应用二次调节技术的大惯性柔性负载牵引系统特性研究
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摘要
在钢坯修磨机中,需要用卷筒驱动钢丝绳牵引承载钢坯的台车在水平导轨上进行往返直线运动,钢坯负载往往重达十吨,甚至几十吨,因此,驱动装置选用功率密度大、易于实现工作过程自动化的液压传动方式。但是,修磨机台车在工作过程中需要频繁地启动、制动以及换向,这会使液压传动系统损失大量的能量,为了提高系统效率,减少资源浪费,本文尝试采用二次调节静液传动技术来控制大惯性柔性负载台车牵引系统。二次调节静液传动技术是一种基于能量回收与重新利用的新型液压传动技术,它具有良好的控制和应用特性,在节能方面有着广阔的应用前景。本文首先在查阅国内外大量资料的基础上,详细介绍了二次调节技术的工作原理,综述了它的发展现状和国内外研究的成果,并在此基础上指出了课题研究的方向。
应用二次调节技术的台车牵引系统是一种集液压、机械和控制计算机为一体的综合系统,系统涉及多学科,并且需要处理柔性钢丝绳环节,这使系统的设计分析工作非常复杂和困难。为了获得优化的系统方案和运行特性,本文提出采用多学科的设计分析软件进行建模,利用接口程序进行联合仿真,完成设计工作的技术路线。这种研究方法能够实时获得负载惯性、钢丝绳柔性和负载力的大小,在仿真计算中可以精确分析这些参数对控制特性的影响。由于课题研究过程中涉及到计算机辅助设计CAD技术与计算机辅助工程CAE技术,本文还系统介绍了当今世界各种主流CAD与CAE软件技术的发展概况,并且从课题特点出发,针对不同的研究对象,分别选用了SolidWorks2009,ADAMS2007,AMESim7.0a。对运用AMESim和ADAMS软件系统进行建模和联合仿真的全过程进行了详细叙述,对比分析了结构参数的影响,进行了PID参数调节分析,给出了系统在应用二次调节技术后的节能计算结果。
此外,本课题遵循重点元件进行重点分析的原则。二次调节系统的核心部件是二次元件,针对本系统的二次元件,通过详细的联合建模仿真不仅可以得出其液压控制响应结果,而且可以了解关键部件中各零件的详细受力情况。这样,利用专业版SolidWorks2009的Simulation(即cosmoswork)分析模块,可以对二次元件中的重点零件进行应力分析,可靠性检验。由于本系统二次元件是旋转工作件,本文重点分析了它的传动轴,得出了传动轴有限元分析云图。
In Steel Grinding Machine, the hydraulic motor is needed to drive roller and the wire rope is needed to tow the huge steel billet to move back and forth in level track.Because the load weighed 10 tons,or even tens of tons,the hydraulic drive control system with big power and easy to implement an automated work process approach is selected.However, due to repair hydraulic drive system of the trolley in the course of their work frequently being required to starting and braking as well as the reciprocating motion, this will result in a lot loss of energy. Therefore, this article has tried to adopt the efficient and energy-saving secondary adjusting hydrostatic transmission technology for the control of large inertia and flexible load trolley traction system. Secondary adjusting hydrostatic transmission technology is new hydraulic drive technology based on recovery and re-use of energy, it has good control and application characteristics, there is a wide prospect in the aspect of energy saving. On the basis of a great deal of information at home an abroad, this paper descripts the principle of the secondary adjusting technology, its development and results of research,and point out the direction of this subject.
The tow device in the secondary adjusting hydrostatic transmission technology is a kind of integrated system with hydraulic pressure, mechinary and controlling computer and the flexible wire rope makes the design of the system complicated and difficult. In order to make the systemetical scheme and operational quality optimized, the writer, in the paper, put forward the advice that the multidisciplinary design and analysis software be utilezed to build the model and that the interface program be utilized to make a collaborative simulation and finish the technical route of the design. The research method can really and accurately obtain the load inertia, flexibility of the wire rope and the load power, in the same time, in simulated calculation, a real-time consideration can be given to the effect of the parameters on controlling quality. As a result of the need to use CAD technology and computer-aided design CAE computer-aided engineering technology in research process, this article also analyzes the advantages and disadvantages of the mains CAD and CAE softwares all over the world.Besides,based on the characteristics of the subject, SolidWorks2009,ADAMS2007,AMESim7.0a are selected for every different parts. The modeling and the joint simulation of the system on the use of AMESim and ADAMS software are described in detail. In addition, the effects of structural parameters are compared and analyzed, and with the PID parameter adjustment analysis, the energy-saving results of the system in secondary adjusting technology are given.
