汽车低速轮胎试验机垂直力加载系统研究
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摘要
汽车低速轮胎试验机是一种半实物物理仿真系统,其功能是在实验室的条件下,模拟汽车在路面上的行驶,从而检测汽车轮胎的技术性能指标。随着我国汽车工业的快速发展,伴随而来的是汽车数量的显著增加和交通事故发生率的不断增长,由此,汽车相关零部件的各种性能越来越引起人们的重视。在这其中,轮胎的各种性能参数最值得我们关注。
本文在查阅大量国内外资料的基础上,综述了国内外轮胎实验机的发展现状,分析了它们的优缺点,通过对国内轮胎实验机产品的对比,确定了本文的研究方向。
本文研究的方向是低速轮胎试验机垂直力加载系统,建立了低速轮胎试验机垂直力加载的数学模型并进行简化处理,对其控制性能进行深入的理论分析,研究结构参数与控制性能的关系,为提高低速轮胎实验机垂直力加载的控制性能提供理论基础。运用SIMULINK软件包中的模块库对非对称油缸的线形和非线形模型进行仿真。
本文提出了压力伺服阀和流量伺服阀双阀控制方案,并分别对压力伺服阀控制加载系统和流量伺服阀控制加载系统进行了实验研究。在对力的控制中,如何提高力加载系统的动静态性能指标是当前研究的关键点,采用三极压力传感器来分别满足高压和低压时绝对精度的控制。通过实验得出低速轮胎试验机垂直力加载的动静态性能指标,证明本文提出的综合控制性能方法是有效的。
本文所采用的提高低速轮胎试验机垂直力加载控制性能的方法和得出的结论同样也适用于其它垂直加载系统。
The automobile low-speed tire test machine is physical half-objective simulative system.Its function is to simulate,under laboratory conditions,automobile running on the road surface so as to detect technical performance index of the automobile tire.With the rapid development of our country' automobile industry,the sharp increase of the number of automobiles and traffic accident are accompanied.
After synthesizing numerous related literatures and reference materials home and abroad,the automobile low-speed tire test machine of domestic and oversea system is summarized,and the merit and shortcoming is analyzed.The studying direction is decided through comparing domestic products and overseas products.
The research direction of this paper is the vertical force loading in automobile low-speed tire test machine.In this dissertation,the author builds up mathematical model of the vertical force loading in automobile low-speed tire test machine and simplified treatment.By thoroughly analyzing its control performance and researching the relationship between mechanism and characteristics,the basic theories are provided to improve control performance of vertical force loading in automobile low-speed tire test machine and also simulate the linear model and the non-linear model of unsymmetrical cylinder by using modules in SIMULINK software package.
This paper put forward a new double-valves controlling scheme,use a pressure servo valve and a flow servo valve to control loading system.The experimental system is build up in this dissertation,by which we proposed the experimental research aiming at two schemes which are loads controlled system by single pressure servo valve and flow servo valve.When pressure is controlled,how to improve the static and dynamic performances of the control loading system is taken to be key point,using three pressure stages to respectively meet absolute accuracy of high-pressure and low-pressure.It receives static and dynamic performances by testing,which can prove that the methods advanced in this conclusion is effective for improving the comprehensive control performances of the vertical force loading in automobile low-speed tire test machine.
From the methods improving the control performance of vertical force loading control system in automobile low-speed tire test machine,we can draw the conclusions that the methods are fit for the rest passive loading system.
本文在查阅大量国内外资料的基础上,综述了国内外轮胎实验机的发展现状,分析了它们的优缺点,通过对国内轮胎实验机产品的对比,确定了本文的研究方向。
本文研究的方向是低速轮胎试验机垂直力加载系统,建立了低速轮胎试验机垂直力加载的数学模型并进行简化处理,对其控制性能进行深入的理论分析,研究结构参数与控制性能的关系,为提高低速轮胎实验机垂直力加载的控制性能提供理论基础。运用SIMULINK软件包中的模块库对非对称油缸的线形和非线形模型进行仿真。
本文提出了压力伺服阀和流量伺服阀双阀控制方案,并分别对压力伺服阀控制加载系统和流量伺服阀控制加载系统进行了实验研究。在对力的控制中,如何提高力加载系统的动静态性能指标是当前研究的关键点,采用三极压力传感器来分别满足高压和低压时绝对精度的控制。通过实验得出低速轮胎试验机垂直力加载的动静态性能指标,证明本文提出的综合控制性能方法是有效的。
本文所采用的提高低速轮胎试验机垂直力加载控制性能的方法和得出的结论同样也适用于其它垂直加载系统。
The automobile low-speed tire test machine is physical half-objective simulative system.Its function is to simulate,under laboratory conditions,automobile running on the road surface so as to detect technical performance index of the automobile tire.With the rapid development of our country' automobile industry,the sharp increase of the number of automobiles and traffic accident are accompanied.
