.conengprac.2015.08.011
De Boer,C.C.,Yao,B.,2001.Velocity control of hydraulic cylinders with only pressure feedback.Proceedings of ASME International Mechanical Engineering Congress and Exposition.
Du,C.,Plummer,A.,Johnston,N.,2016.Performance analysis of an energy-efficient variable supply pressure electrohydraulic motion control system.Control Engineering Practice,48:10-21.http://dx.doi.org/10.1016/j.conengprac.2015.12.013
Ekoru,J.E.,Pedro,J.O.,2013.Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems.Journal of Zhejiang University-SCIENCE A(Applied Physics&Engineering),14(6):401-416.http://dx.doi.org/10.1631/jzus.A1200161
Finzel,R.,Helduser,S.,2008.Energy-efficient electrohydraulic control systems for mobile machinery/flow matching.Proceedings of the 6th International Fluid Power Conference.
Garimella,P.,Yao,B.,2002.Nonlinear adaptive robust observer for velocity estimation of hydraulic cylinders using pressure measurement only.Proceedings of ASMEInternational Mechanical Engineering Congress and Exposition.
Heikkil?,M.,Linjama,M.,2013.Displacement control of a mobile crane using a digital hydraulic power management system.Mechatronics,23(4):452-461.http://dx.doi.org/10.1016/j.mechatronics.2013.03.009
Heybroek,K.,2008.Saving Energy in Mobile Machinery Using Displacement Control Hydraulics:Concept Realization and Validation.Ph D Thesis,Link?ping University,Link?ping,Sweden.
Inderelst,M.,Sgro,S.,Murrenhoff,H.,2010.Energy recuperation in working hydraulics of excavators.The Bath/ASME Symposium on Fluid Power and Motion Control.
Ketonen,M.,Linjama,M.,Huhtala,K.,2010.Retrofitting digital hydraulics-an analytical study.Proceedings of the9th International Fluid Power Conference.
Kim,D.,Son,D.H.,Jeon,D.,2012.Feed-system autotuning of a CNC machining center:rapid system identification and fine gain tuning based on optimal search.Precision Engineering,36(2):339-348.http://dx.doi.org/10.1016/j.precisioneng.2011.09.007
Kogler,H.,Scheidl,R.,2008.Two basic concepts of hydraulic switching converters.Proceedings of the 1st Workshop on Digital Fluid Power.
Laamanen,M.S.A.,Vilenius,M.,2003.Is it time for digital hydraulics?Proceedings of the 8th Scandinavian International Conference on Fluid Power.
Lin,X.,Pan,S.,Wang,D.,2008.Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator.Journal of Zhejiang University-SCIENCE A,9(5):624-632.http://dx.doi.org/10.1631/jzus.A071552
Linjama,M.,2011.Digital fluid power:state of the art.Proceedings of the 12th Scandinavian International Conference on Fluid Power.
Liu,W.,2011.Investigation into the Characteristics of Electrohydraulic Flow Matching Control Systems for Excavators.Ph D Thesis,Zhejiang University,Hangzhou,China(in Chinese).
Merrill,K.J.,Holland,M.A.,Lumkes,J.H.,2010.Efficiency analysis of a digital pump/motor as compared to a valve plate design.Proceedings of the 7th International Fluid Power Conference.
Mett?l?,K.,Djurovic,M.,Keuper,G.,et al.,2007.Intelligent oil flow management with EFM:the potentials of electrohydraulic flow matching in tractor hydraulics.Proceedings of the 10th Scandinavian International Conference on Fluid Power,p.25-34.
Minav,T.A.,Laurila,L.I.E.,Pyrh?nen,J.J.,2013.Design and control of a closed-loop hydraulic energy-regenerative system.Automation in Construction,30:144-150.http://dx.doi.org/10.1016/j.autcon.2012.11.009
Stelson,K.A.,2011.Saving the world’s energy with fluid power.Proceedings of the 8th JFPS Intentional Symposium on Fluid Power.
Troxel,N.A.,Yao,B.,2011.Hydraulic cylinder velocity control with energy recovery:a comparative simulation study.Proceedings of the ASME 2011 Dynamic Systems and Control Conference.
Wang,T.,Wang,Q.,2014.An energy-saving pressurecompensated hydraulic system with electrical approach.IEEE/ASME Transaction on Mechatronics,19(2):570-578.http://dx.doi.org/10.1109/TMECH.2013.2250296
Xu,B.,Cheng,M.,Yang,H.,et al.,2015a.A hybrid displacement/pressure control scheme for an electrohydraulic flow matching system.IEEE/ASME Transaction on Mechatronics,20(6):2771-2782.http://dx.doi.org/10.1109/TMECH.2015.2411315
Xu,B.,Sun,Y.H.,Zhang,J.H.,et al.,2015b.A new design method for the transition region of the valve plate for an axial piston pump.Journal of Zhejiang UniversitySCIENCE A(Applied Physics&Engineering),16(3):229-240.http://dx.doi.org/10.1631/jzus.A1400266
Xu,B.,Ding,R.Q.,Zhang,J.H.,et al.,2015c.Pump/valves coordinate control of the independent metering system for mobile machinery.Automation in Construction,57:98-111.http://dx.doi.org/10.1016/j.autcon.2015.04.012
Xu,B.,Hu,M.,Zhang,J.H.,et al.,2016.Characteristics of volumetric losses and efficiency of axial piston pump with respect to displacement conditions.Journal of Zhejiang University-SCIENCE A(Applied Physics&Engineering),17(3):186-201.http://dx.doi.org/10.1631/jzus.1500197
Yang,H.Y.,Pan,M.,2015.Engineering research in fluid power:a review.Journal of Zhejiang UniversitySCIENCE A(Applied Physics&Engineering),16(6):427-442.http://dx.doi.org/10.1631/jzus.A1500042
Zaev,E.,Rath,G.,Kargl,H.,et al.,2013.Energy efficient active vibration damping.Proceedings of the 13th Scandinavian International Conference on Fluid Power.