【摘要】：電液控制系統(tǒng)具有功率比量大、動(dòng)態(tài)響應(yīng)速度快、抗負(fù)載剛度大等優(yōu)點(diǎn),廣泛應(yīng)用于航空航天、船舶、裝備制造等領(lǐng)域。其中比例閥就是一種應(yīng)用較為廣泛的控制元件,相較于伺服閥,具有設(shè)計(jì)簡單、價(jià)格便宜、抗污染能力強(qiáng)等特點(diǎn),在液壓界其重要性日益提高。2D比例換向閥是基于閥芯直動(dòng)和繞軸旋轉(zhuǎn)運(yùn)動(dòng)兩個(gè)自由度,實(shí)現(xiàn)直動(dòng)式與導(dǎo)控式于一體的新型比例閥,具有結(jié)構(gòu)簡單,穩(wěn)定性高,抗污染能力更強(qiáng),動(dòng)態(tài)性能好以及能驅(qū)動(dòng)大流量負(fù)載等優(yōu)點(diǎn)。而對(duì)于一款優(yōu)秀的比例閥,其性能的優(yōu)劣不僅僅與閥本身有關(guān),而且與其比例控制器有很大關(guān)系。目前市場上比例控制器多以模擬式為主,不僅功耗大,而且設(shè)計(jì)控制器時(shí)多以通用為目的,對(duì)于不同的控制對(duì)象,其控制效果相差較大。近年來出現(xiàn)數(shù)字式比例控制器,相比模擬式,其功耗和控制效果等方面均有很大優(yōu)勢(shì),但也存在不具有針對(duì)性的缺點(diǎn)。因此,開發(fā)一款針對(duì)2D比例換向閥特點(diǎn)的比例控制器,提高2D比例換向閥的動(dòng)靜態(tài)性能,具有重要意義。本文在分析2D比例換向閥的工作原理與結(jié)構(gòu)的基礎(chǔ)上,并且重點(diǎn)分析了影響2D比例閥動(dòng)靜態(tài)性能的因素,針對(duì)這些影響因素,開發(fā)一款基于DSP2812芯片的數(shù)字式比例控制器。該控制器具有電流和位置反饋信號(hào),通過PID可構(gòu)成雙閉環(huán)。針對(duì)大流量2D比例換向閥慣性環(huán)節(jié)較大,為了提高頻響,本文設(shè)計(jì)了高低壓驅(qū)動(dòng)算法,僅通過軟件控制,簡單、方便;針對(duì)電-機(jī)械轉(zhuǎn)換器銜鐵位移變化引起磁通變化而導(dǎo)致電流波動(dòng),本文采用線性回歸算法,提高電流抗干擾能力;針對(duì)2D比例換向閥運(yùn)動(dòng)過程中摩擦力較大以及壓扭聯(lián)軸器的配合間隙影響其靜態(tài)特性,本文采用顫振補(bǔ)償算法,改善靜態(tài)特性。另外,為了更好的控制2D比例換向閥,還對(duì)電-機(jī)械轉(zhuǎn)換器進(jìn)行理論分析和數(shù)學(xué)建模。為了方便實(shí)時(shí)調(diào)節(jié)參數(shù),本文設(shè)計(jì)了按鍵和LCD顯示。通過搭建實(shí)驗(yàn)平臺(tái),進(jìn)行了實(shí)驗(yàn)驗(yàn)證,經(jīng)該控制器調(diào)節(jié)的2D比例換向閥具有良好的動(dòng)靜態(tài)控制性能,其重復(fù)精度小于2%,線性度小于3%,最小滯環(huán)僅有2.07%,對(duì)應(yīng)-3dB、-90°的頻寬約為18Hz,階躍響應(yīng)的上升時(shí)間約為55ms,控制流量可達(dá)270L/min。實(shí)驗(yàn)結(jié)果表明本文設(shè)計(jì)控制器具有良好的穩(wěn)態(tài)和動(dòng)態(tài)控制能力,對(duì)2D比例換向閥的動(dòng)靜態(tài)特性具有較大提升和改善。此外,為了減少對(duì)控制器的重復(fù)開發(fā),本文設(shè)計(jì)的控制器對(duì)力矩馬達(dá)、旋轉(zhuǎn)比例電磁鐵以及開關(guān)電磁鐵等電機(jī)械轉(zhuǎn)換器進(jìn)行實(shí)驗(yàn)測(cè)試,均有較好的控制效果。本文還重點(diǎn)分析了開關(guān)電磁鐵比例化應(yīng)用,通過實(shí)驗(yàn)分析,開關(guān)電磁鐵配合具有放大位移作用的壓扭,可以實(shí)現(xiàn)2D閥的比例化控制。
[Abstract]:The electro-hydraulic control system has many advantages such as large power ratio, fast dynamic response speed, high load stiffness and so on. It is widely used in aerospace, ship, equipment manufacturing and other fields. The proportional valve is a kind of widely used control element. Compared with the servo valve, it has the characteristics of simple design, cheap price, strong anti-pollution ability and so on. In hydraulic field, the importance of .2D proportional directional valve is improved day by day. It is a new type of proportional valve, which is based on the two degrees of freedom of straight motion and rotation around the axis of the valve core and realizes the integration of direct and guide type. It has simple structure, high stability and stronger anti-pollution ability. Good dynamic performance and the ability to drive large traffic load and other advantages. For an excellent proportional valve, its performance is not only related to the valve itself, but also to the proportional controller. At present, most of the proportional controllers in the market are analog, which not only consume a lot of power, but also design the controller for general purpose. For different control