發(fā)布時(shí)間：2018-10-04 21:05

【摘要】：隨著社會(huì)的不斷發(fā)展,液壓控制技術(shù)和計(jì)算機(jī)控制技術(shù)都在不斷地飛速進(jìn)步。在現(xiàn)代液壓控制系統(tǒng)中,高速開(kāi)關(guān)閥作為一種控制元件,一般工作于開(kāi)關(guān)兩種狀態(tài),廣泛應(yīng)用在工業(yè)控制中。高速開(kāi)關(guān)閥具有控制精度高、響應(yīng)速度快、能量損失小以及提供數(shù)字接口便于計(jì)算機(jī)連接控制等特點(diǎn)。 高速開(kāi)關(guān)閥性能的優(yōu)劣決定著液壓系統(tǒng)的穩(wěn)定性,高效性和輸出流量變化快速性。由于高速開(kāi)關(guān)閥本身的特點(diǎn),大流量與快速響應(yīng)存在矛盾,國(guó)內(nèi)外主要研究集中圍繞著這個(gè)矛盾的解決展開(kāi)。在大多數(shù)液壓控制系統(tǒng)中,一般使用計(jì)量閥或者變量泵來(lái)控制。計(jì)量閥控制系統(tǒng)的特點(diǎn)是系統(tǒng)簡(jiǎn)單和控制帶寬大,但是其節(jié)流損失的能量非常大。變量泵因?yàn)橹划a(chǎn)生所需要的能量,所以比計(jì)量閥更有效率,但增加了額外的體積,呆滯效應(yīng)以及成本。因此,為了解決上述的問(wèn)題,本文提出了一種新型自旋式高速開(kāi)關(guān)閥。 新型旋轉(zhuǎn)高速開(kāi)關(guān)閥利用了流體自身動(dòng)能沖擊閥芯旋轉(zhuǎn),這樣就無(wú)須外加驅(qū)動(dòng),當(dāng)閥芯旋轉(zhuǎn)時(shí),流體選擇性的流向應(yīng)用(開(kāi))或流回油箱(關(guān))。開(kāi)關(guān)閥的PWM調(diào)節(jié)占空比由閥芯軸向位置決定,閥芯軸向位置的變化是利用了流體的靜壓力,即通過(guò)控制直流電機(jī)驅(qū)動(dòng)小型擺線泵把流體從閥芯的一端抽向另一端來(lái)實(shí)現(xiàn)。由于要實(shí)現(xiàn)軸向位移的精確控制和快速響應(yīng),本文在PID控制算法和模糊控制的基礎(chǔ)上提出了參數(shù)自整定模糊PID控制的算法原理,并建立了控制器模型,接著運(yùn)用Matlab/Simulink進(jìn)行了參數(shù)自整定模糊PID控制器與常規(guī)經(jīng)典PID控制效果對(duì)比性實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果驗(yàn)證了所設(shè)計(jì)的控制器提高了系統(tǒng)的響應(yīng)速度,改善了直流電機(jī)控制系統(tǒng)的特性。 根據(jù)新型旋轉(zhuǎn)高速開(kāi)關(guān)閥的模型,軸向位置和旋轉(zhuǎn)狀態(tài)的測(cè)量使用的是非接觸式光電傳感方法,閥芯旋轉(zhuǎn)時(shí)系統(tǒng)中存在周期性測(cè)量噪聲和過(guò)程噪聲。本文在研究了幾種基于卡爾曼濾波的算法基礎(chǔ)上,提出了使用改進(jìn)的卡爾曼濾波算法來(lái)對(duì)開(kāi)關(guān)閥系統(tǒng)中閥芯軸向位置及對(duì)閥芯旋轉(zhuǎn)位置和閥芯旋轉(zhuǎn)角速度進(jìn)行濾波和估計(jì),并建立了卡爾曼濾波模型,最后在Matlab/Simulink中對(duì)模型進(jìn)行仿真,實(shí)驗(yàn)結(jié)果驗(yàn)證了改進(jìn)型卡爾曼濾波算法的有效性。
[Abstract]:With the development of society, hydraulic control technology and computer control technology are making rapid progress. In modern hydraulic control system, high speed switch valve, as a control element, generally works in two states of switch, and is widely used in industrial control. The high speed switch valve has the advantages of high control precision, fast response speed, low energy loss and easy computer connection and control by providing digital interface. The performance of high-speed on-off valve determines the stability, efficiency and fast change of output flow of hydraulic system. Because of the characteristics of the high speed switch valve, there is a contradiction between the large flow rate and the fast response. The main research at home and abroad focuses on the solution of this contradiction. In most hydraulic control systems, metering valves or variable pumps are commonly used to control. The metering valve control system is characterized by simple system and large control bandwidth, but its throttling loss of energy is very large. Variable pumps are more efficient than metering valves because they produce only the required energy, but add additional volume, hysteresis, and cost. Therefore, in order to solve the above problems, a new spin high-speed switch valve is proposed in this paper. The new rotary high speed switch valve uses the kinetic energy of the fluid itself to impact the valve core rotation, so that there is no need for additional drive. When the valve core rotates, the fluid selective flow direction is applied (open) or flow back to the tank (close). The PWM duty cycle of the switch valve is determined by the axial position of the valve core. The change of the axial position of the valve core is based on the static pressure of the fluid, that is, the fluid is drawn from one end of the valve core to the other by controlling the small cycloidal pump driven by the DC motor. In order to realize the accurate control and fast response of axial displacement, this paper presents the algorithm principle of parameter self-tuning fuzzy PID control based on PID control algorithm and fuzzy control, and establishes the controller model. Then a comparative experiment of parameter self-tuning fuzzy PID controller and conventional classical PID controller is carried out by using Matlab/Simulink. The experimental results show that the designed controller improves the response speed of the system and the characteristics of the DC motor control system. According to the model of the new rotary high speed switch valve, the non-contact photoelectric sensing method is used to measure the axial position and the rotating state. The periodic measurement noise and the process noise exist in the system when the valve core rotates. Based on the study of several Kalman filtering algorithms, an improved Kalman filtering algorithm is proposed to filter and estimate the axial position of the spool, the rotation position of the spool and the rotational angular velocity of the spool in the switch valve system. Finally, the model is simulated in Matlab/Simulink. The experimental results show that the improved Kalman filter algorithm is effective.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH137.52

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