高频单轴电液振动台振动特性研究
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摘要
电液振动台作为一种用来模拟振动环境的标准试验设备,被广泛应用于航空、航天、兵器、船舶、核工业等国防工业领域和汽车、建筑等民用工业部门。它的技术水平在某种程度上反映了一个国家的工业发展水平,因而世界各国都很重视电液振动台的研究开发工作。
传统电液振动台由于受电液伺服阀频响特性的制约,其工作频率不能达到较高的水平,致使目前对一些重要的军工设备进行振动试验时通常采用的方法是在电液振动台上进行低频振动试验,而高频振动试验则放到电动振动台上进行。为了改变这种现状,本论文以国家自然科学基金项目“电液激振新方法及分解控制技术研究”和浙江省重大自然科学基金项目“重载、高频电液激振技术基础研究”为背景,提出一种由2D激振阀和数字伺服阀联合控制的电液振动台方案,旨在大幅提高电液振动台的工作频率,使电液振动台实现从低频到高频的全频段振动试验。因此,这项研究工作不仅具有重要的工程应用价值,而且为高频电液振动台技术奠定理论基础。本论文的主要研究工作和成果如下：
(1)针对传统电液振动台的工作频率受电液伺服阀频响特性的制约难以提高的现状,提出一种由2D激振阀和数字伺服阀联合控制差动式液压缸所构成的新型高频电液振动台方案,旨在大幅提高电液振动台的工作频率,并实现高频电液振动台的工作频率达到1000赫兹。
(2)分析了高频电液振动台的结构组成和工作原理,对2D激振阀和数字伺服阀的结构原理进行了介绍并建立了其数学模型。在此基础上,建立了高频电液振动台的特性支配方程,为高频电液振动台的研究奠定了理论基础。
(3)由于2D激振阀是一种结构独特的转阀,不能采用传统的方法对其节流阀口的流量方程进行线性化处理,为此提出采用非线性系统分析方法对高频电液振动台系统进行研究,并搭建了其系统控制框图。利用Simulink建立了高频单轴电液振动台的仿真模型,对高频单轴电液振动台在不同的振动频率、2D激振阀不同的轴向开度输出的振动特性进行了仿真研究。并得到了高频单轴电液振动台工作频率为100Hz.150Hz、200Hz、300Hz、400Hz、600Hz、800Hz、1000Hz以及2D激振阀轴向开口为0.5mm、1mm和1.5mm三种情况下输出的载荷波形。从仿真波形可以看出,随着工作频率的提高,高频单轴电液振动台输出的载荷在谐振点之前由小变大,过了谐振点之后,再由大变小。这是因为在谐振点工作时,高频单轴电液振动台会出现谐振现象,振动幅值会突然增大。通过调节2D激振阀轴向开口的大小,可以控制电液振动台输出载荷的幅值。
(4)针对高频单轴电液振动台出现的谐振现象,利用能量守恒原理对高频单轴电液振动台产生谐振现象的机理进行研究。研究结果表明：液压缸敏感腔中的油液相当于一动态弹簧,在电液振动台工作过程中,电液振动台系统的动能、势能和总能量随时间变化。电液振动台处于谐振工作状态时,激振力的相角与速度的相角相同,激振力时刻对电液振动台系统做正功,这时电液振动台系统所获得的能量达到最大值。为了得到高频单轴电液振动台在谐振时输出的载荷波形,分别对惯性负载为45kg和67.5kg以及2D激振阀轴向开口为0.5mm、1mm和1.5mm时输出的谐振波形进行仿真研究。从仿真结果可以看出谐振时电液振动台输出的载荷幅值会突然放大。最后,对高频单轴电液振动台变谐振理论进行了理论分析和仿真研究。通过数字伺服阀控制单出杆液压缸无杆腔容积的变化实现液压系统固有频率的改变,从而使高频单轴电液振动台能够在不同的谐振频率点进行工作。并分别仿真了液压缸无杆腔长度为10mm、20mm、30mm、40mm和50mm时电液振动台输出的谐振波形。仿真结果表明,随着液压缸无杆腔体积的减小,电液振动台发生谐振的频率有所提高,验证了变谐振理论的正确性。
(5)为了验证新型高频单轴电液振动台的理论研究以及实际输出的振动特性,搭建了实验台架并对其进行实验研究。首先,通过改变2D激振阀的旋转速度、2D激振阀阀芯的轴向开口大小,分别测得高频单轴电液振动台在100Hz、150Hz、200Hz、300Hz、400Hz、600Hz、800Hz、1000Hz不同频率工作时实际输出的振动波形,验证了仿真结果的正确性；其次,对高频单轴电液振动台的谐振现象进行了实验研究,测得振动台惯性负载为45kg和67.5kg以及2D激振阀阀芯的轴向开口为0.5mm、1mm和1.5mm时的谐振波形,实验结果与仿真结果基本吻合；最后,通过数字伺服阀控制单出杆液压缸无杆腔容腔体积变化,测得液压缸无杆腔长度为10mm、20mm、30mm、40mm和50mm时电液振动台输出的谐振波形,从而验证了高频单轴电液振动台的变谐振理论。
Electrohydraulic shaking table is widely applied to the defense industries of aviation, aerospace, weapons, shipbuilding, nuclear industry, or the civilian industries of automotive, construction as a standard test equipment of simulating the environmental vibration. Its technology level reflects a country's level of industrial development to some extent, thus all countries in the world attaches great importance to the research of electrohydraulic shaking table.
