本文選題：氣缸 + 摩擦力�。� 參考：《浙江大學(xué)》2011年碩士論文

【摘要】：氣缸作為氣動(dòng)系統(tǒng)中最常見的執(zhí)行機(jī)構(gòu),以其結(jié)構(gòu)簡(jiǎn)單、控制方便等優(yōu)點(diǎn),廣泛應(yīng)用于自動(dòng)化生產(chǎn)中。近年來,隨著微電子技術(shù)的飛速發(fā)展,氣動(dòng)技術(shù)與微電子技術(shù)相結(jié)合,氣動(dòng)伺服系統(tǒng),特別是氣缸位置伺服控制系統(tǒng)得到越來越廣泛的應(yīng)用,以滿足工業(yè)設(shè)備的自動(dòng)控制要求。然而,氣動(dòng)系統(tǒng)本身有不少不利于精確控制的弱點(diǎn),其剛度比較差,非線性強(qiáng)。氣缸的摩擦力特性,特別是低速狀態(tài)下的摩擦力特性是影響其非線性的最主要因素之一,研究并掌握其特性對(duì)于更精確的伺服控制和爬行預(yù)測(cè)具有重要意義。 對(duì)此,本課題綜觀國(guó)內(nèi)外氣缸摩擦力研究現(xiàn)狀,在分析比較各種摩擦力模型和簡(jiǎn)要分析氣缸摩擦力影響因素的基礎(chǔ)上,結(jié)合實(shí)驗(yàn)室原有條件建立基于伺服電機(jī)的被動(dòng)式氣缸摩擦力測(cè)試臺(tái),實(shí)現(xiàn)被測(cè)氣缸兩腔氣壓與速度的獨(dú)立控制。并以一無桿氣缸和一單出桿氣缸為例對(duì)其在不同氣壓、速度下的摩擦力進(jìn)行測(cè)試分析,提出基于LuGre摩擦模型的各個(gè)動(dòng)態(tài)和靜態(tài)參數(shù)辨識(shí)和建模方法,并進(jìn)一步研究供氣壓力和兩腔壓差對(duì)各個(gè)參數(shù)的影響,得出給定工作壓力下被測(cè)氣缸的摩擦力模型。最后根據(jù)實(shí)驗(yàn)結(jié)果,對(duì)于如何合理、有效率地測(cè)量和描述氣缸摩擦力特性,提出了自己的一些有益建議。 本論文主要分為四個(gè)章節(jié)： 第一章本文的緒論部分,主要介紹了氣動(dòng)技術(shù)、氣缸的特點(diǎn)和應(yīng)用現(xiàn)狀,以及國(guó)內(nèi)外對(duì)氣缸摩擦力的研究現(xiàn)狀,并由此引出本論文的主要研究?jī)?nèi)容。 第二章首先介紹了各種典型的摩擦現(xiàn)象,接著分析比較了現(xiàn)有的各種摩擦力靜態(tài)和動(dòng)態(tài)模型,簡(jiǎn)要分析了氣缸摩擦力的影響因素,為摩擦力測(cè)試臺(tái)的設(shè)計(jì)和測(cè)試結(jié)果提供理論依據(jù)。 第三章詳細(xì)描述了氣缸摩擦力測(cè)試臺(tái)的設(shè)計(jì),包括其方案原理、硬件組成和軟件設(shè)計(jì)。 第四章以一無桿氣缸和一單出桿氣缸為例,對(duì)其在不同氣壓、速度下的摩擦力進(jìn)行測(cè)試分析,研究供氣壓力和兩腔壓差對(duì)氣缸的LuGre摩擦模型的各個(gè)動(dòng)態(tài)和靜態(tài)參數(shù)的影響。最后根據(jù)實(shí)驗(yàn)結(jié)果總結(jié)出如何合理、有效率地測(cè)量和描述氣缸摩擦力特性的一些原則。
[Abstract]:As the most common actuator in pneumatic system, cylinder is widely used in automatic production because of its simple structure and convenient control.In recent years, with the rapid development of microelectronic technology and the combination of pneumatic technology and microelectronics technology, pneumatic servo system, especially the cylinder position servo control system, has been more and more widely used to meet the automatic control requirements of industrial equipment.However, the aerodynamic system itself has many disadvantages, such as poor stiffness and strong nonlinearity.The friction characteristic of cylinder, especially at low speed, is one of the most important factors affecting its nonlinearity. It is important to study and master its characteristics for more accurate servo control and creeping prediction.In this paper, the current situation of cylinder friction research at home and abroad is reviewed, and on the basis of analyzing and comparing all kinds of friction models and briefly analyzing the influence factors of cylinder friction force,A passive cylinder friction test bench based on servo motor was established in combination with the original conditions in the laboratory to realize the independent control of the pressure and velocity of the two chambers of the cylinder to be measured.The friction forces under different pressure and velocity are tested and analyzed by taking a rod less cylinder and a single outlet cylinder as examples. The dynamic and static parameter identification and modeling methods based on LuGre friction model are proposed.Furthermore, the influence of air supply pressure and pressure difference between two cavities on the parameters is studied, and the friction model of the measured cylinder under given working pressure is obtained.Finally, based on the experimental results, some useful suggestions on how to measure and describe the friction characteristics of cylinder reasonably and efficiently are put forward.This paper is divided into four chapters:The first chapter is the introduction of this paper, mainly introduces the pneumatic technology, the characteristics and application of the cylinder, as well as the domestic and foreign research status of cylinder friction, and leads to the main research content of this paper.In the second chapter, the typical friction phenomena are introduced, then the static and dynamic models of friction force are analyzed and compared, and the influence factors of cylinder friction force are briefly analyzed.It provides a theoretical basis for the design and test results of the friction test bench.The third chapter describes the design of cylinder friction test bench in detail, including its scheme principle, hardware composition and software design.In chapter 4, the friction force of a rod less cylinder and a single outlet cylinder are tested and analyzed at different pressure and velocity, and the influence of air supply pressure and pressure difference between two cavities on the dynamic and static parameters of LuGre friction model of cylinder is studied.Finally, based on the experimental results, some principles on how to measure and describe the friction characteristics of cylinder reasonably and efficiently are summarized.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH138.51

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