直驱式电液伺服系统的设计与特性研究
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摘要
直接驱动式容积控制(Direct Drive Volume Control,DDVC)电液伺服系统是一种新型的机电液结合的系统,也被称作无阀电液伺服系统。与传统电液伺服系统相比,具有控制灵活、结构简单、节能高效、成本低、抗污染能力强、集成化、环保、操作方便等优点。目前在国际上已经应用于多个领域并取得了很大的经济效益;在国内一些高校和研究所也进行相应的研究,也取得了一定的成果。
研究直驱式容积控制电液伺服系统,提高该系统动态性能及系统开发具有十分重要的意义。国外尤其是日本对该新型系统的研究已有相当一段时间,并已趋于成熟,成功应用在实际生产领域。本课题的主要任务是对DDVC电液伺服系统进行结构设计并对系统进行特性研究和试验分析。
本文设计了球式补油阀和锁阀组成的叠加阀块、密闭油罐及直驱式系统的其它连接部件。通过理论分析和试验测试,得到了良好的设计参数,解决了系统爬行与噪音现象;同时建立永磁交流同步伺服电机的数学模型,分析泵控液压缸动力机构的原理并建立其数学模型,最终得出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,分析系统稳定性及稳态误差,并进行计算机仿真分析。
搭建试验台,进行试验分析,编写控制程序,设计PID控制器,验证数学模型的正确性,对比分析仿真和试验效果。闭式回路采用抗干扰能力强的磁阻式传感器(MR传感器),提高了系统的闭环特性,改善了系统性能。
Direct Drive Volume Control (DDVC) electro-hydraulic servo system is a new system combined with mechanism, electronics and hydraulics, also named electro-hydraulic servo system with no electro-hydraulic servo valve. Compared with traditional electro-hydraulic servo system, DDVC has the advantages of flexibility of control, simple structure, high efficiency energy saving, and low cost, stronger anti-pollution, smaller integration, environment protection, more convenient operation and so on. It has been used in many areas in international, and made great economic benefits; some colleges and institutes in China has been studying in this field.
Therefore, it is very Significance to studying of the DDVC system, and developing application prospect. DDVC has been widely studied in foreign country successfully, especially in Japan, also widely used in industry field. The main studying of my paper is designing the structure of DDVC, studying the performance of the DDVC electro-hydraulic servo system, with doing experiment.
This paper design the hydraulic control check valves, closed oil tank and device connector. Through theoretical analysis and experimental test, get the perfect designing parameters, and solve the phenomenon of creeping and vibration. Also establishing the mathematical model of AC servo motor and the pump-control cylinder subsystem. In addition, establishing the mathematical model of the whole DDVC system. Last, analyzing the parameters that influence the system’s performance,the steady-state error and simulating with computer.
Putting up the test rig,taking the experiment, writing the control program, designing PID algorithm, verification of the correct of mathematical model, Compared with the mathematical model and experiment result. The system’s closed circuits use the magnetoresistive sensor, with the higher anti-interference ability, improving the closed-characteristics and performance of DDVC system.
研究直驱式容积控制电液伺服系统,提高该系统动态性能及系统开发具有十分重要的意义。国外尤其是日本对该新型系统的研究已有相当一段时间,并已趋于成熟,成功应用在实际生产领域。本课题的主要任务是对DDVC电液伺服系统进行结构设计并对系统进行特性研究和试验分析。
本文设计了球式补油阀和锁阀组成的叠加阀块、密闭油罐及直驱式系统的其它连接部件。通过理论分析和试验测试,得到了良好的设计参数,解决了系统爬行与噪音现象;同时建立永磁交流同步伺服电机的数学模型,分析泵控液压缸动力机构的原理并建立其数学模型,最终得出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,分析系统稳定性及稳态误差,并进行计算机仿真分析。
搭建试验台,进行试验分析,编写控制程序,设计PID控制器,验证数学模型的正确性,对比分析仿真和试验效果。闭式回路采用抗干扰能力强的磁阻式传感器(MR传感器),提高了系统的闭环特性,改善了系统性能。
Direct Drive Volume Control (DDVC) electro-hydraulic servo system is a new system combined with mechanism, electronics and hydraulics, also named electro-hydraulic servo system with no electro-hydraulic servo valve. Compared with traditional electro-hydraulic servo system, DDVC has the advantages of flexibility of control, simple structure, high efficiency energy saving, and low cost, stronger anti-pollution, smaller integration, environment protection, more convenient operation and so on. It has been used in many areas in international, and made great economic benefits; some colleges and institutes in China has been studying in this field.
Therefore, it is very Significance to studying of the DDVC system, and developing application prospect. DDVC has been widely studied in foreign country successfully, especially in Japan, also widely used in industry field. The main studying of my paper is designing the structure of DDVC, studying the performance of the DDVC electro-hydraulic servo system, with doing experiment.
