【作者】 潘峰；

【导师】 丁凡；

【作者基本信息】 浙江大学 ， 机械电子工程， 2002， 博士

【摘要】 行程传感液压缸是一种新型的液压元件，它是一种内置行程传感装置的液压缸，对提高液压设备的自动化水平具有工程实用意义。国外一些大公司已研究开发了多年，并逐步进入应用阶段。本文在综合国内外公开文献的基础上，对行程传感液压缸的核心技术——行程测量技术进行了研究。提出了应用于行程传感液压缸磁性标尺的数字编码，以解决行程传感液压缸上电起动时查找行程值和运行中对测量结果的校正两个问题，并提出了两种编码方法：仿串行通讯编码方法和帧重叠编码方法，通过对两种编码方法的比较，认为帧重叠编码方法更为优越。通过对帧重叠编码方法的进一步研究，提出了帧重叠编码方法的反码优先编码排列过程，并给出了编码排列过程实例。反码优先编码排列方法可直接应用于磁性标尺制作过程中的实际编码排列，现已使用反码优先编码排列方法成功进行了24位编码排列。通过实验研究，验证了磁性标尺的数字编码是可行的。通过对几种测量磁路结构进行对比分析，选定了一种适合于本行程传感液压缸的测量磁路结构。并根据麦克斯韦电磁场基本理论建立了磁路结构模型，使用超松弛迭代法对测量磁路结构的磁场进行了理论分析，得到了适于用在行程传感液压缸行程测量的磁路参数之间的关系。通过对磁路结构的实验研究，验证了理论分析的正确性。为消除传感器与磁性标尺之间间隙变化对测量结果的干扰，将示教学习方法引入行程传感液压缸的信号处理过程，并使用改进的遗传算法解决自学习过程中周期曲线的拟合问题，提出了双传感器轴向直线布置方法和基于自学习过程的信号处理方法，通过实验，达到了显示精度0.01mm，测量重复精度0.2mm的良好效果。设计了信号处理单片机系统，编制了信号处理软件，制作了磁性标尺和传感磁路结构，进行了实验，结果证明，所研究的各项技术是可行的。论文所得结论对行程传感液压缸的进一步研究、开发、设计具有指导意义。 主要研究内容如下。 第一章：综述了目前国内外行程传感液压缸的发展现状，并对各种行程传感液压缸进行了比较。指出了本论文研究的意义，介绍了主要研究内容。 第二章：根据行程测量原理，对几种测量磁路结构进行了对比分析，选定了一种适合于本行程传感液压缸的磁路结构。为确定磁路参数，对选定的磁路结构进行了理论研究。理论研究使用超松弛迭代法：根据麦克斯韦电磁理论基本方程，建立了磁场浙江大学博士学位论文：行程传感液压缸基础技术的研究分析数学模型，分析了边界条件，推导了迭代公式，确定了松弛因子，编制了运算程序，通过对不同参数的试算，找到了一组有规律参数之间的关系。 第三章：对第二章磁路理论研究的结论进行实验验证。使用两种磁敏传感器——一集成霍尔元件和集成磁阻元件进行实验。实验结果证明理论分析的结论是正确的，磁场测量应使用集成霍尔元件。 第四章：在行程传感液压缸的行程测量过程中，使用单个传感器很难消除端盖与活塞杆之间的间隙对测量结果造成的影响，而且无法判断活塞运行方向，所以，需要使用多传感器技术。本章在综述多传感器布置方法及信号组合方法的基础上，提出了行程传感液压缸中应使用的轴向直线布置传感器组合方法，并将示教过程引入行程传感液压缸的数据处理过程，提出了消除端盖与液压缸杆之间的间隙对测量结果造成的影响的处理方法；并对活塞运行方向的判断方法进行了研究，提出了判断活塞运行方向的方法。对示教过程中进行曲线拟和所用的遗传算法进行了一定的研究，为了解决遗传算法在接近收敛点时收敛速度慢的缺点，使用爬山法对其进行改进。使用选定的参数对遗传算法和改进方法进行了仿真。 第五章：提出了应用于行程传感液压缸磁性标尺的数字编码技术，以解决行程传感液压缸上电起动时查找行程值和运行中对测量结果的校正两个问题，并提出了两种编码方法：仿串行通讯编码方法和帧重叠编码方法。将两种编码方法进行了比较，认为帧重叠编码方法更为优越。并对帧重叠编码方法的特性进行了研究。通过对帧重叠编码方法的编码排列过程的研究，提出了帧重叠编码方法的反码优先编码排列过程，并给出了编码排列过程实例。反码优先编码排列方法可直接应用于磁性标尺制作过程中的实际编码排列，现己使用反码优先编码排列方法成功进行了24位编码排列。通过实验研究，验证了磁性标尺的数字编码是可行的。 第六章：设计了系统硬件，并针对系统硬件、按照信号处理方法，编制了系统软件。为了提高系统数据处理速度，系统硬件使用三 MCU系统：两片 80C196KC作为数据处理，一片 89C5负责显示。研究了多 MCU系统的数据传输和共享方法、 电源监视技术和系统扩展技术。 第七章：进行了行程传感液压缸的总体实验，实验项目有：稳定性实验、行程测量实验、编码校正实验。实验结果表明，使用所研究的行程传感液压缸技术，系统显示稳定范围为0．04mm，测量重复精度可达0．Zmm，编码校正准确可靠。分析了误差来源，提出了提高测量精度的方法。 第八章：对全文进行总结并对后续研究进行展望?更多还原

