本文選題：水壓傳動技術(shù) + 水壓旋轉(zhuǎn)式伺服閥��； 參考：《中國海洋大學(xué)》2012年碩士論文

【摘要】：液壓傳動具有功率密度大、輸出力/力矩大、調(diào)速方便、工作平穩(wěn)、沖擊小、快速啟動/制動/換向、過載保護(hù)等優(yōu)點(diǎn)，在仿生機(jī)器人領(lǐng)域越來越受到重視。然而，由于油液存在污染、易燃、易爆、廢液處理成本高等一系列嚴(yán)重問題，使得油壓驅(qū)動的仿生機(jī)器人的安全性受到質(zhì)疑，工作環(huán)境受到制約。水壓驅(qū)動是以純水作為工作介質(zhì)來實(shí)現(xiàn)能量傳遞和控制的驅(qū)動方式，它具有油壓驅(qū)動的一切優(yōu)點(diǎn)，同時克服了油壓驅(qū)動的缺陷，能大幅提高仿生機(jī)器人的性能。 液壓伺服閥是仿生機(jī)器人的關(guān)鍵部件，控制著其執(zhí)行機(jī)構(gòu)的位置及速度。本研究針對仿生機(jī)器人和水下機(jī)械手，提出研發(fā)一微型直流電機(jī)直接驅(qū)動的旋轉(zhuǎn)式水壓伺服閥。該閥以純水（包括自來水和海水）代替礦物油作為工作介質(zhì)解決了礦物油所帶來的污染、易燃、易爆、工作場所骯臟等缺點(diǎn)，同時提高了仿生機(jī)器人的性能如：響應(yīng)速度、效率、控制精度等。在運(yùn)動方式上，該閥采用旋轉(zhuǎn)的運(yùn)動方式代替?zhèn)鹘y(tǒng)的滑動，解決了滑動式的伺服閥對污染敏感、易于卡死等問題，，且閥芯及閥口均采用軸對稱布置，閥芯上下端都與水箱相通，減小徑向和軸向不平衡力(理論值為零)，達(dá)到降低所需驅(qū)動功率目的，這些與傳統(tǒng)液壓控制閥完全不同的。采用微型直流電機(jī)可以實(shí)現(xiàn)PWM控制，提高了控制的精度、穩(wěn)定性等。 本文主要的研究任務(wù)是：課題來源于山東省自然科學(xué)基金項(xiàng)目，主要研究目的是為水下機(jī)器人和機(jī)械手研發(fā)一微型直流電機(jī)直接驅(qū)動的水壓旋轉(zhuǎn)式伺服閥，主要工作包括以下內(nèi)容： 1）研究了純水液壓技術(shù)的特點(diǎn)、應(yīng)用及研究現(xiàn)狀，闡述了研制水液壓元件存在的技術(shù)難題和關(guān)鍵技術(shù)，特別是材料選擇的原則不同于油壓元件的設(shè)計制造�；瑒邮剿欧y存在諸多缺陷，因此需要研發(fā)新型的旋轉(zhuǎn)式水壓伺服閥來解決這些問題。 2）研發(fā)出旋轉(zhuǎn)式水壓三位四通伺服閥，本文對其結(jié)構(gòu)設(shè)計、工作原理以及性能特點(diǎn)做了充分的描述。該閥采用微型直流電機(jī)直接控制閥芯的旋轉(zhuǎn)，閥芯旋轉(zhuǎn)角度的不同控制著閥空的大小以及流向，從而控制流量流速，達(dá)到控制驅(qū)動器的目的。采用微型直流電機(jī)直接驅(qū)動伺服閥，可以實(shí)現(xiàn)PWM控制，提高了控制的精度、穩(wěn)定性。 3）研究了旋轉(zhuǎn)式水壓伺服閥的靜動態(tài)特性。非線性特性比如滯后現(xiàn)象以及死區(qū)，在閥的特征中都有存在。壓力動態(tài)顯示出了有時短暫的壓降現(xiàn)象，這說明了內(nèi)部泄漏和電源的局限性的因素。線性參數(shù)如流量增益和壓力增益也都是估計的值。動態(tài)試驗(yàn)研究的階躍響應(yīng)顯示了，應(yīng)用一個簡單的PID控制器在10毫秒時就能達(dá)到閥門全開的狀態(tài)。此外，閥在一個2Hz正弦波確定閥芯位置的操作上表現(xiàn)出很好的參考跟蹤性能。 4）對旋轉(zhuǎn)式水壓電液伺服閥進(jìn)行數(shù)學(xué)建模，根據(jù)旋轉(zhuǎn)式電液伺服閥的結(jié)構(gòu)及工作原理，建立數(shù)學(xué)模型，并分析了阻力矩的組成和影響因素，確定了該閥控制的系統(tǒng)方程和傳遞函數(shù)根據(jù)數(shù)學(xué)模型和傳遞函數(shù)進(jìn)行系統(tǒng)穩(wěn)定性分析，為系統(tǒng)仿真研究提供理論基礎(chǔ)。 5）研究了旋轉(zhuǎn)式水壓伺服閥的流場特性，包括對流量壓力特性、液動力矩特性以及射流角都進(jìn)行了充分的仿真研究。通過Fluent軟件的支持，建立不同閥芯位置的模型（共10個），加載1~16Mpa的入口壓力，出口的壓力設(shè)為大氣壓，然后進(jìn)行計算，得到流量隨閥芯旋轉(zhuǎn)角度和壓力大小的變化曲線以及相同變量下的液動力矩值，同時得到速度云圖、壓力云圖以及射流角的變化曲線。通過結(jié)果分析證明了該閥的可靠性和實(shí)用性。 未來的工作將包括一些部件的重新設(shè)計，以降低泄漏和非線性效應(yīng)，從而解決閥的性能和實(shí)際生產(chǎn)之間的平衡問題。
[Abstract]:The hydraulic transmission has the advantages of large power density, large output force / torque, convenient speed regulation, smooth work, small impact, quick start / brake / reversing, overload protection and so on. It has been paid more and more attention in the field of bionic robot. However, because of the pollution, flammable, explosive, and high cost of waste liquid treatment, the oil pressure is driven by oil. The safety of the bionic robot is questioned, and the working environment is restricted. The hydraulic drive is a driving mode that uses pure water as the working medium to realize energy transfer and control. It has all the advantages of the oil pressure drive and overcomes the defects of the oil pressure driven. It can greatly improve the performance of the bionic robot.
The hydraulic servo valve is the key component of the bionic robot, which controls the position and speed of its actuator. In this study, a rotating water pressure servo valve was developed for a bionic robot and underwater manipulator, which was directly driven by a micro direct current motor. The valve was solved with pure water (including tap water and sea water) instead of mineral oil as a working medium. The pollution, flammable, explosive, and dirty work places brought by mineral oil, as well as the performance of the bionic robot, such as response speed, efficiency, control precision, etc. in the mode of motion, the valve adopts a rotating motion mode instead of the traditional sliding, and solves the problem that the sliding servo valve is sensitive to pollution, and is easy to die, and the valve is easy to die. Both the core and the valve port are arranged in axis symmetry, the upper and lower ends of the valve core are connected with the water tank, reducing the diameter direction and the axial unbalance force (the theoretical value is zero) to reduce the required driving power. These are completely different from the traditional hydraulic control valves. The use of micro DC motor can realize PWM control, and improve the precision and stability of the control.
