本文選題：運(yùn)動(dòng)成形法 + 動(dòng)壓比��； 參考：《山東大學(xué)》2014年博士論文

【摘要】：研究了基于運(yùn)動(dòng)合成的橢圓內(nèi)曲面成形方法,重點(diǎn)開(kāi)展靜壓主軸橢圓軸心軌跡控制技術(shù)研究。構(gòu)建了基于新型靜壓軸承和新型伺服節(jié)流閥的液壓控制系統(tǒng)；研究了新型軸承—轉(zhuǎn)子系統(tǒng)及新型伺服閥節(jié)流系統(tǒng)的動(dòng)力學(xué)特性和控制特性；研究了橢圓軸心軌跡的控制技術(shù)和方法。為橢圓內(nèi)曲面加工新方法的實(shí)現(xiàn)奠定了理論基礎(chǔ)。 開(kāi)展了橢圓內(nèi)曲面運(yùn)動(dòng)成形基礎(chǔ)理論研究,并詳細(xì)闡述了其實(shí)現(xiàn)方案和成形原理。研究了多種軸心公轉(zhuǎn)軌跡與刀尖自轉(zhuǎn)軌跡進(jìn)行合成時(shí)形成橢圓刀尖軌跡的必要與充分條件；研究了刀具初始相位角對(duì)形成橢圓刀尖軌跡的影響；給出了多種軸心公轉(zhuǎn)軌跡和不同刀具初始相位角下形成橢圓刀尖軌跡的特征和控制方程。 針對(duì)橢圓軸心軌跡的空間要求,開(kāi)展了橢圓廓形靜壓軸承的理論研究,給出了其雷諾方程和流量連續(xù)性方程等基礎(chǔ)性方程及計(jì)算方法。提出了動(dòng)壓比的概念來(lái)衡量封油面上動(dòng)壓效應(yīng)的大小,并對(duì)主軸軸心在新型靜壓軸承內(nèi)運(yùn)動(dòng)軌跡為小橢圓時(shí)的動(dòng)壓比進(jìn)行了仿真計(jì)算。利用偏導(dǎo)數(shù)法研究了半徑間隙和橢圓度對(duì)新型靜壓軸承靜動(dòng)態(tài)特性參數(shù)的影響。 設(shè)計(jì)了一種基于壓電陶瓷的新型伺服節(jié)流閥,可以彌補(bǔ)普通電液伺服閥頻響較低的缺點(diǎn)�；谛滦陀颓磺短资捷S承及新型伺服節(jié)流閥的結(jié)構(gòu),構(gòu)建了軸心運(yùn)動(dòng)軌跡的液壓控制系統(tǒng)。對(duì)新型節(jié)流閥的流量公式進(jìn)行了仿真擬合。利用基于貝葉斯正則算法的BP神經(jīng)網(wǎng)絡(luò)對(duì)壓電陶瓷的位移輸出進(jìn)行了仿真預(yù)測(cè)。根據(jù)動(dòng)壓效應(yīng)的研究結(jié)果對(duì)封油面上的油膜力分布進(jìn)行線性化處理,利用流量平衡方程以及高斯—勒讓德積分公式得到了承載油腔以及控制油腔的壓力計(jì)算公式,這種簡(jiǎn)化計(jì)算方法既簡(jiǎn)單又可以大大節(jié)省計(jì)算時(shí)間。仿真計(jì)算了軸心期望運(yùn)動(dòng)軌跡與新型節(jié)流閥控制電壓的定量關(guān)系。 利用最優(yōu)控制理論對(duì)主軸軸心公轉(zhuǎn)軌跡為橢圓的問(wèn)題進(jìn)行了最優(yōu)控制建模。建立了基于新型靜壓軸承的軸承—轉(zhuǎn)子系統(tǒng)的動(dòng)力學(xué)模型,并以軸心位置坐標(biāo)為待優(yōu)化的狀態(tài)變量,控制外力(這里為油膜合力)為控制變量,以待優(yōu)化的軸心坐標(biāo)與期望軸心坐標(biāo)的偏差作為性能指標(biāo),得到系統(tǒng)的最優(yōu)控制模型。求解勒讓德零點(diǎn)以及對(duì)狀態(tài)變量和控制變量近似化,通過(guò)高斯偽譜法將最優(yōu)控制問(wèn)題又轉(zhuǎn)化成了非線性規(guī)劃問(wèn)題,最后通過(guò)序列二次規(guī)劃法仿真得到了軸心運(yùn)動(dòng)軌跡的最優(yōu)控制參數(shù)。仿真結(jié)果表明軸心的優(yōu)化位置坐標(biāo)與期望位置坐標(biāo)非常接近,高斯偽譜法精度較高且可以應(yīng)用在軸心運(yùn)動(dòng)軌跡的最優(yōu)控制上。 對(duì)主軸軸心的運(yùn)動(dòng)軌跡進(jìn)行了開(kāi)環(huán)控制仿真研究。利用軸心期望軌跡與新型節(jié)流閥控制電壓的定量關(guān)系,通過(guò)歐拉方法迭代得到軸心的開(kāi)環(huán)控制仿真軌跡。仿真得到軸心軌跡為不同橢圓度的橢圓時(shí)開(kāi)環(huán)控制軌跡圖,并對(duì)有瞬態(tài)干擾力時(shí)開(kāi)環(huán)控制的軸心運(yùn)動(dòng)軌跡也進(jìn)行了仿真。仿真結(jié)果表明開(kāi)環(huán)控制方法不但可以控制軸心運(yùn)動(dòng)軌跡為不同橢圓度的小橢圓,還可以在系統(tǒng)受到干擾時(shí)保持較好的魯棒性。 對(duì)新型壓電伺服節(jié)流閥以及油腔嵌套式軸承系統(tǒng)分別進(jìn)行了動(dòng)力學(xué)建模,得到系統(tǒng)的傳遞函數(shù),并進(jìn)行了前饋解耦�；谳S心期望運(yùn)動(dòng)軌跡的周期性特點(diǎn),采用重復(fù)控制算法對(duì)系統(tǒng)進(jìn)行了閉環(huán)控制仿真。在MATLAB的simulink環(huán)境下對(duì)系統(tǒng)進(jìn)行建模,利用設(shè)計(jì)的重復(fù)控制器對(duì)軸心運(yùn)動(dòng)軌跡進(jìn)行了閉環(huán)控制的仿真研究。仿真結(jié)果表明重復(fù)控制算法控制軸心跟蹤期望軌跡時(shí)具有較高的精度。
[Abstract]:The elliptical inner surface forming method based on motion synthesis is studied, and the trajectory control technology of the elliptical axis of the hydrostatic spindle is studied. The hydraulic control system based on the new type of static pressure bearing and the new servo throttle valve is constructed, and the dynamic characteristics and control characteristics of the new type bearing rotor system and the new servo valve throttle system are studied. The control technology and method of elliptical axis trajectory were studied, which laid a theoretical foundation for the realization of new machining method for elliptical inner surface.
The basic theory of elliptical inner surface movement forming is studied, and its realization scheme and forming principle are described in detail. The necessary and sufficient conditions for forming the trajectory of elliptical blade tip are studied, and the influence of the initial phase angle of the tool on the formation of the ellipse tip trajectory is studied. The characteristics and governing equations of elliptical tool tip trajectories under different axis orbit and different tool initial phase angle are obtained.
In view of the spatial requirements of the elliptical axis trajectory, the theoretical study of the elliptical profile hydrostatic bearing is carried out. The basic equations and calculation methods, such as the Reynolds equation and the flow continuity equation, are given. The concept of dynamic pressure ratio is proposed to measure the size of the dynamic pressure effect on the sealing surface, and the motion trajectory of the spindle axis in a new hydrostatic bearing is given. The dynamic pressure ratio of small ellipse is simulated. The influence of radius clearance and ellipticity on the static and dynamic parameters of the new hydrostatic bearing is studied by partial derivative method.
