超磁致伸缩射流伺服阀的理论与实验研究

发布时间：2018-08-05 15:05

【摘要】：作为电液伺服控制系统核心控制部件的电液伺服阀,是连接电气系统和液压系统的桥梁,其性能直接影响着整个电液伺服控制系统的控制精度、响应速度、可靠性和使用寿命,因此研制控制精度高、响应速度快、可靠性高的电液伺服阀对提高电液伺服控制系统的性能有着重要意义。随着新型功能材料的发展,出现了具有输出力大、能量密度高、可靠性高、分辨精度高、频带宽及响应速度快等优点的新型电-机转换器,如基于压电材料和超磁致伸缩材料的电-机转换器。将这些新型电-机转换器应用在电液伺服阀中来提高电液伺服阀的性能是目前电液伺服阀研究和发展的一个重要方向。在此研究思路的指导下,本文将超磁致伸缩电-机转换器和射流液压放大器相结合,设计出了超磁致伸缩射流伺服阀,并通过多学科及多物理场协同优化、物理机理建模、计算机仿真、有限元数值模拟等技术对超磁致伸缩射流伺服阀的基础理论进行了深入研究,最后采用实验的方法对所研制超磁致伸缩射流伺服阀的静、动态性能进行了测试。本文的主要研究工作可分为六部分:第一部分总结和分析了超磁致伸缩电-机转换器和超磁致伸缩电液控制阀的国内外研究现状,得出了研制超磁致伸缩射流伺服阀的关键技术及研究难点。第二部分论述了超磁致伸缩材料的应用特性及超磁致伸缩射流伺服阀结构优化方法。首先介绍了超磁致伸缩材料的应用特性,并基于此应用特性提出了超磁致伸缩射流伺服阀的具体结构。接着采用多物理场分析方法对其结构进行了优化设计,通过磁路建模和磁场数值模拟得出,当超磁致伸缩棒长度大于其直径时,轴向磁场不均匀度大于径向磁场不均匀度,在线圈内径和长度接近棒的尺寸时,电磁结构较优;通过传热建模分析和温度场数值模拟可知,在油源与环境温度相等且超磁致伸缩棒外部油液流速大于0.1m/s时,可以使其温升控制在0.1℃以下,超磁致伸缩电-机转换器的热误差控制在0.1μm;以液压能传递效率最大对射流液压放大器进行建模优化的结果表明,最优射流结构参数为:射流喷嘴锥角取13.4°,两接收孔夹角取30°,接收孔与射流喷嘴的面积比为1.6,射流喷嘴到接收面的距离为喷嘴直径的0.63倍。第三部分论述超磁致伸缩电-机转换器的非线性建模理论。基于复数磁导率和磁化强度的关系模型、磁致伸缩模型以及集总参数的等效动力学模型建立了计涡流和磁滞的超磁致伸缩电-机转换器非线性动态模型。通过仿真和实验得出,在控制电流变化范围为-0.25A~0.25A时,GMA输出位移为-3.4μm~3.4μm;控制电流在额定范围内变化时,即-1A~1A,GMA输出位移约为-25μm~25μm;在单位控制电流作用下,GMA输出位移为20.2μm,其阶跃响应的上升时间约为3ms,调节时间约为6ms;当控制电流为0.5A时,GMA输出位移为10μm,其上升时间约为1.32ms,调节时间小于4ms;在控制电流幅值为1A时,超磁致伸缩电-机转换器的频宽约为150Hz,在控制电流幅值为0.25A时,其频宽可达550Hz。第四部分介绍了超磁致伸缩电-机转换器的驱动和前馈逆补偿控制技术。首先,依据超磁致伸缩致动器驱动电源和阀用伺服放大器的要求设计了伺服阀用超磁致伸缩电-机转换器驱动器,并对其性能进行了测试,测试结果表明:在额定负载下,所设计驱动器的线性度约为3.3%;在输出电流2A时,其上升时间小于0.5ms;在幅值为1V的简谐信号输入下,其幅频宽可达2k Hz。接着基于磁化能量损耗和复数磁导率虚部的函数关系,建立了计磁滞、涡流和附加损耗影响的超磁致伸缩电-机转换器非线性动态模型及其逆模型,并基于逆模型构建了前馈逆补偿控制器,对其输出位移的相位滞后进行迟滞补偿。实验表明,在补偿器的作用下,超磁致伸缩电-机转换器输出位移的相位滞后明显减小。第五部分为射流液压放大器模型及其流场数值模拟。首先详细介绍射流液压放大器的结构和工作原理,并给出了通流面积的计算公式。基于动量定理和节流理论分别建立了射流液压放大器的模型,并对其压力特性、流量特性及压力-流量特性进行了仿真分析,仿真表明:在接收孔直径取0.8mm,射流喷嘴直径取0.6mm,射流喷嘴到接收面的距离取0.5mm时,基于节流理论所建模型的最大无因次恢复压力为0.65,最大无因次恢复流量为0.7,而基于动量定理所建模型的最大无因次恢复压力为0.8,最大无因次恢复流量为0.5;由设计参数(接收孔直径为0.8mm,射流喷嘴直径为0.6mm)下射流液压放大器压力特性和流量特性的仿真曲线可知,若射流喷嘴位移取值较小(不大于0.03mm),即使将射流喷嘴到接收面的距离扩大到等于喷嘴直径时,射流液压放大器仍能够保证最优性能。最后利用流场数值模拟软件对设计参数下射流液压放大器的仿真结果进行了验证,验证结果表明,在射流喷嘴位移小于100μm时,对于压力特性的描述,基于节流理论所建模型需乘以修正系数为2.2,基于动量定理所建模型需乘以修正系数为0.9;对于流量特性的描述,基于节流理论所建模型较准确,而基于动量定理所建模型需乘以修正系数为0.7。第六部分为对超磁致伸缩射流伺服阀性能的理论和实验研究。通过对超磁致伸缩射流伺服阀输出性能进行仿真可知,在系统供油压力为7MPa,控制电流从-1A~1A时,所设计超磁致伸缩射流伺服阀的理论输出压力为-0.6MPa~0.6MPa,理论输出流量可达-0.10L/min~0.10L/min;控制电流与输出压力(或输出流量)的关系曲线呈现出严重的迟滞,其线性度为9.8%,滞环为100%,分辨率为15.6%,零偏为0;压力特性和流量特性有着相同的理论动态响应性能,在单位阶跃控制电流的作用下,上升时间约为3ms,而当控制电流从0跃变到0.25A时,上升时间小于1ms;在控制电流幅值为0.25A时,其幅频宽可达550Hz以上,相频宽700Hz,而在控制电流幅值为1A时,其幅频宽为150Hz,相频宽约为200Hz。对所设计超磁致伸缩射流伺服阀输出压力的静态测试表明,在7MPa供油压力下,当控制电流在-1A到1A之间变化时,其输出压力的最大变化量为0.92MPa;输出压力和控制电流关系曲线的线性度约为40%、滞环约为52.8%、分辨率约为12.8%、零偏为20%。通过在驱动器前加前馈控制器进行校正,使输入量从电流变为了控制器的输入信号后,输出压力特性曲线的线性度为12%,滞环为16.8%,分辨率为10%,零偏为5.8%;在控制电流在-0.5A到0.5A之间变化时,超磁致伸缩射流伺服阀输出压力变化量约为0.37MPa,输出压力随控制电流变化曲线的线性度约为6.2%,滞环约为23%,分辨率约为3.12%、零偏为3.42%。校正后,输出压力特性曲线的线性度为5%,滞环为9.6%,分辨率为3%,零偏为2.9%。对超磁致伸缩射流伺服阀输出压力的动态测试可知,在7MPa供油压力下,控制电流从-1A跃变到1A时,输出压力变化量约为0.92MPa,其上升时间约为5ms;在控制电流从0跃变到1A时,输出压力为0.37MPa,上升时间约为3ms;在控制电流从0跃变到0.25A时,输出压力约为0.076MPa,上升时间约为1.08ms。由其输出压力的频率响应曲线可知,在控制电流幅值为1A时,其幅频宽为150Hz,相频宽为350Hz,而在控制电流幅值为0.5A,其幅频宽可达400Hz,相频宽接近500Hz。本文的研究工作得到了国家自然科学基金《超磁致伸缩执行器驱动的射流伺服阀关键技术研究(50805080)》和《面向高频大流量电液伺服阀的智能GMA的基础研究(51175243)》;航空科学基金《基于超磁致伸缩材料的高频响射流伺服阀的应用研究(20090752008)》和《基于智能GMA的高频电液放大器的基础研究(20110752006)》以及浙江大学流体动力与机电系统国家重点实验室2011年度开放基金《集电液转换与传感控制一体化的智能GMA的基础研究(GZKF-201116)》等项目的资助。
[Abstract]:The electro-hydraulic servo valve, which is the core control part of the electro-hydraulic servo control system, is a bridge connecting the electrical system and the hydraulic system. Its performance directly affects the control precision of the whole electro-hydraulic servo control system, the response speed, the reliability and the service life. Therefore, the electro-hydraulic servo valve with high control precision, fast response and high reliability is developed. It is of great significance to improve the performance of the electro-hydraulic servo control system. With the development of new functional materials, a new type of electric