机电液集成共性技术中可控液压单元的研究及应用
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摘要
随着科学技术的飞速发展,人们对机械系统提出了愈来愈高的要求,如其精度、准确性、可靠性、舒适安全性、操纵快捷性等。为了改善机械系统的可靠性和可操纵性,能够达到对其进行有效控制的要求,机械系统中往往由机、电、液共同组成,完成预定的工作和运动。本文提出机电液集成共性技术,并以液压系统中电液比例压力—流量复合阀为控制基点,建立可控液压单元,实现对机械系统数字化控制的目的。
比例控制技术是液压传动及控制技术中最具生命力的一个分支,而集压力流量比例调节于一身的电液比例压力—流量阀,简称P-Q阀,其具有复合程度高、控制性能好、节能等优点。本文旨在以可控液压单元为基础平台,与机械系统中常用的机构学进行综合,建立机、电、液集成共性技术平台,通过使用电液比例技术及计算机自动控制系统,组成可控液压工作单元的思想,寻求硬件系统(液压系统、机械系统、控制系统)与软件系统之间内在关系,以电液比例压力—流量复合阀的控制为纽带,把现代的控制理论与液压系统的基础理论相互结合,以实现现代控制技术对具有共性特征的机、电、液系统的可控性研究。
论文结合电液比例压力—流量复合阀(P-Q阀)的结构与功能特点,提出可控液压单元的概念,建立液压试验平台的模型,建立可控液压单元的核心元件P-Q阀的数学模型,分析其静态及动态特性,并对P-Q阀的计算机控制的硬件要求及控制策略做出详尽描述,最后采用Matlab软件中的Simulink软件包对所建立的液压平台进行仿真,得出仿真结果。本课题的研究为可控液压单元和机械系统的综合进行了有益的尝试,奠定了基础。
With the rapid development of technology , more and more requirements for machinery system are proposed, such as precision, stability, reliability, comfort and safety, simple maneuverability etc. In order to improve machinery system controlled performance and reliability and arrive at the aim of efficient control, machine system, which usually is made up of machine, electronic, hydraulic system, take up scheduled work and motion, electro-hydraulic proportional valve is recommended in this paper, by way of building up controlled hydraulic-unit, the goal of digital control is reached.Proportional control is one of the most vivid life-force branches in the field of hydraulic drive and control technique, the proportional pressure-flux valve(P-Q valve),which adjusts pressure and flow rate simultaneously, is increasingly adopted for the hydraulic control system, due to its advantages of high composite degree, stable and energy-saving performance. It is aimed that setting up Mechano-Electronic-Hydraulic commonness technologic platform in the paper, which is based on the thinking of controlled hydraulic unit synthesized machinery in the machine system ,and inner relative between hardware system (hydraulic system, mechanical system ,control system) and software system is looked for. Electro-hydraulic proportional compound valve control is lacing in virtue of combination of modern control theory and hydraulic system.This paper synthesizes what it offers above. With an eye to the framework and function characteristics, hydraulic platform is set up, the mathematic model of the key parts of Controlled Hydraulic-Unit is established .which dynamic and static state characteristic are analyzed and hardware requirements of computer control and control strategy are described at large. At last simulation is carried through the hydraulic platform, and what is used is software package of "Simulink" of MATLAB. The paper is attempt that is for synthesis of machine and hydraulic system and foundation is established.
