中空电液伺服马达低速特性的研究

发布时间：2019-01-07 09:43

【摘要】：高精度中空式电液伺服马达作为液压仿真转台内框的驱动元件,其性能的优劣直接影响了转台的性能和仿真精度。低速性能是中空电液伺服马达的关键技术指标之一。良好的低速性能不仅能简化整个系统的结构,也为系统实现宽调速创造了条件。因此,对中空电液伺服马达的低速性能进行深入的研究,对于提升高精度仿真转台的性能具有重要意义。本文在查阅国内外资料的基础上,综述了中空电液伺服马达的研究现状和发展趋势,概述其关键技术及其系统低速理论研究进展,确定了本文的研究方向。首先,本文通过推导中空电液伺服马达动力学方程,建立了马达的数学模型。通过对不同摩擦模型的对比分析,选用工程上常用的Stribeck摩擦模型作为分析和仿真的依据,并在此基础上对系统性能进行了分析。其次,针对中空电液伺服马达的爬行现象,对其爬行机理做详细的探讨,在此基础上进行深入的理论分析,讨论了影响马达爬行的若干因素。在控制策略上,针对马达的爬行问题,采用了传统的PID控制策略,由于马达爬行的周期性,在PID基础上引入了插入式重复控制方法,仿真结果表明,此方法能够很好地抑制马达的爬行。最后,针对理论分析的结果,本文在中空马达实验台上进行了马达低速实验。实验结果表明插入式重复控制方法能够在PID的基础上进一步改善马达的爬行,提高马达的低速性能。
[Abstract]:The high precision hollow electro-hydraulic servo motor is the driving element of the inner frame of the hydraulic simulation turntable, and its performance directly affects the performance and simulation accuracy of the turntable. Low-speed performance is one of the key technical indexes of hollow electro-hydraulic servo motor. Good low speed performance not only simplifies the structure of the whole system, but also creates conditions for the system to realize wide speed regulation. Therefore, it is of great significance to study the low speed performance of hollow electro-hydraulic servo motor for improving the performance of high precision simulation turntable. On the basis of consulting domestic and foreign data, this paper summarizes the research status and development trend of hollow electro-hydraulic servo motor, summarizes its key technology and the research progress of system low-speed theory, and determines the research direction of this paper. Firstly, the mathematical model of hollow electro-hydraulic servo motor is established by deducing the dynamic equation of the motor. Based on the comparison and analysis of different friction models, the Stribeck friction model, which is commonly used in engineering, is selected as the basis of analysis and simulation, and the performance of the system is analyzed. Secondly, the crawling mechanism of hollow electro-hydraulic servomotor is discussed in detail. Based on this, some factors affecting motor crawling are discussed. In terms of control strategy, the traditional PID control strategy is adopted to solve the problem of motor crawling. Because of the periodicity of motor crawling, a plug-in repetitive control method is introduced on the basis of PID. The simulation results show that, This method can restrain motor crawling very well. Finally, based on the results of theoretical analysis, the low speed motor experiments are carried out on the hollow motor test bench. The experimental results show that the plug-in repetitive control method can further improve the crawling of the motor and the low speed performance of the motor on the basis of PID.
【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】：2011
【分类号】：TH137.51

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