After synthesizing numerous related literatures and reference materials home and abroad,the automobile low-speed tire test machine of domestic and oversea system is summarized,and the merit and shortcoming is analyzed.The studying direction is decided through comparing domestic products and overseas products.
The research direction of this paper is the vertical force loading in automobile low-speed tire test machine.In this dissertation,the author builds up mathematical model of the vertical force loading in automobile low-speed tire test machine and simplified treatment.By thoroughly analyzing its control performance and researching the relationship between mechanism and characteristics,the basic theories are provided to improve control performance of vertical force loading in automobile low-speed tire test machine and also simulate the linear model and the non-linear model of unsymmetrical cylinder by using modules in SIMULINK software package.
This paper put forward a new double-valves controlling scheme,use a pressure servo valve and a flow servo valve to control loading system.The experimental system is build up in this dissertation,by which we proposed the experimental research aiming at two schemes which are loads controlled system by single pressure servo valve and flow servo valve.When pressure is controlled,how to improve the static and dynamic performances of the control loading system is taken to be key point,using three pressure stages to respectively meet absolute accuracy of high-pressure and low-pressure.It receives static and dynamic performances by testing,which can prove that the methods advanced in this conclusion is effective for improving the comprehensive control performances of the vertical force loading in automobile low-speed tire test machine.
From the methods improving the control performance of vertical force loading control system in automobile low-speed tire test machine,we can draw the conclusions that the methods are fit for the rest passive loading system.
引文
[1]威武斌.轮胎与行车安全.中国检验检疫.2005,(8):62.
[2]本刊编辑部.风起云涌轮下生—轮胎的重要性.交通世界.1999,(3):26-31.
[3]Guo Hongbo,Li Hongren.Study on Characteristics of The Single Rod Hydraulic Cylinder Controlled by Asymmetric Valve,Proc.of ISFP,Wuhan,China,IAPWPC,2003,(5):477-482.
[4]李洪人.液压控制系统.北京:国防工业出版社,1981.
[5]顺瑞龙.控制理论与电液控制系统.北京:机械工业出版社,1984.
[6]列树道,杨光平.基于电液力伺服阀的最优控制方法的研究.机床与液压,1999(7):63-64.
[7]刘长年.液压伺服系统优化设计理论.北京:冶金工业出版社,1989.
[8]Lu Dunyong,Wu Miao,Meng Huirong.Dynamic Force identification from Response Using,2000,(6):33-36.
[9]牛占海,王宏武,刘榛.对电液比例控制系统的综述.机械研究与应用,2004,17(6):16-17.
[10]HomerD.Eckhard.Kinematic Design of machanisims and mechanisms MC Graw jiu Education,2003,(3):475-477.
[11]MICHAEL J.TONYAN,EIectronically Controled Proportional Valves Selection and application,1994,(4) 132-138.
[12]李运华,史维样,林廷圻.近代液压伺服系统控制策略的现状与发展.液压与气动,1995,(1):3-6.
[13]路甬祥,胡大紘.电液比例控制技术.北京:机械工业出版社,1988.
[14]刘长年.液压伺服系统优化设计理论.北京:冶金工业出版社,1989.
[15]王益群,王燕山.电液力控制研究的进展.液乐与气动,2002,(7):1-4.
[16]王春行.液压伺服控制系统.北京:机械工业出版社,1989.
[17]李壮云,葛官远等.液压元件与系统.北京:电子工业出版社,1999.
[18]Viersma TJ.Analysis,Synthesis and Design of Hydraulic servo systems and Piplines.Amsterdan:Elsevier Scientific Publishing Company,1980,(5):206-209.
[19]Watton J.A digital compensator design for electro.hydraulic single.Rod cylinder position control systems.Journal of Dynamic Systems,Measurements,and Control.Transactions of the ASME,1990,(112):403-409.
[20]卢长耿,李金良.液压控制系统的分析与设计.北京:煤炭工业出版社,1991,(5):52-54.
[21]吴根茂,电液比例控制技术概论(讲义).浙江大学流体传动及控制研究所,1987.
[22]Viersma TJ.Analysis,Synthesis and Design of Hydraulic servo systems and Piplines.Amsterdan:Elsevier Scientific Publishing Company,1980,(3):130-150.
