直驱式容控电液位置伺服油缸改装设计与特性研究
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摘要
直驱式容积控制(Direct Drive Volume Control,DDVC)电液伺服系统即无阀电液伺服系统。它具有由电机控制的灵活性和液压出力大的双重优点,而且与传统电液伺服系统相比,抗污染能力强、节能、高效、小型集成化、环保、操作方便、制造成本低,目前已经应用在多个领域中并取得了很大的经济效益,但系统动态特性不高的问题使其应用场合受到限制。因此对直驱式容积控制电液伺服系统进行研究,对提高系统的性能与实际应用价值、拓展系统的应用前景具有重要的意义。国外尤其是美国和日本等国对此系统的研究已趋于成熟,应用越来越广泛。
磁敏电阻式位移传感器是利用磁电阻效应工作的,它具有抗震能力强,耐高温和低温,低磨损,长寿命,对工作环境的要求低等特点,是对电液位置伺服系统进行直线位移检测的理想元件,尤其是在环境恶劣的系统中有着很强的适用性。此外,传感器模块化封装,防水性能好,对有位移检测和位置控制要求的水下作业,与传统的电液伺服液压缸相比,磁敏电阻式位移传感器液压缸的优势是显而易见的。
本文为对带磁敏电阻式位移传感器的直驱式电液伺服液压缸的研究。
首先,详细分析了MR(Magneto-resistor)位移传感器内在的工作机制、结构原理和传感器的信号处理电路。对起磁标记尺作用的活塞杆进行了研究并介绍了传感器的安装定位。
其次,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结构原理,建立了数学模型,进而得出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,搭建了非对称缸闭环实验台。采取一些隔离措施,减少外界因素对系统性能造成的不利影响。同时,完成试验台PID控制器程序的编制。对直驱式电液伺服装置进行了试验研究,从而验证了数学模型的正确性。
Direct Drive Volume Control (DDVC) electro-hydraulic servo system which is named valveless electro-hydraulic servo system, has the advantages of flexibility of motor control and high power of hydraulic servo system. In contrast to traditional electro-hydraulic servo system, it has stronger anti-pollution, higher efficiency, smaller integration, more convenient and economical operation. It has been widely used in many areas. But the weakness of dynamic performance restricts its further application. Therefore, it is great significant to study of the DDVC electro-hydraulic servo system to enhance the performance of the system.
Magnetic Resistance displacement sensor, which is based on the magneto-resistance effect, has strong abilities to anti-earthquake, resistance of high-temperature and low-temperature, low-wear, long-life, low demand of the work environment, thus it is the ideal detection component for the electro-hydraulic servo linear displacement system. Especially, it has a very strong applicability in the mining machinery, engineering machinery and mechanical operation environment.
In this paper, the fuel tank of the straightly electro-hydraulic servo-drive with the MR displacement sensor is researched. Firstly, analysis the internal working mechanisms of the MR displacement sensor, structure principles, and the circuit of the sensor signal processing. Secondly, study the role of the magnetic tag-foot rod.
At the same time, analysis the principle of the pump-cylinder hydraulic power structure. the establish the AC servo motor mathematical model, set up the direct drive electro-hydraulic servo-system model, discuss the parameters impaction to the system performance, and do the computer simulation study. Then, complete the process of PID controller on the test bed.
In addition, build the asymmetrical-cylinder closed-loop test-bed; take some measures to reduce the adverse effects of the external factors. Lots of experiment verify the correctness of the mathematical model.
