风洞阀控电液伺服系统的精确控制研究
发布时间：2018-12-10 11:41
【摘要】：电液伺服控制系统综合了电气和液压两方面的优点，具有输出功率大、刚度大、结构紧凑、易于实现无级变速等优点，特别适合于风洞调节机构负载质量大、要求响应速度快等特点，因此在风洞中得到广泛应用。风洞中最普遍的是阀控非对称缸形式的电液位置伺服系统，如多种结构形式的模型支撑装置。 由于结构正反两方向上的非对称性以及部分系统参数具有不确定性，阀控非对称缸电液位置伺服系统完整、精确的数学模型很难建立。同时，风洞模型支撑电液伺服执行机构要求在宽调速范围内实现驱动油缸位置和速度的精确控制，利用常规单只伺服阀控液压缸，采用PID控制方法难以达到上述指标要求。 本文采用理论分析、数值仿真和试验相结合的方法，对上述问题开展了研究，共分为六章，各章内容如下： 第一章为绪论，简要介绍了电液伺服系统和电液伺服阀的原理、构成和分类，简述了风洞中典型的电液位置伺服系统的特点及其控制上所面临的问题、研究背景，并介绍了本文的工作。 第二章建立了风洞中普遍采用的阀控非对称缸电液位置伺服系统较为精确的数学模型。考虑到阀控非对称机构在正反两个方向上的非对称性，对正向和反向分别予以建模。基于能量守恒原理重新定义了负载压力和负载流量，并根据液压弹簧刚度理论分析了液压固有频率最小时非对称缸的初始位置和总容积。最后综合电控系统数学模型，给出了整个电液位置伺服系统的传递函数，并以某阀控非对称缸电液位置伺服系统为例，计算了其各环节的传递函数。 第三章首先简单介绍了液压仿真技术和常用的仿真软件MATLAB/Simulink和AMESim。然后分别利用Simulink和AMESim对第二章提到的电液位置伺服系统进行建模与仿真研究，比较了两种方法各自的优缺点。最后利用AMESim对Simulink的接口功能，针对同一系统建立了AMESim/Simulink的联合仿真模型，取长补短，发挥了两种软件各自的优势。 第四章针对连续变姿态角时油缸非线性速度精确控制的难点，提出速度位置复合控制策略。针对风洞中模型支撑电液伺服执行机构运动速度范围宽、定位精度高的特点，，提出小流量零遮盖伺服阀和大流量正遮盖伺服阀并联控制的方案。利用仿真软件AMESim建立了单伺服阀控液压缸电液位置伺服系统、双伺服阀并联控液压缸电液位置伺服系统的仿真模型，考察控制方法的可行性。 第五章基于NI PXI嵌入式实时控制系统搭建了双伺服阀并联电液伺服系统试验平台，实现了基于速度前馈与位置反馈控制策略的验证试验。仿真结果表明，采用速度/位置复合控制技术的双伺服阀并联控制系统可以实现宽速大流量范围内实现油缸位置和速度的同时精确控制。 第六章是总结与展望，对全文工作进行了简要的总结，明确了需进一步开展的研究工作。
[Abstract]:The electro-hydraulic servo control system has the advantages of high output power, large stiffness, compact structure and easy to realize stepless speed change. It is especially suitable for wind tunnel regulation mechanism with large load mass. It is widely used in wind tunnel because of its fast response speed and so on. The most common in wind tunnel is the electro-hydraulic position servo system in the form of valve controlled asymmetric cylinder, such as model support device with various structures. Due to the asymmetry of the structure in both positive and negative directions and the uncertainty of some system parameters, the electro-hydraulic position servo system of valve controlled asymmetric cylinder is complete, and it is difficult to establish a precise mathematical model. At the same time, the electro-hydraulic servo actuator supported by the wind tunnel model requires accurate control of the position and speed of the drive cylinder in a wide speed range. Using conventional single servo valve to control the hydraulic cylinder, the PID control method is difficult to meet the above requirements. In this paper, the theoretical analysis, numerical simulation and experimental methods are used to study the above problems, which are divided into six chapters. The contents of each chapter are as follows: the first chapter is the introduction. The principle, composition and classification of electro-hydraulic servo system and electro-hydraulic servo valve are briefly introduced. The characteristics of typical electro-hydraulic position servo system in wind tunnel and the problems in its control are briefly described. The research background and the work of this paper are also introduced. In the second chapter, a more accurate mathematical model of electro-hydraulic servo system of valve-controlled asymmetric cylinder used in wind tunnel is established. Considering the asymmetry of the valve-controlled asymmetric mechanism in both positive and negative directions, the forward and reverse models are established respectively. Based on the principle of conservation of energy, the load pressure and load flow are redefined, and the initial position and total volume of asymmetric cylinder with minimum natural frequency of hydraulic pressure are analyzed according to the theory of hydraulic spring stiffness. Finally, the transfer function of the whole electro-hydraulic position servo system is given by synthesizing the mathematical model of the electronic control system, and the transfer function of each link is calculated by taking the electro-hydraulic position servo system of a valve-controlled asymmetric cylinder as an example. The third chapter introduces the hydraulic simulation technology and the simulation software MATLAB/Simulink and AMESim.. Then, Simulink and AMESim are used to model and simulate the electro-hydraulic position servo system mentioned in Chapter 2, and the advantages and disadvantages of the two methods are compared. Finally, using the interface function of AMESim to Simulink, the joint simulation model of AMESim/Simulink is established for the same system, which makes use of each other and brings into play the respective advantages of the two kinds of software. In chapter 4, a compound speed position control strategy is proposed to solve the problem of accurate nonlinear speed control for cylinder with continuous variable attitude angle. In view of the characteristics of wide speed range and high positioning accuracy of model supported electro-hydraulic servo actuator in wind tunnel, a scheme of parallel control of small flow zero cover servo valve and large flow positive cover servo valve is proposed. The simulation models of single servo valve controlled hydraulic cylinder electro-hydraulic position servo system and double servo valve combined control hydraulic cylinder electro-hydraulic position servo system were established by using the simulation software AMESim, and the feasibility of the control method was investigated. In the fifth chapter, based on the NI PXI embedded real-time control system, a parallel electro-hydraulic servo system test platform with double servo valves is built, and the verification test based on speed feedforward and position feedback control strategy is realized. The simulation results show that the dual servo valve parallel control system using the speed / position compound control technology can realize the accurate control of the position and speed of the cylinder in the wide speed and large flow range at the same time. The sixth chapter is the summary and prospect, the full text work has carried on the brief summary, has identified the need for further research work.
