电液比例溢流阀的MATLAB仿真
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摘要
电液比例阀的控制原理简单、抗污染能力强、价格相对伺服阀较为低廉,而且它的控制精度比普通阀高,所以它在工业领域得到越来越广泛的应用。因此对电液比例阀性能的研究就显得尤为重要。本文选取了电液比例溢流阀的控制特性进行研究。
MATLAB是上世纪80年代发展起来的一种功能强大的计算软件。由于它在数值计算方面的突出表现,使它在科学研究和工程技术中都有着广泛的应用。MATLAB语法简单,易于使用;在控制领域,功能齐备。本文使用MATLAB软件对电液比例阀的控制进行仿真。
本文首先分析了电液比例溢流阀的各个部分结构和工作原理,用增量化的方式将每一部分的传递函数建立起来,然后综合各个部分的传递函数,得到电液比例溢流阀的总的传递函数。通过逐步变换,最终建立了一个形式简单,便于分析的模型。这个传递函数不仅考虑了输入电压对溢流阀的进口压力的影响,还考虑了流量干扰对阀的动态特性和稳态特性的影响,对于分析电液比例溢流阀的特性有一定的价值。然后借助MATLAB对系统的稳定性进行了判定,并说明提高稳定性的方法。最后使用MATLAB中的SIMULINK对相应的模型进行了仿真,指出抑制干扰的方法。
Electro-hydraulic proportional valve can be controlled simply, and its pollution resistance is better than others, but its price is cheaper than servo valve’s, and its control precision is higher than normal valve, so electro-hydraulic proportional valve is applied widely in industry. Therefore the research on proportional valve is important. In this paper, control characteristic of proportional valve will be discussed.
MATLAB appears in 1980s, it is a kind of powerful computing software. Because of its prominent performance in numerical calculation, MATLAB has been widely used in scientific research and engineering technology. MATLAB programming is high efficient, extend easy; Grammar is simple and easy to use; In the control field, the function is plentiful. Therefore the control of electro-hydraulic proportional valve will be simulated by MATLAB in this paper.
The structure and working principle of all parts in the electro-hydraulic proportional overflow valve were analyzed in this paper, and then their transfer function were built up by increment, and they were connected in series. So the transfer function of electro-hydraulic valve formed. But the transfer function were difficult to analyze, it must be transformed step by step. In the end the final transfer function were simple. It not only considered the input voltage’s influence to the inlet pressure, but also considered the flow interference on the valve. This function is valuable for analyzing characteristics of electro-hydraulic proportional overflow valve. Then the stability of the system was assessed with MATLAB, and the method of improving stability was pointed out. Finally the model is simulated with the SIMULINK in MATLAB, and the method to suppress the interference was also pointed out.
MATLAB是上世纪80年代发展起来的一种功能强大的计算软件。由于它在数值计算方面的突出表现,使它在科学研究和工程技术中都有着广泛的应用。MATLAB语法简单,易于使用;在控制领域,功能齐备。本文使用MATLAB软件对电液比例阀的控制进行仿真。
本文首先分析了电液比例溢流阀的各个部分结构和工作原理,用增量化的方式将每一部分的传递函数建立起来,然后综合各个部分的传递函数,得到电液比例溢流阀的总的传递函数。通过逐步变换,最终建立了一个形式简单,便于分析的模型。这个传递函数不仅考虑了输入电压对溢流阀的进口压力的影响,还考虑了流量干扰对阀的动态特性和稳态特性的影响,对于分析电液比例溢流阀的特性有一定的价值。然后借助MATLAB对系统的稳定性进行了判定,并说明提高稳定性的方法。最后使用MATLAB中的SIMULINK对相应的模型进行了仿真,指出抑制干扰的方法。
Electro-hydraulic proportional valve can be controlled simply, and its pollution resistance is better than others, but its price is cheaper than servo valve’s, and its control precision is higher than normal valve, so electro-hydraulic proportional valve is applied widely in industry. Therefore the research on proportional valve is important. In this paper, control characteristic of proportional valve will be discussed.
MATLAB appears in 1980s, it is a kind of powerful computing software. Because of its prominent performance in numerical calculation, MATLAB has been widely used in scientific research and engineering technology. MATLAB programming is high efficient, extend easy; Grammar is simple and easy to use; In the control field, the function is plentiful. Therefore the control of electro-hydraulic proportional valve will be simulated by MATLAB in this paper.
