基于开关液压源的大惯性负载速度与力控制系统研究
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摘要
本论文主要研究高速开关液压马达的实现。旨在解决由开关液压源负载特性差异带来的一系列问题，为开关液压源在实用化和产业化道路上的发展推进一大步。首先，论文从多执行器复合控制系统节能的角度出发，分析了传统的各类液压传动系统的优缺点，并重点介绍了本世纪初提出的新型液压节能系统—开关液压源理论。接着论文给出了高速开关马达的理论支持，研究了高速开关马达的元件特性，并用试验来验证结构的合理性。
第一章从多执行器复合控制系统节能的角度出发，分析了各类液压传动系统的优缺点，并着重介绍了本世纪最新提出的新型节能型液压传动系统——开关液压源。提出了论文研究的目的、内容和意义。
第二章提出一种适用于多执行器复合控制系统中对驱动大惯性负载的液压马达的速度进行控制的新型节能型电液控制系统——高速开关液压马达，针对其大惯性负载马达联执行器的驱动控制，引入开关液压源理论，构成一个半闭式液压回路，实现了输出转矩与负载的自动适应，大幅度提高能量的转换效率。在此基础上，提出相应的脉频调制速度控制方法，并进行了理论分析和试验研究。
第三章对高速开关液压马达的各元件：高速开关阀、高速单向阀、液感元件和系统的管路进行建模和特性分析，并将第二章中的高速开关液压马达的理论进行实际化，从理论分析的角度给出合理的元件参数选择以进行仿真验证。
第四章对高速开关液压马达的各元件：高速开关阀、高速单向阀、液感元件和系统的管路进行功耗分析。
第五章说明试验结果，并给出结论。
第六章对本论文所做的研究工作作了简要的总结。
This thesis mainly deals with High-speed Switch-mode Hydraulic Power Motor. The objective of research is to solve a series of problems companied with the difference of load characteristics in Switch-mode Hydraulic Power Supply and to make more progress in the way of its practicability and industrialization. First, based upon energy-saving effect of multi-performer compounded control, thesis analyzes the advantages and disadvantages of traditional hydraulic systems and lays the emphasis on the new energy-saving hydraulic system - Switch-mode Hydraulic Power Supply, which was put forward early this century. Second, thesis lays the solid foundation in theoretical field for High-speed Switch-mode Hydraulic Power Motor, and studies characteristics of components and the whole hydraulic system. Finally, after rigorous theoretical analysis on load automatically adaptive principle, thesis approaches the optimum tracing control principle.
The first chapter is concerned with the energy-saving effect of multi-performer compounded control. Based on the analyses of advantages and disadvantages of traditional hydraulic systems, thesis puts forward the new energy-saving hydraulic system - Switch-mode Hydraulic Power Supply. After the introduction in detail about its buck structure, general description about the background, purpose, prospective and research contents of the thesis is given.
The second chapter focuses research on a new type of energy saving electro hydraulic control system-High-speed Switch-mode Hydraulic Power Motor~for multiple actuator compounded control. Switch-mode hydraulic power supplies are applied in the driving and control of the hydraulic motors with high inertia loads, a semi close loop circuit is constructed and its output torque could adapt the load automatically. Energy converting efficiency is increased considerably. Based on these, correspondent plus frequency modulated velocity control method is put forward.
The third chapter builds mathematical model and analyzes the dynamic characteristics of all the hydraulic components including high-speed switch valve, high-speed check valve, hydraulic inductance, and hydraulic pipeline. For better" explanation of their principles, this chapter analyzes specific characteristics of experiment system.
The fourth chapter analyzes expend of all the hydraulic components including
high-speed switch valve, high-speed check valve, hydraulic inductance, and hydraulic pipeline.
The fifth chapter shows the experiments and draws a conclusion.
The sixth chapter gives a brief generalization about all the research work this thesis concerns with.