比例控制技术是液压传动及控制技术中最具生命力的一个分支,而集压力流量比例调节于一身的电液比例压力—流量阀,简称P-Q阀,其具有复合程度高、控制性能好、节能等优点。本文旨在以可控液压单元为基础平台,与机械系统中常用的机构学进行综合,建立机、电、液集成共性技术平台,通过使用电液比例技术及计算机自动控制系统,组成可控液压工作单元的思想,寻求硬件系统(液压系统、机械系统、控制系统)与软件系统之间内在关系,以电液比例压力—流量复合阀的控制为纽带,把现代的控制理论与液压系统的基础理论相互结合,以实现现代控制技术对具有共性特征的机、电、液系统的可控性研究。
论文结合电液比例压力—流量复合阀(P-Q阀)的结构与功能特点,提出可控液压单元的概念,建立液压试验平台的模型,建立可控液压单元的核心元件P-Q阀的数学模型,分析其静态及动态特性,并对P-Q阀的计算机控制的硬件要求及控制策略做出详尽描述,最后采用Matlab软件中的Simulink软件包对所建立的液压平台进行仿真,得出仿真结果。本课题的研究为可控液压单元和机械系统的综合进行了有益的尝试,奠定了基础。
With the rapid development of technology , more and more requirements for machinery system are proposed, such as precision, stability, reliability, comfort and safety, simple maneuverability etc. In order to improve machinery system controlled performance and reliability and arrive at the aim of efficient control, machine system, which usually is made up of machine, electronic, hydraulic system, take up scheduled work and motion, electro-hydraulic proportional valve is recommended in this paper, by way of building up controlled hydraulic-unit, the goal of digital control is reached.Proportional control is one of the most vivid life-force branches in the field of hydraulic drive and control technique, the proportional pressure-flux valve(P-Q valve),which adjusts pressure and flow rate simultaneously, is increasingly adopted for the hydraulic control system, due to its advantages of high composite degree, stable and energy-saving performance. It is aimed that setting up Mechano-Electronic-Hydraulic commonness technologic platform in the paper, which is based on the thinking of controlled hydraulic unit synthesized machinery in the machine system ,and inner relative between hardware system (hydraulic system, mechanical system ,control system) and software system is looked for. Electro-hydraulic proportional compound valve control is lacing in virtue of combination of modern control theory and hydraulic system.This paper synthesizes what it offers above. With an eye to the framework and function characteristics, hydraulic platform is set up, the mathematic model of the key parts of Controlled Hydraulic-Unit is established .which dynamic and static state characteristic are analyzed and hardware requirements of computer control and control strategy are described at large. At last simulation is carried through the hydraulic platform, and what is used is software package of "Simulink" of MATLAB. The paper is attempt that is for synthesis of machine and hydraulic system and foundation is established.
引文
[1] 路甬祥,胡大纥.电液比例控制技术.第1版.北京.机械工业出版社.1998.
[2] 黎放柏.电液比例控制与数字控制.第1版.北京.机械工业出版社,1997.
[3] 吴根茂,邱敏秀.实用电液比例技术.第1版.杭州.浙江大学出版社.1993.
[4] 雷天觉,杨尔庄,李寿刚.新编液压工程手册.第1版 北京.北京理工大学出版社,1998.
[5] 路甬祥电液、电气比例控制技术的新进展·机床与液压.1988.(3)
[6] 明仁雄,万会雄.液压与气压传动.第1版.北京.国防工业出版社.2003.
[7] 阮健,裴翔,姜伟,2D电液数字换向阀的实验研究,机床与液压,1999.VOL.161,NO.5.
[8] 刘安治.PQ阀在冶金液压系统中的应用.江苏冶金,2003,31(5):17-19.
[9] 李忠宝.电液比例压力流量复合阀的理论分析及试验研究.哈尔滨工业大学.
[10] 邵安岑.电液比例压力流量复合控制阀的特性研究.浙江大学硕士论文.
[11] 许宏光.电液比例压力流量复合阀的理论分析和实验研究.哈尔滨工业大学硕士论文.2003.
[12] 贺鹏.电液比例速度控制系统的设计及特性研究.昆明理工大学硕士论文.
[13] 吴希平,蔡振江,宋明刚.液压系统数学模型的辨识.沈阳航空工业学院学报.1994.第27期.42-48.
[14] 李洪人.液压控制系统.第1版.国防工业出版社.1981.
[15] 张永相,郭天石,蔡启仲.机电控制理论及应用.第1版 重庆大学出版社.2002.
[16] 顾瑞龙.控制理论及电液控制系统.第1版.北京.机械工业出版社 2001.
[17] 王显正,陈正航,王旭永.控制理论基础.第1版.科学出版社.2000.
[18] 王春行.液压伺服控制系统.第1版.北京.机械工业出版社.1981.
[19] 张文修,梁广锡.模糊控制与系统.第1版 西安.西安交通大学出版社,1998.
[20] 刘金琨.先进PID控制MATLAB仿真.第2版.电子工业出版社 115-153.
[21] 欧阳黎明.MATLAB控制系统设计.第1版.国防工业出版社.2001.
[22] 王沫然.Simulink 4建模及动态仿真.第1版.电子工业出版社.2002
[23] 姚俊,马松辉.simulink建模与仿真.2002第1版.西安.西安电子科技大学出版社.