Due to the restriction of frequency response characteristics of the electrohydraulic servo valve, the working frequency of conventional electrohydraulic shaking table is to a large extent limited to fairly narrow range. As a result, for some important military equipment, the low-frequency vibration test usually is operated by the electrohydraulic shaking table, vibration, whereas the high-frequency vibration test is done by the electric shaking table. In order to change this situation, upon the background of National Foundation of Natural Sciences,"Research on a New Electrohydraulic Exciting methods and Separate Control Strategy" and a major project of Zhejiang Provincal Natural Science Foundation of China,"Basic Research of Electrohydraulic Excitation Technique of Heavy load and High frequency", the new electrohydraulic shaking table based on2D valve and digital servo valve was proposed to enhance the working frequency by a large margin, the electrohydraulic shaking table can realize the vibration test from low-frequency band to high-frequency band. Therefore, this reasearch has not only the important engineering application value, but also the great theoretical value for the high-frequency electrohydraulic shaking table technology. The main research works and achievements of this paper are as follows:
(1) The working frequency of the traditional electrohydraulic shaking table is difficult to improve by the restriction of frequency response characteristics of hydraulic servo valve, therefore the new electrohydraulic shaking table based on single-rod hydraulic cylinder controlled by2D valve and digital servo valve was put forward to enhance the working frequency. The working frequency of the electrohydraulic shaking table can achieve1000Hz.
(2) The scheme of high-frequency electrohydraulic shaking table was analyzed, at the same time, the working principle of2D valve and digital servo valve were introduced and their mathematical models were set up. On this basis, the characteristics equations of high-frequency electrohydraulic shaking table were established, so the theoretical foundation for the high-frequency electrohydraulic shaking table was built.
(3) The flow equation of throttle orifice of2D valve can not be treated as linear processing since it is a special rotating valve, so the nonlinear system analysis method was adopted for the high-frequency electrohydraulic shaking table, and its system control block diagram was set up. The simulation model was also constructed by the Simulink Toolbox of Matlab, the vibration waveform of uniaxial high-frequency electrohydraulic shaking table were simulated under the different working frequency and axial opening of2D valve. Under the axial opening of2D valve for0.5mm,1mm,1.5mm and the agitating frequency for100Hz,150Hz,200Hz,300Hz,400Hz,600Hz,800Hz,1000Hz, the vibration waveforms of uniaxial high-frequency electrohydraulic shaking table were got. As can be seen from the simulation waveforms, with the improvement of working frequency, the output load of uniaxial high-frequency electrohydraulic shaking table before the resonance point changes from small to big, after the resonance point, from large to small again. This is because the uniaxial high-frequency electrohydraulic shaking table will appear resonance phenomenon when it works in the resonance point, vibration amplitude increases suddenly. By adjusting the size of the axial opening of2D valve, the load amplitude of electro-hydraulic shaking table can be controlled.