第一章从多执行器复合控制系统节能的角度出发，分析了各类液压传动系统的优缺点，并着重介绍了本世纪最新提出的新型节能型液压传动系统——开关液压源。提出了论文研究的目的、内容和意义。
第二章提出一种适用于多执行器复合控制系统中对驱动大惯性负载的液压马达的速度进行控制的新型节能型电液控制系统——高速开关液压马达，针对其大惯性负载马达联执行器的驱动控制，引入开关液压源理论，构成一个半闭式液压回路，实现了输出转矩与负载的自动适应，大幅度提高能量的转换效率。在此基础上，提出相应的脉频调制速度控制方法，并进行了理论分析和试验研究。
第三章对高速开关液压马达的各元件：高速开关阀、高速单向阀、液感元件和系统的管路进行建模和特性分析，并将第二章中的高速开关液压马达的理论进行实际化，从理论分析的角度给出合理的元件参数选择以进行仿真验证。
第四章对高速开关液压马达的各元件：高速开关阀、高速单向阀、液感元件和系统的管路进行功耗分析。
第五章说明试验结果，并给出结论。
第六章对本论文所做的研究工作作了简要的总结。
This thesis mainly deals with High-speed Switch-mode Hydraulic Power Motor. The objective of research is to solve a series of problems companied with the difference of load characteristics in Switch-mode Hydraulic Power Supply and to make more progress in the way of its practicability and industrialization. First, based upon energy-saving effect of multi-performer compounded control, thesis analyzes the advantages and disadvantages of traditional hydraulic systems and lays the emphasis on the new energy-saving hydraulic system - Switch-mode Hydraulic Power Supply, which was put forward early this century. Second, thesis lays the solid foundation in theoretical field for High-speed Switch-mode Hydraulic Power Motor, and studies characteristics of components and the whole hydraulic system. Finally, after rigorous theoretical analysis on load automatically adaptive principle, thesis approaches the optimum tracing control principle.
The first chapter is concerned with the energy-saving effect of multi-performer compounded control. Based on the analyses of advantages and disadvantages of traditional hydraulic systems, thesis puts forward the new energy-saving hydraulic system - Switch-mode Hydraulic Power Supply. After the introduction in detail about its buck structure, general description about the background, purpose, prospective and research contents of the thesis is given.
The second chapter focuses research on a new type of energy saving electro hydraulic control system-High-speed Switch-mode Hydraulic Power Motor~for multiple actuator compounded control. Switch-mode hydraulic power supplies are applied in the driving and control of the hydraulic motors with high inertia loads, a semi close loop circuit is constructed and its output torque could adapt the load automatically. Energy converting efficiency is increased considerably. Based on these, correspondent plus frequency modulated velocity control method is put forward.
The third chapter builds mathematical model and analyzes the dynamic characteristics of all the hydraulic components including high-speed switch valve, high-speed check valve, hydraulic inductance, and hydraulic pipeline. For better" explanation of their principles, this chapter analyzes specific characteristics of experiment system.
The fourth chapter analyzes expend of all the hydraulic components including
high-speed switch valve, high-speed check valve, hydraulic inductance, and hydraulic pipeline.
The fifth chapter shows the experiments and draws a conclusion.
The sixth chapter gives a brief generalization about all the research work this thesis concerns with.
引文
[1]．路甬祥主编．液压气动技术手册．北京：机械工业出版社，2002
[2]．章宏甲，黄谊，王积伟．液压与气动传动．北京：机械工业出版社，2000
[3]．吴根茂，邱敏秀，王庆丰．实用电液比例技术．杭州：浙江大学出版社，1993
[4]．O．Johnson．精确控制速度的负载敏感系统．金城科技，1995 (3)
[5]．张振鹏，陈典正．挖掘机机电一体化控制技术地发展概况．国外程机械．1994，20 (4)
[6]．冯炯灿．负载敏感系统精密地控制速度．机械开发，1995 (3)
[7]．石湘，王均力．比例负载敏感装置的研究．液压气动与密封，1992 (3)
[8]．权龙、林廷圻，史维祥．电液比例控制系统负载敏感新方法．液压与气动，1993，24 (5)
[9]．赵显新，杨文华．负荷传感系统的稳定性研究．工程机械，1995，26 (6)
[10]. S.D. Kim, H.S. Cho, C.O. Lee. A Parameter Sensitivity Analysis for the Dynamic Model of a Variable Displacement Axial Piston pump. In:Proc. of the Institution of Mechanical Engineers, U.K., 1987, 201 (C4)
[11]. O. Johnson. Loading-sensing System Control Speed Accurately. Hydraulic&Pneumatics, 1995, 48(3)
[12]. O.W. Johnson. Load Sensing Hydraulic Flow Control-A versatile Controler. SAE, 1978(NO. 780728)
[13]. Hitachi Construction Machinery Co., Ltd., Training text of HITACHI O.H.S.
