斗轮机主机俯仰直驱式液压系统静动特性及控制的研究
发布时间：2019-03-15 14:47
【摘要】：直驱式液压系统是近些年发展起来的机电液相结合的新型系统,兼具交流伺服电机控制的灵活性与液压系统出力大双重优点。体积小、结构简单、节能高效、便于计算机控制使其在航天、国防、以及民用工业中得到应用并取得巨大的经济效益和社会效益。被认为是液压控制领域的重要发展方向之一。 斗轮机是一种广泛应用于矿山、港口、电厂、建材等行业的大型散料装卸设备。主机俯仰运动是其工作的主要环节,耗能较大,并常伴随臂架容易振动的问题。本文以DQ1250.35型斗轮机为例,提出了改进的主机俯仰直驱式液压系统方案,并分别用两种控制方式对其控制,仿真分析了其静动特性。 本文对斗轮机主机俯仰运动在空载、取料、堆料三种工况下的液压缸受力进行量化分析。指出受配重影响,液压缸将受到负压的情况,同时,指出了配重与液压缸受力大小及变化幅度的关系,总结了降低系统装机功率的规律。 分析了系统建立背压的必要性以及背压值的求解方法。指出了现有液压系统锁阀和背压阀的不合理选用是导致臂架振动的原因,并给出改进措施。提出了满足斗轮机主机俯仰运动指标的直驱式液压系统方案,对系统进行了结构设计,将系统主要部件集成在液压包内,使系统体积大为减小。 分别建立了U/f控制和矢量控制两种模式下异步电动机的数学模型,分析了通过低压补偿可以消除U/f控制方式下异步电动机的死区误差,并分析了U/f控制方式应用的局限性。对矢量控制异步电动机做了比较精确的仿真,分析表明矢量控制异步电动机具有良好的静动特性,适合作为直驱式液压系统的动力源。 建立了泵控非对称缸液压系统模型,仿真分析了影响系统静动特性的因素。分别建立了U/f控制和矢量控制两种模式下直驱式液压系统模型,仿真分析了其作为斗轮机主机俯仰运动动力装置的可行性,并为进一步研究直驱式液压系统提供了有益的仿真分析方法。
[Abstract]:Direct drive hydraulic system is a new system developed in recent years. It has the advantages of flexibility of AC servo motor control and large output of hydraulic system. It has the advantages of small size, simple structure, high energy saving and high efficiency. It is convenient for computer control to be applied in aerospace, national defense and civil industry, and great economic and social benefits have been obtained. It is considered to be one of the important development directions in the field of hydraulic control. Bucket turbine is widely used in mines, ports, power plants, building materials and other industries of large-scale bulk loading and unloading equipment. The pitching motion of the main engine is the main part of its work, which consumes a lot of energy and is often accompanied by the problem that the boom is easy to vibrate. Taking DQ1250.35 type bucket turbine as an example, this paper presents an improved hydraulic system scheme of main engine pitching direct drive, which is controlled by two kinds of control methods, and its static and dynamic characteristics are simulated and analyzed. In this paper, the force of hydraulic cylinder under three working conditions, namely, no-load, material-taking and pile-up, is analyzed quantitatively for the pitching motion of the main engine of the bucket turbine. It is pointed out that the hydraulic cylinder will be subjected to negative pressure due to the influence of weight. At the same time, the relationship between the load weight and the magnitude and variation of the hydraulic cylinder force is pointed out, and the law of reducing the installed power of the system is summarized. The necessity of establishing the back pressure and the solution method of the back pressure value are analyzed. It is pointed out that the unreasonable selection of lock valve and back pressure valve in hydraulic system is the cause of boom vibration, and the improvement measures are given. This paper presents a direct drive hydraulic system scheme which meets the pitching motion index of the main engine of the bucket turbine. The structure of the system is designed, and the main components of the system are integrated into the hydraulic package, which greatly reduces the volume of the system. The mathematical models of asynchronous motor in two modes are established. The dead-time error of asynchronous motor is eliminated by low-voltage compensation, and the dead-time error of asynchronous motor is eliminated by means of low-voltage compensation, and the mathematical models of asynchronous motor in UFCs and vector control modes are established. At the same time, the limitation of UFF control mode is analyzed. The accurate simulation of vector-controlled asynchronous motor is carried out. The analysis shows that vector-controlled asynchronous motor has good static and dynamic characteristics and is suitable as the power source of direct-drive hydraulic system. The hydraulic system model of pump-controlled asymmetric cylinder is established, and the factors affecting the static and dynamic characteristics of the system are simulated and analyzed. In this paper, the models of direct drive hydraulic system are established, and the feasibility of using it as the power unit of pitching motion of the main engine of the bucket engine is simulated and analyzed. It also provides a useful simulation and analysis method for the further study of direct drive hydraulic system.
【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】：TH237
本文编号：2440724
[Abstract]:Direct drive hydraulic system is a new system developed in recent years. It has the advantages of flexibility of AC servo motor control and large output of hydraulic system. It has the advantages of small size, simple structure, high energy saving and high efficiency. It is convenient for computer control to be applied in aerospace, national defense and civil industry, and great economic and social benefits have been obtained. It is considered to be one of the important development directions in the field of hydraulic control. Bucket turbine is widely used in mines, ports, power plants, building materials and other industries of large-scale bulk loading and unloading equipment. The pitching motion of the main engine is the main part of its work, which consumes a lot of energy and is often accompanied by the problem that the boom is easy to vibrate. Taking DQ1250.35 type bucket turbine as an example, this paper presents an improved hydraulic system scheme of main engine pitching direct drive, which is controlled by two kinds of control methods, and its static and dynamic characteristics are simulated and analyzed. In this paper, the force of hydraulic cylinder under three working conditions, namely, no-load, material-taking and pile-up, is analyzed quantitatively for the pitching motion of the main engine of the bucket turbine. It is pointed out that the hydraulic cylinder will be subjected to negative pressure due to the influence of weight. At the same time, the relationship between the load weight and the magnitude and variation of the hydraulic cylinder force is pointed out, and the law of reducing the installed power of the system is summarized. The necessity of establishing the back pressure and the solution method of the back pressure value are analyzed. It is pointed out that the unreasonable selection of lock valve and back pressure valve in hydraulic system is the cause of boom vibration, and the improvement measures are given. This paper presents a direct drive hydraulic system scheme which meets the pitching motion index of the main engine of the bucket turbine. The structure of the system is designed, and the main components of the system are integrated into the hydraulic package, which greatly reduces the volume of the system. The mathematical models of asynchronous motor in two modes are established. The dead-time error of asynchronous motor is eliminated by low-voltage compensation, and the dead-time error of asynchronous motor is eliminated by means of low-voltage compensation, and the mathematical models of asynchronous motor in UFCs and vector control modes are established. At the same time, the limitation of UFF control mode is analyzed. The accurate simulation of vector-controlled asynchronous motor is carried out. The analysis shows that vector-controlled asynchronous motor has good static and dynamic characteristics and is suitable as the power source of direct-drive hydraulic system. The hydraulic system model of pump-controlled asymmetric cylinder is established, and the factors affecting the static and dynamic characteristics of the system are simulated and analyzed. In this paper, the models of direct drive hydraulic system are established, and the feasibility of using it as the power unit of pitching motion of the main engine of the bucket engine is simulated and analyzed. It also provides a useful simulation and analysis method for the further study of direct drive hydraulic system.
【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】：TH237
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