差动负载敏感阀控系统的研究
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摘要
应用负载敏感控制理论的电液伺服控制系统是非常有前景的一项节能技术。实际应用及初步理论分析只是证明负载敏技术应用于单作用(单向驱动)液压执行元件可行性。而在工程实际中大量应用双作用液压执行却无法采用四通伺服阀构成双向驱动的负载敏感伺服机构,因为负载敏系统只能对液压执行元件的一个容腔的压力“敏感”;借鉴负载敏感静压传动系统控制双作用缸,采用换向阀或梭阀切换控制也是不可行的,因为在伺服定位过程中换向阀或梭阀的切换,经负载敏调节作用将引起压力波动,使伺服系统的品质变差,严重者将导致系统不稳定。负载敏感系统控制双作用液压执行元件的这种局限,严重制约了其在电液伺服控制系统中的应用。
为此,本文提出了P-Q阀控差动负载敏感伺服系统的解决方案,该系统的控制阀应用了阀口经特殊设计的新型数字式P-Q阀。本论文各章内容简述如下:
第一章,对与本论文研究主题有关的文献进行了综述,阐述了本论文的背景、选题的意义以及研究内容。
第二章,对P-Q阀控差动负载敏感伺服系统的工作原理进行了简要介绍,建立了静态数学模型,并进行了数学仿真;最后根据仿真结果分析了静态时P-Q阀控系统的工作特性,得到静态工作点。
第三章,建立了动态数学模型,进行了线性和非线性的分析和两者之间的比较,对稳定性,阶跃响应等进行了研究。
第四章,简单的介绍了P-Q阀控系统的实验的原理、实验装置,进行了速度的静态特性和动态特性等实验。实验结果证明:差动负载敏感系统能很好的实现单出杆缸的双作用控制,速度响应稳定,动态响应时间比较快,并且应用了负载敏感技术,很好的起到了节能效果。
第五章,对本论文的研究内容进行了总结和展望。
One of the promising technique for the energy saving of the electrohydraulic servo control system is the application of load sensing control. Preliminary theoretical and practical application of that load-sensing technical mainly concerns the single-directional cylinder. However, 4-way servo valve can not be used in two-way drive load sensitive servo system while double-acting hydraulic were widely used in the large-scale application of engineering practice,because the system is only able to load sensitive components of the hydraulic capacity of a cavity pressure "sensitive"; hydrostatic transmission system from load control of sensitive dual-role-cylinder, by reversing valve or spindle valve switching control is not feasible, because the servo positioning in the process of reversing valve or valve spindle switching, the load-min regulation will cause pressure fluctuations so that the servo system of quality deterioration, will result in serious system instability. Load sensing dual role of the hydraulic system control components of the implementation of such limitations, has been seriously restricted in the electro-hydraulic servo control system applications.
Therefore, this thesis presents P-Q valve control differential load sensing servo system solution, the key control component P-Q valve is particularly emphasized.The contents of thesis are as follows:
In chapter one,the relevant research literatures are at first summarized.Then the purposes and contents of the thesis are briefly described.
In chapter two,the working principle of the P-Q valve control differential load sensing servo system is introduced briefly,then the static mathematical model is built up and static analysis and working position are discussed by means of the simulation to the model.
In chapter three,a mathematic modeling of the P-Q valve differential load sensing servo system is established by considering linear and nonlinear factors of the valve,the simulations are carried out to obtain the stability of the system and the dynamic response to the step signals.
In chapter four, experiment and experimental equipments of the P-Q valve differential load sensing servo system is introduced,experiments for static and dynamic characteristics of speed were done.The experiment results show that double-acting control of single-directional cylinder could be realized well by differential load sensing servo system,which have a stable speed response and quick dynamic response time. And the energy could be saved in the application on load sensing technology.
In chapter five,a summary and a prospect to the research work in the thesis are put forward as the conclusion.