This paper design the hydraulic control check valves, closed oil tank and device connector. Through theoretical analysis and experimental test, get the perfect designing parameters, and solve the phenomenon of creeping and vibration. Also establishing the mathematical model of AC servo motor and the pump-control cylinder subsystem. In addition, establishing the mathematical model of the whole DDVC system. Last, analyzing the parameters that influence the system’s performance,the steady-state error and simulating with computer.
Putting up the test rig,taking the experiment, writing the control program, designing PID algorithm, verification of the correct of mathematical model, Compared with the mathematical model and experiment result. The system’s closed circuits use the magnetoresistive sensor, with the higher anti-interference ability, improving the closed-characteristics and performance of DDVC system.
引文
1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): 1~5
2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: 32~38
3付永领,徐步力,那波.一种新型无伺服阀电液伺服执行器.液压与气动. 2002, (7): 44~45
4李蕊,魏宏林,肖军.一种新型电液伺服执行器与传统电液伺服执行器的比较.机床研究与应用. 2003, 16(8): 44~48
5许宏光,曹健,赵阳.直驱式电液位置系统及其在注塑机上的应用.机床与液压. 2005, (3): 119~120
6刘庆和.直接驱动容积控制液压传动原理(DDVC系统).哈尔滨工业大学. 2007, (10): 12~18
7郭建宇,冯刚.无阀电液伺服系统.轻工机械. 2005, (4): 117~119
8 Alden, R. C-141 and C-130 power-by-wire flight control systems. Aerospace and Electronics Conference, 1991. NAECON 1991, Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2: 535~539.
9 Hong Sun, T. George, C. Chiu. Nonlinear Observer Based Force Control of Electro-Hydraulic Actuators. Proceedings of the American Control Conference. San diego, California. 1999, (10): 764~768
10 C. A. Belsterling. Electro hydraulics drives flight simulators. Hydraulics & Pneumatics. 1984, (2): 37~40
11 G. M. Mckinnon. Hydraulic servomechanisms in flight simulation. Hydraulic& Pneumatics. 1981, (10): 69~71
12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): 13~15
13刘恩均,王占林,孙卫华.一种新型EHA及其仿真分析.液压气动与密封. 2005, (1): 14~16
14 Masanori ITO, Noriki, HIROSE, Etsuro SHIMIZU. Main Engine Revolution Control for Ship with Direct Drive Volume Control System[J]. ISMETOKYO, 2000, (2): 629~632
15 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
16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): 43~45
17张旭辉,刘永光,付永领.一种新颖超磁伸缩作动器的隔振模型.北京航空航天大学学报. 2007, 33(11): 1317~1320
18 Chang sheng LI, Malik Elbuluk. A Solid Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors. IEEE, 2001, (C): 1273~1278
19 P Vas. Electrical Machines and Drives, A Space-Vecter Theory Approach. Clarendon Press, 1992, (7): 132~156
20权龙.基于可调速电动机的高动态节能型电液动力源.中国机械工程. 2003, (7): 504~509
21彭天好,杨华勇,徐兵. VVVF技术在液压调速系统中的应用研究.机床与液压. 2001, (4): 6~7
22 Nakashima S, Inagaki Y, Miki I. Sensorless Initial Rotor Position Estimation of Surface Permanent-magnet Synchronous Motor. IEEE Transactions on, 2000, 36(6): 1598~1603
23 Johns, T.M.; Van Nocker, R.C. High-performance EHA controls using an interior permanent magnet motor. Aerospace and Electronic Systems, IEEE Transactions on, Issue 3, May 1990, (26): 534~542
24 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, (2): 529~534
25 Han-Woong Park, Sang-Hoon Lee, Tae-Hyun Won, Moon-Soo Kim, Kim, C.-U.Position Sensorless Speed Control Scheme for Permanent Magnet Synchronous Motor Drives. IEEE International Symposium on, 2001, (1): 632~636