The structure and working principle of all parts in the electro-hydraulic proportional overflow valve were analyzed in this paper, and then their transfer function were built up by increment, and they were connected in series. So the transfer function of electro-hydraulic valve formed. But the transfer function were difficult to analyze, it must be transformed step by step. In the end the final transfer function were simple. It not only considered the input voltage’s influence to the inlet pressure, but also considered the flow interference on the valve. This function is valuable for analyzing characteristics of electro-hydraulic proportional overflow valve. Then the stability of the system was assessed with MATLAB, and the method of improving stability was pointed out. Finally the model is simulated with the SIMULINK in MATLAB, and the method to suppress the interference was also pointed out.
引文
[1]机械设计手册编委会.液压传动与控制[M] .北京:机械工业出版社,2007
[2]王占林.近代液压控制[M].北京:机械工业出版社.1997
[3]陈奎生.液压阀与液压控制系统[M] .武汉:武汉工业大学出版社出版,1997
[4]李松晶,阮健,弓永军.先进液压传动技术概论[M] .哈尔滨:哈尔滨工业大学出版社,2008
[5]李素玲,刘军营.比例控制与比例阀及应用[J] .液压与气动,2003,(2):26-28
[6] R.H. Warring.Hydraulic handbook[M].Morden, Eng:Trade & Technical Press,1983
[7] Lu yongxiang,A new approach to improme the performance of proportional pressure Valve int.Conf.on 1st FCM,Tokyo Japan,1985.9
[8] Russ.Henke.PE,Fluid power for the 90's;state of the art,trends and Developments,2th ICFP Int.Conf.Hangzhou,China,1989,235—240
[9] R.B. Walters.Hydraulic and electro-hydraulic control systems[M].New York: Elsevier Science Pub. Co.,1991
[10] William J. Palm III.Introduction to MATLAB 6 for engineers[M].Boston : McGraw-Hill,2001
[11] Benjamin C. Kuo, Duane C. Hanselman.MATLAB tools for control system analysis and design[M].Englewood Cliffs,NJ :Prentice Hall,1994
[12] Lee K.Numerical modeling for the hydraulic performance prediction of automotive monotone dampers[J].Vehicle System Dynamics.1997,28:25-39
[13] Josef Proke.Hydraulic mechanisms in automation[M].Amsterdam:Elsevier Scientific Pub. Co.,1977
[14]Andersson B,0n The Valvistor A Proportionally Controlled Seat Valve[J].Linkocping Studies in Science and Technology Dissertation No.1085
[15]黎放柏.电液比例控制系统与数字控制系统[M].北京:机械工业出版社,1997
[16]王春行.液压控制系统[M].北京:机械工业出版社,2000
[17]Graham C. Goodwin,Stefan F. Graebe,Mario E. Salgado.Control system design [M].Upper Saddle River, N.J. : Prentice Hall,2001
[18]费鸿俊,张冠生.电磁机构动态分析与计算[M].北京:机械工业出版社,1993
[19]林其壬,赵佑民.磁路设计原理[M].北京:机械工业出版社.1987
[20]晁立东,仵杰,王仲奕.工程电磁场基础[M].西安:西北工业大学出版社.2002
[21]张冠生.电磁铁与自动电磁元件[M].北京:机械工业出版社,1982
[22]路甬祥,胡大纺.电液比例控制技术[M] .北京:机械工业出版社,1988
[23]李其朋,丁凡.比例电磁铁行程力特性仿真与实验研究[J].农业机械学报.2005,36(2):104-107
[24]方向,魏建华.改善比例电磁铁行程力特性的研究[J] .2010,27(12):18-21
