永磁伺服電機驅(qū)動的液壓動力系統(tǒng)性能及測控技術(shù)研究
發(fā)布時間：2018-07-30 08:25
【摘要】：針對液壓動力系統(tǒng)中定速定量泵液壓源能耗高、效率低，定速變量泵系統(tǒng)結(jié)構(gòu)復(fù)雜、抗污染能力差、調(diào)速范圍窄，以及異步變頻電機驅(qū)動液壓系統(tǒng)慣性大、響應(yīng)慢、低速性能差、電機功率因數(shù)低等缺點，本文提出了基于永磁同步伺服電機驅(qū)動定量泵的液壓動力源結(jié)構(gòu)形式，將永磁電機調(diào)速精度高、調(diào)速范圍寬、動態(tài)特性好、功率因數(shù)高等優(yōu)點與齒輪泵抗油液污染能力強、工作可靠性高、結(jié)構(gòu)緊湊、價格低廉等優(yōu)點相結(jié)合。在充分研究伺服電機電壓、電流、轉(zhuǎn)速、轉(zhuǎn)矩，定量泵的流量、壓力、排量、泄漏量，以及油液的溫度、粘度、彈性模量等系統(tǒng)參數(shù)的基礎(chǔ)上，，提出了定量泵輸出流量、壓力的軟測量方法；針對不同負(fù)載類型實現(xiàn)了伺服驅(qū)動液壓動力系統(tǒng)的流量控制、壓力控制、恒功率控制；提出了不同工況下液壓動力系統(tǒng)效率狀態(tài)圖示分析方法，為液壓動力系統(tǒng)高效節(jié)能運行、負(fù)載匹配、負(fù)載自適應(yīng)控制提供了新思路、新方法。本文完成的主要研究與創(chuàng)新工作： （1）根據(jù)永磁同步伺服電機的工作原理，以齒輪泵為例，利用解析法建立了伺服電機驅(qū)動定量泵液壓動力系統(tǒng)數(shù)學(xué)模型和比例溢流閥加載模型；從系統(tǒng)層面對液壓動力系統(tǒng)的運行參數(shù)、耦合機理、約束條件進行分析，為液壓動力系統(tǒng)的控制模式、流量-壓力間接測量、負(fù)載效率匹配特性研究奠定理論基礎(chǔ)。 （2）根據(jù)液壓動力系統(tǒng)流量、壓力、轉(zhuǎn)速、轉(zhuǎn)矩電流、泄漏系數(shù)、轉(zhuǎn)動慣量等參數(shù)的耦合機理，建立了流量、壓力的軟測量模型，通過容易測量的轉(zhuǎn)速、轉(zhuǎn)矩電流等相關(guān)參數(shù)實現(xiàn)了流量、壓力的間接測量，根據(jù)油液的粘溫粘壓特性對流量測量模型進行補償，提高流量測量模型精度。實驗和仿真表明：軟測量模型具有足夠的精度和動態(tài)響應(yīng)速度，保證流量控制精確性、快速性和穩(wěn)定性指標(biāo)。 （3）在分析了流量開環(huán)控制、流量閉環(huán)PID控制、前饋補償PID控制和模糊參數(shù)PID控制的基礎(chǔ)上，提出了流量的模型與條件PID補償控制，將模型開環(huán)控制響應(yīng)及時、容易穩(wěn)定的特點與PID控制能夠消除系統(tǒng)穩(wěn)態(tài)誤差的特點相結(jié)合，并且可通過PID控制中條件閾值的設(shè)定有效減小系統(tǒng)超調(diào)量和調(diào)整時間，實現(xiàn)了流量控制的快速性、準(zhǔn)確性和穩(wěn)定性要求。 （4）根據(jù)工程中廣泛使用的恒壓變量泵技術(shù)性能指標(biāo)，提出了伺服驅(qū)動液壓源的壓力負(fù)反饋控制和直接轉(zhuǎn)矩壓力開環(huán)控制，實驗表明：壓力負(fù)反饋控制能夠穩(wěn)定系統(tǒng)壓力，消除系統(tǒng)誤差；直接轉(zhuǎn)矩壓力開環(huán)控制響應(yīng)速度快，穩(wěn)定性好；而帶有粘滯阻尼補償?shù)闹苯愚D(zhuǎn)矩壓力開環(huán)控制既保持了原有轉(zhuǎn)矩壓力控制的快速性、準(zhǔn)確性的同時，還具有足夠的精度，能夠滿足負(fù)載對恒壓變流量的需求。 （5）對恒功率變量泵控制特性進行分析，建立了永磁電機驅(qū)動定量泵恒功率控制模型，提出了電機的弱磁升速控制，仿真與實驗均表明：液壓源恒功率、電機弱磁升速控制時能夠充分利用電機的功率，并且能夠自動適應(yīng)負(fù)載流量、壓力恒功率變化需求，實現(xiàn)液壓動力源輸出高壓小流量和低壓大流量控制。 （6）對感應(yīng)異步電機和永磁同步電機驅(qū)動液壓動力源的能耗、調(diào)速特性、功率匹配、響應(yīng)特性等主要技術(shù)性能進行了對比分析；通過工況等效變換研究了負(fù)載效率匹配特性，建立了基于RGB的效率二維彩色表示法和基于疊加法的效率二維灰度表示法，為負(fù)載匹配選型、效率工況區(qū)間劃分提供了直觀的圖示化新方法。
[Abstract]:In view of the disadvantages of high energy consumption, low efficiency, low efficiency, low efficiency, low pollution resistance, narrow speed regulating range, high inertia of the hydraulic system driven by asynchronous frequency conversion motor, slow response, poor low speed performance and low power factor of the motor, this paper proposes a permanent magnet synchronous servo motor drive in this paper. The hydraulic power source structure of the dynamic quantitative pump has the advantages of high speed regulating precision, wide speed range, good dynamic characteristic, high power factor, high power factor, high reliability of gear pump, high working reliability, compact structure, low price and so on. It is fully studied the voltage, current, speed, torque and quantitative pump of servo motor. On the basis of the system parameters such as flow, pressure, displacement, leakage, temperature, viscosity and elastic modulus of the oil, a soft measurement method for the output flow and pressure of the pump is put forward, and the flow control, pressure control and constant power control of the servo driven hydraulic power system are realized for different load types, and the hydraulic pressure is put forward in different working conditions. The graphical analysis method of efficiency state of power system provides new ideas and new methods for high efficiency and energy saving operation of hydraulic power system, load matching and load adaptive control. The main research and innovation work completed in this paper is:
(1) according to the working principle of the permanent magnet synchronous servo motor and taking the gear pump as an example, the mathematical model of the hydraulic power system of the servo motor driven quantitative pump and the proportional overflow valve loading model are established by analytic method, and the operation parameters, coupling mechanism and constraint conditions of the hydraulic power system are analyzed from the system layer, and the control of the hydraulic power system is made. It lays a theoretical foundation for the research of indirect measurement of flow pressure and load efficiency matching characteristics.
(2) according to the coupling mechanism of the parameters of the hydraulic power system, such as flow, pressure, speed, torque current, leakage coefficient, and moment of inertia, the soft measurement model of flow and pressure is established. The flow and pressure are measured by the parameters of speed, torque current and other related parameters easily measured, and the flow measurement model is based on the viscosity and pressure characteristics of the oil. The accuracy of the flow measurement model is improved. The experiment and simulation show that the soft sensing model has enough precision and dynamic response speed to ensure the accuracy, speediness and stability of the flow control.
(3) on the basis of analyzing the flow open loop control, the flow closed loop PID control, the feedforward compensation PID control and the fuzzy parameter PID control, the flow model and the conditional PID compensation control are proposed. The characteristics of the model open loop control response in time and the stability are combined with the characteristics of the PID control that can eliminate the steady-state error of the system, and can be passed through PID. The setting of the conditional threshold in the control effectively reduces the overshoot and adjustment time of the system, and realizes the rapidity, accuracy and stability requirements of the flow control.
(4) according to the technical performance index of constant pressure variable pump widely used in the project, the pressure negative feedback control and direct torque pressure open loop control of the servo driven hydraulic source are put forward. The experiment shows that the pressure negative feedback control can stabilize the system pressure and eliminate the system error; the direct torque pressure open loop control has fast response speed and good stability. The direct torque pressure open loop control with viscous damping compensation not only keeps the speed of the original torque pressure control, but also has enough accuracy to meet the demand of the load to constant pressure variable flow.
(5) the constant power variable pump control characteristic is analyzed, the permanent magnet motor driving quantitative pump constant power control model is established, and the weak magnetic lifting speed control of the motor is put forward. The simulation and experiment show that the power of the hydraulic source is constant and the motor weak magnetic lifting speed control can fully utilize the power of the motor, and it can automatically adapt to the load flow and pressure constant. Power change needs to control the output of hydraulic power source with high pressure and low flow rate and large flow rate.