【学位授予单位】：中国空气动力研究与发展中心
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137.9
本文编号：2370505
[Abstract]:The electro-hydraulic servo control system has the advantages of high output power, large stiffness, compact structure and easy to realize stepless speed change. It is especially suitable for wind tunnel regulation mechanism with large load mass. It is widely used in wind tunnel because of its fast response speed and so on. The most common in wind tunnel is the electro-hydraulic position servo system in the form of valve controlled asymmetric cylinder, such as model support device with various structures. Due to the asymmetry of the structure in both positive and negative directions and the uncertainty of some system parameters, the electro-hydraulic position servo system of valve controlled asymmetric cylinder is complete, and it is difficult to establish a precise mathematical model. At the same time, the electro-hydraulic servo actuator supported by the wind tunnel model requires accurate control of the position and speed of the drive cylinder in a wide speed range. Using conventional single servo valve to control the hydraulic cylinder, the PID control method is difficult to meet the above requirements. In this paper, the theoretical analysis, numerical simulation and experimental methods are used to study the above problems, which are divided into six chapters. The contents of each chapter are as follows: the first chapter is the introduction. The principle, composition and classification of electro-hydraulic servo system and electro-hydraulic servo valve are briefly introduced. The characteristics of typical electro-hydraulic position servo system in wind tunnel and the problems in its control are briefly described. The research background and the work of this paper are also introduced. In the second chapter, a more accurate mathematical model of electro-hydraulic servo system of valve-controlled asymmetric cylinder used in wind tunnel is established. Considering the asymmetry of the valve-controlled asymmetric mechanism in both positive and negative directions, the forward and reverse models are established respectively. Based on the principle of conservation of energy, the load pressure and load flow are redefined, and the initial position and total volume of asymmetric cylinder with minimum natural frequency of hydraulic pressure are analyzed according to the theory of hydraulic spring stiffness. Finally, the transfer function of the whole electro-hydraulic position servo system is given by synthesizing the mathematical model of the electronic control system, and the transfer function of each link is calculated by taking the electro-hydraulic position servo system of a valve-controlled asymmetric cylinder as an example. The third chapter introduces the hydraulic simulation technology and the simulation software MATLAB/Simulink and AMESim.. Then, Simulink and AMESim are used to model and simulate the electro-hydraulic position servo system mentioned in Chapter 2, and the advantages and disadvantages of the two methods are compared. Finally, using the interface function of AMESim to Simulink, the joint simulation model of AMESim/Simulink is established for the same system, which makes use of each other and brings into play the respective advantages of the two kinds of software. In chapter 4, a compound speed position control strategy is proposed to solve the problem of accurate nonlinear speed control for cylinder with continuous variable attitude angle. In view of the characteristics of wide speed range and high positioning accuracy of model supported electro-hydraulic servo actuator in wind tunnel, a scheme of parallel control of small flow zero cover servo valve and large flow positive cover servo valve is proposed. The simulation models of single servo valve controlled hydraulic cylinder electro-hydraulic position servo system and double servo valve combined control hydraulic cylinder electro-hydraulic position servo system were established by using the simulation software AMESim, and the feasibility of the control method was investigated. In the fifth chapter, based on the NI PXI embedded real-time control system, a parallel electro-hydraulic servo system test platform with double servo valves is built, and the verification test based on speed feedforward and position feedback control strategy is realized. The simulation results show that the dual servo valve parallel control system using the speed / position compound control technology can realize the accurate control of the position and speed of the cylinder in the wide speed and large flow range at the same time. The sixth chapter is the summary and prospect, the full text work has carried on the brief summary, has identified the need for further research work.
【学位授予单位】：中国空气动力研究与发展中心
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137.9
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