新型高频电液激振器的设计及其频率控制研究
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摘要
振动试验作为现代工程技术领域中的一项基本试验，广泛应用于许多重要的工程领域，如火箭、卫星的环境试验；工程材料高频疲劳试验；汽车、行走机械的道路模拟试验等。液压振动台由于其输出力大的特点正被广泛应用于实际工业中，但是它的激振频率范围受限制于伺服阀的频宽。针对目前国内高频电液振动台的研究难题，本文设计出了新型的高频电液激振器。该电液激振器采用2D阀控制液压缸实现高频振动方案，通过控制阀芯的转速与阀芯的轴向位移就能分别控制激振器的激振频率和幅值。文章详细阐述了电液激振器的工作原理给出了切实可行的系统总体设计方案；建立了电液激振器的数学模型并对其进行MATLAB仿真；最后着重研究了电液激振器的频率控制，设计出了基于动态C语言的频率控制软件。本文的各个章节的内容简述如下：
第一章，首先对与本论文研究主题有关的文献进行了综述，接着阐述了论文的研究意思和目的，最后列出了本课题的主要任务。
第二章，本章首先介绍了新型高频电液激振器结构和工作原理，然后根据实际给定的参数对电液激振器主要参数进行了设计和计算，最后介绍了电液激振系统硬件的选取和测控软件的总体设计。
第三章，建立了电液激振器的数学模型并对其进行仿真和分析，为电液激振器的进一步优化设计和实验研究提供了理论依据。
第四章，本章首先介绍了步进电机及其控制方法，重点介绍了步进电机的加减速控制，设计了电液激振器频率控制软件和简单的上位机控制软件，并进行了相关实验。
第五章，本章对论文的研究内容进行了总结与展望。
Vibration test, being a fundamental means of the experimental science, has widely been applied in many fields of modem industry, such as the vibration test for the rockets and satellites, test of fatigue strength of the engineering materials under high-frequency circulated force and vibration test to the roughness of the road for the vehicles and mobile machinery. Electro-hydraulic vibration table is characterized by the larger output force, but its frequency bandwidth highly depends on the responding speed of the servo valve, which can not be enhanced to a very high level. A design of electro-hydraulic vibration exciter is proposed, which is intended to promote the vibration frequency in a large scale. In the Electro-hydraulic vibration exciter, the amplitude and the frequency are separately controlled by the linear motion and rotary motion respectively. The working principle of new Electro-hydraulic vibration exciter is first introduced. The design scheme of whole system is then presented, and the mathematical model of the vibration exciter is also established in order to simulate it by utilizing the simulation software MATLAB. Frequency Control of the Electro-hydraulic vibration exciter was specially researched in the last part of the thesis, and the control software is designed by using the Dynamic C explore system. The main tasks of this thesis are as follows.
In chapter one, a summary of some relevant information about the history and trend of this research is made. The meaning, purpose and the main tasks of this thesis are given.
In chapter two, the structure and working principle of this new Electro-hydraulic vibration exciter iS introduced, the design and calculation about the exciter on the basis of practical Parameter is made, hardware and software design of the Electro-hydraulic vibration system are introduced at last.
In chapter three, the simulation and analysis by establishing mathematical model of the vibration exciter is made, whish provides the theory basis for the further design and experiment.
In chapter four, the stepping motor .and its control method are introduced. The segment speed control scheme of stepping motor is mainly expounded. The software design about frequency control of the Electro-hydraulic vibration exciter is made. And the experiment about frequency control of the vibration exciter is briefly described in the last part of this Chapter.
In chapter five, a summary and a prospect of this thesis are put forward as the conclusion.
第一章，首先对与本论文研究主题有关的文献进行了综述，接着阐述了论文的研究意思和目的，最后列出了本课题的主要任务。
第二章，本章首先介绍了新型高频电液激振器结构和工作原理，然后根据实际给定的参数对电液激振器主要参数进行了设计和计算，最后介绍了电液激振系统硬件的选取和测控软件的总体设计。
第三章，建立了电液激振器的数学模型并对其进行仿真和分析，为电液激振器的进一步优化设计和实验研究提供了理论依据。
第四章，本章首先介绍了步进电机及其控制方法，重点介绍了步进电机的加减速控制，设计了电液激振器频率控制软件和简单的上位机控制软件，并进行了相关实验。
第五章，本章对论文的研究内容进行了总结与展望。
Vibration test, being a fundamental means of the experimental science, has widely been applied in many fields of modem industry, such as the vibration test for the rockets and satellites, test of fatigue strength of the engineering materials under high-frequency circulated force and vibration test to the roughness of the road for the vehicles and mobile machinery. Electro-hydraulic vibration table is characterized by the larger output force, but its frequency bandwidth highly depends on the responding speed of the servo valve, which can not be enhanced to a very high level. A design of electro-hydraulic vibration exciter is proposed, which is intended to promote the vibration frequency in a large scale. In the Electro-hydraulic vibration exciter, the amplitude and the frequency are separately controlled by the linear motion and rotary motion respectively. The working principle of new Electro-hydraulic vibration exciter is first introduced. The design scheme of whole system is then presented, and the mathematical model of the vibration exciter is also established in order to simulate it by utilizing the simulation software MATLAB. Frequency Control of the Electro-hydraulic vibration exciter was specially researched in the last part of the thesis, and the control software is designed by using the Dynamic C explore system. The main tasks of this thesis are as follows.
