电液伺服斜盘柱塞式液压变压器的研究
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摘要
随着人类社会的发展，能源问题越来越引起人们的重视，在液压传动领域，如何提高液压系统的效率，降低能耗一直是人们研究的热点。恒压网络二次调节技术一方面可以使动力源工作在高效区，另一方面降低了液压系统的节流损失并且可以对负负载的能量进行回收再利用，因此极大的提高了整个液压系统的传动效率，有广阔的应用前景。基于恒压网络容积控制的二次调节静液传动技术只能应用在旋转负载情况下，当执行元件为直线负载时就必须用到液压变压器。集成式液压变压器将液压泵/马达功能集成于一体，结构紧凑、体积小，可以在恒压网络容积控制二次调节静液传动系统中无节流损失的控制液压执行元件，还可以回收负负载的能量，简化了液压系统的结构，提高了液压系统的效率，因此，对集成式液压变压器的研究具有重要的理论意义和实用价值。
在查阅大量国内外相关文献的基础上，对目前国内外研究的液压变压器进行了分类，重点分析了集成式液压变压器的工作原理及其应用前景，阐述了国内外集成式液压变压器的应用与发展状况，提出了论文的主要研究内容。
集成式液压变压器是一种新型的液压元件，首先对其变压原理进行了理论分析，基于理论分析设计了电液伺服摆动液压马达做为液压变压器的伺服驱动机构，设计了一种电液伺服摆动液压马达控制的斜盘柱塞式液压变压器，实现了液压变压器通过电液伺服摆动液压马达来进行变压比的控制，在主轴上设计配流油路实现液压变压器的配流。该电液伺服斜盘柱塞式液压变压器具有体积小，结构紧凑，动态响应快，变压过程理论上无节流损失，变压范围大等优点。
本文基于剩余压紧力和剩余压紧力矩法对液压变压器的平面配流结构进行了优化设计，并采用遗传算法进行了求解。采用三角锥作为配流盘缓冲槽的结构形式，建立了过渡过程的压力缓冲数学模型并进行了MATLAB仿真，得到了最佳的缓冲槽结构参数，运用ADINA软件的流固耦合功能进行了配流盘缓冲槽的有限元分析，并对液压变压器的噪声进行了测量。
建立了电液伺服斜盘柱塞式液压变压器瞬时流量特性、瞬时转矩特性的数学模型，从液压变压器的控制角为零的情况推广到控制角为全区间的情况，仿真结果表明液压变压器的流量脉动率、转矩脉动率在全区间范围内很大，并对不同柱塞数下的流量脉动率进行了对比研究。
针对电液伺服斜盘柱塞式液压变压器压力控制的特点，对其控制策略进行了研究。建立了电液伺服斜盘柱塞式液压变压器的数学模型，采用模糊–PID双模控制策略进行压力控制，在小偏差时，采用PID控制，可以提高系统的稳定性和减小误差，在大偏差时，采用模糊控制，提高系统的快速性和智能性。基于理论分析和手动控制的经验，对模糊控制器进行了设计，在MATLAB/Simulink环境下搭建了仿真模型并进行了仿真研究。
最后，设计制造了一台电液伺服斜盘柱塞式液压变压器，搭建了实验平台，基于C++Builder编写了测控软件，基于该实验系统对电液伺服斜盘柱塞式液压变压器进行了实验研究，对液压变压器的性能进行了测试，验证了理论分析和控制策略的正确性和有效性。
With the development of human society, the energy issue is becoming a hottopic. Researchers are focusing on how to improve the efficiency and reduce theenergy consumption in the field of hydraulic transmission. The secondary regulationtechnology can make the power source work around the high efficiency part,moreover, it could not only reduce the hydraulic system throttling losses but alsoreuse the negative energy load. Therefore, the secondary regulation technology cangreatly improve the transmission efficiency of the entire hydraulic system and have abroad application prospect. However, since the secondary regulation technology canonly be used for driving the rotating load, a new type hydraulic component(Hydraulic Transformer) is needed to control the linear load. The integrated hydraulictransformer combines the two functions of hydraulic pumps and motors functions inan element. The element has characteristics of compact structure and small volume. Itcan simplify the structure and improve the efficiency of the hydraulic system.Therefore, the research on the integrated hydraulic transformer is meaningful.
Based on reading a large number of domestic and foreign literatures, the authormakes a classification of the current domestic and international research abouthydraulic transformers. And the author analyzes the works of the integrated hydraulictransformer and its application prospect, and expounds the application anddevelopment of domestic and international integrated hydraulic transformers. Besides,the key technology of the integrated hydraulic transformer is outlined and the mainresearch content is confirmed.
