变负载刚度条件下被动式电液力加载装置研究

发布时间：2018-06-18 01:02

本文选题：弹性负载 + 被动式力加载装置　；参考：《武汉科技大学》2015年硕士论文

【摘要】：被动式力加载装置可以在实验室的环境下为实验对象提供各种所需的加载力。如在船舶舵机的控制中被用来模拟水下液流产生的负载力。得益于电液伺服控制的输出力大、时间常数低、反应快、精度高和容易控制等优点,实验环境下越来越多采用电液方式来加载。本文以电液伺服位置系统为研究基础,寻求一种能够实时模拟与其位置相对应的弹性力被动式力加载装置。而电液被动式力加载装置的加载性能主要受加载系统本身固有特性以及承载系统自身的位置扰动造成的多余力的影响。经过对大量文献资料的研读,在文中对目前国内外学者在被动式电液力加载系统研究上的成果进行了介绍。由此也明确了本文的研究重点。首先,为解决被动式力加载装置中制约其加载性能的最关键因素即多余力的问题,根据液压桥路及液阻理论,提出一种带有电液伺服式补偿阀的弹性力负载模拟器。通过加入一个伺服式补偿阀,用于排出位置扰动引起的强迫流量,来克服了多余力,据此建立其完成的物理模型和系统原理图。其次,充分考虑位置系统和力加载系统的相互耦合、相互影响的特点,选取适当的液压元件确定元件参数,并建立其数学模型。在此基础上,对该模型进行深入讨论,确定多余力产生的基本原理,论证文中所述抑制多余力方法的有效性。在Simulink环境下进行建模仿真,通过仿真实验证明本文所述的补偿方案能够较为准确的复现指令力,对多余力的抑制也有良好表现,幅值误差低于1.3%,相位滞后约为0.03s。最后,从系统的控制策略着手进行优化,利用模糊PID对电液位置系统进行控制,以提高位置系统响应速度和位置精准度。利用BP神经网络PID对力加载系统进行控制,最大限度的加快响应时间并有效的抑制超调及多余力。通过控制策略的优化,使得系统的幅值误差降低至1%,相位滞后减小到为0.02s以下。提升了本文所述被动式力加载装置的跟踪指令的精度和稳定性。
[Abstract]:The passive force loading device can provide all kinds of required loading forces for the experimental object in the laboratory environment. Such as in the control of ship steering gear is used to simulate the load generated by underwater fluid flow. Due to the advantages of high output force, low time constant, fast reaction, high precision and easy control of electro-hydraulic servo control, more and more electro-hydraulic loading methods are used in the experimental environment. Based on the research of electro-hydraulic servo position system, a passive force loading device with elastic force corresponding to its position can be simulated in real time in this paper. The loading performance of the electro-hydraulic passive force loading device is mainly affected by the inherent characteristics of the loading system and the redundant force caused by the position disturbance of the loading system itself. After reading a lot of literature, this paper introduces the research achievements of passive electro-hydraulic loading system at home and abroad. Therefore, the research focus of this paper is also clear. Firstly, in order to solve the problem of redundant force which is the most critical factor that restricts the loading performance of passive force loading device, an elastic force load simulator with electro-hydraulic servo compensation valve is proposed according to hydraulic bridge and hydraulic resistance theory. By adding a servo compensation valve to remove the forced flow caused by the position disturbance, the physical model and the system schematic diagram of the multiple Yu Li are established. Secondly, considering the mutual coupling and interaction between the position system and the force loading system, the appropriate hydraulic components are selected to determine the component parameters and their mathematical models are established. On this basis, the model is discussed in depth, the basic principle of multiple Yu Li generation is determined, and the effectiveness of the proposed method for suppressing multiple Yu Li is demonstrated. In the Simulink environment, the simulation results show that the compensation scheme described in this paper can accurately reproduce the command force and suppress the redundant force. The amplitude error is less than 1.3 and the phase lag is about 0.03s. Finally, the control strategy of the system is optimized, and the electro-hydraulic position system is controlled by fuzzy pid in order to improve the response speed and accuracy of the position system. BP neural network pid is used to control the force loading system, which can speed up the response time and effectively suppress overshoot and multiple Yu Li. By optimizing the control strategy, the amplitude error of the system is reduced to 1 and the phase lag is reduced to less than 0.02 s. The accuracy and stability of the tracking instruction of the passive force loading device described in this paper are improved.
【学位授予单位】：武汉科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH137

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