In chapter one, a summary of some relevant information about the history and trend of this research is made. The meaning, purpose and the main tasks of this thesis are given.
In chapter two, the structure and working principle of this new Electro-hydraulic vibration exciter iS introduced, the design and calculation about the exciter on the basis of practical Parameter is made, hardware and software design of the Electro-hydraulic vibration system are introduced at last.
In chapter three, the simulation and analysis by establishing mathematical model of the vibration exciter is made, whish provides the theory basis for the further design and experiment.
In chapter four, the stepping motor .and its control method are introduced. The segment speed control scheme of stepping motor is mainly expounded. The software design about frequency control of the Electro-hydraulic vibration exciter is made. And the experiment about frequency control of the vibration exciter is briefly described in the last part of this Chapter.
In chapter five, a summary and a prospect of this thesis are put forward as the conclusion.
引文
[1] 奚德昌．振动台及振动试验[M]．北京：机械工业出版社，1980
[2] 闻邦椿．振动机械的理论及应用[M]．北京：机械工业出版社，1980
[3] Grasty, Lawrence.New electro-magnetic shaker technology. S V Sound and Vibration[J]. March, 2002:pp68-78
[4] 唐生碌．机械振动台的新结构讨论[M]．环境技术，1998：pp21-23
[5] 宋俊，曹辉．工控机调频调幅液压振动台及其优化设计[J]．机床与液压，2004(10)
[6] Lang, Geore Fox. Electrodynamic shaker fundamentals. S V Sound and Vibration[J]. 1997:pp14-23
[7] Lang, G.F, Snyder, D. Understanding the physics of electrodynamic shaker performance.S V Sound and Vibration[J].October, 2001:pp24-335
[8] 苏永清．国内电液负载仿真台研究与发展现状[J]．机床与液压，1999(2)
[9] 郝建功，张耀成．新型电液激振装置的性能研究[J]．太原理工大学学报，2003(6)
[10] 尚增温，孙虹．高频电液伺服系统的发展趋势与新的应用领域[J]．液压与气动，2001(6)
[11] 李敏霞．电液伺服振动台的振动控制技术及应用[J]．振动、测试与诊断，1997(3)
[12] 骆涵秀．电液振动台的发展趋势[J]．试验机与材料实验，1995(6)
[13] 崔晓．高频电液伺服振动台的研究[A]，沈阳：沈阳工业大学，2004
[14] 张德贺．CAT在液压技术中的应用[J]．液压与气动，1992(2)
[15] 魏力群．CAT在液压泵出厂试验台中的应用[J]．液压与气动，1993(3)
[16] 王正良．微机电液控制技术[M]．大连：大连理工大学出版社，1993
[17] 宋京其．液压集成块的计算机辅助设计[M]．液压与气动，1992(3)
[18] 吴昌聚，沈润杰，何闻．大尺寸高频振动台的设计[J]．机电工程，2002(4)
[19] 朱文华．液压振动技术[M]．福建科学出版社，1984
[20] 李芝．液压传动[M]．北京：机械工业出版社，2000
[21] 屈维德．机械振动手册[M]．机械工业出版社，1992：pp124-167
[22] 奚德昌，赵钦淼．振动台及振动试验[M]．北京：机械工业出版社，1985
[23] 章宏甲，黄谊．液压传动[M]．机械工业出版社，1999．10
[24] 骆涵秀．试验机的电液伺服系统[M]．机械工业出版社，1991
[25] 王占林．近代液压控制[M]．机械工业出版社，1997．8
[26] 杨文华．液控原理[M]．学术书刊出版社，1990．8
[27] 盛东初．液压传动技术教程[M]．北京工业学院出版社，1995．7
[28] 曾贤启．液压传动技术[M]．北京航空航天大学出版社，1990．8
[29] 雷天觉．液压工程手册[M]．北京：机械工业出版社，1990．
[30] 于宝成．液压激振器振动参数的设计[J]．煤矿机械，2000(1)
[31] 赵文峰．MATLAB控制系统设计与仿真[M]．西安电子科技大学出版社，2003
