脉宽调制式电液伺服系统的研究
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摘要
本文以钢带纠偏系统为实际参考模型，运用现代理论并结合仿真技术，研究了脉宽调制式电液伺服系统。在此基础上，进行了仿真研究与试验，提出了有关数字阀电磁铁结构优化和电液系统性能改进的措施。
对脉宽调制式电液伺服系统中所使用的高速开关数字阀进行了研究，由于数字阀对电磁推力有一定要求，在传统电磁阀的电磁铁基础上进行了设计改进，并通过有限元仿真分析对电磁铁结构作了优化。对PWM控制的电液系统进行了理论研究，并以钢带纠偏系统为实际模型，对数字控制的电液系统进行了仿真分析，研究了一些控制参数如PWM控制信号占空比、脉冲信号频率、数字阀电磁铁推力与纠偏精度之间的关系。
PWM信号占空比过大或过小，都将影响钢带纠偏系统的纠偏精度，甚至引起执行机构的误操作；纠偏精度在一定范围内随PWM控制信号脉冲频率增大而提高，但随着控制信号脉冲频率增加，系统响应特性明显改善，但过高的频率也带来了问题，由于每个PWM信号周期内的流量过小，使得系统响应时间增大；纠偏系统对数字阀电磁铁的推力有一定要求，系统的油压越大，所需电磁推力也相应增大，但超过动作所需推力的临界值之后，电磁铁推力的增加对系统纠偏精度的提高没有明显效果。
与实践相结合，通过实验对系统的仿真结果进行了验证。与传统采用伺服阀的纠偏系统相比，采用数字阀的电液系统拥有更好的性能。作为一种很适合于轧钢生产的新型电液伺服系统，其所具有的响应速度快、工作稳定可靠、抗污染能力强以及价格优势等许多优点，拥有广阔的前景。
In this paper, study the Electronic-Hydraulic Servo System based on PWM control, which use the modem theory and simulation technology. And use the Strip Steel Rectifying Control System for reference model. Make optimize design and experiences for the system, bring some methods to improve the structure of the electromagnetic iron and the capability of the Electronic-Hydraulic System.
Study the high speed on/off value which used in the Electronic-Hydraulic System based on PWM control, Because there are some requests of the digital valve such as magnetic force, it needs to redesign the structure of the electromagnetic iron which used in the digital valve. It is optimized through the finite element analysis. Study the PWM control theory, perform the Electronic-Hydraulic System simulation, found some relationship between the rectifying precision and duty cycle frequency of the PWM signal magnetic force.
Too much or too less of the duty cycle will cause the decrease of the rectifying precision; If the frequency of the PWM signal increase, the rectifying precision will also increase. But there exist a critical point. If past this point, the response time will increase. Similar to frequency of the PWM signal, the Strip Steel Rectifying Control System have particular need with the magnetic force. But when the magnetic force value is strong enough, increased of the force value will useless for improvement of the system.
In practice, confirm the results of the analysis and simulation through experiences. Compared with the Rectifying Control System using servo value, it is better for the Rectifying Control System using digital value. High response stabilities anti-pollution and lower prices, will make this new kind of Electronic-Hydraulic System using PWM control more and more popular.
对脉宽调制式电液伺服系统中所使用的高速开关数字阀进行了研究，由于数字阀对电磁推力有一定要求，在传统电磁阀的电磁铁基础上进行了设计改进，并通过有限元仿真分析对电磁铁结构作了优化。对PWM控制的电液系统进行了理论研究，并以钢带纠偏系统为实际模型，对数字控制的电液系统进行了仿真分析，研究了一些控制参数如PWM控制信号占空比、脉冲信号频率、数字阀电磁铁推力与纠偏精度之间的关系。
PWM信号占空比过大或过小，都将影响钢带纠偏系统的纠偏精度，甚至引起执行机构的误操作；纠偏精度在一定范围内随PWM控制信号脉冲频率增大而提高，但随着控制信号脉冲频率增加，系统响应特性明显改善，但过高的频率也带来了问题，由于每个PWM信号周期内的流量过小，使得系统响应时间增大；纠偏系统对数字阀电磁铁的推力有一定要求，系统的油压越大，所需电磁推力也相应增大，但超过动作所需推力的临界值之后，电磁铁推力的增加对系统纠偏精度的提高没有明显效果。
与实践相结合，通过实验对系统的仿真结果进行了验证。与传统采用伺服阀的纠偏系统相比，采用数字阀的电液系统拥有更好的性能。作为一种很适合于轧钢生产的新型电液伺服系统，其所具有的响应速度快、工作稳定可靠、抗污染能力强以及价格优势等许多优点，拥有广阔的前景。
In this paper, study the Electronic-Hydraulic Servo System based on PWM control, which use the modem theory and simulation technology. And use the Strip Steel Rectifying Control System for reference model. Make optimize design and experiences for the system, bring some methods to improve the structure of the electromagnetic iron and the capability of the Electronic-Hydraulic System.
