直驱容控摆缸式舵机电液伺服系统的研究
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摘要
直驱式容积控制(DDVC)电液伺服系统是近些年研究发展起来的一种新型电液伺服系统,具有交流伺服电动机控制的灵活性和液压大出力的双重优点。可靠性高、节能高效、操作与控制简单、小型集成化等优势使其已在多个领域的装置上获得应用并取得较大的经济效益,被认为是液压控制系统的重要发展方向之一。国外尤其是美国和日本等国对直驱式系统的研究已趋于成熟,应用越来越广泛。
本文的主要任务是针对船用舵机的要求进行直驱式电液伺服系统的研究,阐述了系统的原理、组成和特点,分析了现有系统存在的不足,研制了新型的直驱式装置,并对其进行了理论分析和试验研究。
本文针对系统工作过程中的吸排油问题进行了研究,设计制作了相应的吸排阀和密闭油罐。经试验研究,可以满足系统工作的需要,减小了吸排阀死区,使低速小位移运动性能得到提高。将吸排阀与锁阀组合成集成阀块,并将阀块与泵放入密闭油罐,设计出了更加集成化的直驱式油源。建立了交流伺服电机的数学模型,分析了泵控缸液压动力机构的原理并建立了数学模型,进而建立了直驱式电液伺服系统的数学模型。讨论了各项参数对系统性能的影响,并在此基础上进行了系统计算机仿真研究。此外,完成PID控制器、模糊PID控制器的设计,编写了相应的控制程序。
本文对直驱式电液伺服装置在闭环下进行了试验研究,测试了系统的静态和动态性能指标。试验结果表明,本系统所采取的控制方案合理可行,研制的直驱式电液伺服系统性能满足实际要求。
Direct Drive Volume Control (DDVC) Electro-Hydraulic Servo System is a newkind of volume speeding electro-hydraulic servo system. It has both advantages of ACservo motor control’s flexibility and of hydraulic great force. Due to the features ofhigh reliability; high energy-saving efficiency; simple operation and control; smallintegration, etc., the system has been widely applied to the equipments in many fieldsand has gained a lot of economic benefits. So it is widely considered to be one of themost important developing directions of the hydraulic control system.This technologyis going to maturate in foreign country especially in USA and Japan, and itsapplicationisverywide.
The main work of this paper is to design the one channel Hydraulic servo driversystem of steering gear for ship.This paperexplains the Direct Drive Electro-hydraulicServo System including its principle, the construction and the advantages. It mainlyanalyzes the inadequacy of the original system,developes a new type of the DirectDriveSystemandanalyzesitintheoryandthroughexperiments.
This paper researches the problems about oil suction and drainage of the systemwhen it works and designs the suction and drainage valve and closure oil tank to solvethese problems. The experiments show that the new design works very well, it cansatisfys our needs, reduces the dead zone of valve for oil supply and improves theperformance of low-speed movement and small displacement. It composes the suctionand drainage valve lock valve to hydraulic manifold block and gets pump andmanifoldblockinto closureoiltank,whichmakestheoilsources moreintegrated.Thispaper introduces the working principle and control methods of permanent AC servomotor, analyzes the pump-control cylinder subsystem, establishes the mathematicalmodel of AC servo motor and pump-control cylinder subsystem. In addition,establishes the mathematical model of the whole system. It also analyzes theparameters which influence the system’s dynamic performance. Then, the computersimulation is performed to the system. Besides that, this paper designs PID controllerand fuzzyPIDcontroller andcompiles thecontrolprograms forthem.
In this paper, weverified the system’s performance under closed loopand tested thesystem’s quieting and dynamic characteristics. The experiments results have showedthat the control method is reasonable, and the research on the Direct Drive Electro-hydraulicServoSystemisprovedtobesuccessfulforapplication.
