改进型转板式气动数字阀的特性研究
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摘要
随着数字化控制技术的迅速发展,直接数字化控制是目前研究较多的一种针对数字/伺服阀控压力系统的控制方法。本文针对以往使用气动控制阀的一些不足之处,在转板式气动数字阀的基础上,改进设计其关键结构,全新设计驱动控制电路板,有效改善其气压特性及可控性。对改进型转板式气动数字阀进行了特性测试实验,实验结果表明,改进型转板式气动数字阀开、闭环可控性良好,输出气压较为稳定理想。
本文的主要工作和成果如下:
1、针对当前气动数字阀的一些不足之处,改进设计了其关键结构,提出新的控制思路,采用数字PID闭环控制;
2、设计了新的气动数字阀驱动控制电路板,该电路板集成联机通讯、步进电机控制、气压测量等多种功能于一体;
3、提出了改进型转板式气动数字阀及其实验系统的数学模型,并进行了相关仿真实验;
4、搭建了改进型转板式气动数字阀特性测试实验平台,对改进型转板式气动数字阀进行了开、闭环特性测试实验,并分析研究了数字阀的输出气压响应情况,对数字阀在不同实验对象时的特性作了比较;
5、通过改进设计“改进型转板式气动数字阀”,将有利于推进气动伺服系统的研究和直接数字化控制技术的研究。
As the digital control technology develops rapidly, direct digital control technology has been popular studied on control of the digital/servo valve pressure control system. Aiming at the disadvantages which appeared in previous applications of the pneumatic control valve, its key mechanical parts were newly designed, and a new drive and control PCB circuit board were designed, based on the original digital valve, which effectively improve its air-pressure characteristics and controllability. Characteristics test based on the pneumatic digital valve was carried out. The results illustate that, the controllability of open and close loop of the modified pneumatic digital valve is satisfactory, its output pressure is stable.
The main work and outcome of the thesis list as follows:
1. Aiming at the disadvantages which appeared in previous applications of the pneumatic control valve, its key mechanical parts were newly designed, a new control method was introduced and a digital PID control method was used;
2. Designed a new pneumatic digital valveís drive and control circuit board. The board Integrated on-line communication, stepping motor control and air pressure measurement in it;
3. Put forward a mathematical model of the modified pneumatic digital valve and its characteristics test experiment platform, and carried out the relevant simulink experiment of the digital valve;
4. Built the characteristic test platform of the modified pneumatic digital valve, carried out the open and close loop experiment of the valve, analysed the response of its output pressure, and did some comparasions of charateristics based on the different experiment objects;
5. Optimization of the modified pneumatic digital valve will help promote the further study of pneumatic serve system and the direct digital control technology.
本文的主要工作和成果如下:
1、针对当前气动数字阀的一些不足之处,改进设计了其关键结构,提出新的控制思路,采用数字PID闭环控制;
2、设计了新的气动数字阀驱动控制电路板,该电路板集成联机通讯、步进电机控制、气压测量等多种功能于一体;
3、提出了改进型转板式气动数字阀及其实验系统的数学模型,并进行了相关仿真实验;
4、搭建了改进型转板式气动数字阀特性测试实验平台,对改进型转板式气动数字阀进行了开、闭环特性测试实验,并分析研究了数字阀的输出气压响应情况,对数字阀在不同实验对象时的特性作了比较;
5、通过改进设计“改进型转板式气动数字阀”,将有利于推进气动伺服系统的研究和直接数字化控制技术的研究。
As the digital control technology develops rapidly, direct digital control technology has been popular studied on control of the digital/servo valve pressure control system. Aiming at the disadvantages which appeared in previous applications of the pneumatic control valve, its key mechanical parts were newly designed, and a new drive and control PCB circuit board were designed, based on the original digital valve, which effectively improve its air-pressure characteristics and controllability. Characteristics test based on the pneumatic digital valve was carried out. The results illustate that, the controllability of open and close loop of the modified pneumatic digital valve is satisfactory, its output pressure is stable.
The main work and outcome of the thesis list as follows:
1. Aiming at the disadvantages which appeared in previous applications of the pneumatic control valve, its key mechanical parts were newly designed, a new control method was introduced and a digital PID control method was used;
2. Designed a new pneumatic digital valveís drive and control circuit board. The board Integrated on-line communication, stepping motor control and air pressure measurement in it;
3. Put forward a mathematical model of the modified pneumatic digital valve and its characteristics test experiment platform, and carried out the relevant simulink experiment of the digital valve;
4. Built the characteristic test platform of the modified pneumatic digital valve, carried out the open and close loop experiment of the valve, analysed the response of its output pressure, and did some comparasions of charateristics based on the different experiment objects;
5. Optimization of the modified pneumatic digital valve will help promote the further study of pneumatic serve system and the direct digital control technology.