[25]万会雄,明仁雄.液压与气压传动[M] .北京:国防工业出版社,2008
[26]胡燕平,彭佑多,吴根茂.液阻网络系统学[M] .北京:机械工业出版社,2003
[27]W.巴克.液压阻力回路系统学[M] .北京:机械工业出版社,1980
[28]张平格.液压传动与控制[M].北京:冶金工业出版社.2004
[29]雷天觉.新编液压工程手册[M].北京:北京理工大学出版社,1998
[30]许杏文,邱仰伟.电液比例阀的优化控制[J].机床与液压,2001,(3):65-66
[31]Lee K.Numerical modeling for the hydraulic performance prediction of automotive monotone dampers[J].Vehicle System Dynamics.1997,28:25-39
[32]林建亚,何存兴.液压元件[M].北京:机械工业出版社,1988
[33] H.E梅里特.液压控制系统[M].北京:科学出版社.1987
[34]Frank M.White.F1uid Mechanics[M].北京:清华大学出版社,2004
[35]Peter Dransfield.Hydraulic control systems-design and analysis of their dynamics[M].Berlin : Springer-Verlag,1981
[36]J. F. Douglas, J. M. Gasiorek, and J. A. Swaffield.Fluid mechanics[M].London : Pitman, 1979
[37]The editors of Hydraulics & pneumatics.Fluid power handbook & directory[M].Cleveland, Ohio:Industrial Pub. Co.,1963
[38] G. H. Pearson.Valve design[M].London:Mechanical Engineering Publications,1978
[39]D.McCloy,H.R.Martin.The control of fluid power[M] .London:Longman,1973
[40]H. G. Conway.Fluid pressure mechanisms[M].London:Pitman,1974
[41]Avtar Singh.An Analytical Study of the Dynamics and Stability of a Spring Loaded Safety Valve [J].Nuclear Engineering and Design.1982,72(3):197-204
[42]李洪人.液压控制系统[M].北京:国防工业出版社,198l
[43]杜秋芳.比例阀应用[J].机床与液压,1995,(5):4-6
[44]刘海燕.比例阀在控制系统中的应用[J].郑州铁路职业技术学院学报,2003,(6):8-10
[45]刘顺安,许学先,王焕德.溢流阀阻尼孔结构布局对其性能影响的分析研究[J] .吉林工业大学学报,1993,23(4):84-91
[46]许庆山.信号与系统[M].北京:航空工业出版社,1998
[47]孟华.自动控制原理[M] .北京:机械工业出版社,2007
[48]I. J. Nagrath, M. Gopal.Control systems engineering[M].New York : Wiley, 1978
[49]杨叔子,杨克冲.机械工程控制基础[M] .武汉:华中科技大学出版社,2002
[50]Gene F.Franklin ,J.David Powell,Abbas Emami-Naeini.Feedback Control of Dynamic Systems[M] .北京:人民邮电出版社,2007
[51]徐金明.MATLAB实用教程[M] .北京:清华大学出版社,2006
[52]黄忠霖.自动控制原理的MATLAB实现[M] .北京:国防工业出版社,2007
[2]王占林.近代液压控制[M].北京:机械工业出版社.1997
[3]陈奎生.液压阀与液压控制系统[M] .武汉:武汉工业大学出版社出版,1997
[4]李松晶,阮健,弓永军.先进液压传动技术概论[M] .哈尔滨:哈尔滨工业大学出版社,2008
[5]李素玲,刘军营.比例控制与比例阀及应用[J] .液压与气动,2003,(2):26-28
[6] R.H. Warring.Hydraulic handbook[M].Morden, Eng:Trade & Technical Press,1983
[7] Lu yongxiang,A new approach to improme the performance of proportional pressure Valve int.Conf.on 1st FCM,Tokyo Japan,1985.9
[8] Russ.Henke.PE,Fluid power for the 90's;state of the art,trends and Developments,2th ICFP Int.Conf.Hangzhou,China,1989,235—240
[9] R.B. Walters.Hydraulic and electro-hydraulic control systems[M].New York: Elsevier Science Pub. Co.,1991
[10] William J. Palm III.Introduction to MATLAB 6 for engineers[M].Boston : McGraw-Hill,2001
[11] Benjamin C. Kuo, Duane C. Hanselman.MATLAB tools for control system analysis and design[M].Englewood Cliffs,NJ :Prentice Hall,1994