[14]. S.D. Kim, H.S. Cho, C.O. Lee. On the Order Reduction of the Dynamic Model of a Pressure-Compensated Variable Displacement Hydraulic Pump. ASME Winter Annual Meeting, Boston, Mass., 1987(NO. 87-WA/DSC-7)
[15]. W. Backe, B. Zahe. Electrohydraulic Load sensing. SAE, 1991(No. 911814)
[16]. W. Backe. Recent research projects in hydraulics, In: FLUID POWER, Proc. of the Second JHPS International Symposium on Fluid Power, Tokyo, 1993
[17]. B. Zahe, M. Eschweiler, K. Herzog. Regelung Hydraulischer Antriebe mit Veranderlichem Versorgungsdruck. O+P, 1991, 35(9)
[18]. B. Zahe, M. Eschweiler, K. Herzog. Elektrohydraulisches Load-Sensing. O+P, 1990, 34(8)
[19]. W. Backe, H.J. Feigel. Neue Moglichkeiten beim elektrohydrau- lischen Load-Sensing. O+P, 1990, 34(8)
[20]. W.T. Stephens, H.N. Underwood. New Concepts in Hydraulic Controls for Mobile Equipment. SAE, 1965(No. 650669)
[21]. A. Myers. Controlling Variable Displacement Hydraulic Pumps for Energy Conservation. SAE, 1975(No. 750807)
[22]．江国耀摘译．联邦德国工程机械的液压控制技术．国外工程机械，
1990，16(3)
[23]．江国耀．工程机械液压技术的发展动向．国外工程机械，1993，19 (3)
[24]．朱石沙．控制2个执行机构的负载敏感液压系统实验研究．中国机械工程，1994 (3)
[25]．蔡绍琚．负载传感技术在定量泵系统中的应用．工程机械，1989，20 (5)
[26]．杨伟红．负载敏感技术在多路换向阀中的应用．液压气动与密封，1992 (2)
[27]. S. Hori, K. Ikei. Fluid Power System on Hydraulic Excavators. In: FLUID POWER, Proc. Of the Third JHPS International Symposium on Fluid Power, Yokohama, 1996
[28]. Ken Ichiryu. Recent Trend and Future forcast of Hydraulic System and Control. In: 9th Aachener Fluidtechnisches Kolloquium, B2, 1990
[29]. K. G. MacAlvay and W.E. Miller. U.S.P. 3, 693, 506, 1972.9.26
[30]．顾临怡．大惯性负载进、出口独立调节数字控制及多执行器复合控制研究：[博士学位论文]．杭州：浙江大学流体传动及控制研究所，1998
[31]. R. Kordak. Praktische Auslegung Sekundaergereglter Antriebssysteme[J]. O+P. Oelhydraulik und Pneumatik. 1982, 26(11)
[32]. H.W. Nikolaus. Antribssystem mit Hydraulischer Kraftuebertragung Patentanmeldung[J]. Nr. 2739968 vom 6.9.1997
[33]. W. Backe, H. Murrenhoff. Regelung eines Verstellmotors an einem Konstant-Druknetz[J]. O+P. Oelhydraulik and Pneumatik.1981, 25(8)
[34]．麦克．苏尔茨，托马斯．库恩茨．适用于高要求的次级反馈控制一德累斯顿工业大学通用实验台[J]．Rexroth Information Quarterly1995，(1)
[35]. H. Murrenhoff. Einsatzbeispiel Motorgeregelter Antriebe mit der Moeglichkeit der Eergierueckgewinnug. O+P[J]. Oelhydraulik und Pneuroatik. 1984, 28(7)
