基于贴片式弯振模态超声电机驱动电气比例阀的研究

发布时间：2018-03-30 15:15

本文选题：气动　切入点：比例阀　出处：《哈尔滨工业大学》2012年硕士论文

【摘要】：气动系统已在自动化生产中得到了广泛的应用。然而，电气比例压力阀作为气动系统中最常见的控制阀，其稳态精度和分辨率是影响气动系统控制精度的主要因素之一。超声电机作为一种精密的驱动器，已被广泛应用于各个领域。本文提出采用一种贴片式弯曲振动模态超声电机作为喷嘴挡板式先导型电气比例压力阀的驱动器，，以求提高现有电气比例压力阀的稳态精度和分辨率。本文通过建立贴片式弯振模态超声电机的质点轨迹方程，给出了该类型超声电机端面的运动行波，进而解释了该类型超声电机的运行机理。通过推导定子的力系数公式，研究了压电片的贴片位置、贴片长度对电机输出特性的影响，并对结论进行了仿真验证。并研究了利用一阶振动模态与利用二阶振动模态对电机输出力的影响。设计了基于一阶弯振模态和二阶弯振模态的贴片式超声电机的结构尺寸，利用ANSYS有限元方法对两种超声电机进行了模态、谐响应和瞬态分析。研制出了一阶电机和二阶电机，搭建了测控试验台，对两种电机的基本特性进行了测试并作出了对比分析。并完成了超声电机的位置伺服控制，对其位置方波跟踪和正弦跟踪进行了测试。给出了电气比例压力阀的整体结构，阐述了其工作原理，对喷嘴挡板阀结构尺寸进行了设计。通过建立超声电机的动力学模型、主阀的质量流量方程、质量流量连续性方程和阀芯力平衡方程，在Matlab/Simulink中建立了电气比例阀的仿真模型。最后对其进行了开环特性和闭环特性的仿真分析，并讨论了结构参数对电气比例阀基本特性的影响。创建了阀样机的测控系统，测试了阀样机的开环和闭环特性。开环特性包括超声电机输出位移与阀输出压力的关系和开环控制下的压力阶跃响应。电气比例阀的闭环试验测试结果为，样机的线性度±0.40%，稳态精度0.33%，迟滞±0.40%，0.2MPa阶跃响应时间为0.40s。与同类别的ITV3050电气比例阀相比，该阀的稳态精度提高了约75%，分辨率提高了约28%。
[Abstract]:Pneumatic system has been widely used in automatic production. However, electrical proportional pressure valve is the most common control valve in pneumatic system. The steady-state precision and resolution are one of the main factors that affect the control accuracy of pneumatic system. It has been widely used in many fields. In this paper, a new type of ultrasonic motor is proposed to be used as the actuator of nozzle baffle pilot type electrical proportional pressure valve. In order to improve the existing electrical proportional pressure valve steady state accuracy and resolution. In this paper, by establishing the particle trajectory equation of the ultrasonic motor with laminated flexural vibration mode, the moving traveling waves on the end face of the ultrasonic motor are given, and the operating mechanism of the ultrasonic motor is explained, and the force coefficient formula of the stator is deduced. The effect of the position and length of the piezoelectric patch on the output characteristics of the motor is studied, and the results are verified by simulation, and the effects of the first-order vibration mode and the second-order vibration mode on the output force of the motor are studied. The structural dimensions of the laminated ultrasonic motor based on the first and second order bending vibration modes are designed. The modal, harmonic response and transient analysis of the two ultrasonic motors are carried out by using the ANSYS finite element method. The first and second order motors are developed. The basic characteristics of the two kinds of motors are tested and compared, and the position servo control of ultrasonic motor is completed, and the position square wave tracking and sinusoidal tracking are tested. The integral structure of electric proportional pressure valve is given, its working principle is expounded, and the structural size of nozzle baffle valve is designed. By establishing the dynamic model of ultrasonic motor, the mass flow equation of main valve is established. Mass flow continuity equation and spool force balance equation are used to establish the simulation model of electrical proportional valve in Matlab/Simulink. Finally, the open loop and closed loop characteristics of the valve are simulated and analyzed. The influence of structural parameters on the basic characteristics of electrical proportional valve is also discussed. The control system of the valve prototype is created. The open-loop and closed-loop characteristics of the valve prototype are tested. The open-loop characteristics include the relationship between the output displacement of ultrasonic motor and the output pressure of the valve and the pressure step response under open-loop control. The closed-loop test results of the electrical proportional valve are as follows:. The linearity of the prototype is 卤0.40, the steady-state accuracy is 0.33 and the hysteresis 卤0.40mpa step response time is 0.40s.Compared with the ITV3050 electrical proportional valve of the same class, the steady-state precision of the valve is increased by about 75 and the resolution is increased by about 28g.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH138.5;TM359.9

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