【摘要】：本文根據(jù)現(xiàn)代液壓控制的理論,結(jié)合工業(yè)實(shí)際現(xiàn)狀并查閱了大量的文獻(xiàn)后,總結(jié)并提出了一個(gè)新的概念——流量比例分配,即采用一個(gè)油源同時(shí)驅(qū)動(dòng)多個(gè)執(zhí)行元件時(shí),根據(jù)不同的控制要求,按照預(yù)定的比值,給每個(gè)執(zhí)行元件供給不同的流量,使之獲得不同的速度、位移,從而滿足不同的工況。由此出發(fā),多缸同步控制、平面曲線跟蹤等都可以看成是流量比例分配技術(shù)的應(yīng)用特例。 本文查閱了國內(nèi)外相關(guān)文獻(xiàn)后,發(fā)現(xiàn)流量比例分配技術(shù),理論研究明顯滯后于應(yīng)用,還有很多問題尚未明確定論。本文針對(duì)上述問題對(duì)流量比例分配方式進(jìn)行了比較詳細(xì)的論述。 對(duì)流量比例分配的實(shí)現(xiàn)方式作了分類歸納,把開環(huán)流量比例分配和閉環(huán)流量比例分配兩種控制形式作了較為深入的研究,提出了可供實(shí)用的實(shí)現(xiàn)形式,并舉出了幾個(gè)流量比例分配的應(yīng)用場合。 建立了開環(huán)流量比例分配中的節(jié)流調(diào)速流量比例分配數(shù)學(xué)模型,并對(duì)數(shù)學(xué)模型進(jìn)行了討論,得出由于系統(tǒng)運(yùn)行過程中負(fù)載的變化而引起壓力波動(dòng)使系統(tǒng)的流量不穩(wěn)定。開環(huán)流量比例系統(tǒng)的精度僅取決于元件自身的精度,當(dāng)工況發(fā)現(xiàn)變化時(shí),不能自動(dòng)糾正,所以只能用于精度要求不高的低速小流量場合。而閉環(huán)流量比例分配系統(tǒng)可以自動(dòng)糾正誤差,所以精度要高于開環(huán)系統(tǒng)。 把閉環(huán)流量比例分配形式分為：單可變流量比例分配和雙可變流量比例分配兩種,兩種實(shí)現(xiàn)形式都可用多種類型的閥作為控制閥,本文選用電液比例閥作為主控閥,首先建立了電液比例方向節(jié)流閥的數(shù)學(xué)模型,然后分別對(duì)兩種分配形式進(jìn)行了建模,并分析了提高各自控制精度的實(shí)現(xiàn)方法和合理的控制策略。最后,得出閉環(huán)控制可應(yīng)用于高精度的控制場合。 根據(jù)前面研究成果,本文將流量比例分配技術(shù)應(yīng)用到了平面雙自由度位置伺服控制系統(tǒng)中,研究了任意平面曲線的伺服跟蹤方式的原理,推導(dǎo)了系統(tǒng)的數(shù)學(xué)模型,并對(duì)其跟蹤誤差進(jìn)行了分析。 最后選用Matlab中的Sumlink作為仿真工具,對(duì)平面位置伺服控制系統(tǒng)的動(dòng)態(tài)性能進(jìn)行了仿真分析。討論了PID調(diào)整器參數(shù)的整定方法,并通過試湊法找出了一組最有控制參數(shù),通過校正,達(dá)到了預(yù)期的控制要求。
[Abstract]:According to the theory of modern hydraulic control, combined with the actual situation of industry and consulting a large number of literature, this paper summarizes and puts forward a new concept, flow proportional distribution, that is, when one oil source is used to drive multiple executive components at the same time, According to different control requirements, according to the predetermined ratio, each actuator is supplied with different flow rate, so that it can obtain different speed and displacement, so as to meet different working conditions. Therefore, multi-cylinder synchronous control and plane curve tracking can be regarded as special cases of flow proportional distribution technology. After consulting the relevant literature at home and abroad, this paper finds that the theoretical research of traffic proportional distribution technology obviously lags behind the application, and there are still many problems that have not yet been clearly determined. In this paper, the proportional distribution mode of traffic is discussed in detail in view of the above problems. The realization methods of traffic proportional distribution are classified and summarized, and the two control forms of open loop flow proportional distribution and closed loop flow proportional distribution are deeply studied, and the practical realization forms are put forward. At the same time, several applications of traffic proportional distribution are given. The mathematical model of proportional distribution of throttle speed regulation flow in the proportional distribution of open circulation flow is established, and the mathematical model is discussed. It is concluded that the flow rate of the system is unstable due to the pressure fluctuation caused by the change of load during the operation of the system. The accuracy of the open loop flow ratio system only depends on the accuracy of the component itself. When the working conditions are found to change, it can not be corrected automatically, so it can only be used in low speed and small flow situations where the accuracy is not high. The closed-loop flow proportional distribution system can automatically correct the error, so the accuracy is higher than that of the open-loop system. The closed loop flow proportional distribution form is divided into two kinds: single variable flow proportional distribution and double variable flow proportional distribution. Many kinds of valves can be used as control valves in the two realization forms. In this paper, the electro-hydraulic proportional valve is selected as the main control valve. Firstly, the mathematical model of electro-hydraulic proportional directional throttle valve is established, and then the two distribution forms are modeled respectively, and the realization methods and reasonable control strategies to improve their control accuracy are analyzed. Finally, it is concluded that the closed-loop control can be applied to high precision control situations. According to the previous research results, this paper applies the flow proportional distribution technology to the plane two-degree-of-freedom position servo control system, studies the principle of servo tracking mode of arbitrary plane curve, and deduces the mathematical model of the system. The tracking error is analyzed. Finally, the dynamic performance of the plane position servo control system is simulated and analyzed by using Sumlink in Matlab as the simulation tool. This paper discusses the tuning method of PID regulator parameters, and finds out a set of most control parameters by trial and error method. Through correction, the expected control requirements are met.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH137

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