纯水液压同步系统的研究与分析
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摘要
纯水液压传动技术是把纯水(其中包括淡水和海水)作为工作介质的一种液压传动技术。由于纯水水源广泛,没有污染,阻燃性能好等优点,世界各国都在积极开展纯水液压传动的研究与开发工作,这个领域已成为液压工业技术进步与创新的几个重要领域之一。
在查阅大量国内外资料的基础上,论文综述了纯水液压传动技术的研究现状和发展趋势,提出了本文的研究内容和方向。通过对纯水液压同步系统同步控制的研究,为纯水液压传动的应用提供一定的理论依据。
本文构建了一个纯水液压同步系统。该系统由主动缸系统和从动缸系统两部分组成,以从动缸系统作为主要研究对象。将主动缸的位移信号作为从动缸的指令信号,通过对从动缸系统的控制调节,使从动缸的位移始终保持和主动缸一致,从而实现系统双缸的同步运动。考虑到插装阀可方便地进行逻辑组合、锥阀磨损的自我补偿能力强、防漏能力强,适合大流量的液压系统的特点,系统的方向控制元件采用滑阀作为先导阀、由插装阀组成的四通逻辑块作为主阀。执行元件采用了纯水液压缸。主动缸的速度由手动节流阀来调节,而从动缸的速度由比例调速阀来控制。
分别建立了插装阀、液压缸的数学模型,应用AEMsim建立了比例调速阀的数学模型,在此基础上,根据系统的实际参数建立了插装阀控液压缸的动力机构及从动缸控制系统的数学模型,并从理论上对开环、闭环系统进行了动、静态和稳定性分析。应用计算机工程软件MATLAB/Simulink工具箱对系统进行了仿真分析,得到和理论分析相同的结论。针对纯水液压传动的技术特点,采用PID控制方式对系统进行校正,选择了适宜的PID参数。并对校正前后的静动态特性进行了仿真比较分析。通过PID校正,系统达到了比较好的控制性能。
Water hydraulics technology is that the water (Including fresh water and sea water) as the working medium of hydraulic transmission.Due to the water source extensively, no pollution, flame retardancy and so on,all of the world actively carry out research and development of water hydraulics, has become one of the main fields in hydraulic industrial technology improvement and innovation.
In consulting a large number of domestic and foreign material basis. Water Hydraulics paper reviews the status of technology research and development trends, Proposed content and direction of this study. Synchronous system by synchronous control of water hydraulic studies, Application for the Water Hydraulics provide a theoretical basis.
This paper is the content of constructing a pure water hydraulic sync system.The water hydraulic system, hydraulic system by the active cylinder and slave cylinder hydraulic system composed of two parts. To the slave cylinder system as the main object of study. The active cylinder slave cylinder displacement signal as the command signal,Slave cylinder through the control and regulation system, The displacement of the slave cylinder and active tanks remain the same, In order to achieve synchronization of cylinder movement. Considering Valve logic can be easily combined, cone valve wear self-compensation capability, leak-proof ability,Suitable for high flow hydraulic system. Directional control system components by the slide valve as a pilot valve, consisting of the four-way cartridge valves logic block as the main valve. Implementation of components using water hydraulic cylinder. Initiative by the hand throttle to adjust the speed of cylinder, By the proportional control valve to control the speed of the slave cylinder.
Established a mathematical model of cartridge valves, mathematical model of hydraulic cylinder.AEMsim established by the mathematical model of proportional control valve,On this basis, The actual parameters of the system established cartridge valve hydraulic cylinder model, the slave cylinder control system model.Theoretically open loop,closed-loop system performance analysis of dynamic and static performance analysis and stability analysis. Application of computer engineering software MATLAB/Simulink toolbox for simulation analysis system. Conclusions obtained by simulation is same as theoretical analysis For the technical characteristics of water hydraulic drive, The system with PID correction,Select the appropriate PID parameters. Before correction system for dynamic,static performance and calibrated to simulate the dynamic,static performance comparison.PID correction by the system to achieve a relatively good control performance.