引文
[1]李培珍,尹玉亮,顾总磊.气动技术的应用及其元件发展趋势[J].科技资讯, 2007(19): 0028-0028.
[2]陆一心,顾建,凌智勇.液压与气动技术[M].北京:化学工业出版社, 2004,10.
[3]张利平.液压传动与控制[M].西安:西北工业大学出版社, 2005.
[4]赵彤.气动技术的发展及在新领域中的应用[J].液压气动与密封, 2004(2): 1-5.
[5]相良久男.空気圧要素技術の課題[J].フル-ドパワ-システム, 2003(34): 60~63.
[6]祖温.日本气动技术的最新发展[J].液压与气动, 1994(1): 7-10.
[7]黄人豪,濮凤根.液压控制技术回顾与展望[J].液压气动与密封, 2002, 12(6): 01-09.
[8]李家书.气动技术的应用[J].液压气动与密封, 2006(6): 6-10.
[9]周洪.气动技术的新发展[J].液压气动与密封, 1999(77): 1-12.
[10]彭太江,杨志刚,阚君武,程光明.电_气比例伺服技术现状及其发展[J].农业机械学报, 2005(6): 126-130.
[11]史维祥.流体控制发展的一些方向[J].液压气动与密封, 2001(1): 10-12.
[12]陈剑波.阀岛及其控制技术[J].机械与电子, 2009(19): 475-476.
[13]阮健.电液(气)直接数字控制技术[M].杭州:浙江大学出版社, 2000.
[14]吴文静,刘广瑞.数字化液压技术的发展趋势[J].矿山机械, 2007(8): 116-119.
[15]白继平,潘国强,蒋更红,阮健.新型船用2D气动数字阀动态特性仿真分析[J].中国航海, 2005(4): 79-86.
[16]李胜,裴翔,阮健.数字阀控制器的设计方法研究[J].工程设计学报, 2002(8): 124-126.
[17] Merritt H E. Hydraulic Control Systems[M]. John Wiley & Sons, 1967.
[18] Noritsugu T. PWM Mode Electro-pneumatic Servo System for Position Control [J]. Trans. Soc. In strum &Control Eng, 1984(20): 754-764.
[19]李运华,陈惠民,王焕德.脉宽调制(PWM)型电液控制系统的设计理论研究[J].机床与液压, 1992(3): 34-38.
[20] Takashi K. Stepper Motors and their Microprocessor Control [M]. Oxford. Clareudon Press, 1986.
[21] Ruan J, Xu YM, Yu C Y. Technique of Pressure Regulation with a Capillary Damper tube [M].Proceedings of International Conference on Fluid Power Control and Robotics, 1990: 324-329.
[22]林昌杰.电液数字阀在伺服系统中的应用[J].武汉交通职业学院学报, 2005(3): 0062-0064.
[23] G.X.Hu, X.D.Hu, Y.F.Jin, X.Z.Hu, W.Li. The Develpment of the Prexise Double Sided Polishing Machine [J], Key Engineering materials vols, 315-316, 2006(6): 370-374.
[24]李胜,俞浙青,阮健.2D气动数字伺服阀[J].机床与液压,总第181期, 2003(6): 0293-0296.
[25]李胜,朱小平,阮健,裴翔. 2D数字压力阀[J].浙江工业大学学报, 2003, 31(3): 293-297.
[26]阮健,李胜,杨继隆.液压及气动阀直接数字控制的新途径[J].中国机械工程, 2000(3): 0317-0320.
[27] Li S, Ruan J, Burton R, Ukrainetz P, Bitner D. 2D Digital Simplified Flow Valve [Z]. Proceedings
[23] of the Fourth International Symposium on Fluid Power Transmission and Control (ISFP'2003).
[28] Pei X, Zheng J J, Yang J L, Ruan J, Burton R Ukrainetz P.2D Pneumatic Digital Servo Valve [Z]. Proceedings of the Fifth International Conference on Fluid Power Transmission and Control (ICFP'2001).
[29]尚涛.机电控制技术(机电一体化技术应用丛书)[M].北京:化学工业出版社, 2009.
