船舶舵机调节器的性能优化研究及运动可视化
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摘要
为了克服在电液伺服调节器(以下简称调节器)试验过程中通过类比法设计弹簧参数和试探法调整启动电流和极位电流的盲目性,本文旨在从理论上找到确定调节器内外复位弹簧参数的设计依据,并通过优化设计确定弹簧参数以扩大调节器启动电流和极位电流的线性范围,从而改善调节器的控制性能。
本文首先通过调节器原样机和自制样机的性能试验数据对比分析明确了影响样机启动电流的主要因素,进而拟定了优化弹簧参数的方法;然后以动力学理论为基础,建立了调节器中伺服阀的数学模型;在深入分析调节器工作原理与性能影响因素的基础上,以AMESim为平台,利用AMESim的HCD库,建立了调节器及其试验台的模型,并利用AMESim的设计探索模块工具中的NLPQL算法对调节器内外复位弹簧的刚度和预紧力进行了优化设计;继而对优化后的调节器性能进行了仿真,通过仿真结果和试验实测数据的对比,证实了优化后的调节器性能确有明显改善;最后还利用机械仿真软件ADAMS中制作了调节器的控制过程三维动画,直观形象地展示了调节器的运动学原理。
通过对调节器的参数优化和性能仿真分析,与实测数据的对比证实了所用方法的有效性。同时,文中关于参数优化和性能仿真以及调节器运动三维可视化动画制作的方法可供类似电液控制系统的分析及性能改善参考借鉴;在ADAMS中制作的调节器三维可视化动画克服了平面投影视图要依赖空间想象力建立立体图形的困难,并能动态显示阀芯和活塞的位移响应,便于深入了解与分析其动态特性。
In order to overcome the blindness of analogy used in designing parameters of spring and test-method used in the process of adjusting the start-up current and the limit location current of electro-hydraulic servo regulator (following short title as regulator), this paper aims at found a way based on theory to expand the linear scope of both spool’s and piston’s displacement to improve the performance of servo regulators.
By comparing and analysis the trial data of the original prototype and self-made prototypes, the factors impacted the start-up current and the limit location current were found, which the method of optimizing the parameters based on. And then the mobile-spool servo valve model was founded based on kinetic theory. On in-depth analysis the principle of regulator, using AMESim as a platform and its HCD library, an electro-hydraulic servo regulator model with its testing platform was established. The NLPQL algorithm included in the exploring and design tools of AMESim was used to optimize the parameters of springs. Then, the simulation of optimized servo regulator was done. The results of comparing the simulation results and experimental confirms that the performance of optimized regulators has significant improved comparing with the self-made. Finally, the movement animation of servo regulator made based on ADAMS vividly demonstrate the movement process of regulators.
It was confirmed that the method used in the process was effective by comparing and analysis the simulation results of optimized regulator and experimental data. At the same time, the process and the means of analysis and performance improvement of regulator and its 3D visualized animation has reference value to carry out the similar electronic-hydraulic system optimization and simulation. And the 3D visualized animation based on ADAMS overcomes the disadvantage of plane projection view relied on the imaginative space to establishment the three-dimensional graphics. Further more, the animation can real time show the displacement value of both spool and piston. This is useful in understanding and analysis their dynamic characteristics. .
本文首先通过调节器原样机和自制样机的性能试验数据对比分析明确了影响样机启动电流的主要因素,进而拟定了优化弹簧参数的方法;然后以动力学理论为基础,建立了调节器中伺服阀的数学模型;在深入分析调节器工作原理与性能影响因素的基础上,以AMESim为平台,利用AMESim的HCD库,建立了调节器及其试验台的模型,并利用AMESim的设计探索模块工具中的NLPQL算法对调节器内外复位弹簧的刚度和预紧力进行了优化设计;继而对优化后的调节器性能进行了仿真,通过仿真结果和试验实测数据的对比,证实了优化后的调节器性能确有明显改善;最后还利用机械仿真软件ADAMS中制作了调节器的控制过程三维动画,直观形象地展示了调节器的运动学原理。
通过对调节器的参数优化和性能仿真分析,与实测数据的对比证实了所用方法的有效性。同时,文中关于参数优化和性能仿真以及调节器运动三维可视化动画制作的方法可供类似电液控制系统的分析及性能改善参考借鉴;在ADAMS中制作的调节器三维可视化动画克服了平面投影视图要依赖空间想象力建立立体图形的困难,并能动态显示阀芯和活塞的位移响应,便于深入了解与分析其动态特性。
In order to overcome the blindness of analogy used in designing parameters of spring and test-method used in the process of adjusting the start-up current and the limit location current of electro-hydraulic servo regulator (following short title as regulator), this paper aims at found a way based on theory to expand the linear scope of both spool’s and piston’s displacement to improve the performance of servo regulators.
By comparing and analysis the trial data of the original prototype and self-made prototypes, the factors impacted the start-up current and the limit location current were found, which the method of optimizing the parameters based on. And then the mobile-spool servo valve model was founded based on kinetic theory. On in-depth analysis the principle of regulator, using AMESim as a platform and its HCD library, an electro-hydraulic servo regulator model with its testing platform was established. The NLPQL algorithm included in the exploring and design tools of AMESim was used to optimize the parameters of springs. Then, the simulation of optimized servo regulator was done. The results of comparing the simulation results and experimental confirms that the performance of optimized regulators has significant improved comparing with the self-made. Finally, the movement animation of servo regulator made based on ADAMS vividly demonstrate the movement process of regulators.
