气缸低速爬行时建模与仿真研究

发布时间：2018-01-09 02:32

本文关键词：气缸低速爬行时建模与仿真研究　出处：《哈尔滨理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：气动技术具有高速高效、低成本、清洁安全、易维护等优点，广泛应用于工业生产中，是生产过程机械化和自动化的有效手段之一。随着传感技术、通信技术的不断发展，对气动系统低速运行时的特性有了更高的要求。计算机仿真技术在科学研究、军事、教育、工业、交通等领域已得到大量应用，对气动系统仿真模型的建立及气缸低速摩擦力特性的研究具有十分重要的意义。利用气体状态方程和热力学方程等推导出通用的气体流量、温度压力的一阶微分方程。从摩擦学的角度分析摩擦力和爬行机理，结合Stribeck效应和Karnopp分段模型推导出气缸摩擦力的数学模型，为建立气动元件和系统仿真模型奠定理论基础。以SMC的CEP1系列单杆双作用气缸和SMC的VQ100系列通直动式开关阀为物理模型，在AMESim环境下建立相应的元件仿真模型，并对气动仿真元件加以验证。充分利用AMESim在系统仿真建模简单、方便的长处，以及Matlab/Simulink数据处理能力方面的优势，将两款软件接口建立气动系统联合仿真模型。通过对仿真结的对比分析，检验Simulink中控制部分设计的合理性和可行性。利用联合仿真模型研究气动系统低速运行时摩擦力特性，，观察不同工作压力、负载、缸径的条件下气缸速度波动情况和响应速度，来判断气缸爬行程度，总结气缸摩擦力特性在工作压力、负载和缸径因素影响下的变化规律。
[Abstract]:Pneumatic technology has the advantages of high speed, high efficiency, low cost, clean and safe, easy to maintain and so on. It is widely used in industrial production and is one of the effective means of mechanization and automation of production process. With the continuous development of communication technology, the characteristics of pneumatic system running at low speed have higher requirements. Computer simulation technology has been widely used in scientific research, military, education, industry, transportation and other fields. It is of great significance to establish the simulation model of pneumatic system and to study the friction characteristics of cylinder at low speed. The general first order differential equations of gas flow rate and temperature and pressure are derived by using the gas state equation and thermodynamic equation. The friction force and creeping mechanism are analyzed from the angle of tribology. The mathematical model of cylinder friction is derived by combining the Stribeck effect and the Karnopp segment model, which lays a theoretical foundation for the establishment of pneumatic components and system simulation models. Based on the physical model of SMC CEP1 series single rod double acting cylinder and SMC VQ100 series straight-acting switch valve, the corresponding element simulation model is established in AMESim environment. And the pneumatic simulation components are verified. The advantages of AMESim in the system simulation modeling is simple and convenient, as well as the advantages of Matlab/Simulink data processing ability. The joint simulation model of pneumatic system is established by the two software interfaces, and the rationality and feasibility of the design of the control part in Simulink are verified by the comparison and analysis of the simulation results. The friction characteristics of pneumatic system at low speed are studied by using the combined simulation model, and the fluctuation and response speed of cylinder velocity under different working pressure, load and cylinder diameter are observed to judge the crawling degree of the cylinder. The variation law of cylinder friction characteristics under the influence of working pressure, load and cylinder diameter is summarized.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH138.51

【引证文献】