[36]. R. Kordak. Sekundaergeregelter Hydroststische Antriebe[J]. O+P. Oelhydraulik und Pneumatik. 1985, 29(9)
[37]. H.-J. Hass. Drehzahl-und Lageregelung yon Verstellmotoren an einem aentra]en Drucknetz[J]. O+P. Oelhydraulik und Pneumatik. 1986, 30(12)
[38]. W. Backe. Elektro-hydraulischer Regelung von Verdrangereinheit[J]. O+P. Oelhydraulik und Pneumatik. 1987, 31(10)
[39]. H. Murrenhoff, M.C. Schin. Analys Elektro-hydraulischer Drehza-hlregelungen iuer Verstellomtoren an Konstant Drucknetz[J]. O+P. Oelhydraulik und Pneumatik. 1981, 26(7)
[40]. F. Metzner, Kennwerte der Dydraulik Sekundaerdrehzahahlgeregelter Arialkolbeneinheiten am eiserpraegten Drucknetz[J]. O+P. Oelhydraulik und Pneumatik. 1987, 31(7)
[41]. W. back, Ch. Koegl. Secondary control(Secondary
Regulation)[J]. Rexroth International Symposium on Fluid Power, JHPS, Tokyo, September 1993
[42]. R. Kordak. Dremomentsteuerung bei elektrischen und hydroststischen Maschinen mit hober Dynamik[J]. O+P. Oelhydraulik und Pneumatik. 1994, 38(1-2)
[43]．谢卓伟．二次转速调节静液驱动系统调速特性分析[J]．液压与气动，1989，(3)
[44]．谢卓伟，付永领，刘庆和．二次调节静液驱动系统的微机数字闭环控制[J]．工程机械，1980 (11)
[45]．金力民，路甬祥，吴根茂．采用非线性补偿算法克服二次调节系统的低速滞环[J]．液压与气动，1991(3)
[46]．姜继海．二次调节静液传动技术．液压气动与密封，2000 (6)
[47]．蒋晓夏，刘庆和．具有能量回收与重新利用功能的二次调节系统．工程机械，1992 (8)
[48]．顾临怡，邱敏秀，金波，曹建伟．由液压总线和开关液压源构成的新原理液压系统．机械工程学报，2003，39(1)：84～88 CN11-2187／TH+2003+1+84，被EI收录。
[49]．凌凤，张晓峰，曹建伟，等．开关液压源的负载自动适应原理研究．液压与气动，2003(5)
[50]．高钦和，黄先祥．基于 Simulink 的重物举升液压控制系统建模与仿真．机床与液压，2001，1
[51]．顾临怡，胡志刚．用 SIMULINK 实现脉宽／脉频调制中的占空比控制．机床与液压，2003，10
[2]．章宏甲，黄谊，王积伟．液压与气动传动．北京：机械工业出版社，2000
[3]．吴根茂，邱敏秀，王庆丰．实用电液比例技术．杭州：浙江大学出版社，1993
[4]．O．Johnson．精确控制速度的负载敏感系统．金城科技，1995 (3)
[5]．张振鹏，陈典正．挖掘机机电一体化控制技术地发展概况．国外程机械．1994，20 (4)
[6]．冯炯灿．负载敏感系统精密地控制速度．机械开发，1995 (3)
[7]．石湘，王均力．比例负载敏感装置的研究．液压气动与密封，1992 (3)
[8]．权龙、林廷圻，史维祥．电液比例控制系统负载敏感新方法．液压与气动，1993，24 (5)
[9]．赵显新，杨文华．负荷传感系统的稳定性研究．工程机械，1995，26 (6)
[10]. S.D. Kim, H.S. Cho, C.O. Lee. A Parameter Sensitivity Analysis for the Dynamic Model of a Variable Displacement Axial Piston pump. In:Proc. of the Institution of Mechanical Engineers, U.K., 1987, 201 (C4)
[11]. O. Johnson. Loading-sensing System Control Speed Accurately. Hydraulic&Pneumatics, 1995, 48(3)
[12]. O.W. Johnson. Load Sensing Hydraulic Flow Control-A versatile Controler. SAE, 1978(NO. 780728)
[13]. Hitachi Construction Machinery Co., Ltd., Training text of HITACHI O.H.S.
