本文選題：負載口獨立控制 + 可編程閥�。� 參考：《浙江大學》2017年博士論文

【摘要】：隨著工程機械和數(shù)字液壓控制技術(shù)的發(fā)展,智能化工程機械與數(shù)字液壓元件的結(jié)合成為未來的研究熱點�，F(xiàn)有工程機械專用多路閥閥體結(jié)構(gòu)復雜、沒有壓力流量在線反饋,很難實現(xiàn)數(shù)字化控制;采用單閥芯調(diào)節(jié)進出油口節(jié)流面積,能量損耗高。本文發(fā)明了一種負載口獨立控制可編程閥替代工程機械上多路換向閥,其集成了數(shù)字信號與負載口獨立控制技術(shù)的優(yōu)點,增加了系統(tǒng)控制自由度,減小了液壓執(zhí)行器背壓,提高了工程機械液壓系統(tǒng)的操控性并降低了能耗。同時,負載口獨立控制可編程閥閥體結(jié)構(gòu)簡單,方便實現(xiàn)液壓元件的模塊化批量生產(chǎn)。本學位論文針對負載口獨立控制可編程閥的創(chuàng)新設計,壓力流量特性以及在挖掘機上的應用開展研究,選題具有重要的學術(shù)研究價值和很強的工程應用前景。本文所研制的負載口獨立控制可編程閥首創(chuàng)設計了兩個高速開關(guān)閥作為先導閥控制主閥芯組成一個閥控單元,由兩個閥控單元分別控制液壓執(zhí)行器(液壓缸、液壓馬達)的進油口和出油口,閥控單元內(nèi)設置有壓力傳感器、主閥芯位移傳感器和CAN總線接口在線測量并反饋壓力流量,可提高液壓系統(tǒng)的控制精度。本文建立了以比例閥為先導和高速開關(guān)閥為先導的負載口獨立控制可編程閥的數(shù)學模型和數(shù)學仿真模型,研究了高速開關(guān)閥的頻率和輸出先導壓力對可編程閥主級的影響。高速開關(guān)閥頻率越高,先導控制流量調(diào)整越快,在調(diào)整時間內(nèi)先導控制腔壓力變化幅值越小,主閥芯位移與輸出流量越穩(wěn)定;適當提高高速開關(guān)閥輸出先導壓力可以增加作用在主閥芯上的先導控制力,可使主閥芯運動加速。通過仿真和試驗,可對比比例先導和高速開關(guān)先導兩種形式可編程閥的靜動態(tài)性能指標,一方面,靜態(tài)特性表明高速開關(guān)先導可編程閥對主閥口死區(qū)非線性因素不敏感,導閥流量增益較比例先導閥更高,而比例先導可編程閥有更好的線性度和穩(wěn)定性;另一方面,動態(tài)響應結(jié)果表明高速開關(guān)先導可編程閥的頻率響應比比例先導可編程閥提高了 20%。本文提出了一種以液壓執(zhí)行器兩腔壓力與負載速度反饋的背壓自適應式雙級解耦壓力流量控制方法�？删幊涕y第一級控制器解耦控制液壓執(zhí)行器進出口壓力,保證執(zhí)行器背壓腔的壓力始終穩(wěn)定在1MPa;第二級控制器以執(zhí)行器兩腔壓力和執(zhí)行器的運動速度為輸入,可編程閥的先導閥控制信號為輸出,分配可編程閥控液壓系統(tǒng)的壓力流量。本文對比分析了液壓缸在20mm/s和l00mm/s的階躍信號下位移、兩腔壓力和控制信號的情況,仿真和試驗結(jié)果表明,液壓缸在20mm/s的階躍信號下,速度調(diào)整時間為0.2s,流量調(diào)整時間為0.25s,速度穩(wěn)態(tài)誤差小于2.5%;液壓缸在100mm/s的階躍信號下,速度調(diào)整時間為0.5s,流量調(diào)整時間為0.55s,速度穩(wěn)態(tài)誤差為5%。結(jié)合負載口獨立閥控系統(tǒng)特征,研究了多執(zhí)行器位移與速度的控制精度。試驗表明,在跟蹤1Hz、±1Omm的位移信號下,可編程閥控制器的位移誤差在±2mm以內(nèi),且位移控制優(yōu)于速度控制。本文設計了負載口獨立控制可編程閥挖掘機液壓新系統(tǒng),該系統(tǒng)無需配置各種不同的功能閥,僅通過改變負載口獨立控制可編程閥的程序,即可實現(xiàn)挖掘機的典型液壓系統(tǒng)回路功能,如:正流量控制、行走、回轉(zhuǎn)、流量優(yōu)先和流量再生等。新系統(tǒng)用電信號替代了傳統(tǒng)液壓手柄控制信號和梭閥網(wǎng)絡,大幅簡化了原有挖掘機液壓系統(tǒng)。本文還提出了一種適用于負載口獨立控制可編程閥液壓挖掘機系統(tǒng)的時間最優(yōu)軌跡規(guī)劃方法對挖掘機鏟斗齒尖的軌跡進行規(guī)劃,可實現(xiàn)挖掘機直線自動挖掘,在限制鏟斗執(zhí)行器最大速度15mm/s的情況下,行程3.7m的直線作業(yè),能夠在18.4s內(nèi)完成工作,作業(yè)效率提高了 15.64%。本論文的主要研究內(nèi)容如下:第一章,指出了論文的研究目的和意義。介紹了可編程閥與負載口獨立控制技術(shù)的研究背景和國內(nèi)外發(fā)展現(xiàn)狀。根據(jù)技術(shù)特點,對挖掘機智能控制系統(tǒng)的研究進行分類。確定了本文的研究內(nèi)容與研究難點。第二章,提出負載口獨立控制可編程閥的設計目標和實現(xiàn)功能。分別對以比例閥為先導和高速開關(guān)閥為先導的兩種可編程閥數(shù)學與仿真建模,仿真與試驗分析了高速開關(guān)閥參數(shù)對主閥性能的影響。通過試驗對比了比例先導可編程閥與高速開關(guān)先導可編程閥的靜態(tài)和動態(tài)性能。本章還搭建了可編程閥綜合性能測試試驗臺,用于測試可編程閥的各項性能指標。第三章,提出了 一種可以切換原有挖掘機液壓系統(tǒng)和負載口獨立控制可編程閥液壓系統(tǒng)的挖掘機改造方案。通過改變可編程閥的功能,實現(xiàn)挖掘機的正流量控制、行走、回轉(zhuǎn)、流量優(yōu)先與流量再生功能。各典型回路所用的可編程閥完全相同,僅通過更改程序?qū)崿F(xiàn)功能的選擇和切換。第四章,首先,建立負載口獨立控制可編程閥液壓系統(tǒng)模型,設計數(shù)字壓力補償器保證閥口壓差恒定,利用閥口壓力傳感器和閥芯位移傳感器得到計算反饋流量。其次,提出了一種雙級解耦壓力流量控制方法,第一級控制器解耦控制進出油口壓力,第二級控制器分配液壓系統(tǒng)壓力流量。通過仿真與試驗,對比了執(zhí)行器工作在低速和高速時的調(diào)整時間和穩(wěn)態(tài)特性。最后,討論了多執(zhí)行器復合運動時位移和速度的控制精度。第五章,建立負載口獨立控制可編程閥系統(tǒng)挖掘機虛擬仿真平臺和運動學模型。通過挖掘機運動學的正逆解,確定挖掘機鏟斗齒間與各個執(zhí)行器行程之間的對應關(guān)系。以時間最優(yōu)軌跡規(guī)劃方法對挖掘機鏟斗齒尖的軌跡進行規(guī)劃,求解挖掘機回轉(zhuǎn)、動臂、斗桿和鏟斗的位移、速度和加速度。第六章,對本論文的研究工作進行總結(jié),給出了主要的研究結(jié)論,指出了課題的創(chuàng)新點,并對未來的研究工作進行展望。
[Abstract]:With the development of engineering machinery and digital hydraulic control technology, the combination of intelligent engineering machinery and digital hydraulic components has become a hot spot in the future. The existing multi-channel valve body of the existing engineering machinery is complex, it is difficult to realize digital control without pressure flow online feedback, and the throttle area and energy of the inlet and outlet are adjusted by single valve core. The loss is high. In this paper, a multi-channel valve replacement valve is invented, which integrates the advantages of the digital signal and the independent control technology of the load port. It increases the control freedom of the system, reduces the back pressure of the hydraulic actuator, improves the manipulability of the hydraulic system of the engineering machinery and reduces the energy consumption. The load port independent control programmable valve body is simple in structure and facilitates the modular production of hydraulic components. This dissertation focuses on the innovative design of the programmable valve, the characteristics of pressure