基于工控机的直驱式电液压力伺服阀数字控制的研究
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摘要
电液伺服阀按照其输出量的不同,可分为电液压力伺服阀、电液流量伺服阀以及电液压力流量伺服阀(即PQ阀)。目前使用的电液压力伺服阀主要是两级双喷嘴挡板式电液压力伺服阀,这类阀虽然性能优良,但结构复杂,制造困难,对油液的污染非常敏感,故障率较高。直驱式电液压力伺服阀(Direct Drive Pressure Control Servo Valve),简称DDPV,克服了这些缺点,具有体积小,结构简单,抗污染能力强,而其性能指标基本能够达到喷嘴挡板阀的各项性能指标,是传统喷嘴挡板阀的补充和发展。
随着计算机和信息技术的飞速发展,电液伺服技术在过去的二、三十年间经历了一场由模拟控制方式向数字控制方式的转变。数字控制相对于模拟控制有很大的优越性,表现在精度高、灵活性大、可靠性好、易于大规模集成等方面。传统的电液伺服阀一般采用的是模拟控制方式,而模拟控制方式中存在着模拟电路,易于产生温漂和零漂,并且伺服阀的性能受使用场合的影响,使得对伺服阀本身的非线性因素如死区、滞环等难以实现彻底补偿。而采用数字控制能很好地解决上述问题,且参数调整方便,易于进行性能优化。
本论文查阅了大量关于直驱式电液伺服阀以及数字控制的相关研究资料,着重分析和总结了直驱式电液伺服阀以及数字控制在国内外的研究现状和成果,建立了直驱式电液压力伺服阀的数学模型,设计了以工控机为核心的DDPV数字控制系统,并对控制系统进行了仿真研究,分析了各参数对系统控制的影响。
对DDPV的仿真研究表明,影响系统稳定性和误差的主要因素是PID控制器中的比例积分系数,合理调整这些系数,能够获得较好的DDPV动静态特性。通过搭建DDPV数字控制系统试验台,进行试验研究,检验了DDPV数学模型的正确性,并验证了所设计的DDPV数字控制系统的可行性。本文比较了数字控制系统相对于模拟控制系统的优缺点,为进一步开发电液伺服阀的DSP数字控制器提供理论基础和有利的参考。
Considering different outputs, electro-hydraulic servo valves can be divided into pressure control servo valves, flow control servo valves and press-flow control servo valves. Nowadays, the commonly used electro-hydraulic pressure control servo valves are two-step nozzle-flapper servo valves. Though this type of servo valves has good performances, they have complicated structure and are difficult to be made. They are also sensitive to oil pollution as well as high frequency of failures. Direct drive pressure control servo valve (DDPV) does not have these defaults. DDPV has small volume, simple structure and strong anti-pollution ability. The performance of DDPV could also reach the standards of the performance of the nozzle-flapper servo valve. DDPV is the extension and development of the traditional nozzle-flapper servo valve.
With the development of computer and information technology, electro-hydraulic technology has transited from analog control mode to digital control mode in the past twenty to thirty years. The digital mode has more advantages than the analog mode, such as high precision, good flexibility, excellent reliability, easy integration and so on. The traditional servo valves often use the analog mode. However, the analog mode, which has analog circuit in it, brings temperature float and zero float. Besides, the characteristics of this kind of servo valves are affected by the application. So the non-linearity of the servo valves, such as dead-band and hysteresis, can not be compensated completely. But digital control mode can solve these problems and the parameters can be changed conveniently as well as optimized characteristics.
There were several research reports on DDPV and digital control. The status and harvests of research on DDPV and digital control were analyzed and summarized specially. The mathematical model of the DDPV was built and the digital control system of DDPV was designed using industrial personal computer. Based on the theoretical analysis, the paper did a lot of computer simulation so as to analyze the effect of every parameter on the control system.
The main factors of stability and error of the system were proportional-integral coefficient of PID controller according to the simulation on DDPV. The characteristics of DDPV were better when the coefficients were adjusted. The test bed of digital control system of DDPV was built in order to test the correction of the mathematical model of DDPV and the feasibility of the digital control system. The difference between the digital control system and analog control system of DDPV were compared. So this paper can provide a reference and theoretical foundation when DSP digital controller is developed.
随着计算机和信息技术的飞速发展,电液伺服技术在过去的二、三十年间经历了一场由模拟控制方式向数字控制方式的转变。数字控制相对于模拟控制有很大的优越性,表现在精度高、灵活性大、可靠性好、易于大规模集成等方面。传统的电液伺服阀一般采用的是模拟控制方式,而模拟控制方式中存在着模拟电路,易于产生温漂和零漂,并且伺服阀的性能受使用场合的影响,使得对伺服阀本身的非线性因素如死区、滞环等难以实现彻底补偿。而采用数字控制能很好地解决上述问题,且参数调整方便,易于进行性能优化。
本论文查阅了大量关于直驱式电液伺服阀以及数字控制的相关研究资料,着重分析和总结了直驱式电液伺服阀以及数字控制在国内外的研究现状和成果,建立了直驱式电液压力伺服阀的数学模型,设计了以工控机为核心的DDPV数字控制系统,并对控制系统进行了仿真研究,分析了各参数对系统控制的影响。
对DDPV的仿真研究表明,影响系统稳定性和误差的主要因素是PID控制器中的比例积分系数,合理调整这些系数,能够获得较好的DDPV动静态特性。通过搭建DDPV数字控制系统试验台,进行试验研究,检验了DDPV数学模型的正确性,并验证了所设计的DDPV数字控制系统的可行性。本文比较了数字控制系统相对于模拟控制系统的优缺点,为进一步开发电液伺服阀的DSP数字控制器提供理论基础和有利的参考。
Considering different outputs, electro-hydraulic servo valves can be divided into pressure control servo valves, flow control servo valves and press-flow control servo valves. Nowadays, the commonly used electro-hydraulic pressure control servo valves are two-step nozzle-flapper servo valves. Though this type of servo valves has good performances, they have complicated structure and are difficult to be made. They are also sensitive to oil pollution as well as high frequency of failures. Direct drive pressure control servo valve (DDPV) does not have these defaults. DDPV has small volume, simple structure and strong anti-pollution ability. The performance of DDPV could also reach the standards of the performance of the nozzle-flapper servo valve. DDPV is the extension and development of the traditional nozzle-flapper servo valve.