26臧义昌.模型参考自适应控制在直驱式电液伺服系统中的实验研究.哈尔滨工业大学硕士论文. 2005: 2~4
27马纪明,付永领,李军,高波.一体化电动静液作动器(EHA)的设计与仿真分析.航空学报. 2005, 26(1): 79~83
28周加龙,赵明扬.直驱式容积控制电液伺服系统设计研究.科技创新导报.2008, (10): 82~83
29王万刚.电磁干扰的屏蔽.重庆职业技术学院学报. 2006, 15(3): 146~147
30王洪杰,季天晶,毛新涛,刘全忠.压力脉动及泄漏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, 37(11): 1568~1569
31 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Whitley, C.; Towers, G.; Power supply loss ride-through and device voltage drop compensation in a matrix converter permanent magnet motor drive for an aircraft actuator. Power Electronics Specialists Conference, 2004. PESC 04. 2004 IEEE 35th Annual, 20-25 June 2004, (1): 149~154
32 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Bradley, K.J.; Whitley, C.; Towers, G.; A matrix converter based permanent magnet motor drive for an electro-hydrostatic aircraft actuator. Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE, 2-6 Nov. 2003, (3): 2072~2077
33季天晶,毛新涛,卞新龙.直驱式电液位置系统PID控制的研究.青岛大学学报. 2004, 19(4): 49~51
34罗勇武,周剑,黎勉,查晓春.液压变频调速系统数学模型的分析.现代制造工程. 2001, (11): 53~55
35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: 4~5
36李荣湘.闭式液压泵与原动机的匹配计算.矿业研究与开发. 2005, 25(3): 51~52
37 Wang Limei, Guo Qingding, Lorenz, R D.Sensorless Control of Permanent Magnet Synchronous Motor. Power Electronics and Motion Control Conference, 2000. Proceedings. PIEC 2000. The Third International, 2000, 1(1): 186~190
38 Parasiliti F, Petrella R, Tursini M.Initial Rotor Position Estimation Method for PM Motors. Industry Applications Conference, 2000. Conference Record of the 2000 IEEE, 2000, 2(2): 1190~1197
39余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械. 1999 , (5): 14~16
40杨啸,倪建成,张东宁.液压阀块的设计要点.锻压机械. 1999, (2): 33~34
41余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械. 1999, (5): 14~16
42周新建.球阀流量系数的研究.流体机械. 2001, 29(5): 44~45
43王占林.非对称缸伺服系统的理论研究.机床与液压. 1987, (2): 36~41
44 K. Tan, S. Huang, R. Ferdous. Robust self-tuning PID controller for nonlinear systems. Journal of Process Control. 2002, (12): 753~761
45 Cominos, P.; Munro. N. PID controllers: recent tuning methods and design to specification. Control Theory and Applications. IEE Proceedings Volume 149, Issue 1, Jan. 2002, (5): 46~53
46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
47 Moradi, M.H. New techniques for PID controller design. Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on Volume 1, 23-25 June 2003, (2): 903~908
48 Young-Hyun Moon, Heon-Su Ryu, Byoung-Kon Choi. Modified PID load-frequency control with the consideration of valve position limits. Power Engineering Society 1999 Winter Meeting, IEEE, 31 Jan-4 Feb 1999, (1),701~706
49 Cui.Bowen, Zhou.Jihua, Ren.Zhang. Modeling and simulation of permanent magnet synchronous motor drives. Electrical Machines and Systems. ICEMS 2001. Proceedings of the Fifth International Conference, 2001, (3): 905~908
2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: 32~38
3付永领,徐步力,那波.一种新型无伺服阀电液伺服执行器.液压与气动. 2002, (7): 44~45
4李蕊,魏宏林,肖军.一种新型电液伺服执行器与传统电液伺服执行器的比较.机床研究与应用. 2003, 16(8): 44~48
5许宏光,曹健,赵阳.直驱式电液位置系统及其在注塑机上的应用.机床与液压. 2005, (3): 119~120
6刘庆和.直接驱动容积控制液压传动原理(DDVC系统).哈尔滨工业大学. 2007, (10): 12~18
7郭建宇,冯刚.无阀电液伺服系统.轻工机械. 2005, (4): 117~119
8 Alden, R. C-141 and C-130 power-by-wire flight control systems. Aerospace and Electronics Conference, 1991. NAECON 1991, Proceedings of the IEEE 1991 National, 20-24 May 1991, vol.2: 535~539.