(4) The energy conservation principle was utilized to research the resonance phenomenon occurred in the uniaxial high-frequency electrohydraulic shaking table. Research results show that the oil in the sensitive cavity of the hydraulic cylinder is equivalent to a dynamic spring, in the working process of electrohydraulic shaking table, the kinetic energy, potential energy and total energy of electrohydraulic shaking table system changes over time. When the electrohydraulic shaking table has worked in the state of resonance, the phase angle of the exciting force is the same with speed, the exciting force of electro-hydraulic shaking table system do positive work, the energy gained from the electro-hydraulic shaking table system reaches maximum value. In order to get the load waveforms of the uniaxial high-frequency electrohydraulic shaking table in resonant state, Under the axial opening of2D valve for0.5mm,1mm,1.5mm and the inertial load of45kg and67.5kg, the resonant waveforms of the uniaxial high-frequency electrohydraulic shaking table were simulated. As can be seen from the simulation results, the load amplitude of electrohydraulic shaking table in resonant state suddenly increases. Finally, the variable resonance theory of the uniaxial high-frequency electrohydraulic shaking table was carried on for the theoretical analysis and simulation study. Single-rod hydraulic cylinder controlled by digital servo valve can realize the change of hydraulic intrinsic frequency by controlling the volume of non-rod chamber. Therefore, the uniaxial high-frequency electrohydraulic shaking table can work under different resonance frequency, the resonance waveforms of electrohydraulic shaking table for different length of non-rod cavity of hydraulic cylinder were simulated. Simulation results show that with the decrease of non-rod cavity volume of the hydraulic cylinder, the resonance frequency of electrohydraulic shaking table increases, the variable resonance theory was proved to be correct.
(5) To verify the theoretical analysis and the real vibration waveform of uniaxial high-frequency electrohydraulic shaking table, the experimental system was constructed. Firstly, by changing the rotating speed and the axial opening of2D valve, the vibration waveforms of shaking table were measured under100Hz,150Hz,200Hz,300Hz,400Hz,600Hz,800Hz,1000Hz. The validity of the simulation results was verified. Secondly, The resonance waveforms of shaking table were measured under the different axial opening of2D valve and inertia load to validate the simulation results, the experimental results and simulation results were basically identical with each other; Finally, the volume of non-rod chamber of hydraulic cylinder was changed by the digital servo valve, the resonance waveforms under different non-rod cavity length were measured, the variable resonance theory of uniaxial high-frequency electrohydraulic shaking table was verified.
传统电液振动台由于受电液伺服阀频响特性的制约,其工作频率不能达到较高的水平,致使目前对一些重要的军工设备进行振动试验时通常采用的方法是在电液振动台上进行低频振动试验,而高频振动试验则放到电动振动台上进行。为了改变这种现状,本论文以国家自然科学基金项目“电液激振新方法及分解控制技术研究”和浙江省重大自然科学基金项目“重载、高频电液激振技术基础研究”为背景,提出一种由2D激振阀和数字伺服阀联合控制的电液振动台方案,旨在大幅提高电液振动台的工作频率,使电液振动台实现从低频到高频的全频段振动试验。因此,这项研究工作不仅具有重要的工程应用价值,而且为高频电液振动台技术奠定理论基础。本论文的主要研究工作和成果如下：
(1)针对传统电液振动台的工作频率受电液伺服阀频响特性的制约难以提高的现状,提出一种由2D激振阀和数字伺服阀联合控制差动式液压缸所构成的新型高频电液振动台方案,旨在大幅提高电液振动台的工作频率,并实现高频电液振动台的工作频率达到1000赫兹。
(2)分析了高频电液振动台的结构组成和工作原理,对2D激振阀和数字伺服阀的结构原理进行了介绍并建立了其数学模型。在此基础上,建立了高频电液振动台的特性支配方程,为高频电液振动台的研究奠定了理论基础。