Moreover, this article follow the principles: the key components will be analyzed thoroughly and detailedly.The secondary component is the key part of the secondary adjusting system. Through a detailed joint modeling and simulation, not only the results of the hydraulic control can be get, but the situation of forces can be drawn. In this way, depending on the Simulation (that is, cosmoswork) of SolidWorks2009 Pro the stress analysis of parts can be done. Since the secondary component of the system is a rotating piece of work, this article analyzes its shaft, and the cloud figure of the stress can be get.
应用二次调节技术的台车牵引系统是一种集液压、机械和控制计算机为一体的综合系统,系统涉及多学科,并且需要处理柔性钢丝绳环节,这使系统的设计分析工作非常复杂和困难。为了获得优化的系统方案和运行特性,本文提出采用多学科的设计分析软件进行建模,利用接口程序进行联合仿真,完成设计工作的技术路线。这种研究方法能够实时获得负载惯性、钢丝绳柔性和负载力的大小,在仿真计算中可以精确分析这些参数对控制特性的影响。由于课题研究过程中涉及到计算机辅助设计CAD技术与计算机辅助工程CAE技术,本文还系统介绍了当今世界各种主流CAD与CAE软件技术的发展概况,并且从课题特点出发,针对不同的研究对象,分别选用了SolidWorks2009,ADAMS2007,AMESim7.0a。对运用AMESim和ADAMS软件系统进行建模和联合仿真的全过程进行了详细叙述,对比分析了结构参数的影响,进行了PID参数调节分析,给出了系统在应用二次调节技术后的节能计算结果。
此外,本课题遵循重点元件进行重点分析的原则。二次调节系统的核心部件是二次元件,针对本系统的二次元件,通过详细的联合建模仿真不仅可以得出其液压控制响应结果,而且可以了解关键部件中各零件的详细受力情况。这样,利用专业版SolidWorks2009的Simulation(即cosmoswork)分析模块,可以对二次元件中的重点零件进行应力分析,可靠性检验。由于本系统二次元件是旋转工作件,本文重点分析了它的传动轴,得出了传动轴有限元分析云图。
In Steel Grinding Machine, the hydraulic motor is needed to drive roller and the wire rope is needed to tow the huge steel billet to move back and forth in level track.Because the load weighed 10 tons,or even tens of tons,the hydraulic drive control system with big power and easy to implement an automated work process approach is selected.However, due to repair hydraulic drive system of the trolley in the course of their work frequently being required to starting and braking as well as the reciprocating motion, this will result in a lot loss of energy. Therefore, this article has tried to adopt the efficient and energy-saving secondary adjusting hydrostatic transmission technology for the control of large inertia and flexible load trolley traction system. Secondary adjusting hydrostatic transmission technology is new hydraulic drive technology based on recovery and re-use of energy, it has good control and application characteristics, there is a wide prospect in the aspect of energy saving. On the basis of a great deal of information at home an abroad, this paper descripts the principle of the secondary adjusting technology, its development and results of research,and point out the direction of this subject.
The tow device in the secondary adjusting hydrostatic transmission technology is a kind of integrated system with hydraulic pressure, mechinary and controlling computer and the flexible wire rope makes the design of the system complicated and difficult. In order to make the systemetical scheme and operational quality optimized, the writer, in the paper, put forward the advice that the multidisciplinary design and analysis software be utilezed to build the model and that the interface program be utilized to make a collaborative simulation and finish the technical route of the design. The research method can really and accurately obtain the load inertia, flexibility of the wire rope and the load power, in the same time, in simulated calculation, a real-time consideration can be given to the effect of the parameters on controlling quality. As a result of the need to use CAD technology and computer-aided design CAE computer-aided engineering technology in research process, this article also analyzes the advantages and disadvantages of the mains CAD and CAE softwares all over the world.Besides,based on the characteristics of the subject, SolidWorks2009,ADAMS2007,AMESim7.0a are selected for every different parts. The modeling and the joint simulation of the system on the use of AMESim and ADAMS software are described in detail. In addition, the effects of structural parameters are compared and analyzed, and with the PID parameter adjustment analysis, the energy-saving results of the system in secondary adjusting technology are given.