[32] RABBIT 3000 User's Manual. www.zworld.com.2006(9)
[33] SU Donghai, CUI Xiao, WU Xihong.Analysis and Simulation of Dynamic Properties of High Frequency Hydraulic Vibration.7th International Conference on Progress of Machining Technology[J]. 2004:pp918-922
[34] Pei X,Zheng J J,Yang J L,Ruan J,Burton R Ukrainetz P."2D Pneumatic Digital Servo Valve".Proceedings of the Fifth International Conference on Fluid Power Transmission and Control [J]. (ICFP'2001)
[35] 张志涌等．精通MATLAB 6．5版[M]．北京航空航天大学出版社，2003
[36] 薛定宇，陈阳泉．基于MATLAB／Simulink的系统仿真技术与应用[M]．北京：清华大学出版社，2004．4
[37] 沈辉．精通SIMULINK系统仿真与控制[M]．北京：北京大学出版社，2003
[38] 张明．MATLAB基础与应用简明教程[M]．北京：北京航空航天大学出版社，2001
[39] 周金萍，王冉，吴斌．MATLAB6实践与提高[M]．北京：中国电力出版社，2002．1
[40] 阮健．电液(气)直接数字控制技术[M]．杭州：浙江大学出版社，2000．1
[41] 李忠杰，宁守信．步进电动机应用技术[M]．北京机械工业部出版社，1988
[42] 王宗培．步进电动机及其控制系统[M]．哈尔滨：哈尔滨工业大学出版社，1984．
[43] 张爱华，朱亮．步进驱动CNC系统的直接函数速度控制法[J]．组合机床与自动化加工技术，2001(1)
[44] Burton R,Ruan J,Ukrainetz p."Analysis of Electromagnetic Nonlinearities in Stage Control of a Stepper Motor and Spool Vavle" Journal of Dynamic Systems, Measurement, and Control[J]. 2003(9): pp. 405-412
[45] D.I .Jones, J.M. Finch.Op tirnal Control of a Voltage-Driven Stepping Motor[J].IEE Proceedings, 1983
[46] Wolf (BL2600) User's Manual.www.zworld.com.2006(9)
[47] RABBIT 2000 User's Manual.www.zworld.com.2006(9)
[48] Dynamic C User's Manual.www.zworld.com.2006(9)
[49] 徐勇．基于单片机控制的电液式振动台伺服控制器的研制[A]．重庆：重庆大学自动化学院，2002
[50] 刘乐善，叶济忠，叶永坚．微型计算机接口技术原理与应用[M]．华中理工大学出版社，1996
[51] 项德明，高富强．电液式振动台智能控制器的研制[J]．控制工程，2003(9)：pp396-397
[52] 王毓银．脉冲与数字电路[M]．北京：高等教育出版社，1984
[53] S.J. Bailey. Step Motion Control Direct Digital Incrememting with Servo-Like Performance[J].Control Engeering, 1985
[54] Curtis D. Johnson. Process Control Instrumentation Technology[J]. Pearson Education, 2002
[55] 刘光．C++BUILDER程序设计导学[M]．北京：清华大学出版社，2002
[56] 谭浩强．C程序设计[M]．北京：清华大学出版社，1998
[2] 闻邦椿．振动机械的理论及应用[M]．北京：机械工业出版社，1980
[3] Grasty, Lawrence.New electro-magnetic shaker technology. S V Sound and Vibration[J]. March, 2002:pp68-78
[4] 唐生碌．机械振动台的新结构讨论[M]．环境技术，1998：pp21-23
[5] 宋俊，曹辉．工控机调频调幅液压振动台及其优化设计[J]．机床与液压，2004(10)
[6] Lang, Geore Fox. Electrodynamic shaker fundamentals. S V Sound and Vibration[J]. 1997:pp14-23
[7] Lang, G.F, Snyder, D. Understanding the physics of electrodynamic shaker performance.S V Sound and Vibration[J].October, 2001:pp24-335
[8] 苏永清．国内电液负载仿真台研究与发展现状[J]．机床与液压，1999(2)
[9] 郝建功，张耀成．新型电液激振装置的性能研究[J]．太原理工大学学报，2003(6)
[10] 尚增温，孙虹．高频电液伺服系统的发展趋势与新的应用领域[J]．液压与气动，2001(6)
[11] 李敏霞．电液伺服振动台的振动控制技术及应用[J]．振动、测试与诊断，1997(3)
[12] 骆涵秀．电液振动台的发展趋势[J]．试验机与材料实验，1995(6)