[24] 黄文梅,杨勇,熊桂林等.系统仿真分析与设计.第1版.国防科技大学出版 社.2001.
[25] 李颖,朱伯立,张威.Simulink动态系统建模与仿真基础.第1版.西安电子科技大学出版社.2004.
[26] 姜福祥.电液比例先导式三通减压阀及先导式溢流阀静态仿真研究.东南大学机械工程系.2001.9.
[27] 张天侠.金属带式无级变速器电液比例系统建模与控制技术研究.东北大学.2004.
[28] 何衍庆,姜捷.控制系统分析、设计和应用.第1版.化学工业出版社.2003.
[29] 王耀南.基于模糊神经网络的机器人自学习控制.2001,7(4):92～96
[30] 李士勇.模糊控制,神经控制和智能控制论.哈尔滨工业大学出版社,1998:74-76,265～275
[31] 占自才.PID智能模糊自整定控制器设计及其应用.华东交通大学学报,2004,4:78—81.
[32] 宋胜利,左敦稳,王珉等.参数模糊自调整技术的应用研究.机床与液压.2003(1):158-160.
[33] 赵立宏,注塑机过程参数控制及特性研究,浙江大学硕士论文,1990.
[34] 黄文梅,杨勇,熊桂林等.系统仿真分析与设计.长沙.国防科技大学出版社.2001.
[35] 吴晓莉,林哲辉等.MATLAB辅助模糊系统设计西安.西安电子科技大学出版社.2002.
[36] J. -C. Renn, C. Tsai. Development of an unconventional electro-hydraulic proportional valve with fuzzy-logic controller for hydraulic presses,The International Journal of Advanced Manufacturing Technology. Volum 26, number 1-2, page 10-16.
[37] T. Knohl, H. Unbehauen, Adaptive position control of electrohydraulic servo systems using ANNControl, Engineering Laboratory, Department of Electrical Engineering and Information Sciences.
[38] A. M. Formal'sky. On a Modification of the PID Controller [J], Dynamics and Control, 7: 269-277.
[39] Fangsen Cui, C. H. Chew, Jianxue Xu, Yuanli Cai.Bifurcation and Chaos in the Duffing Oscillator with a PID Controller [J], Nonlinear Dynamics 12: 251-262.
[40] YU Jin, XuLin, Lu, Weihua, Zhao Guangjun, He Xiaofeng, Pen Wenyue: SIMULATION STUDY OF A ELECTRO-HYDRAULIC DIGITAL COMPOUND VALVE.
[41] J. -C. Renn, C. Tsai. Development of an unconventional electro-hydraulic proportional valve with fuzzy-logic controller for hydraulic presses. Springer London. Volume 26, Numbers 1-2. 10-16.
[42] David W. Kaczka, Kenneth R. Lutchen Servo-Controlled Pneumatic Pressure Oscillator for Respiratory Impedance Measurements and High-Frequency Ventilation Springer Netherlands Volume 32, Number 4 .596-608
[43] High performance CETOP 5 four - way proportional flow controlvalve offers servoperformance at a proportional price CANADA:Microhydraulics Inclnformation , 2000.
[2] 黎放柏.电液比例控制与数字控制.第1版.北京.机械工业出版社,1997.
[3] 吴根茂,邱敏秀.实用电液比例技术.第1版.杭州.浙江大学出版社.1993.
[4] 雷天觉,杨尔庄,李寿刚.新编液压工程手册.第1版 北京.北京理工大学出版社,1998.
[5] 路甬祥电液、电气比例控制技术的新进展·机床与液压.1988.(3)
[6] 明仁雄,万会雄.液压与气压传动.第1版.北京.国防工业出版社.2003.
[7] 阮健,裴翔,姜伟,2D电液数字换向阀的实验研究,机床与液压,1999.VOL.161,NO.5.
[8] 刘安治.PQ阀在冶金液压系统中的应用.江苏冶金,2003,31(5):17-19.
[9] 李忠宝.电液比例压力流量复合阀的理论分析及试验研究.哈尔滨工业大学.
[10] 邵安岑.电液比例压力流量复合控制阀的特性研究.浙江大学硕士论文.
[11] 许宏光.电液比例压力流量复合阀的理论分析和实验研究.哈尔滨工业大学硕士论文.2003.
[12] 贺鹏.电液比例速度控制系统的设计及特性研究.昆明理工大学硕士论文.