[23]Kuo B C.Digital Contrlol system.Holt,Rinehart & Winston Inc.,1980,(4):205-224.
[24]王广怀.液压技术与应用.哈尔滨:哈尔滨工业大学出版社,2001.
[25]宋俊,殷庆文等.液压系统优化.北京:机械工业出版社,1996.
[26]张立勋,孟庆鑫,张今瑜.机电一体化系统设计.哈尔滨:哈尔滨工程大学出版社,1997.
[27]Robert J.Schilling.Fundamentals of Robotics-Analysis and Control.New Jersey:Prentice Hall,1990.
[28]陈雨洪,张雪梅.电液比例元件及系统在注塑机上的应用.机床与液压.1991,6(2):5-7.
[29]池边洋.电液伺服机构及元件.北京:机械工业出版社,1982.
[30]TACO J.VIERSM,《Analysis,Synthesis and Design of Hydraulic Servosystems and Pipelines》Eisevier scientific publishing company,1980.
[31]李运华,王孙安,林廷析等.液压伺服系统的非线性控制.机床与液压,1994,(1):21-26.
[32]Florin Ionescu.Some Aspects Concerning Nonlinear Mathematical Modeling and Behavior of Hydraulic Elements and Systems.Nonlinear Analysis.Theory,Methods &Applications,1997,30(3):1447-1460.
[33]Isidarl A.Nonlinear Control Systems:An Introduction.Lecture Notes in Control and Information Sciences.71,Springer,Berlin,1985.
[34]吕宏庆,苏毅,杨建勇.电液伺服系统中的非线性及其影响分析.机床与液压,2002,8(1):116-118.
[35]向春梅,张家琛,马芳梅.电液伺服阀动态特性的研究.热力发电,1996,12(6):5-12.
[36]叶恒,傅周东.电液伺服阀阀系数的研究.液乐与气动,2003,3(12):12-14.
[37]薛定宁.反馈控制系统设计与分析.MATLAB语言应用.北京:清华大学出版社,2000.
[38]宋志安,乔志刚,王永安等.基于MATLAB的四通伺服滑阀理论分析方法.山东科技大学学报,2003,11(9):62-65.
[39]Saadat H.Computer aids in control system using MATLAB.New York:McGraw Hill,1993.
[40]李俊明,周云山,赵丁.选液压系统负载传感功率匹配与比例控制研究农业机械学报,1998,29(3):113-114.
[41]江加和.电液伺服加载系统数字控制的研究.北京航空航天大学学报.2000,15(3):26-31.
[42]Wang,M.L.and Kreitirger T.L.Force Identification from structural Response,proceedings of the 1987 SEM Sping Conference,1987,15(3):42-45.
[43]薛定宇.控制系统计算机辅助设计-MATLAB语言与应用.北京:清华大学出版社,2007.
[44]施阳.MATLAB语言精要及动态仿真工具SIMULINK.西安:西北工业大学出版社,1997.
[45]王沫然.SIMULINK4建模及动态仿真.北京:电子工业出版社,2002.
[46]增强聪.Visual Basic 6.0程序设计教程.北京:机械工业出版社,2003.
[47]曹青等.Visual Basic 6.0程序设计教程.北京:机械工业出版社,2005.
[2]本刊编辑部.风起云涌轮下生—轮胎的重要性.交通世界.1999,(3):26-31.
[3]Guo Hongbo,Li Hongren.Study on Characteristics of The Single Rod Hydraulic Cylinder Controlled by Asymmetric Valve,Proc.of ISFP,Wuhan,China,IAPWPC,2003,(5):477-482.
[4]李洪人.液压控制系统.北京:国防工业出版社,1981.
[5]顺瑞龙.控制理论与电液控制系统.北京:机械工业出版社,1984.
[6]列树道,杨光平.基于电液力伺服阀的最优控制方法的研究.机床与液压,1999(7):63-64.
[7]刘长年.液压伺服系统优化设计理论.北京:冶金工业出版社,1989.
[8]Lu Dunyong,Wu Miao,Meng Huirong.Dynamic Force identification from Response Using,2000,(6):33-36.
[9]牛占海,王宏武,刘榛.对电液比例控制系统的综述.机械研究与应用,2004,17(6):16-17.
[10]HomerD.Eckhard.Kinematic Design of machanisims and mechanisms MC Graw jiu Education,2003,(3):475-477.
[11]MICHAEL J.TONYAN,EIectronically Controled Proportional Valves Selection and application,1994,(4) 132-138.
[12]李运华,史维样,林廷圻.近代液压伺服系统控制策略的现状与发展.液压与气动,1995,(1):3-6.