With the development of computer and information technology, electro-hydraulic technology has transited from analog control mode to digital control mode in the past twenty to thirty years. The digital mode has more advantages than the analog mode, such as high precision, good flexibility, excellent reliability, easy integration and so on. The traditional servo valves often use the analog mode. However, the analog mode, which has analog circuit in it, brings temperature float and zero float. Besides, the characteristics of this kind of servo valves are affected by the application. So the non-linearity of the servo valves, such as dead-band and hysteresis, can not be compensated completely. But digital control mode can solve these problems and the parameters can be changed conveniently as well as optimized characteristics.
There were several research reports on DDPV and digital control. The status and harvests of research on DDPV and digital control were analyzed and summarized specially. The mathematical model of the DDPV was built and the digital control system of DDPV was designed using industrial personal computer. Based on the theoretical analysis, the paper did a lot of computer simulation so as to analyze the effect of every parameter on the control system.
The main factors of stability and error of the system were proportional-integral coefficient of PID controller according to the simulation on DDPV. The characteristics of DDPV were better when the coefficients were adjusted. The test bed of digital control system of DDPV was built in order to test the correction of the mathematical model of DDPV and the feasibility of the digital control system. The difference between the digital control system and analog control system of DDPV were compared. So this paper can provide a reference and theoretical foundation when DSP digital controller is developed.
引文
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3鄂世举,杨志刚等.一种新型电液伺服阀.压电与声光. 2004, 26(5): 377~379
4金松.直动式电液数字伺服阀及其在位置伺服控制系统中的应用研究.浙江工业大学硕士学位论文. 2006: 5~6
5许梁,杨前明.电液元件数字化技术进展.现代制造技术与装备. 2007, (2): 65~68
6刘向明,刘庆和.一种新型电液伺服阀.液压与气动. 2000, (6): 340~35
7章宏甲,黄谊.液压传动.机械工业出版社, 2000: 30~56
8姜继海.液压传动.第3版.哈尔滨工业大学出版社, 2004: 194~195
9 H. E.梅里特著.液压控制系统.陈燕庆译.科学出版社, 1967: 83~87
10高翔,冯正进.电液伺服系统研究中的非线性分析方法.上海交通大学学报. 2002, (3): 31~36
11雷天觉.液压设计手册.机械工业出版社, 2002: 584~591
12邹小舟.直接驱动电液伺服阀静动态特性的研究.哈尔滨工业大学硕士学位论文. 2006: 1~5
13李长春,顾亮,王申申,郭军.一种用于坦克半主动悬挂控制的电液DDV阀的研制.机床与液压. 2000, (6): 47~48
14夏立群,张新国.直接驱动阀式伺服作动器研究.西北工业大学学报. 2006, 24(3): 308~312
15李宁,张宝林,胡劲松.采用4个DDV阀控制的DEH系统的应用.江西电力第27卷, 2003, (5): 13~14, 25
16王葳. MOOGDDV阀在汽轮机控制系统中的应用.电站系统工程. 2002, 18(3): 38–39
17朱盘生. MOOG公司DDV伺服阀.液压与气动. 1996, (5): 20~21
18 Bidlack, J. D. Mechanical Feedback Servo-valves Design and Manufacturing Teckniques. Proceedings of the 23rd National Conference on Fluid Power, 1967: 86~89
19 H. Bangert. Update on Proportional Valve Performance. Hydraulics &Pneumatics. 1992, (6): 77~79
20陈彬,易孟林.电液伺服阀的研究现状和发展趋势.液压与气动. 2005, (6): 5~8
21周斌,邓耀礼.计算机实时电液控制系统的发展方向—全数字化.流体传动与控制. 2006, (5): 4–5
22张业建,何晓霞,钟廷修. CAN总线及其在电液伺服系统中的应用.液压与气动. 2002, (1): 28~30
23吴建昆,唐小琦,宋宝.一种基于DSP的伺服控制器的设计与应用.机械与电子. 2003, (3): 26~28
24陈振华,李声晋,芦刚.一种高精度数字伺服系统控制器设计.微特电机. 2007, (4): 36~38
25田源道.电液伺服阀技术.航空工业出版社, 2008: 62~74
26 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: 457~472
27 Geyer, L. H. Controlled Dumping Through Dynamic Pressure Feedback. Technique Bulletin 101, MOOG Inc, 1958: 48~62
28 K. A. Oleson, R. R. Boyle. How to Cool Steam-Electric Power Plants. Annual Heat Transfer. 1986: 94~105
29骆平,王莹.铁芯磁滞特性的分析与仿真.江西电力. 1994, 18(4): 23~26
30裴翔,杨继隆,郑家锦,阮健.直动式电液数字伺服阀性能分析研究.浙江工业大学学报. 2001, 29(1): 35~39
31霍焱.通用比例阀数字控制器的研制.大连理工大学硕士学位论文. 2005: 83~88
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