machine converter, such as high output power, high energy density, high reliability, high resolution, wide band and fast response speed, is developed, such as piezoelectric and magnetostrictive material based electrical machine converter. It is an important direction for the research and development of electro-hydraulic servo valves to be used in electro-hydraulic servo valves to improve the performance of electro-hydraulic servo valves. Under the guidance of this research idea, a giant magnetostrictive jet servo valve is designed by combining a giant magnetostrictive electric machine converter with a jet hydraulic amplifier. The basic theory of the giant magnetostrictive jet servo valve is deeply studied through multi discipline and multi physical field synergy optimization, physical mechanism modeling, computer simulation and finite element numerical simulation. Finally, the static and dynamic performance of the developed giant magnetostrictive jet servo valve is tested by the experimental method. The research work can be divided into six parts: the first part summarizes and analyzes the domestic and foreign research status of the giant magnetostrictive electric to machine converter and the giant magnetostrictive electro-hydraulic control valve, and obtains the key technology and research difficulties in the development of the giant magnetostrictive jet servo valve. The second part discusses the application characteristics and the super magnetic extension of the giant magnetostrictive material. The structure optimization method of the jetting servo valve is introduced. First, the application characteristics of the giant magnetostrictive material are introduced, and the specific structure of the giant magnetostrictive jet servo valve is put forward based on the application characteristics. Then the structure is optimized by using the multi physical field analysis method, and the magnetic circuit modeling and magnetic field numerical simulation are obtained. When the length of the shrinking rod is larger than its diameter, the axial magnetic field inhomogeneity is greater than the radial magnetic field inhomogeneity, and the electromagnetic structure is better when the inner diameter and length of the loop are close to the rod size. By the heat transfer modeling analysis and the temperature field numerical simulation, it can be found that the oil source is equal to the ambient temperature and the external oil flow velocity of the supermagnetic expansion rod is greater than 0.1m/s. In order to control the temperature rise below 0.1 C, the thermal error of the magnetostrictive electric machine converter is controlled at 0.1 M. The results of modeling and optimization of the jet hydraulic amplifier with the maximum hydraulic energy transfer efficiency show that the optimum jet structure parameters are: the jet nozzle cone angle is 13.4, the angle of the two receiving hole is 30 degrees, the area ratio of the receiving hole to the jet nozzle is compared. For 1.6, the distance of the jet nozzle to the receiving surface is 0.63 times that of the nozzle diameter. The third part discusses the nonlinear modeling theory of the giant magnetostrictive electric machine converter. Based on the relationship model of the complex permeability and the magnetization, the magnetostrictive model and the equivalent kinetic model of the lumped parameters establish the giant magnetostrictive of the eddy current and magnetic hysteresis. The nonlinear dynamic model of an electric machine converter is obtained by simulation and experiment. The output displacement of GMA is -3.4 mu m~3.4 mu m when the control current is changed to -0.25A~0.25A. When the control current changes in the rated range, the output displacement of GMA is -25 u m~25 micron m. Under the action of unit controlled current, the GMA output displacement is 20.2 mu m, and its step response is ringing. The time of rise is about 3MS and the adjustment