本文的主要任务是针对船用舵机的要求进行直驱式电液伺服系统的研究,阐述了系统的原理、组成和特点,分析了现有系统存在的不足,研制了新型的直驱式装置,并对其进行了理论分析和试验研究。
本文针对系统工作过程中的吸排油问题进行了研究,设计制作了相应的吸排阀和密闭油罐。经试验研究,可以满足系统工作的需要,减小了吸排阀死区,使低速小位移运动性能得到提高。将吸排阀与锁阀组合成集成阀块,并将阀块与泵放入密闭油罐,设计出了更加集成化的直驱式油源。建立了交流伺服电机的数学模型,分析了泵控缸液压动力机构的原理并建立了数学模型,进而建立了直驱式电液伺服系统的数学模型。讨论了各项参数对系统性能的影响,并在此基础上进行了系统计算机仿真研究。此外,完成PID控制器、模糊PID控制器的设计,编写了相应的控制程序。
本文对直驱式电液伺服装置在闭环下进行了试验研究,测试了系统的静态和动态性能指标。试验结果表明,本系统所采取的控制方案合理可行,研制的直驱式电液伺服系统性能满足实际要求。
Direct Drive Volume Control (DDVC) Electro-Hydraulic Servo System is a newkind of volume speeding electro-hydraulic servo system. It has both advantages of ACservo motor control’s flexibility and of hydraulic great force. Due to the features ofhigh reliability; high energy-saving efficiency; simple operation and control; smallintegration, etc., the system has been widely applied to the equipments in many fieldsand has gained a lot of economic benefits. So it is widely considered to be one of themost important developing directions of the hydraulic control system.This technologyis going to maturate in foreign country especially in USA and Japan, and itsapplicationisverywide.
The main work of this paper is to design the one channel Hydraulic servo driversystem of steering gear for ship.This paperexplains the Direct Drive Electro-hydraulicServo System including its principle, the construction and the advantages. It mainlyanalyzes the inadequacy of the original system,developes a new type of the DirectDriveSystemandanalyzesitintheoryandthroughexperiments.
This paper researches the problems about oil suction and drainage of the systemwhen it works and designs the suction and drainage valve and closure oil tank to solvethese problems. The experiments show that the new design works very well, it cansatisfys our needs, reduces the dead zone of valve for oil supply and improves theperformance of low-speed movement and small displacement. It composes the suctionand drainage valve lock valve to hydraulic manifold block and gets pump andmanifoldblockinto closureoiltank,whichmakestheoilsources moreintegrated.Thispaper introduces the working principle and control methods of permanent AC servomotor, analyzes the pump-control cylinder subsystem, establishes the mathematicalmodel of AC servo motor and pump-control cylinder subsystem. In addition,establishes the mathematical model of the whole system. It also analyzes theparameters which influence the system’s dynamic performance. Then, the computersimulation is performed to the system. Besides that, this paper designs PID controllerand fuzzyPIDcontroller andcompiles thecontrolprograms forthem.
In this paper, weverified the system’s performance under closed loopand tested thesystem’s quieting and dynamic characteristics. The experiments results have showedthat the control method is reasonable, and the research on the Direct Drive Electro-hydraulicServoSystemisprovedtobesuccessfulforapplication.
引文
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27 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Whitley, C.; Towers, G.;Power supply loss ride-through and device voltage drop compensation in a matrixconverter permanent magnet motor drive for an aircraft actuator. PowerElectronics Specialists Conference, 2004. PESC 04. 2004 IEEE 35th Annual, 20-
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2杨明,于泳,王宏,徐殿国.适用于工业机器人的永磁同步电动机全数字化交流伺服系统.交流永磁同步伺服系统.2004,(11):37~39
3 Changsheng LI, Malik Elbuluk.ASolid ModeObserver for Sensorless Control ofPermanentMagnetSynchronousMotors.IEEE,2001,(C):1273~1278
4刘庆和.电液伺服直接驱动装置.电液压技术资料简编,1999:1~3,6~9
5邱兆湘.直驱式电液伺服装置油源及系统性能的研究.哈尔滨工业大学硕士论文.2007,7:3~5
6涂婉丽.直驱式容积控制电液伺服系统动态特性的研究.哈尔滨工业大学硕士论文.2005,7:1~3
7郭建宇,冯刚.无阀电液伺服系统.轻工机械.2005,(4):12~15
8姜继海,苏文海,刘庆和.直驱式容积控制电液伺服系统.军民两用技术与产品.2003,(9):43~45
9 Masanori ITO, Noriki, HIROSE, Etsuro SHIMIZU. Main Engine RevolutionControl for Ship with Direct Drive Volume Control System[J]. ISMETOKYO,2000,(2):532~537
10张一丁,徐兵,杨华勇,丁惠公.变转速泵控液压缸实验仿真分析.液压与气动.2003,(1):18~20
11 ITO,H SATO,YMaeda. Direct Drive Volume Control of Hydraulic System and itsApplication to the Steering System of Ship[C]. Hayama: FLUCOME'97, (1):445~450
12 Jahns,T.M.;VanNocker,R.C.Electriccontrolsforahigh-performanceEHAusingan interior permanent magnet motor drive.Aerospace and Electronics Conference,1989. NAECON 1989, Proceedings of the IEEE 1989 National,22-26 May 1989,vol.1: 346~354.