Moreover, this article follow the principles: the key components will be analyzed thoroughly and detailedly.The secondary component is the key part of the secondary adjusting system. Through a detailed joint modeling and simulation, not only the results of the hydraulic control can be get, but the situation of forces can be drawn. In this way, depending on the Simulation (that is, cosmoswork) of SolidWorks2009 Pro the stress analysis of parts can be done. Since the secondary component of the system is a rotating piece of work, this article analyzes its shaft, and the cloud figure of the stress can be get.
引文
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[3]朱熙耕.45吨静压绞车的研制[D].天津:天津大学,2005.
[4]刘宇辉,蒲红,姜继海.应用二次调节技术的液压绞车性能研究[J].佳木斯大学学报,2000,18(3):259-260.
[5]Yuhui Liu,Jihai Jiang,Qingtao Yu.Study on the Energy-saving Principle of Hydraulic Oil Pumping Unit with Secondary Regulation Technique[C].International Conference on Mechanical Engineering and Mechanics. Proceedings of ICMEM2005.2005:291-293.
[6]蒋晓夏,静液驱动二次调节及其自适应控制系统的研究[D].哈尔滨:哈尔滨工业大学.
[7]W.Backe,H.Murrenhoff.Regelung eines Verstellmotors an einem Konstant-Drucknetz [J],O+P.Oelhydraulik und Pneumatik,1981,25(8):635-642.
[8]H.Murrenhoff.Einsatzbeispiel Motorgeregelter Antriebe mitder Moeglichkeit der Eergierueckgewinnung[J].O+P.Oelhydraulik und Pneumatik,1984,28(7):427-434
[9]R.Kordak.Sekundaergeregelter Hydrostatische Antriebe[J].Oelhydraulik und Pneumatik,1985,29(9):657-667.
[10]R.Kordak.Praktische Auslegung Sekundaergereglter Antriebssysteme[J].Oelhydraulik und Pneumatik,1982,26(11):795-800.
[11]H.-J.Hass.Drehzahl-und Lageregelung von Verstellmotoren an einem zentralen Drucknetz[J]. Oelhydraulik und Pneumatik,1986,30(12):909-914.
[12]W.Backe.Elektro-hydraulischer Regelung von Verdrangereinheit[J].Oelhydraulik und Pneumatik,1987,31(10):770-782.
[13]W.back.Secondary controlled motors in speed and torque control[J].The second International Symposium on Fluid Power,September 1993:241-248.
[14]谢卓伟,付永领,刘庆和.二次调节静液驱动系统的微机数字闭环控制[J] .工程机械,1990,(11):29-30.
[15]金力民,路甬祥,吴根茂.采用非线性补偿算法克服二次调节系统的低速滞环[J].液压与气动,1991,(3):6-8.
[16]阎雨良,陈良华,陈宗等.恒压液压网络上马达调速特性实验研究[J],液压与气动,1990,(3):26-28.
[17]姜继海,王德海,韩永刚等.二次转速调节静态神经网络非线性控制策略研究[J].机床与液压,1997,(3):21-22.
[18]姜继海,韩永刚,王德海等.二次调节静液驱动系统的智能PID控制[J].哈尔滨工业大学学报,1998,(1):45-48.
[19]姜继海,徐志进,刘庆和等.二次调节静液驱动转速PID控制及其试验研究[J].工程机械,1997,(11):31-33.
[20]田联房.次级调节扭矩伺服系统加载技术及其控制方法的研究[D].哈尔滨:哈尔滨工业大学,1997.
[21]陈华志,苑士华.城市用车辆制动能量回收的液压系统设计[J].液压与气动, 2003,(4):1-3.
[22]凌学俭.二次控制技术及其在精轧机组中的应用[J] .液压与气动,2000,(1):7-10.
[23]张洪国.虚拟样机综述[J].机电产品开发与创新,2008,21(5):129-130.
[24]姜士湖,闫相桢.虚拟样机技术及其在国内的应用前景[J].机械,2003,30(2):4-6.
[25]付永领,祁晓野.AMESim系统建模和仿真—从入门到精通[M].北京:北京航空航天大学出版社,2006:1,4-6.
[26]武宏伟.挖掘机负载敏感系统的联合仿真及能耗分析[D].太原:太原理工大学,2008.
[27]付永领,朱承建.基于AMESim软件的大负载电液位置伺服系统分析及仿真[J].机床与液压,2007,38(8):210-211.
[28]张增猛,周华,孙健等.基于压差控制的蓄能器压力调节方法及其AMESim仿真[J].机床与液压,2007,35(6):99-101.
[29]杨智炜.轴向柱塞泵虚拟样机仿真技术研究[D].杭州:浙江大学,2006.
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