The integrated hydraulic transformer is a new type of hydraulic components.Firstly, its transformer principle is analyzed in theory. Based on the theoreticalanalysis, the author designs the electro-hydraulic servo swing hydraulic motor as theservo drive mechanism. An electro-hydraulic servo swing hydraulic motorcontrolling the swash plate piston hydraulic transformer is designed. Overallinstitutions of electro-hydraulic servo swing hydraulic motor and hydraulictransformer are designed. The transformer ratio of the hydraulic transformer iscontrolled by the electro-hydraulic servo hydraulic motor. The advantages of thisdesign are small volume, compact structure, big transformer ration range, and fastdynamic response. Furthermore, the throttling loss is avoided theoretically.
The optimal design about the hydraulic transformer plane is accomplished basedon the remaining compaction force and the remaining clamping torque. The geneticalgorithm is adopted for solving the optimal result. Because the flow transition process may not only occur in the upper or lower dead point, the phenomenon willlead to a flow pulsation. Therefore the buffer tank port plate of the hydraulictransformer is optimized. According to the characteristics of different buffer tankstructure, the eventual adoption of the triangle cones is used. as the structure of thevalve plate buffer tank The author constructs the model of the pressure buffer andmakes the simulation through MATLAB. As a result, the best structural parameters ofthe buffer tank are obtained. The flow distribution structure finite element offluid-structure interaction is analyzed by the ADINA. And the author makes the testof the noise lever of the hydraulic transformer.
The traffic and torque characteristic analysis of the Electro-hydraulictransformer is the basis for the application of hydraulic transformers. Themathematical model, including the Electro-hydraulic transformer transient flowcharacteristics and the instantaneous torque characteristics, are deduced. The controlangle changes from zero to all areas. Simulation results show that the flow pulsation,torque ripple rate are large during the entire range. The author comparatively studiesthe multiple plungers of hydraulic transformer flow pulsation rate.
Taking into account the nonlinear characteristic of the Electro-hydraulictransformer pressure control, the author studies its control strategy. A mathematicalmodel of the Electro-hydraulic transformer is constructed. The fuzzy-PID dual-modecontrol strategy for pressure control is designed. When the small deviations appear,the stability of the system can be improved by using the PID strategy and the error isreduced; when the large deviations appear, the system is made fast and intelligent byusing the fuzzy control. Based on the experience of theoretical analysis and manualtest, the author designs the fuzzy controller and builds a simulation model to studywith the software of MATLAB/Simulink.
Finally, an Electro-hydraulic transformer which is the type of the swash plateaxial piston is designed, and the experimental platform is built. The control softwareis written by C++builder. On the experimental system of the hydraulic transformer,the author conducts experimental research. On the experimental platform, the authortests the performance of the hydraulic transformer and verifies the correctness andvalidity of the theoretical analysis and control strategy.
在查阅大量国内外相关文献的基础上，对目前国内外研究的液压变压器进行了分类，重点分析了集成式液压变压器的工作原理及其应用前景，阐述了国内外集成式液压变压器的应用与发展状况，提出了论文的主要研究内容。
集成式液压变压器是一种新型的液压元件，首先对其变压原理进行了理论分析，基于理论分析设计了电液伺服摆动液压马达做为液压变压器的伺服驱动机构，设计了一种电液伺服摆动液压马达控制的斜盘柱塞式液压变压器，实现了液压变压器通过电液伺服摆动液压马达来进行变压比的控制，在主轴上设计配流油路实现液压变压器的配流。该电液伺服斜盘柱塞式液压变压器具有体积小，结构紧凑，动态响应快，变压过程理论上无节流损失，变压范围大等优点。
本文基于剩余压紧力和剩余压紧力矩法对液压变压器的平面配流结构进行了优化设计，并采用遗传算法进行了求解。采用三角锥作为配流盘缓冲槽的结构形式，建立了过渡过程的压力缓冲数学模型并进行了MATLAB仿真，得到了最佳的缓冲槽结构参数，运用ADINA软件的流固耦合功能进行了配流盘缓冲槽的有限元分析，并对液压变压器的噪声进行了测量。
建立了电液伺服斜盘柱塞式液压变压器瞬时流量特性、瞬时转矩特性的数学模型，从液压变压器的控制角为零的情况推广到控制角为全区间的情况，仿真结果表明液压变压器的流量脉动率、转矩脉动率在全区间范围内很大，并对不同柱塞数下的流量脉动率进行了对比研究。
针对电液伺服斜盘柱塞式液压变压器压力控制的特点，对其控制策略进行了研究。建立了电液伺服斜盘柱塞式液压变压器的数学模型，采用模糊–PID双模控制策略进行压力控制，在小偏差时，采用PID控制，可以提高系统的稳定性和减小误差，在大偏差时，采用模糊控制，提高系统的快速性和智能性。基于理论分析和手动控制的经验，对模糊控制器进行了设计，在MATLAB/Simulink环境下搭建了仿真模型并进行了仿真研究。
最后，设计制造了一台电液伺服斜盘柱塞式液压变压器，搭建了实验平台，基于C++Builder编写了测控软件，基于该实验系统对电液伺服斜盘柱塞式液压变压器进行了实验研究，对液压变压器的性能进行了测试，验证了理论分析和控制策略的正确性和有效性。
