基于高速开关阀的液压同步控制系统设计与研究
|
摘要
传统的液压同步系统无论是开环系统还是闭环系统均存在明显的不足:开环系统成本低但控制精度也不高;闭环系统由于是基于伺服阀或比例阀构建,成本高且难以实现直接数字化控制。以高速开关阀为代表的数字阀,以其方便与计算机直接接口、高可靠性、高性价比等突出优势,给电液控制技术的发展注入了新的活力。
本文首先对比分析了不同类型的液压同步控制系统的优点和不足,并在此基础上提出了基于高速开关阀设计液压同步控制系统的必要性和可行性。然后结合高速开关阀自身的特点,提出了三类共5种同步控制回路的设计方案,并对它们各自的优缺点进行了比较和说明,最终选定两种最具可行性和性价比的方案展开研究。接着对高速开关阀直接控制及高速开关阀先导控制的两种液压同步控制回路建立了相应的数学模型,并选择直接控制的方案进行了动态仿真研究,进一步论证了该方案的可行性。最后,针对直接控制系统仿真过程中暴露的问题,引入模糊自适应PID的复合控制策略,设计了相应的同步控制器,综合改善了系统的可控性,为实现高精度的液压同步控制提供了理论支持和技术保证。
The traditional hydraulic synchronous system, either the open-loop system or the close-loop system, there are some obvious disadvantages. The cost of the open-loop is low, but its control precision is also not high; the structure of the close-loop is based on servo valve or proportional valve, so not only the cost is high but also the digital control is hard to realize. The digital valve represented by high speed on-off valve, is very significant to the development of the electro-hydraulic control technology, because it possesses lots of prominent advantages such as interacting with computer conveniently and high reliability.
Firstly, the thesis analyses the advantages and disadvantage of different types hydraulic synchronous control systems, then discusses the necessity and feasibility of designing the hydraulic synchronous control system based on high speed on-off valve. Secondly, the thesis puts forward five schemes of the synchronous control system, which is based on the characteristics of the high speed on-off valve. The advantages and disadvantages of different schemes are compared and illuminated. The most feasible two schemes are chosen to be studied at last. One of them is the high speed on-off valve works directly, and the other is that the high speed on-off valve works as a pilot valve. The corresponding mathematical models are established after researching on them. And the dynamic simulation of the scheme is chosen to be studied. It can prove the feasibility of this scheme is better. Lastly, in order to overcoming the problems of the system, the compound control strategy based on fuzzy self-adaptive PID is introduced. The synchronous controller is designed. It can improve the controllability of the system and offers the theoretical aegis and technological guarantee to the realization of high precision in the hydraulic synchronous control.
本文首先对比分析了不同类型的液压同步控制系统的优点和不足,并在此基础上提出了基于高速开关阀设计液压同步控制系统的必要性和可行性。然后结合高速开关阀自身的特点,提出了三类共5种同步控制回路的设计方案,并对它们各自的优缺点进行了比较和说明,最终选定两种最具可行性和性价比的方案展开研究。接着对高速开关阀直接控制及高速开关阀先导控制的两种液压同步控制回路建立了相应的数学模型,并选择直接控制的方案进行了动态仿真研究,进一步论证了该方案的可行性。最后,针对直接控制系统仿真过程中暴露的问题,引入模糊自适应PID的复合控制策略,设计了相应的同步控制器,综合改善了系统的可控性,为实现高精度的液压同步控制提供了理论支持和技术保证。
The traditional hydraulic synchronous system, either the open-loop system or the close-loop system, there are some obvious disadvantages. The cost of the open-loop is low, but its control precision is also not high; the structure of the close-loop is based on servo valve or proportional valve, so not only the cost is high but also the digital control is hard to realize. The digital valve represented by high speed on-off valve, is very significant to the development of the electro-hydraulic control technology, because it possesses lots of prominent advantages such as interacting with computer conveniently and high reliability.
