混凝土湿喷机泵送液压控制系统特性研究
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摘要
混凝土湿喷机是一种广泛应用于喷锚支护工程领域的工程设备,泵送液压控制系统是决定混凝土湿喷机性能的关键因素之一,现有的湿喷机泵送液压系统不能满足泵送油缸换向时的流量要求,同时存在泵送油缸换向液压冲击过大的问题。本文在设计了湿喷机泵送液压系统的基础上,对泵送控制液压系统进行了详细的液压回路分析、系统数学建模、仿真分析和实验验证。
首先,文章在设计了混凝土湿喷机闭式泵送液压系统的基础上,就如何匹配泵送换向时泵送油缸所需的流量进行了详细的液压回路分析,针对泵送液压系统换向液压冲击问题,提出了减小换向液压冲击的“SN”控制方法。
其次,建立了混凝土湿喷机泵送液压控制系统的数学模型,通过Matlab/Simulink的仿真,分析了液压系统开环传递函数的稳定性并进行了Ziegler-Nichols参数整定；利用AMEsim仿真软件搭建了混凝土湿喷机泵送液压控制系统仿真模型、泵送混凝土负载模型,对整个液压系统进行仿真,研究了不同液压系统参数和系统采用“SN”控制对泵送油缸换向液压冲击压力的影响,提出了减小泵送换向液压冲击的方法。
最后,在混凝土湿喷机实验样机上进行了实验研究,通过对比泵送液压系统在不带“SN”和带有“SN”控制的实验结果,验证了设计的湿喷机泵送混凝土时能够满足其流量要求,而且采用“SN”控制能够明显减小泵送换向时的液压冲击。
Concrete wet spraying machine is one kind of widely engineering equipment used in anchoring engineering field. The hydraulic pump control system is one of the key points of concrete wet spraying machine. However, the concrete wet spraying machine exists the problems of how to match the flow requirement and the excessive hydraulic shock in the construction process when the pump cylinders turning the direction. On the basis of designing the pump hydraulic system of wet spraying machine, the paper did a detailed circuit analysis on the hydraulic pump control system, system mathematical modeling, AMEsim simulation analysis and experimental demonstration.
Firstly, on the bases of designing the closed hydraulic system of concrete wet spraying machine, the paper did a detailed circuit analysis on how to match the pumping cylinders flow requirement when the pump turning the direction; for the problem of excessive hydraulic shock, the paper proposed the "SN" control method to reduce the impact of hydraulic shocks.
Secondly, establishing the mathematical model of pump hydraulic control system of wet concrete spraying machine, by Matlab/Simulink simulation, it did analysis of the stability of the open-loop transfer function of the hydraulic system and Ziegler-Nichols tuning; the AMEsim simulation software has been used to build the simulation model of the concrete pumping hydraulic control system and the pumping concrete load simulation model, it did the simulation of the entire hydraulic system. The simulation results verify the hydraulic pumping system can meets the changing requirements of the flow of hydraulic pumping cylinders, while comparing the simulation results, it did the analysis of impacts of different system parameters and the system using "SN" Control method to the excessive hydraulic shock, and the paper proposed methods to reduce the hydraulic shock.
Finally, it carried out experimental study in the wet concrete spraying machine, by comparing the experiment results of two different experimental conditions of hydraulic pumping system without the "SN" and with "SN" control, it verifies the wet spraying machine can meet the flow requirements of the pumping cylinders, and the use of "SN" control can significantly reduce the hydraulic shock.