[30]谢瑞和.串行技术大全[M].北京:清华大学出版社, 2003.
[31]詹卫前.耿德根.ATMEGA8原理及应用手册[M],清华大学出版社, 2002.
[32] Atmel. ATMEGA8 datasheet[DB/OL]. 8-bit AVR with 8K Bytes In System Programmable Flash. www.atmel.com.
[33] Toshiba. TB6560AHQ datasheet [[DB/OL]]. 2009. www.Toshiba co.jp.
[34]杭州科岛微电子有限公司. STI系列硅压阻式压力传感器芯片[OL]. 2008.12. http://www.hzsti.com/upfile/proimage/20084815275449028.doc.
[35] Analog Devices, Inc. AD705-- Picoampere Input Current Bipolar Op Amp [M/CD], Rev. B, 2006.
[36]史敬灼.步进电动机伺服控制技术[M].北京:科学出版社, 2006.7.
[37]徐炳辉.气动手册[M].第1版.上海:上海科学技术出版社, 2005.
[38] SMC(中国)有限公司.现代实用气动技术[M].第3版.北京:机械工业出版社, 2008.
[39]张也影.流体力学[M].第二版.北京:高等教育出版社, 1999.
[40]王宗培,史敬灼.二相混合式步进电动机仿真模型分析[J].微特电机, 1998(6): 3-6.
[41]刘金琨.先进PID控制及其MATLAB仿真[M].电子工业出版社, 2003.
[42]陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].机械工业出版社, 2001.
[43]仇慎谦. PID调节规律和过程控制[M].南京:江苏科学技术出版社, 1987.12.
[44]魏中等.电子测量与仪器[M].北京:化学工业出版社, 2003.
[45]应怀樵.虚拟仪器的过去、现在和将来[J].中国信息导报, 2003(11): 48-51.
[46]李增芳.基于人工智能和虚拟仪器技术的发动机故障诊断专家系统研究[D],浙江大学博士学位论文, 2004.
[47]史君成,张淑伟,律淑珍. LabWindows虚拟仪器设计[M].北京:国防工业出版社, 2007.
[48]程学庆,房晓溪,韩薪莘,张健等. LabVIEW图形化编程与实力应用[M].中国铁道出版社, 2005.
[49]杨乐平,李海涛,肖凯等.虚拟仪器技术概论[M].北京:电子工业出版社, 2003.
[50]荆学东,徐宾士,王成涛等.虚拟仪器技术及其应用[J].陕西科技大学学报, 2007(25): 128-132.
[2]陆一心,顾建,凌智勇.液压与气动技术[M].北京:化学工业出版社, 2004,10.
[3]张利平.液压传动与控制[M].西安:西北工业大学出版社, 2005.
[4]赵彤.气动技术的发展及在新领域中的应用[J].液压气动与密封, 2004(2): 1-5.
[5]相良久男.空気圧要素技術の課題[J].フル-ドパワ-システム, 2003(34): 60~63.
[6]祖温.日本气动技术的最新发展[J].液压与气动, 1994(1): 7-10.
[7]黄人豪,濮凤根.液压控制技术回顾与展望[J].液压气动与密封, 2002, 12(6): 01-09.
[8]李家书.气动技术的应用[J].液压气动与密封, 2006(6): 6-10.
[9]周洪.气动技术的新发展[J].液压气动与密封, 1999(77): 1-12.
[10]彭太江,杨志刚,阚君武,程光明.电_气比例伺服技术现状及其发展[J].农业机械学报, 2005(6): 126-130.
[11]史维祥.流体控制发展的一些方向[J].液压气动与密封, 2001(1): 10-12.
[12]陈剑波.阀岛及其控制技术[J].机械与电子, 2009(19): 475-476.
[13]阮健.电液(气)直接数字控制技术[M].杭州:浙江大学出版社, 2000.
[14]吴文静,刘广瑞.数字化液压技术的发展趋势[J].矿山机械, 2007(8): 116-119.
[15]白继平,潘国强,蒋更红,阮健.新型船用2D气动数字阀动态特性仿真分析[J].中国航海, 2005(4): 79-86.
[16]李胜,裴翔,阮健.数字阀控制器的设计方法研究[J].工程设计学报, 2002(8): 124-126.
[17] Merritt H E. Hydraulic Control Systems[M]. John Wiley & Sons, 1967.
[18] Noritsugu T. PWM Mode Electro-pneumatic Servo System for Position Control [J]. Trans. Soc. In strum &Control Eng, 1984(20): 754-764.