A new type of servo throttle valve based on piezoelectric ceramics is designed, which can make up for the low frequency response of the ordinary electro-hydraulic servo valve. Based on the new type of oil chamber nested bearing and the new servo throttle valve structure, the hydraulic control system of the axis motion trajectory is constructed. The flow formula of the new throttle valve is simulated and fitted. The BP neural network of the Juliu regular algorithm is used to simulate the displacement output of the piezoelectric ceramic. According to the research results of the dynamic pressure effect, the oil film force distribution on the oil sealing surface is linearized, and the pressure calculation formula of the bearing oil cavity and the control oil cavity is obtained by using the flow balance equation and the Gauss Legendre integral formula. The simplified calculation method is simple and saves time greatly. The quantitative relationship between the desired trajectory and the control voltage of the new throttle valve is simulated and calculated.
The optimal control theory is used to model the elliptical trajectory of spindle axis. A dynamic model of the bearing rotor system based on a new type of hydrostatic bearing is established, and the axis position coordinates are used as the state variables to be optimized. The control variable is controlled by the external force (the oil film joint force) is the control variable to be optimized. The optimal control model of the system is obtained by the deviation of the coordinate and the expected axis coordinate. The Legendre zero point is solved and the state variable and the control variable are approximated. The optimal control problem is transformed into the nonlinear programming problem by the Gauss pseudospectral method. Finally, the axis center motion rail is obtained by the simulation of the sequence two times programming method. The simulation results show that the optimal position coordinates of the axis are very close to the desired position coordinates, and the Gauss pseudospectral method has higher precision and can be applied to the optimal control of the axis motion trajectory.
The opening loop control simulation of the axis of the spindle is studied. Using the quantitative relationship between the desired trajectory of the axis and the control voltage of the new throttle valve, the simulation trajectory of the open loop control of the axis is obtained by the Euler method. The trajectory of the open loop control of the axis of the axis with the ellipse of different ellipticity is obtained, and the transient interference force is also obtained. The axis motion trajectory of the time open loop is also simulated. The simulation results show that the open loop control method can not only control the axis motion trajectory as a small ellipse with different ellipticity, but also keep good robustness when the system is disturbed.
The dynamic modeling of the new piezoelectric servo throttle valve and the oil chamber nested bearing system is carried out respectively. The transfer function of the system is obtained, and the feedforward decoupling is carried out. Based on the periodicity of the desired trajectory of the axis, the system is simulated by the repetitive control algorithm. The system is introduced to the system under the Simulink environment of MATLAB. The simulation study of the closed loop control of the axis motion trajectory is carried out by the design of a repetitive controller. The simulation results show that the repetitive control algorithm has a high accuracy in controlling the desired trajectory of the axis tracking the desired trajectory.

【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH137;TH133.36;TH134

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