磁敏电阻式位移传感器是利用磁电阻效应工作的,它具有抗震能力强,耐高温和低温,低磨损,长寿命,对工作环境的要求低等特点,是对电液位置伺服系统进行直线位移检测的理想元件,尤其是在环境恶劣的系统中有着很强的适用性。此外,传感器模块化封装,防水性能好,对有位移检测和位置控制要求的水下作业,与传统的电液伺服液压缸相比,磁敏电阻式位移传感器液压缸的优势是显而易见的。
本文为对带磁敏电阻式位移传感器的直驱式电液伺服液压缸的研究。
首先,详细分析了MR(Magneto-resistor)位移传感器内在的工作机制、结构原理和传感器的信号处理电路。对起磁标记尺作用的活塞杆进行了研究并介绍了传感器的安装定位。
其次,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结构原理,建立了数学模型,进而得出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,搭建了非对称缸闭环实验台。采取一些隔离措施,减少外界因素对系统性能造成的不利影响。同时,完成试验台PID控制器程序的编制。对直驱式电液伺服装置进行了试验研究,从而验证了数学模型的正确性。
Direct Drive Volume Control (DDVC) electro-hydraulic servo system which is named valveless electro-hydraulic servo system, has the advantages of flexibility of motor control and high power of hydraulic servo system. In contrast to traditional electro-hydraulic servo system, it has stronger anti-pollution, higher efficiency, smaller integration, more convenient and economical operation. It has been widely used in many areas. But the weakness of dynamic performance restricts its further application. Therefore, it is great significant to study of the DDVC electro-hydraulic servo system to enhance the performance of the system.
Magnetic Resistance displacement sensor, which is based on the magneto-resistance effect, has strong abilities to anti-earthquake, resistance of high-temperature and low-temperature, low-wear, long-life, low demand of the work environment, thus it is the ideal detection component for the electro-hydraulic servo linear displacement system. Especially, it has a very strong applicability in the mining machinery, engineering machinery and mechanical operation environment.
In this paper, the fuel tank of the straightly electro-hydraulic servo-drive with the MR displacement sensor is researched. Firstly, analysis the internal working mechanisms of the MR displacement sensor, structure principles, and the circuit of the sensor signal processing. Secondly, study the role of the magnetic tag-foot rod.
At the same time, analysis the principle of the pump-cylinder hydraulic power structure. the establish the AC servo motor mathematical model, set up the direct drive electro-hydraulic servo-system model, discuss the parameters impaction to the system performance, and do the computer simulation study. Then, complete the process of PID controller on the test bed.
In addition, build the asymmetrical-cylinder closed-loop test-bed; take some measures to reduce the adverse effects of the external factors. Lots of experiment verify the correctness of the mathematical model.
引文
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15姜继海,涂婉丽,曹健.火箭舵机用直驱式容积控制电液伺服系统的研究.流体传动与控制. 2005.1
16 Masanori ITO, Noriki, HIROSE, Etsuro SHIMIZU. Main Engine Revolution Control for Ship with Direct Drive Volume Control System[J]. ISMETOKYO, 2000,(2).
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22潘峰.行程传感液压缸基础技术的研究.浙江大学博士学位论文. 2001.11
23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
24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
25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
26付平,张毅刚,刘旺.直接数字合成器中贝塞尔低通滤波器设计.电子测量技术. 2002年第二期
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29王洪杰,季天晶,毛新涛,刘全忠.压力脉动及泄露特性对直驱式电液位置系统的影响.哈尔滨工业大学学报. 2005.11
30姜继海,涂婉丽,曹健.直驱式容积控制电液伺服系统动态性能研究.液压与传动. 2005.8
31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
32 Magnetics of small magnetoresistive senor C.Tsang J.appl.physic.1984, 55(6):65-72
33 Herbert Schewe. Industrial application for magnetoresistive sensor. Sens. Actuators A Phys 59 1-3 Apr.1997
34 D.J.Maps. Magnetoresistive sensor. Sens Actuators A Phys 59 1-3 Apr.1997
35 Morten De Cicco. Magnetoresistive thick film sensor for linear displacement.Sens Actuators A Phys 46 1-3 Jan-Feb 1995
36 Taku Murakani, Masami Kisunai. A hydraulic Cylinder with a Magnetic Stroke Sensor. Nobuyuki Nagahashi Komatsu Zenoah Co.