[14]. S.D. Kim, H.S. Cho, C.O. Lee. On the Order Reduction of the Dynamic Model of a Pressure-Compensated Variable Displacement Hydraulic Pump. ASME Winter Annual Meeting, Boston, Mass., 1987(NO. 87-WA/DSC-7)
[15]. W. Backe, B. Zahe. Electrohydraulic Load sensing. SAE, 1991(No. 911814)
[16]. W. Backe. Recent research projects in hydraulics, In: FLUID POWER, Proc. of the Second JHPS International Symposium on Fluid Power, Tokyo, 1993
[17]. B. Zahe, M. Eschweiler, K. Herzog. Regelung Hydraulischer Antriebe mit Veranderlichem Versorgungsdruck. O+P, 1991, 35(9)
[18]. B. Zahe, M. Eschweiler, K. Herzog. Elektrohydraulisches Load-Sensing. O+P, 1990, 34(8)
[19]. W. Backe, H.J. Feigel. Neue Moglichkeiten beim elektrohydrau- lischen Load-Sensing. O+P, 1990, 34(8)
[20]. W.T. Stephens, H.N. Underwood. New Concepts in Hydraulic Controls for Mobile Equipment. SAE, 1965(No. 650669)
[21]. A. Myers. Controlling Variable Displacement Hydraulic Pumps for Energy Conservation. SAE, 1975(No. 750807)
[22]．江国耀摘译．联邦德国工程机械的液压控制技术．国外工程机械，
1990，16(3)
[23]．江国耀．工程机械液压技术的发展动向．国外工程机械，1993，19 (3)
[24]．朱石沙．控制2个执行机构的负载敏感液压系统实验研究．中国机械工程，1994 (3)
[25]．蔡绍琚．负载传感技术在定量泵系统中的应用．工程机械，1989，20 (5)
[26]．杨伟红．负载敏感技术在多路换向阀中的应用．液压气动与密封，1992 (2)
[27]. S. Hori, K. Ikei. Fluid Power System on Hydraulic Excavators. In: FLUID POWER, Proc. Of the Third JHPS International Symposium on Fluid Power, Yokohama, 1996
[28]. Ken Ichiryu. Recent Trend and Future forcast of Hydraulic System and Control. In: 9th Aachener Fluidtechnisches Kolloquium, B2, 1990
[29]. K. G. MacAlvay and W.E. Miller. U.S.P. 3, 693, 506, 1972.9.26
[30]．顾临怡．大惯性负载进、出口独立调节数字控制及多执行器复合控制研究：[博士学位论文]．杭州：浙江大学流体传动及控制研究所，1998
[31]. R. Kordak. Praktische Auslegung Sekundaergereglter Antriebssysteme[J]. O+P. Oelhydraulik und Pneumatik. 1982, 26(11)
[32]. H.W. Nikolaus. Antribssystem mit Hydraulischer Kraftuebertragung Patentanmeldung[J]. Nr. 2739968 vom 6.9.1997
[33]. W. Backe, H. Murrenhoff. Regelung eines Verstellmotors an einem Konstant-Druknetz[J]. O+P. Oelhydraulik and Pneumatik.1981, 25(8)
[34]．麦克．苏尔茨，托马斯．库恩茨．适用于高要求的次级反馈控制一德累斯顿工业大学通用实验台[J]．Rexroth Information Quarterly1995，(1)
[35]. H. Murrenhoff. Einsatzbeispiel Motorgeregelter Antriebe mit der Moeglichkeit der Eergierueckgewinnug. O+P[J]. Oelhydraulik und Pneuroatik. 1984, 28(7)
[36]. R. Kordak. Sekundaergeregelter Hydroststische Antriebe[J]. O+P. Oelhydraulik und Pneumatik. 1985, 29(9)
[37]. H.-J. Hass. Drehzahl-und Lageregelung yon Verstellmotoren an einem aentra]en Drucknetz[J]. O+P. Oelhydraulik und Pneumatik. 1986, 30(12)
[38]. W. Backe. Elektro-hydraulischer Regelung von Verdrangereinheit[J]. O+P. Oelhydraulik und Pneumatik. 1987, 31(10)
[39]. H. Murrenhoff, M.C. Schin. Analys Elektro-hydraulischer Drehza-hlregelungen iuer Verstellomtoren an Konstant Drucknetz[J]. O+P. Oelhydraulik und Pneumatik. 1981, 26(7)
[40]. F. Metzner, Kennwerte der Dydraulik Sekundaerdrehzahahlgeregelter Arialkolbeneinheiten am eiserpraegten Drucknetz[J]. O+P. Oelhydraulik und Pneumatik. 1987, 31(7)
[41]. W. back, Ch. Koegl. Secondary control(Secondary
Regulation)[J]. Rexroth International Symposium on Fluid Power, JHPS, Tokyo, September 1993
[42]. R. Kordak. Dremomentsteuerung bei elektrischen und hydroststischen Maschinen mit hober Dynamik[J]. O+P. Oelhydraulik und Pneumatik. 1994, 38(1-2)
[43]．谢卓伟．二次转速调节静液驱动系统调速特性分析[J]．液压与气动，1989，(3)
[44]．谢卓伟，付永领，刘庆和．二次调节静液驱动系统的微机数字闭环控制[J]．工程机械，1980 (11)
[45]．金力民，路甬祥，吴根茂．采用非线性补偿算法克服二次调节系统的低速滞环[J]．液压与气动，1991(3)
[46]．姜继海．二次调节静液传动技术．液压气动与密封，2000 (6)
[47]．蒋晓夏，刘庆和．具有能量回收与重新利用功能的二次调节系统．工程机械，1992 (8)
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