数字化轴向柱塞泵控制系统研究

发布时间：2018-04-13 08:53

本文选题：数学建模 + MATLAB仿真　；参考：《郑州大学》2012年硕士论文

【摘要】：随着科学技术的飞速发展,以计算机为主的信息技术在工业中有着越来越重要的地位。而以嵌入式微处理器为主控芯片的嵌入式系统,以速度更快,体积更小,成本更加低廉和功能更加多样的特点,在工业领域有着越来越广泛的应用。液压技术在许多工业领域有着非常明显的优势,目前采用先进的信息技术控制传统液压设备是液压技术发展的重要方向之一。而如何提高数字化液压的控制性能,降低控制成本,是数字化液压技术研究的方向,也是液压工业发展的迫切需要。本课题针对目前市场上常用的数字化轴向柱塞变量泵进行数字化控制的研究,设计了以高性能的嵌入式ARM处理器为主控芯片,以市场流行的嵌入式Linux操作系统为内核的嵌入式控制系统,以期提高数字化变量泵的控制性能满足工业生产的需求。课题在研究过程中,主要以实现变量泵的恒流量控制为目标。同时在人机接口方面,使用触摸屏技术,使得整个控制系统有更好的人机交互性能。根据课题研究中所做的工作,本文将主要从以下几方面介绍课题研究的内容：首先,分析了CCY14-1B型柱塞变量泵的工作原理和结构特点,根据其工作的特点建立变量泵变量机构的动态数学模型和变量泵系统中其他各个环节的静态数学关系,这里主要分析了变量机构的动态力学特性,并建立其各个环节的拉普拉斯增量化方程,最后将合并这些方程,建立了输入和输出的传递函数。其次,对建立的数学模型进行仿真和分析,在MATLAB下绘制了数字化轴向柱塞泵变量机构的开环BODE图和闭环的单位阶跃响应图。然后对绘制的图形进行稳定性能和瞬态性能的分析,根据仿真分析的结果,提出系统校正的方法,即引入PD校正,改善了系统的稳态性能和瞬态性能。然后,选用了以ARM为处理器的开发板,根据开发板的特点,制作和移植了引导Linux内核启动的U-Boot,并针对系统的应用特点制作和移植了嵌入式Linux内核,之后使用Busybox工具制作了vaffs2根文件系统,实现了嵌入式操作系统在开发板上的正常运行。在搭建软件控制平台的同时,在硬件方面使用了以步进电机为控制电机,并使用传感器检测输出信号,形成了一个闭环的控制系统。最后,在搭建好的控制系统平台下,编写了数字化变量泵控制的驱动程序和应用程序。同时在Linux下使用Qt图形开发软件,编写Qt的应用程序,制作了触摸屏的界面。最后制作根文件系统,下载到开发板运行。这样就完成了数字化轴向柱塞泵的控制系统设计,在最后的结论中对课题所做的工作进行了总结,并对以后的发展提出了展望。
[Abstract]:With the rapid development of science and technology, computer-based information technology plays an increasingly important role in industry.The embedded system with embedded microprocessor as the main control chip, with the characteristics of faster speed, smaller size, lower cost and more diverse functions, has been more and more widely used in the industrial field.Hydraulic technology has obvious advantages in many industrial fields. At present, using advanced information technology to control traditional hydraulic equipment is one of the important directions of hydraulic technology development.How to improve the control performance of digital hydraulic system and reduce the control cost is the research direction of digital hydraulic technology and the urgent need of the development of hydraulic industry.Aiming at the research of digital control of digital axial plunger variable pump which is commonly used in the market at present, this paper designs a high performance embedded ARM processor as the main control chip.The embedded control system based on the popular embedded Linux operating system can improve the control performance of the digital variable pump to meet the demand of industrial production.In the course of the research, the main goal is to realize the constant flow control of variable pump.At the same time, in the aspect of man-machine interface, the touch screen technology is used to make the whole control system have better man-machine interaction performance.According to the work done in the research, this paper will mainly introduce the contents of the research from the following aspects:Firstly, the working principle and structure characteristics of CCY14-1B plunger variable pump are analyzed. According to its working characteristics, the dynamic mathematical model of variable variable pump mechanism and the static mathematical relations of other links in variable pump system are established.In this paper, the dynamic mechanical properties of the variable mechanism are analyzed, and the Laplacian incremental equations of each link are established. Finally, the transfer functions of input and output are established by combining these equations.Secondly, the mathematical model is simulated and analyzed, and the open loop BODE diagram and the unit step response diagram of digital axial piston pump variable mechanism are drawn under MATLAB.Then, the stability and transient performance of the plotted graph are analyzed. According to the simulation results, the method of system correction is proposed, that is, the PD correction is introduced to improve the steady-state and transient performance of the system.Then, the development board with ARM as the processor is selected. According to the characteristics of the development board, the U-Boot boot boot of the Linux kernel is made and transplanted, and the embedded Linux kernel is made and transplanted according to the application characteristics of the system.Then the vaffs2 root file system is made with Busybox tool, which realizes the normal operation of embedded operating system on the development board.When the software control platform is built, the stepping motor is used as the control motor in the hardware, and the output signal is detected by the sensor, thus a closed-loop control system is formed.Finally, the driver and application program of digital variable pump control are compiled on the platform of good control system.At the same time, using QT graphics development software under Linux, the QT application program is written, and the interface of touch screen is made.Finally, the root file system is made and downloaded to the development board to run.In this way, the control system of the digital axial piston pump is designed, the work of the subject is summarized in the final conclusion, and the prospect of the future development is put forward.
【学位授予单位】：郑州大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH322

【参考文献】