首先,文章在设计了混凝土湿喷机闭式泵送液压系统的基础上,就如何匹配泵送换向时泵送油缸所需的流量进行了详细的液压回路分析,针对泵送液压系统换向液压冲击问题,提出了减小换向液压冲击的“SN”控制方法。
其次,建立了混凝土湿喷机泵送液压控制系统的数学模型,通过Matlab/Simulink的仿真,分析了液压系统开环传递函数的稳定性并进行了Ziegler-Nichols参数整定；利用AMEsim仿真软件搭建了混凝土湿喷机泵送液压控制系统仿真模型、泵送混凝土负载模型,对整个液压系统进行仿真,研究了不同液压系统参数和系统采用“SN”控制对泵送油缸换向液压冲击压力的影响,提出了减小泵送换向液压冲击的方法。
最后,在混凝土湿喷机实验样机上进行了实验研究,通过对比泵送液压系统在不带“SN”和带有“SN”控制的实验结果,验证了设计的湿喷机泵送混凝土时能够满足其流量要求,而且采用“SN”控制能够明显减小泵送换向时的液压冲击。
Concrete wet spraying machine is one kind of widely engineering equipment used in anchoring engineering field. The hydraulic pump control system is one of the key points of concrete wet spraying machine. However, the concrete wet spraying machine exists the problems of how to match the flow requirement and the excessive hydraulic shock in the construction process when the pump cylinders turning the direction. On the basis of designing the pump hydraulic system of wet spraying machine, the paper did a detailed circuit analysis on the hydraulic pump control system, system mathematical modeling, AMEsim simulation analysis and experimental demonstration.
Firstly, on the bases of designing the closed hydraulic system of concrete wet spraying machine, the paper did a detailed circuit analysis on how to match the pumping cylinders flow requirement when the pump turning the direction; for the problem of excessive hydraulic shock, the paper proposed the "SN" control method to reduce the impact of hydraulic shocks.
Secondly, establishing the mathematical model of pump hydraulic control system of wet concrete spraying machine, by Matlab/Simulink simulation, it did analysis of the stability of the open-loop transfer function of the hydraulic system and Ziegler-Nichols tuning; the AMEsim simulation software has been used to build the simulation model of the concrete pumping hydraulic control system and the pumping concrete load simulation model, it did the simulation of the entire hydraulic system. The simulation results verify the hydraulic pumping system can meets the changing requirements of the flow of hydraulic pumping cylinders, while comparing the simulation results, it did the analysis of impacts of different system parameters and the system using "SN" Control method to the excessive hydraulic shock, and the paper proposed methods to reduce the hydraulic shock.
Finally, it carried out experimental study in the wet concrete spraying machine, by comparing the experiment results of two different experimental conditions of hydraulic pumping system without the "SN" and with "SN" control, it verifies the wet spraying machine can meet the flow requirements of the pumping cylinders, and the use of "SN" control can significantly reduce the hydraulic shock.
引文
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[43]Yang Fengyu. Hydraulic Control System Design[M]. Lanzhou:Lanzhou University Press,2004
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[2]王方荣.浅析我国混凝土喷射技术及装备[J].建井技术,1996,79(5)：45-46
[3]刘秉京.混凝土技术[M].北京：人民交通出版社,2004
[4]樊华,邱林锋,陈玲芳.混凝土喷射机的概述及改进[J].山西建筑,2007,33(32)：346-347
[5]王小宝.湿式混凝土喷射机的种类及发展[J],工程机械,2000(2)：28-31
[6]杨宝忠.隧道湿式喷射混凝土应用[J].铁道工程学报,1999,12(3)：65-67
[7]龚宗勇.喷射法施工[M].北京：中国建筑工业出版社,1979：8-9
[8]程良奎.喷射混凝土[M].北京：中国建筑工业出版社,1990：1-10
[9]谷立臣,贺力乐,曹辉等.泵式混凝土湿喷机的研究与设计[J].设计制造,2001(6)：29-31
[10]Le Roy W. Stevens. Spraying machine[P]. USP 1549277, Aug,1925.