flow and the application on the excavator. This thesis has a heavy academic value and a strong engineering application. Two high-speed on-off valves are designed as a pilot valve to control the main valve core to form a valve control unit. The valve control unit controls the inlet and outlet of the hydraulic actuator (hydraulic cylinder, hydraulic motor), and the pressure sensor is set in the valve control unit and the main valve core displacement is set in the valve control valve. The sensor and the CAN bus interface can measure and feed back the pressure flow on line, which can improve the control precision of the hydraulic system. In this paper, a mathematical model and a mathematical simulation model of a programmable valve with a proportional valve as the pilot and a high speed switch valve are established. The frequency and the output pilot pressure of the high speed switch valve are studied. The higher the frequency of the valve is, the higher the frequency of the high speed switch valve, the faster the flow adjustment of the pilot control, the smaller the amplitude of the pressure change in the adjustment time, the more stable the displacement of the main valve core and the output flow, and the appropriate increase of the pilot control force on the main valve core by increasing the output pilot pressure of the high speed switch valve, and the movement of the main valve core can be moved. Acceleration. Through simulation and test, the static and dynamic performance indicators of two forms of programmable valves are compared. On the one hand, the static characteristics show that the high speed switch pilot valve is insensitive to the nonlinear factors of the dead zone of the main valve port, the flow gain of the guide valve is higher than that of the pilot valve, and the proportional pilot valve is more than the pilot valve. Good linearity and stability; on the other hand, the dynamic response results show that the frequency response of the high speed switch pilot valve is higher than that of the proportional pilot valve. 20%. proposed a back pressure adaptive double decoupling pressure flow control method using the back pressure of the hydraulic actuator two cavity pressure and the load speed. The programmable valve first is first. The level controller decouple control the pressure of the hydraulic actuator import and export, ensure the pressure of the actuator back pressure is always stable in 1MPa; the second stage controller takes the actuator two chamber pressure and the actuator's moving speed as input, the pilot valve control signal of the programmable valve is output, and the pressure flow of the programmable valve controlled hydraulic system is allocated. The displacement of the step signal of the hydraulic cylinder in 20mm/s and l00mm/s, the two cavity pressure and the control signal are analyzed. The simulation and test results show that the speed adjustment time is 0.2S under the step signal of 20mm/s, the adjustment time of the flow is 0.25s, the speed steady error is less than 2.5%, and the speed adjustment time is under the step signal of the hydraulic cylinder under the 100mm/s step signal. For 0.5s, the flow adjustment time is 0.55s and the velocity steady-state error is 5%. combined with the characteristics of the independent valve control system of the load port. The control precision of the displacement and speed of the multi actuator is studied. The experiment shows that the displacement error of the programmable valve controller is less than 2mm under the tracking of 1Hz and the displacement signal of + 1Omm, and the displacement control is superior to the speed control. This paper is designed in this paper. The new hydraulic system of the programmable valve excavator is controlled by the independent load port. The system can realize the typical hydraulic system circuit function of the excavator by changing the program of independent control of the programmable valve by changing the load port, such as positive flow control, walk, turn, flow priority and flow regeneration. The electric signal replaced the traditional hydraulic