独立阀芯回转阀大惯量工况下控制策略研究

发布时间：2018-06-17 05:53

本文选题：回转控制阀 + 独立阀芯　；参考：《浙江大学》2017年硕士论文

【摘要】：回转阀是工程机械回转系统的重要组成元件,用来控制上车部分相对下车部分的旋转运动,配合起升变幅等动作,将重物从回转半径内的一处送达指定的另一处。传统的回转阀采用三位六通换向阀,它在快速加减速时,起动、制动缓慢,并会产生较大的振动和冲击,虽然现在大多数系统都增加了缓冲阀,但缓冲过强会降低推重能力,并且引发滞后,缓冲效果不佳,在大惯量工况下情况更是严重。这会加快其他零件的破坏,降低使用寿命,甚至引发安全事故。独立阀芯控制技术采用两个阀芯分别控制执行元件的进出油口,能够独立控制系统的流量和压力。相对于传统的换向阀系统来说,独立阀芯技术使液压系统多一个可控量,能达到更好的控制效果,故有必要将独立阀芯技术应用于大惯量工况的回转控制系统中,深入研究其控制策略,使其性能优势得到充分发挥。本论文以某型号独立阀芯回转阀为控制对象,详细分析该阀的工作原理,明确控制对象和反馈量。分析起重机回转系统的主要负载工况,对各工况进行分类,针对不同工况,利用PID控制,设置不同的控制参数,制定出相应的流量控制策略和压力控制策略,通过搭建AMESim/Simulink联合仿真模型不断优化改进控制参数,使各个工况均能达到较优的性能。对BODAS控制器进行数据读取、负载识别、流量控制、压力控制编程,完成MSC回转阀的稳态特性、动态特性以及抗负载波动特性的台架实验测试。与传统回转阀相比,独立阀芯回转阀流量线性度、跟随性好,控制死区大大减小,起动、制动平稳,滞后小,压力冲击降低。本课题的研究为工程机械回转阀的控制方法和未来发展趋势提供了理论支持和方向,具有一定的工程实用价值。本论文所研究的内容一共分为六章,现简要介绍如下:第一章,首先介绍了回转阀的概念和它的发展现状,然后介绍独立阀芯技术的原理、控制策略和目前的发展情况,最后提出了本课题研究的意义、目标、主要内容以及研究路线和难点。第二章,主要介绍了本课题研究对象—MSC独立阀芯回转阀的工作原理,进行了无控制策略下的台架实验,建立AMESim仿真模型,设置仿真参数,将仿真曲线和台架实验曲线相比较,由此说明仿真模型搭建正确。第三章,对汽车起重机回转控制系统的主要负载工况进行分析并分类,介绍负载识别的概念及方法。根据负载工况的不同,对独立阀芯回转阀的控制策略进行研究,并搭建AMESim和Simulink的联合仿真模型,对控制策略进行仿真研究,验证其可行性。第四章,介绍了用于控制MSC阀的博世力士乐的BODAS RC6-9控制器的基本原理和针脚分配,然后根据设计的控制策略对控制器进行编程。第五章,对控制策略下的MSC独立阀芯回转阀进行台架试验,介绍了试验台的组成和原理,测试分析了四种工况下MSC阀的稳态、动态及抗负载波动特性,并与传统回转阀进行对比,验证了MSC独立阀芯回转阀的性能优势。第六章,对本课题的主要工作和研究成果作了总结,同时也对未来更深入的研究改进方向提出建议和展望。
[Abstract]:The rotary valve is an important component of the rotary system of the engineering machinery. It is used to control the rotation movement of the car part relative to the car, and cooperate with the lifting and changing movements to send the weight of the weight from one part of the revolving radius to the other place. The traditional rotary valve adopts three position six way reversing valve, which starts at fast acceleration and slows down, and the brake is slow, and Large vibration and shock can be produced, although most systems now increase the buffer valve, but too strong the buffer will reduce the load capacity, and trigger the lag, the buffer effect is not good, the condition is more serious in the large inertia condition. This will accelerate the destruction of other parts, reduce the life, and even cause safety accidents. Independent spool control technology. Two valve cores are used to control the inlet and outlet of the actuator respectively, which can control the flow and pressure of the system independently. Relative to the traditional reversing valve system, the independent spool technology makes the hydraulic system more controllable and can achieve better control effect. Therefore, it is necessary to apply the single valve core technology to the rotary control of the large inertia condition. In this paper, the control strategy is thoroughly studied, and its performance advantage is fully played. In this paper, a certain type of independent valve core rotary valve is used as the control object, the working principle of the valve is analyzed in detail, the control object and the feedback amount are clearly defined. The main load conditions of the crane rotary system are analyzed, the various working conditions are classified, and PI is used for different working conditions. D control, set different control parameters, formulate corresponding flow control strategy and pressure control strategy, through the construction of AMESim/Simulink joint simulation model to optimize and improve the control parameters, so that all conditions can achieve better performance. To BODAS controller data reading, load identification, flow control, pressure control programming, finish. The steady state characteristics, dynamic characteristics and anti load fluctuation characteristics of the MSC rotary valve are tested. Compared with the traditional rotary valve, the independent valve core rotary valve has good flow linearity, good following, the control dead zone is greatly reduced, the starting, braking, low lag and lower pressure impact are lower. The Research of this subject is the control method of the rotary valve of engineering machinery. And the future development trend provides theoretical support and direction, and has a certain practical value. The contents of this paper are divided into six chapters, which are briefly introduced as follows: first, the concept and development status of rotary valve are introduced, and then the principle of independent spool technology, control strategy and current development are introduced. Then it puts forward the significance of the research, the goal, the main content and the research route and difficulties. The second chapter mainly introduces the working principle of the research object of this subject - MSC independent valve spool rotary valve, carries out the platform experiment under the non control strategy, establishes the AMESim simulation model, sets the simulation parameters, and the simulation curve and the bench experiment Qu Xianxiang The simulation model is set up correctly. In the third chapter, the main load conditions of the truck crane rotary control system are analyzed and classified. The concept and method of load identification are introduced. According to the different load conditions, the control strategy of the independent spool rotary valve is studied, and a joint simulation model of AMESim and Simulink is built. The control strategy is simulated to verify its feasibility. In the fourth chapter, the basic principle and pin distribution of the BODAS RC6-9 controller for BOSCH Rexroth, which is used to control the MSC valve, are introduced. Then the controller is programmed according to the designed control strategy. In fifth chapter, the bench test of the independent valve core rotary valve under the control strategy is carried out. The composition and principle of the test rig are introduced. The steady-state, dynamic and anti load fluctuation characteristics of the MSC valve under four operating conditions are tested and analyzed, and compared with the traditional rotary valve, the performance advantages of the MSC independent valve core rotary valve are verified. The main work and research results of this subject are summarized, and the further research on the future is also made. In the direction of recommendations and outlook.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137.52;TP273

【参考文献】