【摘要】：數(shù)字液壓缸是一種將控制滑閥內(nèi)置于液壓缸,采用步進(jìn)電機(jī)作為滑閥的電-機(jī)械轉(zhuǎn)換部分,以步進(jìn)電機(jī)給定脈沖為輸入信號,以液壓缸活塞桿輸出的步進(jìn)位移為輸出信號,通過精密滾珠絲桿等機(jī)構(gòu)反饋液壓缸活塞桿位置的機(jī)液數(shù)字控制裝置。與傳統(tǒng)伺服閥或比例閥控制的液壓缸構(gòu)成的系統(tǒng)相比,其具有結(jié)構(gòu)緊湊,工作穩(wěn)定性好,抗干擾能力強(qiáng),性價比高,可直接與數(shù)字計算機(jī)相連構(gòu)成位置或速度控制系統(tǒng)等優(yōu)點(diǎn)。 但數(shù)字液壓缸的起動頻率對該裝置性能有直接的影響,不穩(wěn)定的起動頻率會引起數(shù)字液壓缸低頻起動時的抖動現(xiàn)象和高頻起動時的丟步現(xiàn)象；此外在采用單出桿液壓缸時,存在因活塞桿伸出和縮回時速度不同而引起控制回環(huán)增益的不對稱的問題。這些問題嚴(yán)重影響數(shù)字液壓缸的靜動態(tài)特性。針對上述問題,本文建立了步進(jìn)電機(jī)穩(wěn)定起動頻率的數(shù)學(xué)模型,分析了起動頻率對數(shù)字液壓缸性能的影響；并采用非對稱滑閥控制非對稱缸的結(jié)構(gòu),解決了該裝置回環(huán)增益不對稱的問題。 文章首先在比較分析現(xiàn)存的幾種數(shù)字液壓缸的基礎(chǔ)上,確定了滑閥驅(qū)動式數(shù)字液壓缸的總體結(jié)構(gòu)方案；其次,總結(jié)了影響數(shù)字液壓缸穩(wěn)定起動頻率的相關(guān)因素并討論了步進(jìn)電機(jī)起動頻率的計算方法。通過對數(shù)字液壓缸矩頻特性的研究,建立了數(shù)字液壓缸穩(wěn)定起動頻率的數(shù)學(xué)模型。這為準(zhǔn)確地計算數(shù)字液壓缸的穩(wěn)定起動頻率提供了理論依據(jù)。最后,建立了非對稱滑閥控制非對稱缸的滑閥驅(qū)動式數(shù)字液壓缸的數(shù)學(xué)模型。并利用MATLAB仿真軟件對其在不同結(jié)構(gòu)參數(shù)下進(jìn)行仿真分析。結(jié)果表明該型數(shù)字油缸具有較好的動態(tài)特性和穩(wěn)態(tài)精度。其定位精度可達(dá)0.04mm/pulse。
[Abstract]:The digital hydraulic cylinder is a kind of hydraulic cylinder in which the control slide valve is built into the hydraulic cylinder, the step motor is used as the electromechanical conversion part of the slide valve, the input signal is the given pulse of the stepping motor, and the step displacement output from the piston rod of the hydraulic cylinder is taken as the output signal. A machine-hydraulic digital control device that feeds back the position of the piston rod of a hydraulic cylinder through a precise ball screw and other mechanisms. Compared with the hydraulic cylinder controlled by traditional servo valve or proportional valve, the system has the advantages of compact structure, good stability, strong anti-jamming ability, high price-to-performance ratio, and can be connected directly with digital computer to form a position or speed control system. However, the starting frequency of the digital hydraulic cylinder has a direct impact on the performance of the device. The unstable starting frequency will cause the dithering phenomenon of the digital hydraulic cylinder during the low-frequency start-up and the loss of the step phenomenon during the high-frequency start-up. In addition, when the hydraulic cylinder with a single exit rod is used, the asymmetry of the gain of the control loop is caused by the different speed of the piston rod extending and retraction. These problems seriously affect the static and dynamic characteristics of the digital hydraulic cylinder. In order to solve the above problems, the mathematical model of steady starting frequency of stepping motor is established in this paper, and the influence of starting frequency on the performance of digital hydraulic cylinder is analyzed. The asymmetrical sliding valve is used to control the asymmetrical cylinder structure, which solves the problem of asymmetric return ring gain of the device. Based on the comparison and analysis of several existing digital hydraulic cylinders, the overall structure scheme of the slide valve-driven digital hydraulic cylinders is determined in this paper. Secondly, the related factors affecting the steady starting frequency of the digital hydraulic cylinder are summarized, and the calculation method of the starting frequency of the stepping motor is discussed. By studying the moment-frequency characteristic of digital hydraulic cylinder, a mathematical model of steady starting frequency of digital hydraulic cylinder is established. This provides a theoretical basis for the accurate calculation of the steady starting frequency of the digital hydraulic cylinder. Finally, the mathematical model of the digital hydraulic cylinder driven by the unsymmetrical slide valve is established. MATLAB simulation software is used to simulate and analyze it under different structural parameters. The results show that the digital cylinder has good dynamic characteristics and steady-state accuracy. The positioning accuracy can reach 0.04 mm.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TH137.51

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