(6) the energy consumption, speed regulation, power matching and response characteristics of induction induction motor He Yongci synchronous motor are compared and analyzed. The matching characteristics of load efficiency are studied by the equivalent transformation of working conditions, and two dimensional color representation method based on RGB and two dimensional efficiency based on superposition method are established. Grayscale representation provides an intuitive graphical method for load matching selection and efficiency division.
【學(xué)位授予單位】：西安建筑科技大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TH137;TM383.4
本文編號：2154413
[Abstract]:In view of the disadvantages of high energy consumption, low efficiency, low efficiency, low efficiency, low pollution resistance, narrow speed regulating range, high inertia of the hydraulic system driven by asynchronous frequency conversion motor, slow response, poor low speed performance and low power factor of the motor, this paper proposes a permanent magnet synchronous servo motor drive in this paper. The hydraulic power source structure of the dynamic quantitative pump has the advantages of high speed regulating precision, wide speed range, good dynamic characteristic, high power factor, high power factor, high reliability of gear pump, high working reliability, compact structure, low price and so on. It is fully studied the voltage, current, speed, torque and quantitative pump of servo motor. On the basis of the system parameters such as flow, pressure, displacement, leakage, temperature, viscosity and elastic modulus of the oil, a soft measurement method for the output flow and pressure of the pump is put forward, and the flow control, pressure control and constant power control of the servo driven hydraulic power system are realized for different load types, and the hydraulic pressure is put forward in different working conditions. The graphical analysis method of efficiency state of power system provides new ideas and new methods for high efficiency and energy saving operation of hydraulic power system, load matching and load adaptive control. The main research and innovation work completed in this paper is:
(1) according to the working principle of the permanent magnet synchronous servo motor and taking the gear pump as an example, the mathematical model of the hydraulic power system of the servo motor driven quantitative pump and the proportional overflow valve loading model are established by analytic method, and the operation parameters, coupling mechanism and constraint conditions of the hydraulic power system are analyzed from the system layer, and the control of the hydraulic power system is made. It lays a theoretical foundation for the research of indirect measurement of flow pressure and load efficiency matching characteristics.
(2) according to the coupling mechanism of the parameters of the hydraulic power system, such as flow, pressure, speed, torque current, leakage coefficient, and moment of inertia, the soft measurement model of flow and pressure is established. The flow and pressure are measured by the parameters of speed, torque current and other related parameters easily measured, and the flow measurement model is based on the viscosity and pressure characteristics of the oil. The accuracy of the flow measurement model is improved. The experiment and simulation show that the soft sensing model has enough precision and dynamic response speed to ensure the accuracy, speediness and stability of the flow control.
(3) on the basis of analyzing the flow open loop control, the flow closed loop PID control, the feedforward compensation PID control and the fuzzy parameter PID control, the flow model and the conditional PID compensation control are proposed. The characteristics of the model open loop control response in time and the stability are combined with the characteristics of the PID control that can eliminate the steady-state error of the system, and can be passed through PID. The setting of the conditional threshold in the control effectively reduces the overshoot and adjustment time of the system, and realizes the rapidity, accuracy and stability requirements of the flow control.
(4) according to the technical performance index of constant pressure variable pump widely used in the project, the pressure negative feedback control and direct torque pressure open loop control of the servo driven hydraulic source are put forward. The experiment shows that the pressure negative feedback control can stabilize the system pressure and eliminate the system error; the direct torque pressure open loop control has fast response speed and good stability. The direct torque pressure open loop control with viscous damping compensation not only keeps the speed of the original torque pressure control, but also has enough accuracy to meet the demand of the load to constant pressure variable flow.
(5) the constant power variable pump control characteristic is analyzed, the permanent magnet motor driving quantitative pump constant power control model is established, and the weak magnetic lifting speed control of the motor is put forward. The simulation and experiment show that the power of the hydraulic source is constant and the motor weak magnetic lifting speed control can fully utilize the power of the motor, and it can automatically adapt to the load flow and pressure constant. Power change needs to control the output of hydraulic power source with high pressure and low flow rate and large flow rate.
(6) the energy consumption, speed regulation, power matching and response characteristics of induction induction motor He Yongci synchronous motor are compared and analyzed. The matching characteristics of load efficiency are studied by the equivalent transformation of working conditions, and two dimensional color representation method based on RGB and two dimensional efficiency based on superposition method are established. Grayscale representation provides an intuitive graphical method for load matching selection and efficiency division.
【學(xué)位授予單位】：西安建筑科技大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TH137;TM383.4
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