Firstly, the thesis analyses the advantages and disadvantage of different types hydraulic synchronous control systems, then discusses the necessity and feasibility of designing the hydraulic synchronous control system based on high speed on-off valve. Secondly, the thesis puts forward five schemes of the synchronous control system, which is based on the characteristics of the high speed on-off valve. The advantages and disadvantages of different schemes are compared and illuminated. The most feasible two schemes are chosen to be studied at last. One of them is the high speed on-off valve works directly, and the other is that the high speed on-off valve works as a pilot valve. The corresponding mathematical models are established after researching on them. And the dynamic simulation of the scheme is chosen to be studied. It can prove the feasibility of this scheme is better. Lastly, in order to overcoming the problems of the system, the compound control strategy based on fuzzy self-adaptive PID is introduced. The synchronous controller is designed. It can improve the controllability of the system and offers the theoretical aegis and technological guarantee to the realization of high precision in the hydraulic synchronous control.
引文
[1]孙文质.液压控制系统[M].北京:国防工业出版社.1985.
[2]王秋敏.伺服阀控非对称液压缸同步控制系统[D]济南:山东大学,2005.
[3]施光林,史维祥,李天石.液压同步闭环控制及其应用[J].机床与液压,1997(4):3-6.
[4]陆永锋.液压同步回路应用之浅析[J].机电设备,1991(5):11-15.
[5]黄海涛.液压缸同步回路的设计与应用[J].流体传动与控制,2006(5):39-41.
[6]张利平.液压阀原理/使用和维护[M].北京:化学工业出版社,2005.
[7]苏东海,韩国惠等.液压同步控制系统及其应用[J].沈阳工业大学学报,2005(4):364-367.
[8]冯华.液压同步的实现与应用[J].中国科技信息,2006(9):296-298.
[9]路甬祥,胡大纥.电液比例控制技术[M].北京:机械工业出版社,1988.
[10]刘少军,郭淑娟.高速开关电磁阀及PWM控制技术[M].长沙:湖南省科协第二届青学术年会论文集,1995(11):217-221.
[11]王占林.近代液压控制[M].北京:机械工业出版社,1997.
[12]曹鑫铭.液压伺服系统[M].北京:冶金工业出版社,1991.
[13]张红.液压技术的展望[J].合肥联合大学学报,2000(12):104-106.
[14]杨国平,刘忠.现代工程机械液压与液力实用技术[M].北京:人民交通出版社,2003.
[15]朱乃燔.折弯机的双缸同步系统[J].液压与气动,1978(4):16-20.
[16]范崇托,黄人豪.计算机控制液压伺服同步驱动的水平连铸机[J].液压气动与密封,1992(1):44-46.
[17]徐鸣谦.液压同步提升的控制系统和控制策略[J],建筑机械,1995(7):26-29.
[18]李孔语,丁崇生,李新忠等.卧式双缸同步加载控制策略的研究[J].机床与液压,1994(2):88-91.
[19]刘白雁,丁崇生,史维祥等.高精度多通道电液同步加载系统[J].机床与液压,1991(3):11-13.
[20]赵克定,王长坤,李尚义等.双电液伺服马达同步控制系统的研究[J].机床与液压,1991(1):18-23.
[21]付永领,赵克定,刘庆和.双电液伺服马达同步驱动的研究[J].航空学报,1996(2):243-247.
[22]许梁,杨前明.电液元件数字化技术进展[J].现代制造技术与装备,2007(2):65-67.
[23]黎启柏,何厚礼.电液位置伺服系统的比例-模糊PID控制研究[J].机床与液压,2006(18):179-181.
[24]吴迪.脉宽调制式电液伺服系统的研究[D].武汉:武汉理工大学,2007.
[25]刘忠.液压脉冲宽度调制技术的应用研究[J].机械与电子,2006(4):38-40.
[26]刘少军.高速开关电磁阀的现状及应用[J].液压与气动,1995(6):12-15.
[27]Carol Sturman,Eddie Sturman.Break through in digital valves[J].Machine Design,1994(4):37-42.