[13] 崔晓．高频电液伺服振动台的研究[A]，沈阳：沈阳工业大学，2004
[14] 张德贺．CAT在液压技术中的应用[J]．液压与气动，1992(2)
[15] 魏力群．CAT在液压泵出厂试验台中的应用[J]．液压与气动，1993(3)
[16] 王正良．微机电液控制技术[M]．大连：大连理工大学出版社，1993
[17] 宋京其．液压集成块的计算机辅助设计[M]．液压与气动，1992(3)
[18] 吴昌聚，沈润杰，何闻．大尺寸高频振动台的设计[J]．机电工程，2002(4)
[19] 朱文华．液压振动技术[M]．福建科学出版社，1984
[20] 李芝．液压传动[M]．北京：机械工业出版社，2000
[21] 屈维德．机械振动手册[M]．机械工业出版社，1992：pp124-167
[22] 奚德昌，赵钦淼．振动台及振动试验[M]．北京：机械工业出版社，1985
[23] 章宏甲，黄谊．液压传动[M]．机械工业出版社，1999．10
[24] 骆涵秀．试验机的电液伺服系统[M]．机械工业出版社，1991
[25] 王占林．近代液压控制[M]．机械工业出版社，1997．8
[26] 杨文华．液控原理[M]．学术书刊出版社，1990．8
[27] 盛东初．液压传动技术教程[M]．北京工业学院出版社，1995．7
[28] 曾贤启．液压传动技术[M]．北京航空航天大学出版社，1990．8
[29] 雷天觉．液压工程手册[M]．北京：机械工业出版社，1990．
[30] 于宝成．液压激振器振动参数的设计[J]．煤矿机械，2000(1)
[31] 赵文峰．MATLAB控制系统设计与仿真[M]．西安电子科技大学出版社，2003
[32] RABBIT 3000 User's Manual. www.zworld.com.2006(9)
[33] SU Donghai, CUI Xiao, WU Xihong.Analysis and Simulation of Dynamic Properties of High Frequency Hydraulic Vibration.7th International Conference on Progress of Machining Technology[J]. 2004:pp918-922
[34] Pei X,Zheng J J,Yang J L,Ruan J,Burton R Ukrainetz P."2D Pneumatic Digital Servo Valve".Proceedings of the Fifth International Conference on Fluid Power Transmission and Control [J]. (ICFP'2001)
[35] 张志涌等．精通MATLAB 6．5版[M]．北京航空航天大学出版社，2003
[36] 薛定宇，陈阳泉．基于MATLAB／Simulink的系统仿真技术与应用[M]．北京：清华大学出版社，2004．4
[37] 沈辉．精通SIMULINK系统仿真与控制[M]．北京：北京大学出版社，2003
[38] 张明．MATLAB基础与应用简明教程[M]．北京：北京航空航天大学出版社，2001
[39] 周金萍，王冉，吴斌．MATLAB6实践与提高[M]．北京：中国电力出版社，2002．1
[40] 阮健．电液(气)直接数字控制技术[M]．杭州：浙江大学出版社，2000．1
[41] 李忠杰，宁守信．步进电动机应用技术[M]．北京机械工业部出版社，1988
[42] 王宗培．步进电动机及其控制系统[M]．哈尔滨：哈尔滨工业大学出版社，1984．
[43] 张爱华，朱亮．步进驱动CNC系统的直接函数速度控制法[J]．组合机床与自动化加工技术，2001(1)
[44] Burton R,Ruan J,Ukrainetz p."Analysis of Electromagnetic Nonlinearities in Stage Control of a Stepper Motor and Spool Vavle" Journal of Dynamic Systems, Measurement, and Control[J]. 2003(9): pp. 405-412
[45] D.I .Jones, J.M. Finch.Op tirnal Control of a Voltage-Driven Stepping Motor[J].IEE Proceedings, 1983
[46] Wolf (BL2600) User's Manual.www.zworld.com.2006(9)
[47] RABBIT 2000 User's Manual.www.zworld.com.2006(9)
[48] Dynamic C User's Manual.www.zworld.com.2006(9)
[49] 徐勇．基于单片机控制的电液式振动台伺服控制器的研制[A]．重庆：重庆大学自动化学院，2002
[50] 刘乐善，叶济忠，叶永坚．微型计算机接口技术原理与应用[M]．华中理工大学出版社，1996
[51] 项德明，高富强．电液式振动台智能控制器的研制[J]．控制工程，2003(9)：pp396-397
[52] 王毓银．脉冲与数字电路[M]．北京：高等教育出版社，1984
[53] S.J. Bailey. Step Motion Control Direct Digital Incrememting with Servo-Like Performance[J].Control Engeering, 1985
[54] Curtis D. Johnson. Process Control Instrumentation Technology[J]. Pearson Education, 2002
[55] 刘光．C++BUILDER程序设计导学[M]．北京：清华大学出版社，2002
[56] 谭浩强．C程序设计[M]．北京：清华大学出版社，1998