(3)由于2D激振阀是一种结构独特的转阀,不能采用传统的方法对其节流阀口的流量方程进行线性化处理,为此提出采用非线性系统分析方法对高频电液振动台系统进行研究,并搭建了其系统控制框图。利用Simulink建立了高频单轴电液振动台的仿真模型,对高频单轴电液振动台在不同的振动频率、2D激振阀不同的轴向开度输出的振动特性进行了仿真研究。并得到了高频单轴电液振动台工作频率为100Hz.150Hz、200Hz、300Hz、400Hz、600Hz、800Hz、1000Hz以及2D激振阀轴向开口为0.5mm、1mm和1.5mm三种情况下输出的载荷波形。从仿真波形可以看出,随着工作频率的提高,高频单轴电液振动台输出的载荷在谐振点之前由小变大,过了谐振点之后,再由大变小。这是因为在谐振点工作时,高频单轴电液振动台会出现谐振现象,振动幅值会突然增大。通过调节2D激振阀轴向开口的大小,可以控制电液振动台输出载荷的幅值。
(4)针对高频单轴电液振动台出现的谐振现象,利用能量守恒原理对高频单轴电液振动台产生谐振现象的机理进行研究。研究结果表明：液压缸敏感腔中的油液相当于一动态弹簧,在电液振动台工作过程中,电液振动台系统的动能、势能和总能量随时间变化。电液振动台处于谐振工作状态时,激振力的相角与速度的相角相同,激振力时刻对电液振动台系统做正功,这时电液振动台系统所获得的能量达到最大值。为了得到高频单轴电液振动台在谐振时输出的载荷波形,分别对惯性负载为45kg和67.5kg以及2D激振阀轴向开口为0.5mm、1mm和1.5mm时输出的谐振波形进行仿真研究。从仿真结果可以看出谐振时电液振动台输出的载荷幅值会突然放大。最后,对高频单轴电液振动台变谐振理论进行了理论分析和仿真研究。通过数字伺服阀控制单出杆液压缸无杆腔容积的变化实现液压系统固有频率的改变,从而使高频单轴电液振动台能够在不同的谐振频率点进行工作。并分别仿真了液压缸无杆腔长度为10mm、20mm、30mm、40mm和50mm时电液振动台输出的谐振波形。仿真结果表明,随着液压缸无杆腔体积的减小,电液振动台发生谐振的频率有所提高,验证了变谐振理论的正确性。
(5)为了验证新型高频单轴电液振动台的理论研究以及实际输出的振动特性,搭建了实验台架并对其进行实验研究。首先,通过改变2D激振阀的旋转速度、2D激振阀阀芯的轴向开口大小,分别测得高频单轴电液振动台在100Hz、150Hz、200Hz、300Hz、400Hz、600Hz、800Hz、1000Hz不同频率工作时实际输出的振动波形,验证了仿真结果的正确性；其次,对高频单轴电液振动台的谐振现象进行了实验研究,测得振动台惯性负载为45kg和67.5kg以及2D激振阀阀芯的轴向开口为0.5mm、1mm和1.5mm时的谐振波形,实验结果与仿真结果基本吻合；最后,通过数字伺服阀控制单出杆液压缸无杆腔容腔体积变化,测得液压缸无杆腔长度为10mm、20mm、30mm、40mm和50mm时电液振动台输出的谐振波形,从而验证了高频单轴电液振动台的变谐振理论。
Electrohydraulic shaking table is widely applied to the defense industries of aviation, aerospace, weapons, shipbuilding, nuclear industry, or the civilian industries of automotive, construction as a standard test equipment of simulating the environmental vibration. Its technology level reflects a country's level of industrial development to some extent, thus all countries in the world attaches great importance to the research of electrohydraulic shaking table.
Due to the restriction of frequency response characteristics of the electrohydraulic servo valve, the working frequency of conventional electrohydraulic shaking table is to a large extent limited to fairly narrow range. As a result, for some important military equipment, the low-frequency vibration test usually is operated by the electrohydraulic shaking table, vibration, whereas the high-frequency vibration test is done by the electric shaking table. In order to change this situation, upon the background of National Foundation of Natural Sciences,"Research on a New Electrohydraulic Exciting methods and Separate Control Strategy" and a major project of Zhejiang Provincal Natural Science Foundation of China,"Basic Research of Electrohydraulic Excitation Technique of Heavy load and High frequency", the new electrohydraulic shaking table based on2D valve and digital servo valve was proposed to enhance the working frequency by a large margin, the electrohydraulic shaking table can realize the vibration test from low-frequency band to high-frequency band. Therefore, this reasearch has not only the important engineering application value, but also the great theoretical value for the high-frequency electrohydraulic shaking table technology. The main research works and achievements of this paper are as follows:
(1) The working frequency of the traditional electrohydraulic shaking table is difficult to improve by the restriction of frequency response characteristics of hydraulic servo valve, therefore the new electrohydraulic shaking table based on single-rod hydraulic cylinder controlled by2D valve and digital servo valve was put forward to enhance the working frequency. The working frequency of the electrohydraulic shaking table can achieve1000Hz.