[11]邓爱民.商品混凝土机械[M].人民交通出版社,2000：234—246
[12]李剑锋.关于USI139湿喷机[J].建井技术,1982(2)：03-06
[13]罗朝廷.湿喷技术的应用前景[C].中国高速铁路隧道国际技术交流会论文集,2006：612-620
[14]胡军科,王华兵,郭华伟等.混凝土输送泵换向冲击仿真研究.建筑机械技术与管理,2003(8)：18-20
[15]Fu Lei, Qu Fuzheng, Gao Shunde, Miao Yubin. Digital simulation for Concrete-pump hydraulic system[J]. Journal of Dalian University of Technology,2000(1):76-79
[16]Huiyong Liu, Wei Li, Qing Zhao. Study on Real-Time Measuring Method of Concrete Pump Discharge[C]. International Conference on Electronic Computer Technology,2009:587-591
[17]王清标.HBT60混凝土输送泵液压系统换向冲击研究[D]：硕士学位论文.长沙：中南大学,2005
[18]尹腾飞.混凝土泵送系统液压冲击的理论分析与实验研究[D]：硕士学位论文.武汉：武汉理工大学,2006
[19]张庚云.混凝土湿喷机液压冲击与脉动机理分析[D]：硕士学位论文.长安：长安大学,2007
[20]Berdnikov,V.V, Kozyreva,T.S. Hydraulic shock reduction in hydraulic systems taking into account the effect of undissolved gases in:Izvestiya Vysshikh Ucheb-nykh Zavedenii, Aviatsionnaya Tekhnika, Vol 30,1987:
[21]Archibald, J.H. Unexpected high pressures attendant with concrete pumping[J]. Mathematical Engineering in Industry,1991 (3):85-88
[22]胡军科,王华兵.闭式液压泵的种类及选型注意事项[J].建设机械设计与管理,2000(3)：45-47
[23]Willard J. Haak, Howard A. Marsden, James P. Mueller. High pressure hydraulic system[P]. US4250794, Feb.17.1981
[24]K. Siegerta, E. Dannenmanna, S. Wagnera and A. Galaikoa. Closed-Loop Control System for Blank Holder Forces in Deep Drawing[J]. CIRP Annals-Manufacturing Technology,1995,44(1)
[25]Bosch Rexroth. Variable Displacement Pump A4VG. RE 92 003/05.99
[26]彭秀英.混凝土泵液压系统的发热与排除[J].2005(3)：80-82
[27]Masaaki Kuwagata Kawaguchi, Ryosuke Matsuo Yokohama, Keji Maruyama. Semiconductor integrated circuit including ring oscillator of low current consumption [J]. Japan,5544120
[28]朱善基,叶潇寒.普茨迈斯特BSA1408E型混凝土泵搅拌系统[J].2004,8(4),36-38
[29]张士勇.闭式液压系统内部油温分析[J].基建优化,2003,24(4)：53-54
[30]史纪定.油箱容量及其散热表面的计算[J].液压与气动,1991(3)：13-14
[31]徐子平,孙玉萍.闭式液压系统热平衡计算探讨[J].液压与气动,1998(2)：11-12
[32]Svend E. Thomsen, Nordborg, Erik Kyster. Hydraulic control apparatus with an adjustable throttle[P]. Great Britain,4471809.
[33]Lee S J, Pyung H C. Control of a heavy-duty robotic excavator using time delay Control with integral sliding surface [J]. Control Engineering Practice, 2002(10):697～711
[34]雷天觉.液压工程手册.北京：机械工业出版社,1989
[35]Yang Huayong, Yang Jian. Computational simulation and experimental research on speed control of VVVFhydraulic elevator[J]. Control Engineering Practice, 2004,12(05):563-568
[36]刘光临,沈全成,陈奎生.泵控缸速度控制系统动态特性研究[J].液压与气动,2006(2),38-41
[37]吴振顺.液压控制系统设计[M].北京：高等教育出版社,2008：122-123
[38]王占林.近代电气液压伺服控制[M].北京：北京航天航空大学出版社,2005：127-131
[39]张利平.液压阀原理、使用与维护[M].北京：化学工业出版社,2000：35-38
[40]章宏甲.液压传动[M].北京：机械工业出版社,2009：20-21
[41]罗春雷.液压振动桩锤沉桩动力学及调频调矩控制研究[D]：博士学位论文.长沙：中南大学,2005
[42]Ke Li, M.A. Mannan. Electro-hydraulic proportional control of twin-cylinder hydr-aulic elevators[J]. Control Engineering Practice,9(4),367-373
[43]Yang Fengyu. Hydraulic Control System Design[M]. Lanzhou:Lanzhou University Press,2004
[44]魏宏宇.混凝土输送泵闭式液压系统设计[D]：硕士学位论文.吉林：吉林大学,2005
[45]荆宝德.混凝土输送泵关键技术的研究[D]：博士学位论文.吉林：吉林大学,2005
[46]Jansson A, Palmberg J O. Separate controls of meter-in and meter-out orifices in mobile hydraulic systems[J]. SAE Transactions,1990,99(2):377～383
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