[12] Lee K.Numerical modeling for the hydraulic performance prediction of automotive monotone dampers[J].Vehicle System Dynamics.1997,28:25-39
[13] Josef Proke.Hydraulic mechanisms in automation[M].Amsterdam:Elsevier Scientific Pub. Co.,1977
[14]Andersson B,0n The Valvistor A Proportionally Controlled Seat Valve[J].Linkocping Studies in Science and Technology Dissertation No.1085
[15]黎放柏.电液比例控制系统与数字控制系统[M].北京:机械工业出版社,1997
[16]王春行.液压控制系统[M].北京:机械工业出版社,2000
[17]Graham C. Goodwin,Stefan F. Graebe,Mario E. Salgado.Control system design [M].Upper Saddle River, N.J. : Prentice Hall,2001
[18]费鸿俊,张冠生.电磁机构动态分析与计算[M].北京:机械工业出版社,1993
[19]林其壬,赵佑民.磁路设计原理[M].北京:机械工业出版社.1987
[20]晁立东,仵杰,王仲奕.工程电磁场基础[M].西安:西北工业大学出版社.2002
[21]张冠生.电磁铁与自动电磁元件[M].北京:机械工业出版社,1982
[22]路甬祥,胡大纺.电液比例控制技术[M] .北京:机械工业出版社,1988
[23]李其朋,丁凡.比例电磁铁行程力特性仿真与实验研究[J].农业机械学报.2005,36(2):104-107
[24]方向,魏建华.改善比例电磁铁行程力特性的研究[J] .2010,27(12):18-21
[25]万会雄,明仁雄.液压与气压传动[M] .北京:国防工业出版社,2008
[26]胡燕平,彭佑多,吴根茂.液阻网络系统学[M] .北京:机械工业出版社,2003
[27]W.巴克.液压阻力回路系统学[M] .北京:机械工业出版社,1980
[28]张平格.液压传动与控制[M].北京:冶金工业出版社.2004
[29]雷天觉.新编液压工程手册[M].北京:北京理工大学出版社,1998
[30]许杏文,邱仰伟.电液比例阀的优化控制[J].机床与液压,2001,(3):65-66
[31]Lee K.Numerical modeling for the hydraulic performance prediction of automotive monotone dampers[J].Vehicle System Dynamics.1997,28:25-39
[32]林建亚,何存兴.液压元件[M].北京:机械工业出版社,1988
[33] H.E梅里特.液压控制系统[M].北京:科学出版社.1987
[34]Frank M.White.F1uid Mechanics[M].北京:清华大学出版社,2004
[35]Peter Dransfield.Hydraulic control systems-design and analysis of their dynamics[M].Berlin : Springer-Verlag,1981
[36]J. F. Douglas, J. M. Gasiorek, and J. A. Swaffield.Fluid mechanics[M].London : Pitman, 1979
[37]The editors of Hydraulics & pneumatics.Fluid power handbook & directory[M].Cleveland, Ohio:Industrial Pub. Co.,1963
[38] G. H. Pearson.Valve design[M].London:Mechanical Engineering Publications,1978
[39]D.McCloy,H.R.Martin.The control of fluid power[M] .London:Longman,1973
[40]H. G. Conway.Fluid pressure mechanisms[M].London:Pitman,1974
[41]Avtar Singh.An Analytical Study of the Dynamics and Stability of a Spring Loaded Safety Valve [J].Nuclear Engineering and Design.1982,72(3):197-204
[42]李洪人.液压控制系统[M].北京:国防工业出版社,198l
[43]杜秋芳.比例阀应用[J].机床与液压,1995,(5):4-6
[44]刘海燕.比例阀在控制系统中的应用[J].郑州铁路职业技术学院学报,2003,(6):8-10
[45]刘顺安,许学先,王焕德.溢流阀阻尼孔结构布局对其性能影响的分析研究[J] .吉林工业大学学报,1993,23(4):84-91
[46]许庆山.信号与系统[M].北京:航空工业出版社,1998
[47]孟华.自动控制原理[M] .北京:机械工业出版社,2007
[48]I. J. Nagrath, M. Gopal.Control systems engineering[M].New York : Wiley, 1978
[49]杨叔子,杨克冲.机械工程控制基础[M] .武汉:华中科技大学出版社,2002
[50]Gene F.Franklin ,J.David Powell,Abbas Emami-Naeini.Feedback Control of Dynamic Systems[M] .北京:人民邮电出版社,2007
[51]徐金明.MATLAB实用教程[M] .北京:清华大学出版社,2006
[52]黄忠霖.自动控制原理的MATLAB实现[M] .北京:国防工业出版社,2007