control signal and the shuttle valve network, and greatly simplified the original excavator hydraulic system. This paper also proposed a time optimal trajectory planning method for the hydraulic excavator system for the independent control of the load port, and the path of the bucket tooth tip of the excavator was planned, and the straight line of the excavator could be realized. Automatic mining, in the case of limiting the maximum speed of 15mm/s of the bucket actuator, a straight line operation of 3.7m, can complete the work in 18.4s. The work efficiency improves the main research content of this paper as follows: Chapter 1, the purpose and significance of the research are pointed out. The research on the independent control technology of the programmable valve and the load port is introduced. According to the technical characteristics, the research on the intelligent control system of excavator is classified. The research contents and research difficulties of this paper are determined. Second chapter, the design goal and the realization function of the programmable valve are put forward, and the two types of the pilot of the proportional valve as the pilot and the high speed switch valve are respectively put forward. The influence of the parameters of the high speed switch valve on the performance of the main valve is analyzed by the mathematical and simulation modeling of the programmable valve. The static and dynamic performance of the programmable valve of the proportional pilot and the high speed switch pilot is compared through the experiment. The test test rig of the programmable valve's comprehensive performance is also built in this chapter, which is used to test the various types of the programmable valve. In the third chapter, a transformation scheme of excavator is proposed, which can switch the hydraulic system of the original excavator and the load port to control the hydraulic system of the programmable valve. By changing the function of the programmable valve, the function of the positive flow control, walking, turning, flow priority and flow regeneration of the excavator is realized. The range valve is exactly the same, only by changing the program to realize the choice and switch of the function. In the fourth chapter, first, the hydraulic system model of the load port independent control programmable valve is set up, the digital pressure compensator is designed to guarantee the constant pressure difference of the valve mouth, and the valve pressure sensor and the valve core displacement sensor are used to calculate the feedback flow. Secondly, a kind of double is proposed. The first stage decoupling control method, the first stage controller decoupling control in and out of the oil inlet pressure, the second level controller distributes the pressure flow of the hydraulic system. Through the simulation and test, the adjustment time and steady state characteristics of the actuator at low speed and high speed are compared. Finally, the control of the displacement and speed of the multiple actuator is discussed. In the fifth chapter, the virtual simulation platform and kinematics model of the independent control programmable valve system excavator are set up. Through the positive inverse solution of the excavator kinematics, the corresponding relationship between the bucket teeth of the excavator and the various actuators is determined. The trajectory of the bucket tooth tip of the excavator is planned by the time optimal trajectory planning method. To solve the displacement, speed and acceleration of the excavator revolving, the arm, the bucket and the bucket. Chapter sixth, summarizes the research work of this paper, gives the main research conclusions, points out the innovation points of the project, and looks forward to the future research work.
【學位授予單位】：浙江大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TU621

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相關(guān)博士學位論文 前2條

1 王雙;負載口獨立控制可編程閥及其在智能挖掘機控制中的應用[D];浙江大學;2017年

2 朱騫;混合動力挖掘機能量管理系統(tǒng)研究[D];浙江大學;2017年

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本文編號：1945959