2D数字阀死区补偿及嵌入式控制器的研究

发布时间：2018-05-19 06:12

本文选题：2D数字阀 + 嵌入式　；参考：《浙江工业大学》2012年硕士论文

【摘要】：电液伺服系统具有功率重量大、动态响应速度快、抗负载刚度大等优点,广泛应用于航空航天、船舶、装备制造等领域。2D数字阀是一种电液控制元件,不仅可以直接进行数字控制,而且其具有响应速度快、抗污染能力强、重复精度高等优点,其应用领域广泛,发展前景良好。本文的研宄对象为2D数字阀以及2D数字阀的嵌入式控制器,分析了2D数字阀的结构与工作原理,根据其静态流量特性,分析死区非线性因素,提出了死区颤振补偿,并进行了数学建模及仿真,减小及至消除死区的影响。为获得更好的流量特性线性度,进一步提出了流量规划,获得了更好的流量特性线性度。2D数字阀的电—机械转换器以步进电机为核心,进行了电—机械转换器的建模与仿真研究。并以此设计了2D数字阀嵌入式控制器,实现了步进电机相电流闭环以及角位移闭环,采用了相位补偿提高频宽,实现了死区颤振补偿和流量规划。同时为了提高安全性和环保性,增加了掉电保护和低功耗节能模式。此外还有过温保护、过流保护等功能。具体研究内容与成果如下：第一章,论述了数字阀的发展状况以及国内外对于流量特性的一些研究现状和电—机械转换器的国内外发展现状。同时阐述本论文的研究目的及意义。第二章,分析研究了2D数字阀的结构与工作原理,提出了死区非线性颤振补偿的概念,进行原理上的论述以及数学模型的建立及仿真。为优化流量特性线性度进一步提出流量规划补偿。对流量规划补偿进行了原理上的阐述以及流量特性曲线拟合的数学原理。第三章,用Matlab以及Simulink对2D数字阀电—机械转换器进行了建模与仿真,得出结论为在采用了二阶相位调整后,该控制器幅频宽达到了280Hz,相频宽为300Hz。第四章,对2D数字阀的嵌入式控制器进行了硬件以及软件上的设计。第五章,对2D数字阀嵌入式控制器进行了低功耗节能、掉电保护和动静特性等实验研究,得出2D数字阀嵌入式控制器频宽为240Hz。对2D数字阀进行了动静特性、死区颤振补偿和流量规划研究。2D数字阀的频宽120Hz。三个2D数字阀在未采用补偿前的线性度分别是7%、2%、10%,在采用死区颤振补偿与流量规划联合作用下流量特性曲线线性度分别为0.5%、0.8%、0.5%。第六章,概括总结本论文的主要研究工作和成果,展望今后需进一步研究的工作和方向。
[Abstract]:The electro-hydraulic servo system has the advantages of high power weight, fast dynamic response speed, high load stiffness and so on. It is widely used in aerospace, ship, equipment manufacturing and other fields, such as .2D digital valve is an electro-hydraulic control element. Not only can digital control be carried out directly, but also it has the advantages of fast response speed, strong anti-pollution ability, high repetition precision and so on. It has a wide range of applications and has a good development prospect. The embedded controller of 2D digital valve and 2D digital valve is studied in this paper. The structure and working principle of 2D digital valve are analyzed. According to its static flow characteristic, the dead zone nonlinear factor is analyzed, and the dead zone flutter compensation is put forward. Mathematical modeling and simulation are carried out to reduce and eliminate the influence of dead zone. In order to obtain better flow characteristic linearity, the flow planning is further proposed, and a better flow characteristic linearity .2D digital valve is obtained. The stepping motor is the core of the electro-mechanical converter. The modeling and simulation of electro-mechanical converter are studied. The 2D digital valve embedded controller is designed to realize the phase current and angular displacement closed-loop of step motor. The phase compensation is used to increase the frequency width, and the dead-zone flutter compensation and flow planning are realized. At the same time, to improve safety and environmental protection, power loss protection and low power saving mode are added. In addition, there are over-temperature protection, over-current protection and other functions. The specific research contents and results are as follows: In the first chapter, the development of digital valve, the research status of flow characteristics at home and abroad and the development status of electro-mechanical converter at home and abroad are discussed. At the same time, the purpose and significance of this paper are expounded. In the second chapter, the structure and working principle of 2D digital valve are analyzed and studied, and the concept of dead-time nonlinear flutter compensation is put forward. In order to optimize the linearity of flow characteristics, the flow planning compensation is proposed. The principle of flow planning compensation and the mathematical principle of flow characteristic curve fitting are expounded. In chapter 3, the 2D digital valve electro-mechanical converter is modeled and simulated by Matlab and Simulink. It is concluded that the amplitude bandwidth of the controller is 280 Hz and the phase width is 300 Hz after the second-order phase adjustment is adopted. In chapter 4, the embedded controller of 2D digital valve is designed in hardware and software. In the fifth chapter, the low power consumption and energy saving, power loss protection and dynamic and static characteristics of 2D digital valve embedded controller are studied, and the frequency width of 2D digital valve embedded controller is 240Hz. The static and static characteristics of 2D digital valve, dead zone flutter compensation and flow planning are studied. The frequency width of 2D digital valve is 120 Hz. The linearity of the three 2D digital valves before compensation is 70.10 and the linearity of flow characteristic curve is 0.5 and 0.80.50 respectively under the action of dead-zone flutter compensation and flow planning. The sixth chapter summarizes the main research work and results of this paper, and looks forward to the future work and direction of further research.
【学位授予单位】：浙江工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP368.1;TH134

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