为此,本文提出了P-Q阀控差动负载敏感伺服系统的解决方案,该系统的控制阀应用了阀口经特殊设计的新型数字式P-Q阀。本论文各章内容简述如下:
第一章,对与本论文研究主题有关的文献进行了综述,阐述了本论文的背景、选题的意义以及研究内容。
第二章,对P-Q阀控差动负载敏感伺服系统的工作原理进行了简要介绍,建立了静态数学模型,并进行了数学仿真;最后根据仿真结果分析了静态时P-Q阀控系统的工作特性,得到静态工作点。
第三章,建立了动态数学模型,进行了线性和非线性的分析和两者之间的比较,对稳定性,阶跃响应等进行了研究。
第四章,简单的介绍了P-Q阀控系统的实验的原理、实验装置,进行了速度的静态特性和动态特性等实验。实验结果证明:差动负载敏感系统能很好的实现单出杆缸的双作用控制,速度响应稳定,动态响应时间比较快,并且应用了负载敏感技术,很好的起到了节能效果。
第五章,对本论文的研究内容进行了总结和展望。
One of the promising technique for the energy saving of the electrohydraulic servo control system is the application of load sensing control. Preliminary theoretical and practical application of that load-sensing technical mainly concerns the single-directional cylinder. However, 4-way servo valve can not be used in two-way drive load sensitive servo system while double-acting hydraulic were widely used in the large-scale application of engineering practice,because the system is only able to load sensitive components of the hydraulic capacity of a cavity pressure "sensitive"; hydrostatic transmission system from load control of sensitive dual-role-cylinder, by reversing valve or spindle valve switching control is not feasible, because the servo positioning in the process of reversing valve or valve spindle switching, the load-min regulation will cause pressure fluctuations so that the servo system of quality deterioration, will result in serious system instability. Load sensing dual role of the hydraulic system control components of the implementation of such limitations, has been seriously restricted in the electro-hydraulic servo control system applications.
Therefore, this thesis presents P-Q valve control differential load sensing servo system solution, the key control component P-Q valve is particularly emphasized.The contents of thesis are as follows:
In chapter one,the relevant research literatures are at first summarized.Then the purposes and contents of the thesis are briefly described.
In chapter two,the working principle of the P-Q valve control differential load sensing servo system is introduced briefly,then the static mathematical model is built up and static analysis and working position are discussed by means of the simulation to the model.
In chapter three,a mathematic modeling of the P-Q valve differential load sensing servo system is established by considering linear and nonlinear factors of the valve,the simulations are carried out to obtain the stability of the system and the dynamic response to the step signals.
In chapter four, experiment and experimental equipments of the P-Q valve differential load sensing servo system is introduced,experiments for static and dynamic characteristics of speed were done.The experiment results show that double-acting control of single-directional cylinder could be realized well by differential load sensing servo system,which have a stable speed response and quick dynamic response time. And the energy could be saved in the application on load sensing technology.
In chapter five,a summary and a prospect to the research work in the thesis are put forward as the conclusion.
引文
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[34]姜继海、徐志进、刘宇辉;二次调节静液传动位置系统的模糊控制和实验研究;哈尔滨工业大学学报,1998,30(6),84-88
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[36]Matthews,J.& A.T.Clements;Synchronous Control(LSS)System;Hydraulic &Air Engineering;1988(2),278-285
[37]Robert,Breeden,H.;Development of a High Pressure Load Sensing Mobile Valve;SAE paper,No.810697,345-362
[38]D.Wu,R.Burton,G.Schoenau,D.Bitner;Establishing Operating Points for a Linearized Model of a Load Sensing System;Inter.J.of Fluid Power,3(2002)No 2,pp.47-53
[39]W.Siebenlist;Load Sensingsteuerung far Kommunalfahrzeuge;O+P,45(2001)Nr.6,79-85
[40]W.Backe,H.J.Feigel;Neue Moglichkeiten bein Elektrohydraulischen Load-Sensing;O+P,1990,34(2),54-62
[41]Ruan,J.,Yu,Z.Q.,Pei Xiang,Application of Electro-hydraulic Digital Servo in Extension Material Test Machine,IFPC'05,April,2005,Hangzhou
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[43]Ruan J,Ukrainetz P and Burton R.Hydraulic Bridge for Pressure Control in a P-Q Multiple Line Segment Control Valve,International Journal of Fluid Power 2003 Vol.4 pp.1-7
[44]裴翔,郑家锦,李胜.P-Q复合阀调压静特性分析.浙江工业大学学报,2001年9月.
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[3]章宏甲,黄谊.液压传动.机械工业出版社,1999.10.
[4][英]H.E.梅里特著,陈燕庆译.液压控制系统.北京:科学出版社,1976.
[5]王占林.近代液压控制.机械工业出版社,1997.8.
[6]杨文华.液控原理.学术书刊出版社,1990.8.
[7]盛东初.液压传动技术教程.北京工业学院出版社,1995.7.
[8]曾贤启.液压传动技术.北京航空航天大学出版社,1990.8.
[9]毛信理.液压传动与液力传动.冶金工业出版社,1993.10.
[10]陈冬生.液压传动与液力传动.水利电力出版社,1991.5.
[11]王裕清,韩成石.液压传动与控制技术.煤炭工业出版社,1997.7.
[12]Merritt H.E.Hydraulic control system[M].John Wiley & Sons.1967.
[13]Ramechandran S,Ukrainets P R.Digital flow control valve-an evaluation[J].Preceeding of International Conference on Fluid Power.1985.
[14]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.机床与液压,1992(3).