time is about 6ms; when the control current is 0.5A, the output displacement of GMA is 10 mu m, its rising time is about 1.32ms and the adjusting time is less than 4ms. When the amplitude of the current is 1A, the bandwidth of the giant magnetostrictive electric machine converter is about 150Hz. When the amplitude of the control current is 0.25A, the bandwidth can reach the 550Hz. fourth part. This paper introduces the drive of the giant magnetostrictive electric to machine converter and the feed forward inverse compensation control technology. First, according to the requirements of the servo amplifier for the drive power supply and valve of the giant magnetostrictive actuator, the servo valve is designed with a giant magnetostrictive electric machine converter driver, and its performance is tested. The test results show that under the rated load, it is set up. The linearity of the driver is about 3.3%, and its rise time is less than 0.5ms when the output current 2A is less than 0.5ms; under the input of a simple harmonic signal with a amplitude of 1V, the amplitude of its amplitude is up to 2K Hz. and based on the function relation of the magnetized energy loss and the virtual part of the complex permeability, a magnetostrictive electric machine converter with the influence of magnetic hysteresis, eddy current and additional loss is established. The linear dynamic model and its inverse model are used to construct a feedforward inverse compensation controller based on the inverse model. The phase lag compensation for its output displacement is compensated. The experiment shows that the phase lag of the output displacement of the giant magnetostrictive electric machine converter is obviously reduced under the action of the compensator. The fifth part is the model of the jet hydraulic amplifier and its flow. Field numerical simulation. First, the structure and working principle of the jet hydraulic amplifier are introduced in detail, and the calculation formula of the flow area is given. Based on the momentum theorem and the throttle theory, the model of the jet hydraulic amplifier is established, and the pressure characteristic, the flow characteristic and the pressure flow characteristic are simulated and analyzed. The simulation shows that it is received in the reception. When the diameter of the hole is 0.8mm, the diameter of the jet nozzle is 0.6mm, the maximum dimensionless recovery pressure of the model based on the throttle theory is 0.65, the maximum dimensionless recovery flow rate is 0.7, and the maximum dimensionless recovery pressure based on the momentum theorem is 0.8 and the maximum dimensionless recovery flow rate is 0.5. The simulation curve of the pressure characteristics and flow characteristics of the jet hydraulic amplifier under the design parameters (the diameter of the receiving hole is 0.8mm and the jet nozzle diameter 0.6mm) shows that if the displacement value of the jet nozzle is small (not more than 0.03mm), the jet hydraulic amplifier can still guarantee the jet nozzle to be equal to the diameter of the nozzle, even if the jet nozzle is extended to the receiving surface. Finally, the simulation results of the jet hydraulic amplifier under the design parameters are verified by the flow field numerical simulation software. The results show that, when the displacement of the jet nozzle is less than 100 m, the model based on the throttle theory is multiplied by the correction factor of 2.2 and the model based on the momentum theorem needs to be multiplied. The correction coefficient is 0.9. For the description of the flow characteristics, the model based on the throttle theory is more accurate, and the model based on the momentum theorem needs to be multiplied by the correction factor of 0.7. sixth as the theoretical and experimental study of the performance of the super magnetostrictive jet servo valve. When the oil supply pressure of the system is 7MPa and the