[13]路甬祥,胡大紘.电液比例控制技术.北京:机械工业出版社,1988.
[14]刘长年.液压伺服系统优化设计理论.北京:冶金工业出版社,1989.
[15]王益群,王燕山.电液力控制研究的进展.液乐与气动,2002,(7):1-4.
[16]王春行.液压伺服控制系统.北京:机械工业出版社,1989.
[17]李壮云,葛官远等.液压元件与系统.北京:电子工业出版社,1999.
[18]Viersma TJ.Analysis,Synthesis and Design of Hydraulic servo systems and Piplines.Amsterdan:Elsevier Scientific Publishing Company,1980,(5):206-209.
[19]Watton J.A digital compensator design for electro.hydraulic single.Rod cylinder position control systems.Journal of Dynamic Systems,Measurements,and Control.Transactions of the ASME,1990,(112):403-409.
[20]卢长耿,李金良.液压控制系统的分析与设计.北京:煤炭工业出版社,1991,(5):52-54.
[21]吴根茂,电液比例控制技术概论(讲义).浙江大学流体传动及控制研究所,1987.
[22]Viersma TJ.Analysis,Synthesis and Design of Hydraulic servo systems and Piplines.Amsterdan:Elsevier Scientific Publishing Company,1980,(3):130-150.
[23]Kuo B C.Digital Contrlol system.Holt,Rinehart & Winston Inc.,1980,(4):205-224.
[24]王广怀.液压技术与应用.哈尔滨:哈尔滨工业大学出版社,2001.
[25]宋俊,殷庆文等.液压系统优化.北京:机械工业出版社,1996.
[26]张立勋,孟庆鑫,张今瑜.机电一体化系统设计.哈尔滨:哈尔滨工程大学出版社,1997.
[27]Robert J.Schilling.Fundamentals of Robotics-Analysis and Control.New Jersey:Prentice Hall,1990.
[28]陈雨洪,张雪梅.电液比例元件及系统在注塑机上的应用.机床与液压.1991,6(2):5-7.
[29]池边洋.电液伺服机构及元件.北京:机械工业出版社,1982.
[30]TACO J.VIERSM,《Analysis,Synthesis and Design of Hydraulic Servosystems and Pipelines》Eisevier scientific publishing company,1980.
[31]李运华,王孙安,林廷析等.液压伺服系统的非线性控制.机床与液压,1994,(1):21-26.
[32]Florin Ionescu.Some Aspects Concerning Nonlinear Mathematical Modeling and Behavior of Hydraulic Elements and Systems.Nonlinear Analysis.Theory,Methods &Applications,1997,30(3):1447-1460.
[33]Isidarl A.Nonlinear Control Systems:An Introduction.Lecture Notes in Control and Information Sciences.71,Springer,Berlin,1985.
[34]吕宏庆,苏毅,杨建勇.电液伺服系统中的非线性及其影响分析.机床与液压,2002,8(1):116-118.
[35]向春梅,张家琛,马芳梅.电液伺服阀动态特性的研究.热力发电,1996,12(6):5-12.
[36]叶恒,傅周东.电液伺服阀阀系数的研究.液乐与气动,2003,3(12):12-14.
[37]薛定宁.反馈控制系统设计与分析.MATLAB语言应用.北京:清华大学出版社,2000.
[38]宋志安,乔志刚,王永安等.基于MATLAB的四通伺服滑阀理论分析方法.山东科技大学学报,2003,11(9):62-65.
[39]Saadat H.Computer aids in control system using MATLAB.New York:McGraw Hill,1993.
[40]李俊明,周云山,赵丁.选液压系统负载传感功率匹配与比例控制研究农业机械学报,1998,29(3):113-114.
[41]江加和.电液伺服加载系统数字控制的研究.北京航空航天大学学报.2000,15(3):26-31.
[42]Wang,M.L.and Kreitirger T.L.Force Identification from structural Response,proceedings of the 1987 SEM Sping Conference,1987,15(3):42-45.
[43]薛定宇.控制系统计算机辅助设计-MATLAB语言与应用.北京:清华大学出版社,2007.
[44]施阳.MATLAB语言精要及动态仿真工具SIMULINK.西安:西北工业大学出版社,1997.
[45]王沫然.SIMULINK4建模及动态仿真.北京:电子工业出版社,2002.
[46]增强聪.Visual Basic 6.0程序设计教程.北京:机械工业出版社,2003.
[47]曹青等.Visual Basic 6.0程序设计教程.北京:机械工业出版社,2005.