(2) The scheme of high-frequency electrohydraulic shaking table was analyzed, at the same time, the working principle of2D valve and digital servo valve were introduced and their mathematical models were set up. On this basis, the characteristics equations of high-frequency electrohydraulic shaking table were established, so the theoretical foundation for the high-frequency electrohydraulic shaking table was built.
(3) The flow equation of throttle orifice of2D valve can not be treated as linear processing since it is a special rotating valve, so the nonlinear system analysis method was adopted for the high-frequency electrohydraulic shaking table, and its system control block diagram was set up. The simulation model was also constructed by the Simulink Toolbox of Matlab, the vibration waveform of uniaxial high-frequency electrohydraulic shaking table were simulated under the different working frequency and axial opening of2D valve. Under the axial opening of2D valve for0.5mm,1mm,1.5mm and the agitating frequency for100Hz,150Hz,200Hz,300Hz,400Hz,600Hz,800Hz,1000Hz, the vibration waveforms of uniaxial high-frequency electrohydraulic shaking table were got. As can be seen from the simulation waveforms, with the improvement of working frequency, the output load of uniaxial high-frequency electrohydraulic shaking table before the resonance point changes from small to big, after the resonance point, from large to small again. This is because the uniaxial high-frequency electrohydraulic shaking table will appear resonance phenomenon when it works in the resonance point, vibration amplitude increases suddenly. By adjusting the size of the axial opening of2D valve, the load amplitude of electro-hydraulic shaking table can be controlled.
(4) The energy conservation principle was utilized to research the resonance phenomenon occurred in the uniaxial high-frequency electrohydraulic shaking table. Research results show that the oil in the sensitive cavity of the hydraulic cylinder is equivalent to a dynamic spring, in the working process of electrohydraulic shaking table, the kinetic energy, potential energy and total energy of electrohydraulic shaking table system changes over time. When the electrohydraulic shaking table has worked in the state of resonance, the phase angle of the exciting force is the same with speed, the exciting force of electro-hydraulic shaking table system do positive work, the energy gained from the electro-hydraulic shaking table system reaches maximum value. In order to get the load waveforms of the uniaxial high-frequency electrohydraulic shaking table in resonant state, Under the axial opening of2D valve for0.5mm,1mm,1.5mm and the inertial load of45kg and67.5kg, the resonant waveforms of the uniaxial high-frequency electrohydraulic shaking table were simulated. As can be seen from the simulation results, the load amplitude of electrohydraulic shaking table in resonant state suddenly increases. Finally, the variable resonance theory of the uniaxial high-frequency electrohydraulic shaking table was carried on for the theoretical analysis and simulation study. Single-rod hydraulic cylinder controlled by digital servo valve can realize the change of hydraulic intrinsic frequency by controlling the volume of non-rod chamber. Therefore, the uniaxial high-frequency electrohydraulic shaking table can work under different resonance frequency, the resonance waveforms of electrohydraulic shaking table for different length of non-rod cavity of hydraulic cylinder were simulated. Simulation results show that with the decrease of non-rod cavity volume of the hydraulic cylinder, the resonance frequency of electrohydraulic shaking table increases, the variable resonance theory was proved to be correct.
(5) To verify the theoretical analysis and the real vibration waveform of uniaxial high-frequency electrohydraulic shaking table, the experimental system was constructed. Firstly, by changing the rotating speed and the axial opening of2D valve, the vibration waveforms of shaking table were measured under100Hz,150Hz,200Hz,300Hz,400Hz,600Hz,800Hz,1000Hz. The validity of the simulation results was verified. Secondly, The resonance waveforms of shaking table were measured under the different axial opening of2D valve and inertia load to validate the simulation results, the experimental results and simulation results were basically identical with each other; Finally, the volume of non-rod chamber of hydraulic cylinder was changed by the digital servo valve, the resonance waveforms under different non-rod cavity length were measured, the variable resonance theory of uniaxial high-frequency electrohydraulic shaking table was verified.
引文
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