双相对置GMM自传感驱动器及其在水压伺服控制阀中的应用研究
摘要
传统电液伺服阀以电磁力矩马达作为驱动方式,结构复杂、体积重量大、工作频宽窄、能量密度小、分辩率低、抗干扰能力差,难以满足现代工业对流体控制系统的要求。超磁致伸缩材料(GMM)是近年来出现的一种新型智能材料,具有应变大、响应速度快、能量传输密度高、输出力大等优异性能。利用GMM的优良性能,特别是自传感特性,提出了一种双相对置超磁致伸缩自传感驱动器新概念,以达到无传感闭环控制和同位控制、提高系统响应速度和控制精度、增强系统可靠性、简化系统和降低成本等目的。论文以GMM为基础,以双相对置GMM自传感驱动器及其在水压伺服控制阀中的应用为研究对象,采用理论分析、计算机仿真和实验相结合的方法,对其进行了系统、深入的分析和研究。
利用解析法和ANSYS有限元法对柔性铰链微位移放大机构进行了静力学与动力学分析,计算出了放大机构的放大倍数、共振频率以及振型,建立了位移损失和负载力的线性关系,验证了有限元分析方法的准确性。此外,通过建立双相对置GMM自传感驱动器测试系统,分析了测试系统的误差来源及其主要影响因素,并对双相对置GMM自传感驱动器的静态特性及滞回特性进行了实验研究。
提出了双相对置GMM自传感驱动器的等效动力学模型,基于Jiles-Atherton物理模型、二次畴转模型和伺服阀结构动力学原理,建立了力反馈二级双喷嘴挡板水压伺服控制阀的磁滞非线性动态模型,即驱动线圈电流→磁场强度→磁畴运动→磁致伸缩→输出应变及位移→阀芯位移之间的动态耦合数学模型,并利用Matlab/Simulink对其静动态特性进行了仿真分析。针对磁滞非线性问题,在基于建立的逆磁滞模型基础上,设计了前馈补偿器,并提出了基于磁滞逆模型与PID反馈控制的理论和方法,从而实现了对伺服阀磁滞非线性特性的有效补偿。
通过对双相对置GMM自传感驱动器的机电耦合机理和自传感机理研究,建立了基于自适应噪声抵消原理的机电耦合模型和实时解耦模型。分析了传统的电桥平衡法在实现自传感信号的辨识和提取时存在的问题,建立了一种基于可变电感△L的桥路分析模型,并通过最小二乘均方(Least Means Squares,简称LMS)自适应算法实现了GMM自传感驱动器自传感信号的动态平衡分离技术,建立了基于DSP高速单片机控制器的实时动态平衡信号分离电路。仿真分析表明采用基于LMS的自适应算法能够实现自传感驱动器传感信号有效提取和非失真分离。
Traditional electro-hydraulic servo valve driven by electromagnetism moment motor, with complex structure, large volume and narrow frequency width, small energy density, low resolution, poor anti-interference ability, is still unable to meet the needs of fluid control system in modern industry, so its application is limited greatly. GMM (Giant Magnetostrictive Material) is a new type of function martial appearing in recent years with giant strain, fast response speed, high energy density and large output force and so on. Based on the excellent performance of GMM, especially self-sensing characteristic, a new kind of diphase oppositing giant magnetostrictive self-sensing actuator is put forward, replacing traditional actuator, will realize closed-loop control and collated control, which can be able to improve response speed, control precision, reliability and to decrease cost of servo valve. In the thesis, the diphase oppositing giant magnetostrictive self-sensing actuator and application in water hydraulic servo control valve is systematically, deep analyzed and researched by combining theory analysis, computer simulation and experimental study together.
The statics and dynamics analysis of the displacements amplifier, based on flexure hinges, was carried on by analytic method and ANSYS FE method, the enlargement factor, rigidity, resonance frequency and vibration model are calculated, the linear relationship between displacement loss and load force is established, and the veracity of FE method is verified. In addition, test system of diphase oppositing giant magnetostrictive self-sensing actuator is established, which error source and main influence factors are analyzed, statics characteristics and hysteretic characteristics of diphase oppositing giant magnetostrictive self-sensing actuator have been studied experimentally.
The equivalent dynamic model of diphase oppositing giant magnetostrictive self-sensing actuator is put forward, based on the Jiles-Atherton physics model, quadratic moment domain rotation model and structural dynamics principle, the dynamic model with hysteresis nonlinearity for servo valve is founded, namely dynamic coupling mathematical model of driving coil current→magnetic field intensity→magnetic domain motion→magnetostriction→output strain and displacement→spool displacement, and its statics and dynamics characteristics are simulated and analyzed by Matlab/Simulink. According to the problem of hysteresis nonlinearity, based on established inverse hysteresis model, feed-forward compensator is designed, at the same time, theory and method based on inverse hysteresis model and PID feedback control are put forward, thus realized effective compensation for hysteresis nonlinear characteristics of servo control valve.