[28]王占林.近代电气液压伺服控制[M].北京:北京航空航天大学出版社,2005.
[29]张志义,孙蓓,黄元峰.高速开关阀位置控制方法[J].机床与液压,2005(5):126-128.
[30]刘忠,廖亦凡.高速开关阀先导控制的液压缸位置控制系统建模与仿真研究[J].中国机械工程,2006(4):745-748.
[31]罗艳蕾,张莉,周秩军.插装式二通方向控制阀动态特性仿真模型的建立[J].贵州工业大学学报(自然科学版),2004(2):39-42.
[32]杨襄璧,李光,刘忠.高速开关阀的电液控制系统的研究[J].凿岩机械气动工具,2001(2):43-45.
[33]王少丹,骆涵秀.脉宽调制式数字阀系统的研究[J].液压与气动,1990(5):2-6.
[34]周福章,李力千等.高速开关阀的设计与研究[J].机械工程学报.1998(5):15-18.
[35]石延平,刘成文等.一种大流量高速开关阀的研究与设计[J].机械工程学报,2004(4):195-198.
[36]刘金琨.先进PID控制MATLAB仿真(第2版)[M].北京:电子工业出版社,2007.
[37]宋志安.基于MATLAB的液压伺服控制系统分析与设计[M].北京:国防工业出版社,2007.
[38]张志涌,徐彦琴.MATLAB教程——基于6.x版本[M].北京:北京航空航天大学出版社,2001.
[39]吴海峰.电液位置伺服系统智能控制及仿真技术研究[D].武汉:武汉科技大学,2004.
[40]刘金琨.智能控制[M].北京:电子工业出版社,2007.
[41]李先允.现代控制理论基础[M].北京:机械工业出版社,2007.
[42]黄峰,汪岳峰,顾军等.模糊参数自整定PID控制器的设计与仿真研究[J].光学精密工程,2004(12):235-239.
[43]Tong R,Beek M,Lattern A.Fuzzy control of the activated sludge waste water treatment process[J].Automatiea,1980(16):695-697.
[44]Chen P C,Shih M C.An experimental study on the position control of a hydraulic cylinder using a fuzzy logic controller[J].ISME,Series 111,1991,34(4):481-489.
[45]李萍,李峰,赵虎等.模糊自整定PID控制器的设计和仿真 [J].仪器仪表学报,2004(增刊):264-267.
[46]余剑翔,任光,修智宏.典型模糊PID控制器的插值算法及参数优化[J].系统仿真学报,2006(9):2530-2533.
[2]王秋敏.伺服阀控非对称液压缸同步控制系统[D]济南:山东大学,2005.
[3]施光林,史维祥,李天石.液压同步闭环控制及其应用[J].机床与液压,1997(4):3-6.
[4]陆永锋.液压同步回路应用之浅析[J].机电设备,1991(5):11-15.
[5]黄海涛.液压缸同步回路的设计与应用[J].流体传动与控制,2006(5):39-41.
[6]张利平.液压阀原理/使用和维护[M].北京:化学工业出版社,2005.
[7]苏东海,韩国惠等.液压同步控制系统及其应用[J].沈阳工业大学学报,2005(4):364-367.
[8]冯华.液压同步的实现与应用[J].中国科技信息,2006(9):296-298.
[9]路甬祥,胡大纥.电液比例控制技术[M].北京:机械工业出版社,1988.
[10]刘少军,郭淑娟.高速开关电磁阀及PWM控制技术[M].长沙:湖南省科协第二届青学术年会论文集,1995(11):217-221.
[11]王占林.近代液压控制[M].北京:机械工业出版社,1997.
[12]曹鑫铭.液压伺服系统[M].北京:冶金工业出版社,1991.
[13]张红.液压技术的展望[J].合肥联合大学学报,2000(12):104-106.
[14]杨国平,刘忠.现代工程机械液压与液力实用技术[M].北京:人民交通出版社,2003.
[15]朱乃燔.折弯机的双缸同步系统[J].液压与气动,1978(4):16-20.