在查阅大量国内外资料的基础上,论文综述了纯水液压传动技术的研究现状和发展趋势,提出了本文的研究内容和方向。通过对纯水液压同步系统同步控制的研究,为纯水液压传动的应用提供一定的理论依据。
本文构建了一个纯水液压同步系统。该系统由主动缸系统和从动缸系统两部分组成,以从动缸系统作为主要研究对象。将主动缸的位移信号作为从动缸的指令信号,通过对从动缸系统的控制调节,使从动缸的位移始终保持和主动缸一致,从而实现系统双缸的同步运动。考虑到插装阀可方便地进行逻辑组合、锥阀磨损的自我补偿能力强、防漏能力强,适合大流量的液压系统的特点,系统的方向控制元件采用滑阀作为先导阀、由插装阀组成的四通逻辑块作为主阀。执行元件采用了纯水液压缸。主动缸的速度由手动节流阀来调节,而从动缸的速度由比例调速阀来控制。
分别建立了插装阀、液压缸的数学模型,应用AEMsim建立了比例调速阀的数学模型,在此基础上,根据系统的实际参数建立了插装阀控液压缸的动力机构及从动缸控制系统的数学模型,并从理论上对开环、闭环系统进行了动、静态和稳定性分析。应用计算机工程软件MATLAB/Simulink工具箱对系统进行了仿真分析,得到和理论分析相同的结论。针对纯水液压传动的技术特点,采用PID控制方式对系统进行校正,选择了适宜的PID参数。并对校正前后的静动态特性进行了仿真比较分析。通过PID校正,系统达到了比较好的控制性能。
Water hydraulics technology is that the water (Including fresh water and sea water) as the working medium of hydraulic transmission.Due to the water source extensively, no pollution, flame retardancy and so on,all of the world actively carry out research and development of water hydraulics, has become one of the main fields in hydraulic industrial technology improvement and innovation.
In consulting a large number of domestic and foreign material basis. Water Hydraulics paper reviews the status of technology research and development trends, Proposed content and direction of this study. Synchronous system by synchronous control of water hydraulic studies, Application for the Water Hydraulics provide a theoretical basis.
This paper is the content of constructing a pure water hydraulic sync system.The water hydraulic system, hydraulic system by the active cylinder and slave cylinder hydraulic system composed of two parts. To the slave cylinder system as the main object of study. The active cylinder slave cylinder displacement signal as the command signal,Slave cylinder through the control and regulation system, The displacement of the slave cylinder and active tanks remain the same, In order to achieve synchronization of cylinder movement. Considering Valve logic can be easily combined, cone valve wear self-compensation capability, leak-proof ability,Suitable for high flow hydraulic system. Directional control system components by the slide valve as a pilot valve, consisting of the four-way cartridge valves logic block as the main valve. Implementation of components using water hydraulic cylinder. Initiative by the hand throttle to adjust the speed of cylinder, By the proportional control valve to control the speed of the slave cylinder.
Established a mathematical model of cartridge valves, mathematical model of hydraulic cylinder.AEMsim established by the mathematical model of proportional control valve,On this basis, The actual parameters of the system established cartridge valve hydraulic cylinder model, the slave cylinder control system model.Theoretically open loop,closed-loop system performance analysis of dynamic and static performance analysis and stability analysis. Application of computer engineering software MATLAB/Simulink toolbox for simulation analysis system. Conclusions obtained by simulation is same as theoretical analysis For the technical characteristics of water hydraulic drive, The system with PID correction,Select the appropriate PID parameters. Before correction system for dynamic,static performance and calibrated to simulate the dynamic,static performance comparison.PID correction by the system to achieve a relatively good control performance.
引文
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[2]杨华勇,周华,路甬祥.水液压技术的研究现状与发展趋势.中国机械工程学报,2000,(12)：1430-1433.
[3]周华,杨华勇.重新崛起的现代水压传动技术.液压气动与密封,2004,(4)：6-9
[4]刘银水,朱玉泉,李壮云.水压传动技术的特征与新进展.液压与气动,2006,(2)：66-69.
[5]王溢群,曹栋璞,郎静.纯水液压传动及其展望.机床与液压,2003,(1)：13-15
[6]Bjarne Hilbreachl. Water as Pressure Medium in Water Hydraulic Sy stems.Hydraulics & Pneumatics,2001,(1):8-9.
[7]R.Medveick. Water Hydraulics Power Sensitive Application.Hydraulic & Pneumatics.1999,(8):57-59.
[8]雷天觉等.新编液压工程手册[M].北京：北京理工大学出版社,1998
[9]章宏甲等.液压与气压传动[M].北京：机械工业出版社,2000.
[10]李洪人等.液压控制系统[M].北京：国防工业出版社,1981.
[11]柯坚等.现代水压控制技术[M].成都：西南交通大学出版社,2002.
[12]朱发明等.电液数字伺服双缸同步控制系统[J].机床与液压,2008,(10)：49—51.
[13]王传礼等.对称四通阀控非对称液压缸伺服系统动态特性研究[J].中国机械工程,2004，(3)：471—-473.
[14]史显忠等.对称四通阀控非对称液压缸动态分析[J].起重运输机械,2006,(9)：67—-69.
[15]zhao jingyi,wang yiquan,wang yongchang etal.Eeperiment study on dynamic characteristics of bending roll electro-hydraulic servo control system of rolling mills[J]. Mechanical Enginenring of china,1989,9(4):6-9.
[16]Esa M. Tapio V.. Experimental Comparison Between Hydraulic and Water Hydraulic Position Control Systems [C]. The 8th Scandinavian International Conference on Fluid Power, SICFP'03, May 7-9,2003, Tampere, Finland.
[17]邵森寅.插装式顺序阀及背压单向阀动态特性的研究[硕士学位论文].浙江,浙 江大学,2008
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