Through the research on electromechanical coupling mechanism and self-sensing mechanism of diphase oppositing giant magnetostrictive self-sensing actuator, electromechanical coupling model and real-time decoupling model based on
利用解析法和ANSYS有限元法对柔性铰链微位移放大机构进行了静力学与动力学分析,计算出了放大机构的放大倍数、共振频率以及振型,建立了位移损失和负载力的线性关系,验证了有限元分析方法的准确性。此外,通过建立双相对置GMM自传感驱动器测试系统,分析了测试系统的误差来源及其主要影响因素,并对双相对置GMM自传感驱动器的静态特性及滞回特性进行了实验研究。
提出了双相对置GMM自传感驱动器的等效动力学模型,基于Jiles-Atherton物理模型、二次畴转模型和伺服阀结构动力学原理,建立了力反馈二级双喷嘴挡板水压伺服控制阀的磁滞非线性动态模型,即驱动线圈电流→磁场强度→磁畴运动→磁致伸缩→输出应变及位移→阀芯位移之间的动态耦合数学模型,并利用Matlab/Simulink对其静动态特性进行了仿真分析。针对磁滞非线性问题,在基于建立的逆磁滞模型基础上,设计了前馈补偿器,并提出了基于磁滞逆模型与PID反馈控制的理论和方法,从而实现了对伺服阀磁滞非线性特性的有效补偿。
通过对双相对置GMM自传感驱动器的机电耦合机理和自传感机理研究,建立了基于自适应噪声抵消原理的机电耦合模型和实时解耦模型。分析了传统的电桥平衡法在实现自传感信号的辨识和提取时存在的问题,建立了一种基于可变电感△L的桥路分析模型,并通过最小二乘均方(Least Means Squares,简称LMS)自适应算法实现了GMM自传感驱动器自传感信号的动态平衡分离技术,建立了基于DSP高速单片机控制器的实时动态平衡信号分离电路。仿真分析表明采用基于LMS的自适应算法能够实现自传感驱动器传感信号有效提取和非失真分离。
Traditional electro-hydraulic servo valve driven by electromagnetism moment motor, with complex structure, large volume and narrow frequency width, small energy density, low resolution, poor anti-interference ability, is still unable to meet the needs of fluid control system in modern industry, so its application is limited greatly. GMM (Giant Magnetostrictive Material) is a new type of function martial appearing in recent years with giant strain, fast response speed, high energy density and large output force and so on. Based on the excellent performance of GMM, especially self-sensing characteristic, a new kind of diphase oppositing giant magnetostrictive self-sensing actuator is put forward, replacing traditional actuator, will realize closed-loop control and collated control, which can be able to improve response speed, control precision, reliability and to decrease cost of servo valve. In the thesis, the diphase oppositing giant magnetostrictive self-sensing actuator and application in water hydraulic servo control valve is systematically, deep analyzed and researched by combining theory analysis, computer simulation and experimental study together.
The statics and dynamics analysis of the displacements amplifier, based on flexure hinges, was carried on by analytic method and ANSYS FE method, the enlargement factor, rigidity, resonance frequency and vibration model are calculated, the linear relationship between displacement loss and load force is established, and the veracity of FE method is verified. In addition, test system of diphase oppositing giant magnetostrictive self-sensing actuator is established, which error source and main influence factors are analyzed, statics characteristics and hysteretic characteristics of diphase oppositing giant magnetostrictive self-sensing actuator have been studied experimentally.
The equivalent dynamic model of diphase oppositing giant magnetostrictive self-sensing actuator is put forward, based on the Jiles-Atherton physics model, quadratic moment domain rotation model and structural dynamics principle, the dynamic model with hysteresis nonlinearity for servo valve is founded, namely dynamic coupling mathematical model of driving coil current→magnetic field intensity→magnetic domain motion→magnetostriction→output strain and displacement→spool displacement, and its statics and dynamics characteristics are simulated and analyzed by Matlab/Simulink. According to the problem of hysteresis nonlinearity, based on established inverse hysteresis model, feed-forward compensator is designed, at the same time, theory and method based on inverse hysteresis model and PID feedback control are put forward, thus realized effective compensation for hysteresis nonlinear characteristics of servo control valve.
Through the research on electromechanical coupling mechanism and self-sensing mechanism of diphase oppositing giant magnetostrictive self-sensing actuator, electromechanical coupling model and real-time decoupling model based on
引文
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