[13] 吴希平,蔡振江,宋明刚.液压系统数学模型的辨识.沈阳航空工业学院学报.1994.第27期.42-48.
[14] 李洪人.液压控制系统.第1版.国防工业出版社.1981.
[15] 张永相,郭天石,蔡启仲.机电控制理论及应用.第1版 重庆大学出版社.2002.
[16] 顾瑞龙.控制理论及电液控制系统.第1版.北京.机械工业出版社 2001.
[17] 王显正,陈正航,王旭永.控制理论基础.第1版.科学出版社.2000.
[18] 王春行.液压伺服控制系统.第1版.北京.机械工业出版社.1981.
[19] 张文修,梁广锡.模糊控制与系统.第1版 西安.西安交通大学出版社,1998.
[20] 刘金琨.先进PID控制MATLAB仿真.第2版.电子工业出版社 115-153.
[21] 欧阳黎明.MATLAB控制系统设计.第1版.国防工业出版社.2001.
[22] 王沫然.Simulink 4建模及动态仿真.第1版.电子工业出版社.2002
[23] 姚俊,马松辉.simulink建模与仿真.2002第1版.西安.西安电子科技大学出版社.
[24] 黄文梅,杨勇,熊桂林等.系统仿真分析与设计.第1版.国防科技大学出版 社.2001.
[25] 李颖,朱伯立,张威.Simulink动态系统建模与仿真基础.第1版.西安电子科技大学出版社.2004.
[26] 姜福祥.电液比例先导式三通减压阀及先导式溢流阀静态仿真研究.东南大学机械工程系.2001.9.
[27] 张天侠.金属带式无级变速器电液比例系统建模与控制技术研究.东北大学.2004.
[28] 何衍庆,姜捷.控制系统分析、设计和应用.第1版.化学工业出版社.2003.
[29] 王耀南.基于模糊神经网络的机器人自学习控制.2001,7(4):92～96
[30] 李士勇.模糊控制,神经控制和智能控制论.哈尔滨工业大学出版社,1998:74-76,265～275
[31] 占自才.PID智能模糊自整定控制器设计及其应用.华东交通大学学报,2004,4:78—81.
[32] 宋胜利,左敦稳,王珉等.参数模糊自调整技术的应用研究.机床与液压.2003(1):158-160.
[33] 赵立宏,注塑机过程参数控制及特性研究,浙江大学硕士论文,1990.
[34] 黄文梅,杨勇,熊桂林等.系统仿真分析与设计.长沙.国防科技大学出版社.2001.
[35] 吴晓莉,林哲辉等.MATLAB辅助模糊系统设计西安.西安电子科技大学出版社.2002.
[36] J. -C. Renn, C. Tsai. Development of an unconventional electro-hydraulic proportional valve with fuzzy-logic controller for hydraulic presses,The International Journal of Advanced Manufacturing Technology. Volum 26, number 1-2, page 10-16.
[37] T. Knohl, H. Unbehauen, Adaptive position control of electrohydraulic servo systems using ANNControl, Engineering Laboratory, Department of Electrical Engineering and Information Sciences.
[38] A. M. Formal'sky. On a Modification of the PID Controller [J], Dynamics and Control, 7: 269-277.
[39] Fangsen Cui, C. H. Chew, Jianxue Xu, Yuanli Cai.Bifurcation and Chaos in the Duffing Oscillator with a PID Controller [J], Nonlinear Dynamics 12: 251-262.
[40] YU Jin, XuLin, Lu, Weihua, Zhao Guangjun, He Xiaofeng, Pen Wenyue: SIMULATION STUDY OF A ELECTRO-HYDRAULIC DIGITAL COMPOUND VALVE.
[41] J. -C. Renn, C. Tsai. Development of an unconventional electro-hydraulic proportional valve with fuzzy-logic controller for hydraulic presses. Springer London. Volume 26, Numbers 1-2. 10-16.
[42] David W. Kaczka, Kenneth R. Lutchen Servo-Controlled Pneumatic Pressure Oscillator for Respiratory Impedance Measurements and High-Frequency Ventilation Springer Netherlands Volume 32, Number 4 .596-608
[43] High performance CETOP 5 four - way proportional flow controlvalve offers servoperformance at a proportional price CANADA:Microhydraulics Inclnformation , 2000.