The main research task of this paper is: the project is derived from the Shandong Natural Science Foundation project. The main purpose of this study is to develop a water pressure rotating servo valve directly driven by a micro DC motor for underwater robot and manipulator. The main work includes the following contents:
1) the characteristics, application and research status of pure water hydraulic technology are studied. The technical problems and key technologies for the development of water hydraulic components are expounded, especially the principle of material selection is different from the design and manufacture of oil pressure components. There are many defects in the sliding servo valve. Therefore, a new type of rotating hydraulic servo valve needs to be developed to solve these problems. Problem.
2) a rotating hydraulic pressure three position four pass servo valve is developed. This paper describes its structure design, working principle and performance characteristics. The valve uses micro DC motor to control the rotation of the valve core directly, the valve core rotation angle is different to control the size and flow direction of the valve air, thus controlling the flow velocity and achieving the control of the driver's order. By using micro DC motor to drive servo valve directly, PWM control can be realized, and the accuracy and stability of control can be improved.
3) the static and dynamic characteristics of the rotating hydraulic servo valve are studied. The nonlinear characteristics such as hysteresis and dead zone are present in the characteristics of the valve. The pressure dynamic shows the sometimes transient pressure drop, which illustrates the internal leakage and the limitation of the power supply. The linear parameter, such as the flow gain and the pressure gain, is also estimated. The step response of the dynamic test study shows that the application of a simple PID controller can achieve full opening of the valve in 10 milliseconds. In addition, the valve shows good reference tracking performance on the operation of a 2Hz sine wave to determine the valve core position.
4) the mathematical modeling of the rotary hydraulic hydraulic servo valve is carried out. According to the structure and working principle of the rotating electro-hydraulic servo valve, a mathematical model is set up. The composition and influence factors of the resistance moment are analyzed. The system equation and transfer function of the valve control are determined according to the mathematical model and transfer function to analyze the system stability, which is imitated for the system. True research provides a theoretical basis.
5) the flow field characteristics of the rotating hydraulic servo valve are studied, including the flow pressure characteristic, the hydraulic torque characteristic and the jet angle. Through the support of the Fluent software, the model of the different valve core position (10) is set up, the entrance pressure of the 1~16Mpa is loaded, the pressure of the outlet is set to the atmospheric pressure, then the calculation is carried out. The variation curve of the flow rate with the rotating angle and pressure of the valve core and the moment of the hydrodynamic force under the same variable are obtained. At the same time, the velocity cloud, pressure cloud and the change curve of the jet angle are obtained. The reliability and practicability of the valve are proved by the analysis of the results.
Future work will include redesign of some components to reduce leakage and nonlinear effects, so as to solve the balance between valve performance and actual production.

【學(xué)位授予單位】：中國海洋大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH137.52

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