【作者】 鲜麟波；

【导师】 李宝仁；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2007， 硕士

【摘要】 本文针对具有较长液压管路的阀控缸电液位置伺服系统特点,通过理论分析、仿真研究及实验研究,实现了具有较长液压管路的阀控缸电液位置伺服系统的高精度控制。阀控缸电液位置伺服系统将应用于某水下运动模拟装置。首先,按照水下运动模拟装置的实际功能需求设计了单缸电液位置伺服系统,完成关键元件的选型,建立了阀控非对称缸电液位置伺服系统的模型。其次,运用管道动力学及电液伺服系统相关理论,从流体动力学的运动方程、连续性方程、能量方程和状态方程入手,基于管道流体的频率相关摩擦模型建立了考虑液压管道效应的系统模型,通过计算机仿真对长液压管路的阀控缸电液位置伺服系统动态特性进行研究,分析了长液压管路的响应特性,讨论了长液压管路特性对阀控缸电液位置伺服系统的影响,结果表明管道长度、直径及壁厚等都对系统特性有较大影响,为开发研制某水下运动模拟装置奠定了基础。在考虑管道效应的阀控缸电液位置伺服系统模型基础上,利用AMEsim/Simulink联合仿真技术对其进行仿真研究,研究主要集中在以下两个方面:其一、液压管路的长度、管径对液压冲击的影响,并基于仿真结果对管路物理参数进行优化;其二、对于考虑管路效应的阀控缸电液位置伺服系统进行了仿真研究。结果表明该阀控缸电液位置伺服系统能够满足设计要求,PID控制具有稳态精度高,响应速度较快的优点。最后,设计并建立了阀控缸电液位置伺服系统实验及性能测试平台,进行了性能测试和实验研究。结果表明,对于阀控非对称电液位置伺服系统来说,PID控制策略是可行的,其稳态误差小于0.1mm,系统跟踪正弦信号250sin(πt)时,幅值比为1.005,相位滞后4.8°。结果验证了仿真研究的正确性,为水下运动模拟装置的工程化奠定了坚实基础。更多还原

【Abstract】 The main objective of this paper is to develop a valve-controlled cylinder electro-hydraulic positioning system with a longer hydraulic transmission line through theoretical study, simulation and engineering practice. The valve-controlled cylinder electro-hydraulic positioning system will be used to a underwater parallel manipulator with redundant actuation; the underwater parallel manipulator has features a redundant hydraulic actuation and longer hydraulic transmission line.Firstly, based on the actual needs of the parallel manipulator, an electro hydraulic servo system has design; the key element selection finished; a typical model of the electro-hydraulic positioning system to be establishes.Secondly, Pipeline dynamics theory and working principle of the valve-controlled cylinder electro-hydraulic positioning system is expounded base on hydro-dynamics equation/ conservation of energy/hydro-status equation.The effect of longer pipeline model has been considered based on the frequency-dependent model. On the basis of the mathematical description of the system, the computer simulation on the system is implemented and the important parameters of the system are analyzed.Analysis of the response characteristics of the hydraulic pipeline, discussed the characteristics of the electro-hydraulic positioning system of hydraulic pipe. Simulation results show that the channel length, flexible tube wall thickness and diameter of the system have proved a great impact. The computer simulation laid a foundation for the optimization of the pipeline. In considering the effects of electro-hydraulic positioning system based on the model of pipeline, AMEsim/Simulink joint use of simulation technology, classic PID control strategies were used to the system control simulation. Optimize the pipeline Based on the results of simulation studies.Finally, design and build a valve-controlled cylinder electro-hydraulic positioning system performance test platform. Valve-controlled cylinder electro-hydraulic servo system is test and pilot studies. Test results show that the PID control strategy is feasible and reasonable advantages. Steady control with high precision, over-regulation of smaller, steady-state error of less than 0.1mm. Do 0.5Hz sinusoid campaigns, the amplitude ratio of 1.005, 4.8°phase lag. Control with fast response and strong robustness.The results show that the existing valve-controlled cylinder electro-hydraulic positioning system and control strategies completely applicable to the underwater parallel manipulator.更多还原