13 Sadeghi, T.; Lyons, A.Fault tolerant EHAarchitectures.Aerospace and ElectronicSystemsMagazine,IEEE,Issue3, March1992,Volume7:32-42.
14 Habibi, S.; Goldenberg, A. Design of a new high-performance electrohydraulicactuator. Mechatronics, IEEE/ASME Transactions on, Issue 2, June 2000, Volume5:158~164
15 Jahns, T.M.; Van Nocker, R.C. High-performance EHA controls using an interiorpermanent magnet motor. Aerospace and Electronic Systems, IEEE Transactionson,Issue3, May1990,Volume26: 534~542.
16马纪明,付永领,李军,高波.一体化电动静液作动器(EHA)的设计与仿真分析航空学报.2005,(1):79~83
17刘恩均,王占林,孙卫华.一种新型EHA及其仿真分析.液压气动与密封.2005,(1):14~16
18权龙.基于可调速电动机的高动态节能型电液动力源.中国机械工程. 2003,(7):606~609
19徐薇莉,曹柱中,田作华.自动控制理论与设计.上海交通大学出版社, 2002:55～70
20彭天好,徐兵,杨华勇.变频泵控马达调速系统遗传算法PID控制.液压与气动.2003,(11):1~3
21 LewisFL,LiuK.Automatic.1996,(32):167~181
22苗敬利,李华德.模糊控制和传统PID控制的仿真研究.微机算机信息. 2003,(7):15,26
23吴振顺.自适应控制理论与应用.哈尔滨工业大学出版社.2005:66~137
24李壮云.液压元件与系统.机械工业出版社.2005:92～93
25余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械.1999,(5):16~19
26 Ying-Shieh Kung, Pin-Ging Huang, High performance position controller forPMSM drives based on TMS320F2812 DSP. Control Applications, 2004.Proceedings of the 2004 IEEE International Conference on, Volume 1, 2-4 Sept.2004Vol.1: 290~295
27 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Whitley, C.; Towers, G.;Power supply loss ride-through and device voltage drop compensation in a matrixconverter permanent magnet motor drive for an aircraft actuator. PowerElectronics Specialists Conference, 2004. PESC 04. 2004 IEEE 35th Annual, 20-
25June2004Vol.1: 149~154
28 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Bradley, K.J.; Whitley, C.;Towers, G.; A matrix converter based permanent magnet motor drive for anelectro-hydrostatic aircraft actuator. Industrial Electronics Society, 2003. IECON'03. The 29th Annual Conference of the IEEE, Volume 3, 2-6 Nov. 2003 Vol.3:2072~2077
29 Alden, R. C-141 and C-130 power-by-wire flight control systems. Aerospace andElectronics Conference, 1991. NAECON 1991, Proceedings of the IEEE 1991National,20-24May1991,vol.2:535 ~539
30 B. K. Bose. Fuzzy Logic and Neural Networks in Power Electronics and Drives.IEEE,2000,(3):57~63
31付永领,徐步力,那波.一种新型无伺服阀电液伺服执行器.机床与液压.2002,(7):44~45
32吴安顺.最新实用交流调速系统.机械工业出版社,1998,(6):1～17
33 Yuanhua Chen; Qingguang Yu; Wenhua Liu; Gangui Yan; High power inductionmotor VVVF drives system with IGCTs in thermal power plant. Power SystemTechnology, 2002. Proceedings. PowerCon 2002. International Conference on,Volume4, 13-17Oct.2002vol.4:2179~ 2183
34 Cascella, G.L.; Cupertino, F.; Salvatore, L.; Stasi, S. PMSM rotor double-alignment by PI and sliding-mode controllers. Electric Machines and DrivesConference, 2003. IEMDC'03. IEEE International, Volume 3, 1-4 June 2003Vol.3: 1741~1747
35 Jian-Xin Xu; Panda, S.K.; Ya-Jun Pan; Tong Heng Lee; Lam, B.H. A modularcontrol scheme for PMSM speed control with pulsating torque minimization.Industrial Electronics, IEEE Transactions on, Volume 51, Issue 3,June 2004Vol.51: 526~536
36彭天好,杨华勇,徐兵.变频回转液压系统的动态特性仿真.机床与液压.2001,(3):7~9
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