objects, the control effect is quite different. In recent years, digital proportional controller (DPC) has great advantages in power consumption and control effect, compared with analog controller, but it also has some disadvantages. Therefore, it is of great significance to develop a proportional controller to improve the dynamic and static performance of 2D proportional directional valve. Based on the analysis of the working principle and structure of 2D proportional directional valve and the factors that affect the dynamic and static performance of 2D proportional valve, a digital proportional controller based on DSP2812 chip is developed in this paper. The controller has current and position feedback signals, and can form double closed loop through PID. In view of the large inertia link of 2D proportional directional valve with large flow rate, in order to improve the frequency response, a high and low pressure drive algorithm is designed, which is only controlled by software, simple and convenient. Aiming at the current fluctuation caused by the change of the armature displacement of the electro-mechanical converter, this paper adopts the linear regression algorithm to improve the anti-interference ability of the current. In view of the large friction force in the movement of 2D proportional directional valve and the influence of the fit clearance of the pressure-torsional coupling on its static characteristics, this paper adopts the flutter compensation algorithm to improve the static characteristics. In addition, in order to better control 2D proportional directional valve, the theory analysis and mathematical model of electro-mechanical converter are also carried out. In order to adjust the parameters in real time, the key and LCD display are designed in this paper. The experimental results show that the 2D proportional directional valve adjusted by the controller has good dynamic and static control performance. The repetition accuracy is less than 2, the linearity is less than 3, the minimum hysteresis is only 2.07, the bandwidth corresponding to -3dBU -90 擄is about 18 Hz, the rising time of step response is about 55 Ms, and the controlled flow rate can reach 270 L / min. The experimental results show that the controller designed in this paper has good steady-state and dynamic control ability, and greatly improves the static and static characteristics of 2D proportional directional valve. In addition, in order to reduce the repetitive development of the controller, the controller designed in this paper has good control effect on torque motor, rotating proportional electromagnet and switch electromagnet. This paper also analyzes the proportional application of switched electromagnets. Through experimental analysis, the proportional control of 2D valves can be realized by using switched electromagnets in combination with pressure-torsion with the effect of magnifying displacement.
【學(xué)位授予單位】：浙江工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TH137.52

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