Study the high speed on/off value which used in the Electronic-Hydraulic System based on PWM control, Because there are some requests of the digital valve such as magnetic force, it needs to redesign the structure of the electromagnetic iron which used in the digital valve. It is optimized through the finite element analysis. Study the PWM control theory, perform the Electronic-Hydraulic System simulation, found some relationship between the rectifying precision and duty cycle frequency of the PWM signal magnetic force.
Too much or too less of the duty cycle will cause the decrease of the rectifying precision; If the frequency of the PWM signal increase, the rectifying precision will also increase. But there exist a critical point. If past this point, the response time will increase. Similar to frequency of the PWM signal, the Strip Steel Rectifying Control System have particular need with the magnetic force. But when the magnetic force value is strong enough, increased of the force value will useless for improvement of the system.
In practice, confirm the results of the analysis and simulation through experiences. Compared with the Rectifying Control System using servo value, it is better for the Rectifying Control System using digital value. High response stabilities anti-pollution and lower prices, will make this new kind of Electronic-Hydraulic System using PWM control more and more popular.
引文
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[2]陈耿．电液伺服纠偏系统在输送带生产中的应用．橡胶工业，2005，11
[3]臧怀泉，黄镇海，尹汝泼，方一鸣，裴福俊．液压伺服系统建模的新方法．计算机仿真，2002．05
[4]王士刚，田树军，高艳明，高磊．液压系统动态仿真模型可视化建模技术研究．大连理工大学学报，2001，02
[5]汪德才，洪锡军，李从心．速度控制系统的建模与仿真研究．机械与电子，2000，05
[6]胡良谋，李景超，曹克强．基于MATLAB／SIMULINK的电液伺服控制系统的建模与仿真研究．机床与液压，2003，03
[7]曾宗桢，杨瑞．非线性电液伺服系统的稳定性研究．甘肃科学学报，2006，02
[8]陈耿．电液伺服系统在输送带生产中的应用．起重运输机械，2006，05
[9]褚德威，韩毓华．电液快速处理工程设计的理论探讨．电池，1988，04
[8]夏丽涛，程善美．脉宽调制技术的仿真优化．微电机，2002，04
[11]程丽华，杨晓明，毕友明．一种通用的电液伺服带钢纠偏和对中控制系统．机床与液压，2004，06
[12]谢忠亮．带钢的“跑偏”及纠正．本溪冶金高等专科学校学报，2003，02
[13]杨逢瑜，杨瑞，刘峰，杨洪娟．脉宽调制(PWM)数字开关阀在带钢纠偏控制中的应用．液压与气动，2005，06
[14]王华．基于PLC模糊控制的液压同步系统的设计与应用．长春工程学院学报(自然科学版)，2003，01
[15]刘政家，王景新，高宇飞．光电液压伺服式铝带材纠偏系统的应用．轻合金加工技术，2000，03
[16]周雄，周小鹏，朱新才．高精度电液位置伺服系统的设计．机床与液压，2005，07
[17]靳雁艳，王平，杨洁明．电液位置伺服系统的稳定性分析与应用．机械管理开发，2005，03
[18]王幼民，刘有余．电液位置伺服系统的自适应控制．农业机械学报，2006，12
[19]袁秀平，李鹤一．基于MATLAB的电液伺服系统白适应模糊PID仿真．上海师范大学学报(自然科学版)，2006，03
[20]刘健，秦春节，黄中原．基于MATLAB的电液伺服系统预测研究及优化设计．现代制造工程，2006，08
[21]王梅．贾光政，王宣银，吴根茂．先导式高压气动开关阀的研制．机床与液压，2003，02
[22]陈正寰．多功能电磁阀与组合电磁阀．冶金自动化，1989，06
[23]周威，贾光政，王宣银，吴根茂．超高压大流量气动开关阀的原理和动态特性研究．机械工程学报，2004，05
[24]王梅，江永泉，秦大同，杨亚联，杨阳．基于高速开关阀控制的液压制动伺服系统研制．重庆大学学报(自然科学版)，2005，12
[25]金国庆，方昌林．高速开关阀压电驱动器的性能研究．机床与液压，2003，03
[26]张文华．仿真高速开关阀设计浅析．应用能源技术，2005，05
[27]黄维纲，王旭永，王显正，钟廷修．高速电磁开关阀开关特性的机理研究．上海交通大学学报，1998，12
[28]李军伟，张鲁邹，赵玉刚．全自动液压伺服压力机控制系统的研制．机床与液压，2004．02
[29]黄平，汤志芳，罗振．利用模型仿真确定预报输出进行故障诊断的一种方法．武汉水利电力大学学报，2000，06
[30]蒋庆华，李子．“电磁阀”讲座——第十六讲 电磁阀选用和技术参数．自动化仪表，1995．12
[31]钱家骊．电磁铁吸力公式的讨论．电工技术杂志，2001，01
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