37 R.P.Hunt. A magnetoresistive readout transducer Proc.IEEE Tran Mgn Mag-7(1)(1971)
38 J.E.Lenz. A review of magnetic sensors Pro.IEEE 78(6)(1990):973-989
39 H.Wakaumi, H.Ajiki, E.Hankui, C.Nagasawa. Magnetic grooved bar-code recognition system with slant MR sensor. Science, Measurement and Technology. IEEE Proceedings. 2000,147: 131~136.
40黄德星.磁敏感器件及其应用.科学出版社. 1987
41 A.J.Devasahayam, K.R.Mountfield, M.H.Kryder. Smalltrack with MR sensor stabilized with NiMn. IEEE Transactionson Magnetics 1997, 33: 2881~2883.
42李青山,蔡维铮.集成电子技术原理与工程应用.哈尔滨工业大学出版社
43 Junichi Itoh, Naofumi Nomura, Hiroshi Ohsawa. A Comparison between V/f Control and Position-Sensorless Vector Control for the Permanent Magnet Synchronous Motor. 2002 IEEE. VOL. 22, NO. 1, APRIL 2001
44 L. zhong, M. F. Rahman,W. Y. Hu, K. W. Lim. Analysis of direct torque control in permanent magnet synchronous motor drives. IEEE Trans. On SMC, No. 8, 1997
45史敬灼.永磁同步电动机数字化伺服系统研究.哈尔滨:哈尔滨工业大学博士后研究工作报告. 2003.6
46李志民,张遇杰.同步电动机调速系统.机械工业出版社. 2001.1~3
47 Cui.Bowen, Zhou.Jihua, Ren.Zhang. Modeling and simulation of permanent magnet synchronous motor drives. Electrical Machines and Systems. 2001: 905~908. ICEMS 2001. Proceedings of the Fifth International Conference.
48 Tsuyoshi Hanamoto,Hidehiro Ikeda, Teruo Tsuji, Yoshiaki Tanaka. Sensorless Speed Control of Synchronous Reluctance Motor Using RTLinux. IEEE, PCCOsaka. 2002: 699~703
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58 Cui.Bowen, Zhou.Jihua, Ren.Zhang. Modeling and simulation of permanent magnet synchronous motor drives. Electrical Machines and Systems. 2001: 905~908. ICEMS 2001. Proceedings of the Fifth International Conference.
59 Anderson, J.A. Variable displacement electro-hydrostatic actuator. Aerospace and Electronics Conference, 1991. NAECON 1991., Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2: 529– 534.
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61陈洪程.传感器检测技术概述.试验技术与试验机.2003(1):46~49
2李正平,汤德忠,王芳卿.机电一体化技术及应用.机械工业出版社, 1990: 1~3
3章宏甲.液压传动.机械工业出版社, 2000: 79~105
4龚向东,王晨,喻开安.一种测量液压缸位移的新方法.机械与电子, 1995,4: 7~8
5吕鹏,磁阻式直线位移传感器的研究.哈尔滨工业大学学位论文, 2001,7: 4~5
6陈刚,朱石沙,王启新,吴翰晖.电液控制技术的发展与应用.机床与液压. 2006.4
7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. 2005.6: 4~8
8郭建宇,冯刚.无阀电液伺服系统.自控检测. 2005.4
9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
10 Katsuhiko Ogata. Modern Control Engineering (Fourth Edition). Pearson Education. Inc. 2002
11 Tsuyoshi Hanamoto,Hidehiro Ikeda, Teruo Tsuji, Yoshiaki Tanaka. Sensorless Speed Control of Synchronous Reluctance Motor Using RTLinux. IEEE, PCCOsaka. 2002: 699~703
12黄贤武,郑苡霞.传感器原理与应用.电子科技大学出版社. 1994: 4~6
13樊尚春.传感器技术及应用.北京航空航天大学出版社,2004
14潘峰,丁凡,殷建立,王丰.液压缸行程测量国内外现状和发展趋势.工程机械,2001,4
15姜继海,涂婉丽,曹健.火箭舵机用直驱式容积控制电液伺服系统的研究.流体传动与控制. 2005.1
16 Masanori ITO, Noriki, HIROSE, Etsuro SHIMIZU. Main Engine Revolution Control for Ship with Direct Drive Volume Control System[J]. ISMETOKYO, 2000,(2).