【Abstract】 This thesis presents a kind of new style stroke sensing cylinder based on inside magnetic measuring. Its significance is increasing the degree of automation. Based on published documents, the key technique of stroke sensing cylinder-measurement system is researched. Scale code technique of magnetic scale is presented. Some kinds of magnetic scale code methods is compared and analyzed. A frame superimposed scale coding is presented. From the further studies on the frame superimposed scale code methods, an encoding method is found out. Some examples of this encoding method result are listed. The result of the experiments indicates that magnetic scale coding is feasible. A suitable measuring magnetic circuit structure is selected. To obtain the parameters of measuring magnetic circuit structure, theory research is done. Theory research based on overrelaxation: according to electromagnetic theory fundamental equation, boundary condition is analyzed, iterative formula is deduced, overrelaxation factor is selected and calculation program is composed. Through calculation on varied parameter, a group of suitable parameter is found out. The results of experiments indicate that the theoretical analysis to the magnetic field of the magnetic structure is proper. To remove the result error come from the change of gap between piston rod and sensor, a signal processing method accompanied with machine learning process is researched. The process of fitting sensor’s output curve with genetic algorithm is studied. The accuracy error of experiments using this signal processing method is less than 0.2mm.In the first chapter: the state-of-the-arts of stroke measuring technique used cylinder summarized. Based on those, the key techniques and develop trends of stroke sensing cylinder are proposed. The significance of study is stated. At last, the main contents of this dissertation are presented.In the second chapter: based on the principle of stroke sensing, some kinds of measuring magnetic circuit structure are compared and analyzed, and asuitable circuit structure is selected. To obtain the parameter of measuringmagnetic circuit structure, theory research is done. Theory research based on overrelaxation: according to electromagnetic theory fundamental equation, boundary condition is analyzed, iterative formula is deduced, overrelaxation factor is selected and calculation program is composed. Through calculation on varied parameter, a group of suitable parameter is found out.In the third chapter: the conclusion of theory research is verified through experiment. In the experiments, two kind of magnetic sensors are used. The results of the experiments indicate that the theoretical analysis to the magnetic field of the magnetic structure is proper.In the fourth chapter: research on the signal processing method accompanied with machine learning process to remove the influence of the gap change between piston rod and sensor. An axial direction line multi-sensors placed method is presented. In the process of machine learning, use Genetic Algorithm to fit the curve of sensor’s output. To improve the convergence speed of genetic algorithm, hill climbing method is joined with.In the fifth chapter: some kinds of magnetic scale code methods is compared and analyzed. Imitating serial communication scale code and frame superimposed scale code are presented. Compared two kinds of scale code, the frame superimposed scale code is better. From the further studies, an encoding method of frame superimposed is found out. Some examples of this encoding method result are listed. The results of the experiments indicate that the scale code is feasible.In the sixth chapter: hardware of signal system is designed. To increase the speed of process, the hardware make of three MCU, two 80C196KC and one 89C51. According to the hardware and method of signal process, work out the software.In the seventh chapter: do general experiments of the stroke sensing cylinder. The experiment’s items include: stability experiments, st更多还原