[19]李运华,陈惠民,王焕德.脉宽调制(PWM)型电液控制系统的设计理论研究[J].机床与液压, 1992(3): 34-38.
[20] Takashi K. Stepper Motors and their Microprocessor Control [M]. Oxford. Clareudon Press, 1986.
[21] Ruan J, Xu YM, Yu C Y. Technique of Pressure Regulation with a Capillary Damper tube [M].Proceedings of International Conference on Fluid Power Control and Robotics, 1990: 324-329.
[22]林昌杰.电液数字阀在伺服系统中的应用[J].武汉交通职业学院学报, 2005(3): 0062-0064.
[23] G.X.Hu, X.D.Hu, Y.F.Jin, X.Z.Hu, W.Li. The Develpment of the Prexise Double Sided Polishing Machine [J], Key Engineering materials vols, 315-316, 2006(6): 370-374.
[24]李胜,俞浙青,阮健.2D气动数字伺服阀[J].机床与液压,总第181期, 2003(6): 0293-0296.
[25]李胜,朱小平,阮健,裴翔. 2D数字压力阀[J].浙江工业大学学报, 2003, 31(3): 293-297.
[26]阮健,李胜,杨继隆.液压及气动阀直接数字控制的新途径[J].中国机械工程, 2000(3): 0317-0320.
[27] Li S, Ruan J, Burton R, Ukrainetz P, Bitner D. 2D Digital Simplified Flow Valve [Z]. Proceedings
[23] of the Fourth International Symposium on Fluid Power Transmission and Control (ISFP'2003).
[28] Pei X, Zheng J J, Yang J L, Ruan J, Burton R Ukrainetz P.2D Pneumatic Digital Servo Valve [Z]. Proceedings of the Fifth International Conference on Fluid Power Transmission and Control (ICFP'2001).
[29]尚涛.机电控制技术(机电一体化技术应用丛书)[M].北京:化学工业出版社, 2009.
[30]谢瑞和.串行技术大全[M].北京:清华大学出版社, 2003.
[31]詹卫前.耿德根.ATMEGA8原理及应用手册[M],清华大学出版社, 2002.
[32] Atmel. ATMEGA8 datasheet[DB/OL]. 8-bit AVR with 8K Bytes In System Programmable Flash. www.atmel.com.
[33] Toshiba. TB6560AHQ datasheet [[DB/OL]]. 2009. www.Toshiba co.jp.
[34]杭州科岛微电子有限公司. STI系列硅压阻式压力传感器芯片[OL]. 2008.12. http://www.hzsti.com/upfile/proimage/20084815275449028.doc.
[35] Analog Devices, Inc. AD705-- Picoampere Input Current Bipolar Op Amp [M/CD], Rev. B, 2006.
[36]史敬灼.步进电动机伺服控制技术[M].北京:科学出版社, 2006.7.
[37]徐炳辉.气动手册[M].第1版.上海:上海科学技术出版社, 2005.
[38] SMC(中国)有限公司.现代实用气动技术[M].第3版.北京:机械工业出版社, 2008.
[39]张也影.流体力学[M].第二版.北京:高等教育出版社, 1999.
[40]王宗培,史敬灼.二相混合式步进电动机仿真模型分析[J].微特电机, 1998(6): 3-6.
[41]刘金琨.先进PID控制及其MATLAB仿真[M].电子工业出版社, 2003.
[42]陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].机械工业出版社, 2001.
[43]仇慎谦. PID调节规律和过程控制[M].南京:江苏科学技术出版社, 1987.12.
[44]魏中等.电子测量与仪器[M].北京:化学工业出版社, 2003.
[45]应怀樵.虚拟仪器的过去、现在和将来[J].中国信息导报, 2003(11): 48-51.
[46]李增芳.基于人工智能和虚拟仪器技术的发动机故障诊断专家系统研究[D],浙江大学博士学位论文, 2004.
[47]史君成,张淑伟,律淑珍. LabWindows虚拟仪器设计[M].北京:国防工业出版社, 2007.
[48]程学庆,房晓溪,韩薪莘,张健等. LabVIEW图形化编程与实力应用[M].中国铁道出版社, 2005.
[49]杨乐平,李海涛,肖凯等.虚拟仪器技术概论[M].北京:电子工业出版社, 2003.
[50]荆学东,徐宾士,王成涛等.虚拟仪器技术及其应用[J].陕西科技大学学报, 2007(25): 128-132.