比例减压阀控桨系统的模型线性化及稳定性分析
发布时间：2018-10-12 14:33
【摘要】：三通式比例减压阀因其较高的性价比和易维护性而成功应用于水下远程遥控机器人的螺旋桨推进器控制。然而三通比例减压阀内部压力反馈结构复杂,存在死区和液动力等非线性因素,易受螺旋桨负载特性影响而引起压力振荡。根据主阀力平衡方程、压力流量方程和螺旋桨负载特性建立系统数学模型,并在减压阀的稳态工作点附近进行模型线性化,通过开环伯德图和闭环频响曲线分析特征参数对阀稳定性的影响。理论分析和试验结果表明,增加阀口流量压力系数和马达泄漏系数可有效提高负载环节阻尼比和稳定裕量,系统稳定性得到显著改善。
[Abstract]:Due to its high cost performance and maintainability, the three-way proportional pressure reducing valve has been successfully applied to the propeller control of underwater remote control robot. However, the internal pressure feedback structure of the three-way proportional pressure reducing valve is complex, and there are nonlinear factors such as dead zone and hydraulic force, which are easy to be affected by the propeller load characteristics and cause pressure oscillation. According to the main valve force balance equation, pressure flow equation and propeller load characteristic, the mathematical model of the system is established, and the model is linearized near the steady-state operating point of the pressure reducing valve. The effect of characteristic parameters on valve stability is analyzed by open loop Boulder diagram and closed loop frequency response curve. The theoretical analysis and experimental results show that the damping ratio and stability margin of load link can be improved effectively by increasing the flow pressure coefficient and motor leakage coefficient, and the stability of the system is greatly improved.
【作者单位】： 浙江大学流体动力与机电系统国家重点实验室;杭州宇控机电工程有限公司;广州海洋地质调查局;
【基金】：国家高技术研究发展计划资助项目(863计划,2008AA092301)
【分类号】：TP242;U664.3
，
本文编号：2266483
[Abstract]:Due to its high cost performance and maintainability, the three-way proportional pressure reducing valve has been successfully applied to the propeller control of underwater remote control robot. However, the internal pressure feedback structure of the three-way proportional pressure reducing valve is complex, and there are nonlinear factors such as dead zone and hydraulic force, which are easy to be affected by the propeller load characteristics and cause pressure oscillation. According to the main valve force balance equation, pressure flow equation and propeller load characteristic, the mathematical model of the system is established, and the model is linearized near the steady-state operating point of the pressure reducing valve. The effect of characteristic parameters on valve stability is analyzed by open loop Boulder diagram and closed loop frequency response curve. The theoretical analysis and experimental results show that the damping ratio and stability margin of load link can be improved effectively by increasing the flow pressure coefficient and motor leakage coefficient, and the stability of the system is greatly improved.
【作者单位】： 浙江大学流体动力与机电系统国家重点实验室;杭州宇控机电工程有限公司;广州海洋地质调查局;
【基金】：国家高技术研究发展计划资助项目(863计划,2008AA092301)
【分类号】：TP242;U664.3
，
本文编号：2266483
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2266483.html