It was confirmed that the method used in the process was effective by comparing and analysis the simulation results of optimized regulator and experimental data. At the same time, the process and the means of analysis and performance improvement of regulator and its 3D visualized animation has reference value to carry out the similar electronic-hydraulic system optimization and simulation. And the 3D visualized animation based on ADAMS overcomes the disadvantage of plane projection view relied on the imaginative space to establishment the three-dimensional graphics. Further more, the animation can real time show the displacement value of both spool and piston. This is useful in understanding and analysis their dynamic characteristics. .
引文
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[2]杨波.全回转随动液压舵机系统.江苏船舶,1997,3:7~8
[3] (日)蓧原直志著,齐佩玉译.舵机技术的现状与变迁.日本船用机关志,1989,24(2):21~24
[4]费千.国外液压舵机发展近况述评.维普资讯
[5]黄雪梅.转叶式舵机的特点和价值分析.广船科技,2001,4:17~20
[6]富贵根.舵机与锚机近况及其发展前景.机电设备.1998,2:13~14
[7]文元全,孙才勤.新型船舶自适应舵机系统的研究.大连海事大学学报,2000.8:70~72
[8] Thor I Fossen.Guidance and Control of Ocean Vehicles.Marine Engineers Review.Nov, 1995:66
[9]方群,黄增.电液伺服阀的发展历史、研究现状及发展趋势.机床与液压,2007,35(11):162~165
[10] M. S. Qatu, D. R. Llewellyn and W. G. Spadafora. Measurement of Steering Gear Impedance. Experimental Mechanics. Jun 2001,41: 151~156
[11] Khan H,Abou S,Sepehri N.Fault detection in electro-hydraulic servo-positioning systems using sequential test of Wald.Canadian Conference on Electrical and Computer Engineering,2002, 3:1628~1633
[12]李其朋,丁凡.电液伺服阀技术研究现状及发展趋势.工程机械,2003,6:28~33
[13] Hsia TC. A new Technique for Robust Control of Servo System.Industrial Electronics IEEE Transactions, Feb,1989, 36(1):1~7
[14]陈彬,易孟林.电液伺服阀的研究现状和发展趋势.液压与气动,2006,(6):5~8
[15] Mark Tandy.Servo valve integration aided by brushless dc positioning.Control Engineering, Sep 1998,45(12):9~10
[16] J.S.Brader,D.N.Rocheleau.Development of a piezo electrically-controlled hydraulic actuator for a camles engine.Proceedings of the Institution of Mechanical Engineers. Aug 2004,8(218):823~830
[17]王英才.大型机械系统复杂构件结构优化设计方法研究[燕山大学博士论文].燕山:燕山大学,2001.
[18]陈秀宁.机械优化设计.浙江大学出版社,1991,119~155
[19]卢熹.机械结构优化方法及应用研究[东南大学博士学位论文].福建:东南大学2004.
[20] Yang Shu-xing, Zhong Ping. On the Parametric Design of Electromechanical Actuators. Journal of Beijing Institute of Technology, 1997, 6(2) :138-144
[21] Yamasaki Sintarou, Nishiwaki Shinji,Izui Kazuhiro,Yoshimura Masataka. Structural optimization of mechanical structures based on the level set method (construction of a new re-initialization method and its application to the stiffness maximization problem). Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers. January, 2007,73(1),72-79
[22]孙靖民.机械优化设计.北京:机械工业出版社,2003,48~212
[23]孙靖民,梁迎春.机械结构优化设计.哈尔滨:哈尔滨工业大学出版社,2004,53~88
[24] Fujita, Kikuo; Akagi, Shinsuke; Miki, Satoshi.Multi-disciplinary optimization system for link mechanism design. Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers. Nov, 1994,60(579):3670-3677
[25] Alan L.Hitchcox.Size the cylinder right for proper servo operation.Hydraulics & Pneumatics.Jun 2005,6 (58):16~19
[26]方世杰,綦耀光.机械优化设计.北京:机械工业出版社,2003.28~64
[27]赵松年,佟杰新.现代设计方法.北京:机械工业出版社,1996.36~56
[28]徐锦康.机械优化设计.北京:机械工业出版社.1995.29~103
[29] J·C·Jones.Developments in Design of Electro hydraulic Control Valves Form Their InitialDesign Concept to Present Day Design and Applications. http://www.moog.com
[30]肖茜.改进遗传算法及其在机械优化设计中应用的研究.[硕士学位论文].上海:同济大学图书馆,2003.
[31] Gille Jean-Charles,Tarasiewicz Stanislaw,Leger Francois.Dynamic optimization of complex mechanical system. Part IV: Optimization techniques. Transactions of the Society for Computer Simulation.1994.3 ,11(1):16-27
[32]高玉根.基于遗传算法的机械优化可视化建模与应用研究[博士学位论文].北京:北京科技大学,2002.
[33]钱宇,刘永文.模块化建模及其在EASY5仿真平台上的实现.计算机仿真,2007,24(8):85~89
[34]刘浩亮.基于MSC.Easy5液压自动调平方舱振动仿真分析.计算机辅助工程,2006,15(增刊):281~283
[35]陈亚琛,金晓宏.基于EASY5的液压AGC油源系统的动态仿真.机床与液压,2006,(2):194~196
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