9 Hong Sun, T. George, C. Chiu. Nonlinear Observer Based Force Control of Electro-Hydraulic Actuators. Proceedings of the American Control Conference. San diego, California. 1999, (10): 764~768
10 C. A. Belsterling. Electro hydraulics drives flight simulators. Hydraulics & Pneumatics. 1984, (2): 37~40
11 G. M. Mckinnon. Hydraulic servomechanisms in flight simulation. Hydraulic& Pneumatics. 1981, (10): 69~71
12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): 13~15
13刘恩均,王占林,孙卫华.一种新型EHA及其仿真分析.液压气动与密封. 2005, (1): 14~16
14 Masanori ITO, Noriki, HIROSE, Etsuro SHIMIZU. Main Engine Revolution Control for Ship with Direct Drive Volume Control System[J]. ISMETOKYO, 2000, (2): 629~632
15 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
16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): 43~45
17张旭辉,刘永光,付永领.一种新颖超磁伸缩作动器的隔振模型.北京航空航天大学学报. 2007, 33(11): 1317~1320
18 Chang sheng LI, Malik Elbuluk. A Solid Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors. IEEE, 2001, (C): 1273~1278
19 P Vas. Electrical Machines and Drives, A Space-Vecter Theory Approach. Clarendon Press, 1992, (7): 132~156
20权龙.基于可调速电动机的高动态节能型电液动力源.中国机械工程. 2003, (7): 504~509
21彭天好,杨华勇,徐兵. VVVF技术在液压调速系统中的应用研究.机床与液压. 2001, (4): 6~7
22 Nakashima S, Inagaki Y, Miki I. Sensorless Initial Rotor Position Estimation of Surface Permanent-magnet Synchronous Motor. IEEE Transactions on, 2000, 36(6): 1598~1603
23 Johns, T.M.; Van Nocker, R.C. High-performance EHA controls using an interior permanent magnet motor. Aerospace and Electronic Systems, IEEE Transactions on, Issue 3, May 1990, (26): 534~542
24 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, (2): 529~534
25 Han-Woong Park, Sang-Hoon Lee, Tae-Hyun Won, Moon-Soo Kim, Kim, C.-U.Position Sensorless Speed Control Scheme for Permanent Magnet Synchronous Motor Drives. IEEE International Symposium on, 2001, (1): 632~636
26臧义昌.模型参考自适应控制在直驱式电液伺服系统中的实验研究.哈尔滨工业大学硕士论文. 2005: 2~4
27马纪明,付永领,李军,高波.一体化电动静液作动器(EHA)的设计与仿真分析.航空学报. 2005, 26(1): 79~83
28周加龙,赵明扬.直驱式容积控制电液伺服系统设计研究.科技创新导报.2008, (10): 82~83
29王万刚.电磁干扰的屏蔽.重庆职业技术学院学报. 2006, 15(3): 146~147
30王洪杰,季天晶,毛新涛,刘全忠.压力脉动及泄漏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, 37(11): 1568~1569
31 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Whitley, C.; Towers, G.; Power supply loss ride-through and device voltage drop compensation in a matrix converter permanent magnet motor drive for an aircraft actuator. Power Electronics Specialists Conference, 2004. PESC 04. 2004 IEEE 35th Annual, 20-25 June 2004, (1): 149~154
32 Wheeler, P.W.; Clare, J.C.; Apap, M.; Empringham, L.; Bradley, K.J.; Whitley, C.; Towers, G.; A matrix converter based permanent magnet motor drive for an electro-hydrostatic aircraft actuator. Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE, 2-6 Nov. 2003, (3): 2072~2077
33季天晶,毛新涛,卞新龙.直驱式电液位置系统PID控制的研究.青岛大学学报. 2004, 19(4): 49~51
34罗勇武,周剑,黎勉,查晓春.液压变频调速系统数学模型的分析.现代制造工程. 2001, (11): 53~55
35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: 4~5
36李荣湘.闭式液压泵与原动机的匹配计算.矿业研究与开发. 2005, 25(3): 51~52
37 Wang Limei, Guo Qingding, Lorenz, R D.Sensorless Control of Permanent Magnet Synchronous Motor. Power Electronics and Motion Control Conference, 2000. Proceedings. PIEC 2000. The Third International, 2000, 1(1): 186~190
38 Parasiliti F, Petrella R, Tursini M.Initial Rotor Position Estimation Method for PM Motors. Industry Applications Conference, 2000. Conference Record of the 2000 IEEE, 2000, 2(2): 1190~1197
39余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械. 1999 , (5): 14~16
40杨啸,倪建成,张东宁.液压阀块的设计要点.锻压机械. 1999, (2): 33~34
41余国城,陈继河,陈莺.液压系统集成块的设计与制造.起重运输机械. 1999, (5): 14~16
42周新建.球阀流量系数的研究.流体机械. 2001, 29(5): 44~45
43王占林.非对称缸伺服系统的理论研究.机床与液压. 1987, (2): 36~41
44 K. Tan, S. Huang, R. Ferdous. Robust self-tuning PID controller for nonlinear systems. Journal of Process Control. 2002, (12): 753~761
45 Cominos, P.; Munro. N. PID controllers: recent tuning methods and design to specification. Control Theory and Applications. IEE Proceedings Volume 149, Issue 1, Jan. 2002, (5): 46~53
46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
47 Moradi, M.H. New techniques for PID controller design. Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on Volume 1, 23-25 June 2003, (2): 903~908
48 Young-Hyun Moon, Heon-Su Ryu, Byoung-Kon Choi. Modified PID load-frequency control with the consideration of valve position limits. Power Engineering Society 1999 Winter Meeting, IEEE, 31 Jan-4 Feb 1999, (1),701~706
49 Cui.Bowen, Zhou.Jihua, Ren.Zhang. Modeling and simulation of permanent magnet synchronous motor drives. Electrical Machines and Systems. ICEMS 2001. Proceedings of the Fifth International Conference, 2001, (3): 905~908