17 ITO,H SATO,Y Maeda.Direct Drive Volume Control of Hydraulic System and its Application to the Steering System of Ship[C]. Hayama: FLUCOME'97, (1):445~450.
18田原.无阀电液伺服系统理论分析及试验研究.哈尔滨工业大学硕士论文. 2002.7
19苏文海.电液混合动力机构及其位置控制系统研究.哈尔滨工业大学硕士论文. 2001.7
20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
21桂文浩.直驱式电液伺服装置.哈尔滨工业大学硕士论文. 2005.7
22潘峰.行程传感液压缸基础技术的研究.浙江大学博士学位论文. 2001.11
23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
24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
25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
26付平,张毅刚,刘旺.直接数字合成器中贝塞尔低通滤波器设计.电子测量技术. 2002年第二期
27王万刚.电磁干扰的屏蔽.重庆职业技术学院学报. 2006.5
28徐福平,冯晨,王以伦,邓宝林.电磁屏蔽技术与结构设计.应用科技. 2005.11
29王洪杰,季天晶,毛新涛,刘全忠.压力脉动及泄露特性对直驱式电液位置系统的影响.哈尔滨工业大学学报. 2005.11
30姜继海,涂婉丽,曹健.直驱式容积控制电液伺服系统动态性能研究.液压与传动. 2005.8
31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
32 Magnetics of small magnetoresistive senor C.Tsang J.appl.physic.1984, 55(6):65-72
33 Herbert Schewe. Industrial application for magnetoresistive sensor. Sens. Actuators A Phys 59 1-3 Apr.1997
34 D.J.Maps. Magnetoresistive sensor. Sens Actuators A Phys 59 1-3 Apr.1997
35 Morten De Cicco. Magnetoresistive thick film sensor for linear displacement.Sens Actuators A Phys 46 1-3 Jan-Feb 1995
36 Taku Murakani, Masami Kisunai. A hydraulic Cylinder with a Magnetic Stroke Sensor. Nobuyuki Nagahashi Komatsu Zenoah Co.
37 R.P.Hunt. A magnetoresistive readout transducer Proc.IEEE Tran Mgn Mag-7(1)(1971)
38 J.E.Lenz. A review of magnetic sensors Pro.IEEE 78(6)(1990):973-989
39 H.Wakaumi, H.Ajiki, E.Hankui, C.Nagasawa. Magnetic grooved bar-code recognition system with slant MR sensor. Science, Measurement and Technology. IEEE Proceedings. 2000,147: 131~136.
40黄德星.磁敏感器件及其应用.科学出版社. 1987
41 A.J.Devasahayam, K.R.Mountfield, M.H.Kryder. Smalltrack with MR sensor stabilized with NiMn. IEEE Transactionson Magnetics 1997, 33: 2881~2883.
42李青山,蔡维铮.集成电子技术原理与工程应用.哈尔滨工业大学出版社
43 Junichi Itoh, Naofumi Nomura, Hiroshi Ohsawa. A Comparison between V/f Control and Position-Sensorless Vector Control for the Permanent Magnet Synchronous Motor. 2002 IEEE. VOL. 22, NO. 1, APRIL 2001
44 L. zhong, M. F. Rahman,W. Y. Hu, K. W. Lim. Analysis of direct torque control in permanent magnet synchronous motor drives. IEEE Trans. On SMC, No. 8, 1997
45史敬灼.永磁同步电动机数字化伺服系统研究.哈尔滨:哈尔滨工业大学博士后研究工作报告. 2003.6
46李志民,张遇杰.同步电动机调速系统.机械工业出版社. 2001.1~3
47 Cui.Bowen, Zhou.Jihua, Ren.Zhang. Modeling and simulation of permanent magnet synchronous motor drives. Electrical Machines and Systems. 2001: 905~908. ICEMS 2001. Proceedings of the Fifth International Conference.
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