液压系统流量比例分配技术研究
发布时间：2019-05-25 04:42
【摘要】：本文根据现代液压控制的理论,结合工业实际现状并查阅了大量的文献后,总结并提出了一个新的概念——流量比例分配,即采用一个油源同时驱动多个执行元件时,根据不同的控制要求,按照预定的比值,给每个执行元件供给不同的流量,使之获得不同的速度、位移,从而满足不同的工况。由此出发,多缸同步控制、平面曲线跟踪等都可以看成是流量比例分配技术的应用特例。 本文查阅了国内外相关文献后,发现流量比例分配技术,理论研究明显滞后于应用,还有很多问题尚未明确定论。本文针对上述问题对流量比例分配方式进行了比较详细的论述。 对流量比例分配的实现方式作了分类归纳,把开环流量比例分配和闭环流量比例分配两种控制形式作了较为深入的研究,提出了可供实用的实现形式,并举出了几个流量比例分配的应用场合。 建立了开环流量比例分配中的节流调速流量比例分配数学模型,并对数学模型进行了讨论,得出由于系统运行过程中负载的变化而引起压力波动使系统的流量不稳定。开环流量比例系统的精度仅取决于元件自身的精度,当工况发现变化时,不能自动纠正,所以只能用于精度要求不高的低速小流量场合。而闭环流量比例分配系统可以自动纠正误差,所以精度要高于开环系统。 把闭环流量比例分配形式分为：单可变流量比例分配和双可变流量比例分配两种,两种实现形式都可用多种类型的阀作为控制阀,本文选用电液比例阀作为主控阀,首先建立了电液比例方向节流阀的数学模型,然后分别对两种分配形式进行了建模,并分析了提高各自控制精度的实现方法和合理的控制策略。最后,得出闭环控制可应用于高精度的控制场合。 根据前面研究成果,本文将流量比例分配技术应用到了平面双自由度位置伺服控制系统中,研究了任意平面曲线的伺服跟踪方式的原理,推导了系统的数学模型,并对其跟踪误差进行了分析。 最后选用Matlab中的Sumlink作为仿真工具,对平面位置伺服控制系统的动态性能进行了仿真分析。讨论了PID调整器参数的整定方法,并通过试凑法找出了一组最有控制参数,通过校正,达到了预期的控制要求。
[Abstract]:According to the theory of modern hydraulic control, combined with the actual situation of industry and consulting a large number of literature, this paper summarizes and puts forward a new concept, flow proportional distribution, that is, when one oil source is used to drive multiple executive components at the same time, According to different control requirements, according to the predetermined ratio, each actuator is supplied with different flow rate, so that it can obtain different speed and displacement, so as to meet different working conditions. Therefore, multi-cylinder synchronous control and plane curve tracking can be regarded as special cases of flow proportional distribution technology. After consulting the relevant literature at home and abroad, this paper finds that the theoretical research of traffic proportional distribution technology obviously lags behind the application, and there are still many problems that have not yet been clearly determined. In this paper, the proportional distribution mode of traffic is discussed in detail in view of the above problems. The realization methods of traffic proportional distribution are classified and summarized, and the two control forms of open loop flow proportional distribution and closed loop flow proportional distribution are deeply studied, and the practical realization forms are put forward. At the same time, several applications of traffic proportional distribution are given. The mathematical model of proportional distribution of throttle speed regulation flow in the proportional distribution of open circulation flow is established, and the mathematical model is discussed. It is concluded that the flow rate of the system is unstable due to the pressure fluctuation caused by the change of load during the operation of the system. The accuracy of the open loop flow ratio system only depends on the accuracy of the component itself. When the working conditions are found to change, it can not be corrected automatically, so it can only be used in low speed and small flow situations where the accuracy is not high. The closed-loop flow proportional distribution system can automatically correct the error, so the accuracy is higher than that of the open-loop system. The closed loop flow proportional distribution form is divided into two kinds: single variable flow proportional distribution and double variable flow proportional distribution. Many kinds of valves can be used as control valves in the two realization forms. In this paper, the electro-hydraulic proportional valve is selected as the main control valve. Firstly, the mathematical model of electro-hydraulic proportional directional throttle valve is established, and then the two distribution forms are modeled respectively, and the realization methods and reasonable control strategies to improve their control accuracy are analyzed. Finally, it is concluded that the closed-loop control can be applied to high precision control situations. According to the previous research results, this paper applies the flow proportional distribution technology to the plane two-degree-of-freedom position servo control system, studies the principle of servo tracking mode of arbitrary plane curve, and deduces the mathematical model of the system. The tracking error is analyzed. Finally, the dynamic performance of the plane position servo control system is simulated and analyzed by using Sumlink in Matlab as the simulation tool. This paper discusses the tuning method of PID regulator parameters, and finds out a set of most control parameters by trial and error method. Through correction, the expected control requirements are met.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137
本文编号：2485501
[Abstract]:According to the theory of modern hydraulic control, combined with the actual situation of industry and consulting a large number of literature, this paper summarizes and puts forward a new concept, flow proportional distribution, that is, when one oil source is used to drive multiple executive components at the same time, According to different control requirements, according to the predetermined ratio, each actuator is supplied with different flow rate, so that it can obtain different speed and displacement, so as to meet different working conditions. Therefore, multi-cylinder synchronous control and plane curve tracking can be regarded as special cases of flow proportional distribution technology. After consulting the relevant literature at home and abroad, this paper finds that the theoretical research of traffic proportional distribution technology obviously lags behind the application, and there are still many problems that have not yet been clearly determined. In this paper, the proportional distribution mode of traffic is discussed in detail in view of the above problems. The realization methods of traffic proportional distribution are classified and summarized, and the two control forms of open loop flow proportional distribution and closed loop flow proportional distribution are deeply studied, and the practical realization forms are put forward. At the same time, several applications of traffic proportional distribution are given. The mathematical model of proportional distribution of throttle speed regulation flow in the proportional distribution of open circulation flow is established, and the mathematical model is discussed. It is concluded that the flow rate of the system is unstable due to the pressure fluctuation caused by the change of load during the operation of the system. The accuracy of the open loop flow ratio system only depends on the accuracy of the component itself. When the working conditions are found to change, it can not be corrected automatically, so it can only be used in low speed and small flow situations where the accuracy is not high. The closed-loop flow proportional distribution system can automatically correct the error, so the accuracy is higher than that of the open-loop system. The closed loop flow proportional distribution form is divided into two kinds: single variable flow proportional distribution and double variable flow proportional distribution. Many kinds of valves can be used as control valves in the two realization forms. In this paper, the electro-hydraulic proportional valve is selected as the main control valve. Firstly, the mathematical model of electro-hydraulic proportional directional throttle valve is established, and then the two distribution forms are modeled respectively, and the realization methods and reasonable control strategies to improve their control accuracy are analyzed. Finally, it is concluded that the closed-loop control can be applied to high precision control situations. According to the previous research results, this paper applies the flow proportional distribution technology to the plane two-degree-of-freedom position servo control system, studies the principle of servo tracking mode of arbitrary plane curve, and deduces the mathematical model of the system. The tracking error is analyzed. Finally, the dynamic performance of the plane position servo control system is simulated and analyzed by using Sumlink in Matlab as the simulation tool. This paper discusses the tuning method of PID regulator parameters, and finds out a set of most control parameters by trial and error method. Through correction, the expected control requirements are met.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137
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