current from -1A~1A is controlled, the theoretical output pressure of the designed giant magnetostrictive jet servo valve is -0.6MPa~0.6MPa and the theoretical output flow can reach -0.10L/min~0.10L/min. The relation curve of the control current and the output pressure (or output flow) shows a serious hysteresis, its linearity is 9.8% and the hysteresis is 100%. The discrimination rate is 15.6%, the zero deviation is 0, the pressure characteristic and the flow characteristic have the same theoretical dynamic response performance. Under the action of unit step control current, the rise time is about 3MS, and when the control current is changed from 0 to 0.25A, the rise time is less than 1ms. When the amplitude of the control current is 0.25A, the width of the amplitude is above 550Hz and the phase width 700Hz, When the amplitude of the control current is 1A, the amplitude bandwidth is 150Hz and the phase frequency width is about 200Hz.. The static test of the output pressure of the designed giant magnetostrictive jet servo valve shows that the maximum variation of the output pressure is 0.92MPa when the control current varies from -1A to 1A under the 7MPa supply pressure, and the relation curve of the output pressure and the control current is the curve of the output pressure. The linear degree is about 40%, the hysteresis loop is about 52.8%, the resolution is about 12.8%. The zero bias is 20%. by adding a feedforward controller before the driver. After the input is changed from the current to the input signal of the controller, the linearity of the output pressure characteristic curve is 12%, the hysteresis is 16.8%, the resolution is 10%, the zero deviation is 5.8%, and the control current is from -0.5A to 0.5A. The variation of the output pressure of the super magnetostrictive jet servo valve is about 0.37MPa, the linearity of the output pressure with the control current curve is about 6.2%, the hysteresis is about 23%, the resolution is about 3.12%, the zero bias is 3.42%. correction, the linearity of the output pressure characteristic curve is 5%, the hysteresis is 9.6%, the resolution is 3%, and the zero bias is 2.9%. to the supermagnetic field. The dynamic test of the output pressure of the telescopic jet servo valve shows that when the control current is changed from -1A to 1A under the oil supply pressure of 7MPa, the output pressure change is about 0.92MPa and its rising time is about 5ms. When the control current is changed from 0 to 1A, the output pressure is 0.37MPa and the rising time is about 3MS; the output pressure is the output pressure when the control current is changed from 0 to 0.25A. The force is about 0.076MPa, and the rise time is about 1.08ms. from the frequency response curve of its output pressure. When the amplitude of the control current is 1A, the amplitude is 150Hz, the phase width is 350Hz, and the amplitude of the control current is 0.5A, the amplitude of the amplitude is 400Hz, the phase frequency is close to 500Hz., and the National Natural Science Foundation of the National Natural Science Foundation is "super magnetic". Research on key technology of jet servo valve driven by telescopic actuator (50805080) > Basic Research (51175243) for intelligent GMA for high frequency and large flow electro-hydraulic servo valves; application of aero Science Fund < high frequency jet servo valve based on giant magnetostrictive material (20090752008) > base of high frequency electrohydraulic amplifier based on Intelligent GMA Foundation Research (20110752006) and projects such as the basic research (GZKF-201116) of the National Key Laboratory of the State Key Laboratory of hydrodynamics and mechanical and electrical systems of Zhejiang University (GZKF-201116), the integration of the integrated liquid conversion and sensing control (GMA).
【学位授予单位】：南京航空航天大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TH137.52

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