[15]徐元昌,张航伟,闫永志.PWM在液压系统位置控制中的应用.陕西科技大学学报,2005(01).
[16]许南雁,郝继飞,邢青青.PWM控制方法研究.工矿自动化,2005.4.
[17]Ruan,J,and Burton,R.A new Approach of Direct Digital Control for Spool Valves.ASME,EPST-Vol.6,Nashville,Tennessee,1999.
[18]Ruan,J,Xu Y M,Yu C Y.Technique of Pressure regulation with a capillary damper tube[M].Proceedings of International Conference on Fluid Power Control and Robotics,1990.
[19]阮健,李胜,杨继隆.液压及气动阀直接数字控制的新途径.中国机械工程第11卷第3期,2000.
[20]阮健.电液(气)直接数字控制技术.杭州:浙江大学出版社,2000.1.
[21]阮健,李胜,杨继隆.电液(气)直接数字控制的新方法.浙江工业大学学报,第27卷第3期.
[22]阮健,裴翔.2D数字式P-Q阀.液压气动与密封,1999.6.
[23]凌俊杰,翁振涛,方荣华.比例压力流量复合阀新结构及性能的分析与研究.液压气动与密封,2002年6月.
[24]陈家素,张治宇.数字式比例压力流量复合阀及其应用.液压与气动,1997 年第2期.
[25]Burrow,C.R.,Some Chanlenges Facinf Fluid Power Technology,Oppommities for International Collaboration and Progess to Date,Proc.of Fifth JFPS Inter.Symposium on Fluid Power,Vol.1,Nov.,2002,Nara,Japan,267-273
[26]陈钢、杨华勇、俞浙青、路甬祥;电机变频控制液压电梯系统的自校正自适应控制;浙江大学学报,1997年第31卷第5期,57-63
[27]G.Vagel.Variabler Frrderstrom mit Konstanpumpen.O+P,1996.Nr.10,89-95
[28]权龙,Neubert T.,Helduser S.:转速可调泵直接闭环控制差动伺服系统静特性:机械工程学报,2002,38(3):144-148
[29]李洪人,电液控制系统,国防工业出版社,1981,231
[30]Nikolaus,H.;Antriebssystem mit Hydroststischer Kraftubertragung;Offenlegungsschrift 2739968 vom 15.3.1979,426-432
[31]Backe,W.,H.Murrenhoff;Regelung eines Verstellmotors an einem Konstant-Drucknetz;O+P,1981,25(8),231-238
[32]Kordak,R.,Neuartige Antriebskonzeption mit Sekundargeregelten Hydrostatischen Maschinen;O+P,1981,25(5),329-336
[33]俞浙青;功率回收型抽油机械基础研究;浙江大学博士论文,1997
[34]姜继海、徐志进、刘宇辉;二次调节静液传动位置系统的模糊控制和实验研究;哈尔滨工业大学学报,1998,30(6),84-88
[35]Wolf,A.,U.Maier;Load-sensing Systeme in der Erntechnik;O+P,45(2001)Nr.10,45-49
[36]Matthews,J.& A.T.Clements;Synchronous Control(LSS)System;Hydraulic &Air Engineering;1988(2),278-285
[37]Robert,Breeden,H.;Development of a High Pressure Load Sensing Mobile Valve;SAE paper,No.810697,345-362
[38]D.Wu,R.Burton,G.Schoenau,D.Bitner;Establishing Operating Points for a Linearized Model of a Load Sensing System;Inter.J.of Fluid Power,3(2002)No 2,pp.47-53
[39]W.Siebenlist;Load Sensingsteuerung far Kommunalfahrzeuge;O+P,45(2001)Nr.6,79-85
[40]W.Backe,H.J.Feigel;Neue Moglichkeiten bein Elektrohydraulischen Load-Sensing;O+P,1990,34(2),54-62
[41]Ruan,J.,Yu,Z.Q.,Pei Xiang,Application of Electro-hydraulic Digital Servo in Extension Material Test Machine,IFPC'05,April,2005,Hangzhou
[42]Li S,Ruan J,Burton R.and Ukrainetz,P "The Application fo Electrohydraulic Stage Control in Material Test System" ISIST'2002 PROCEEDINGS,China,Qingdao,pp.512-516
[43]Ruan J,Ukrainetz P and Burton R.Hydraulic Bridge for Pressure Control in a P-Q Multiple Line Segment Control Valve,International Journal of Fluid Power 2003 Vol.4 pp.1-7
[44]裴翔,郑家锦,李胜.P-Q复合阀调压静特性分析.浙江工业大学学报,2001年9月.
[45]阮健,杨继隆,历明忠.新型数字式流量压力复合阀——数字阀系列报告之一.浙江工业大学学报,1999年1月.
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