With the development of human society, the energy issue is becoming a hottopic. Researchers are focusing on how to improve the efficiency and reduce theenergy consumption in the field of hydraulic transmission. The secondary regulationtechnology can make the power source work around the high efficiency part,moreover, it could not only reduce the hydraulic system throttling losses but alsoreuse the negative energy load. Therefore, the secondary regulation technology cangreatly improve the transmission efficiency of the entire hydraulic system and have abroad application prospect. However, since the secondary regulation technology canonly be used for driving the rotating load, a new type hydraulic component(Hydraulic Transformer) is needed to control the linear load. The integrated hydraulictransformer combines the two functions of hydraulic pumps and motors functions inan element. The element has characteristics of compact structure and small volume. Itcan simplify the structure and improve the efficiency of the hydraulic system.Therefore, the research on the integrated hydraulic transformer is meaningful.
Based on reading a large number of domestic and foreign literatures, the authormakes a classification of the current domestic and international research abouthydraulic transformers. And the author analyzes the works of the integrated hydraulictransformer and its application prospect, and expounds the application anddevelopment of domestic and international integrated hydraulic transformers. Besides,the key technology of the integrated hydraulic transformer is outlined and the mainresearch content is confirmed.
The integrated hydraulic transformer is a new type of hydraulic components.Firstly, its transformer principle is analyzed in theory. Based on the theoreticalanalysis, the author designs the electro-hydraulic servo swing hydraulic motor as theservo drive mechanism. An electro-hydraulic servo swing hydraulic motorcontrolling the swash plate piston hydraulic transformer is designed. Overallinstitutions of electro-hydraulic servo swing hydraulic motor and hydraulictransformer are designed. The transformer ratio of the hydraulic transformer iscontrolled by the electro-hydraulic servo hydraulic motor. The advantages of thisdesign are small volume, compact structure, big transformer ration range, and fastdynamic response. Furthermore, the throttling loss is avoided theoretically.
The optimal design about the hydraulic transformer plane is accomplished basedon the remaining compaction force and the remaining clamping torque. The geneticalgorithm is adopted for solving the optimal result. Because the flow transition process may not only occur in the upper or lower dead point, the phenomenon willlead to a flow pulsation. Therefore the buffer tank port plate of the hydraulictransformer is optimized. According to the characteristics of different buffer tankstructure, the eventual adoption of the triangle cones is used. as the structure of thevalve plate buffer tank The author constructs the model of the pressure buffer andmakes the simulation through MATLAB. As a result, the best structural parameters ofthe buffer tank are obtained. The flow distribution structure finite element offluid-structure interaction is analyzed by the ADINA. And the author makes the testof the noise lever of the hydraulic transformer.
The traffic and torque characteristic analysis of the Electro-hydraulictransformer is the basis for the application of hydraulic transformers. Themathematical model, including the Electro-hydraulic transformer transient flowcharacteristics and the instantaneous torque characteristics, are deduced. The controlangle changes from zero to all areas. Simulation results show that the flow pulsation,torque ripple rate are large during the entire range. The author comparatively studiesthe multiple plungers of hydraulic transformer flow pulsation rate.
Taking into account the nonlinear characteristic of the Electro-hydraulictransformer pressure control, the author studies its control strategy. A mathematicalmodel of the Electro-hydraulic transformer is constructed. The fuzzy-PID dual-modecontrol strategy for pressure control is designed. When the small deviations appear,the stability of the system can be improved by using the PID strategy and the error isreduced; when the large deviations appear, the system is made fast and intelligent byusing the fuzzy control. Based on the experience of theoretical analysis and manualtest, the author designs the fuzzy controller and builds a simulation model to studywith the software of MATLAB/Simulink.
Finally, an Electro-hydraulic transformer which is the type of the swash plateaxial piston is designed, and the experimental platform is built. The control softwareis written by C++builder. On the experimental system of the hydraulic transformer,the author conducts experimental research. On the experimental platform, the authortests the performance of the hydraulic transformer and verifies the correctness andvalidity of the theoretical analysis and control strategy.
引文
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