[16]范崇托,黄人豪.计算机控制液压伺服同步驱动的水平连铸机[J].液压气动与密封,1992(1):44-46.
[17]徐鸣谦.液压同步提升的控制系统和控制策略[J],建筑机械,1995(7):26-29.
[18]李孔语,丁崇生,李新忠等.卧式双缸同步加载控制策略的研究[J].机床与液压,1994(2):88-91.
[19]刘白雁,丁崇生,史维祥等.高精度多通道电液同步加载系统[J].机床与液压,1991(3):11-13.
[20]赵克定,王长坤,李尚义等.双电液伺服马达同步控制系统的研究[J].机床与液压,1991(1):18-23.
[21]付永领,赵克定,刘庆和.双电液伺服马达同步驱动的研究[J].航空学报,1996(2):243-247.
[22]许梁,杨前明.电液元件数字化技术进展[J].现代制造技术与装备,2007(2):65-67.
[23]黎启柏,何厚礼.电液位置伺服系统的比例-模糊PID控制研究[J].机床与液压,2006(18):179-181.
[24]吴迪.脉宽调制式电液伺服系统的研究[D].武汉:武汉理工大学,2007.
[25]刘忠.液压脉冲宽度调制技术的应用研究[J].机械与电子,2006(4):38-40.
[26]刘少军.高速开关电磁阀的现状及应用[J].液压与气动,1995(6):12-15.
[27]Carol Sturman,Eddie Sturman.Break through in digital valves[J].Machine Design,1994(4):37-42.
[28]王占林.近代电气液压伺服控制[M].北京:北京航空航天大学出版社,2005.
[29]张志义,孙蓓,黄元峰.高速开关阀位置控制方法[J].机床与液压,2005(5):126-128.
[30]刘忠,廖亦凡.高速开关阀先导控制的液压缸位置控制系统建模与仿真研究[J].中国机械工程,2006(4):745-748.
[31]罗艳蕾,张莉,周秩军.插装式二通方向控制阀动态特性仿真模型的建立[J].贵州工业大学学报(自然科学版),2004(2):39-42.
[32]杨襄璧,李光,刘忠.高速开关阀的电液控制系统的研究[J].凿岩机械气动工具,2001(2):43-45.
[33]王少丹,骆涵秀.脉宽调制式数字阀系统的研究[J].液压与气动,1990(5):2-6.
[34]周福章,李力千等.高速开关阀的设计与研究[J].机械工程学报.1998(5):15-18.
[35]石延平,刘成文等.一种大流量高速开关阀的研究与设计[J].机械工程学报,2004(4):195-198.
[36]刘金琨.先进PID控制MATLAB仿真(第2版)[M].北京:电子工业出版社,2007.
[37]宋志安.基于MATLAB的液压伺服控制系统分析与设计[M].北京:国防工业出版社,2007.
[38]张志涌,徐彦琴.MATLAB教程——基于6.x版本[M].北京:北京航空航天大学出版社,2001.
[39]吴海峰.电液位置伺服系统智能控制及仿真技术研究[D].武汉:武汉科技大学,2004.
[40]刘金琨.智能控制[M].北京:电子工业出版社,2007.
[41]李先允.现代控制理论基础[M].北京:机械工业出版社,2007.
[42]黄峰,汪岳峰,顾军等.模糊参数自整定PID控制器的设计与仿真研究[J].光学精密工程,2004(12):235-239.
[43]Tong R,Beek M,Lattern A.Fuzzy control of the activated sludge waste water treatment process[J].Automatiea,1980(16):695-697.
[44]Chen P C,Shih M C.An experimental study on the position control of a hydraulic cylinder using a fuzzy logic controller[J].ISME,Series 111,1991,34(4):481-489.
[45]李萍,李峰,赵虎等.模糊自整定PID控制器的设计和仿真 [J].仪器仪表学报,2004(增刊):264-267.
[46]余剑翔,任光,修智宏.典型模糊PID控制器的插值算法及参数优化[J].系统仿真学报,2006(9):2530-2533.