分腔独立变转速泵控电液伺服系统特性研究

doi:10.3901/JME.2020.18.235

机械工程学报 ›› 2020, Vol. 56 ›› Issue (18): 235-243.doi: 10.3901/JME.2020.18.235

扫码分享

分腔独立变转速泵控电液伺服系统特性研究

王波, 郝云晓, 权龙, 王翔宇, 葛磊, 赵斌

太原理工大学机械与运载工程学院太原 030024

收稿日期:2019-12-30 修回日期:2020-04-06 出版日期:2020-09-20 发布日期:2020-11-17
通讯作者: 权龙(通信作者),男,1959年出生,博士,教授,博士研究生导师。主要研究方向为电液伺服及比例控制技术。E-mail:quanlong@tyut.edu.cn
作者简介:王波,男,1994年出生,博士研究生。主要研究方向为流体传动与控制、机电装备电液智能与节能控制。E-mail:wangbo0018@link.tyut.edu.cn
基金资助:
国家自然科学基金（51575374，51775363）和山西省重点研发计划（201803D121003）资助项目。

Research on Characteristics of Electro-hydraulic Servo System by Sub-chamber Independent Variable-speed Pumps Control

WANG Bo, HAO Yunxiao, QUAN Long, WANG Xiangyu, GE Lei, ZHAO Bin

College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024

Received:2019-12-30 Revised:2020-04-06 Online:2020-09-20 Published:2020-11-17

摘要/Abstract

摘要： 阀控伺服系统动态响应快、控制精度高，但始终存在大的节流损失。泵控差动缸系统消除了节流损失，需要解决差动缸面积差造成的不对称流量问题。其中，单泵控差动缸系统，结构简单，使用辅助油源平衡不对称流量，但存在压力控制难、系统刚度差等问题；双泵控差动缸系统，匹配双泵排量比和缸两腔面积比平衡不对称流量，需要设计双液压泵协同控制算法。针对上述问题，提出了分腔独立变转速泵控差动缸电液伺服系统，采用两台变转速开式泵分别驱动差动缸两腔，自动适应差动缸不对称流量，不需要额外辅助油源和节流元件。借鉴阀控系统的静压平衡特性，设计了双泵协同控制的总压力策略，使液压缸在动、静态时两腔压力和保持定值，实现系统的预压紧和泄漏补偿，提高了系统刚度。为提高位置阻尼比和稳定性，进一步引入了加速度反馈对系统校正。理论分析和试验结果表明，系统具有好的动、静态特性，在四个象限内具有相同的速度增益，能够四象限驱动负载，仅采用简单的比例控制就能获得高的定位精度，控制特性与阀控系统类似，适用于液压电梯、压力机、注塑成型机等大功率工业设备。

关键词: 变转速泵, 分腔独立, 总压力控制, 泵控差动缸, 电液伺服系统

Abstract: The valve-controlled servo system has fast dynamic response and high control accuracy, but there is always a large throttling loss. The pump-controlled differential cylinder system eliminates throttling losses and needs to solve the problem of asymmetric flow caused by the area difference of differential cylinder. Among them, the single-pump-controlled differential cylinder system has a simple structure and uses an auxiliary oil source to balance asymmetrical flow, but it has problems such as difficult pressure control and poor system stiffness. The double-pump-controlled differential cylinder system matches the displacement of the double pump to balance the asymmetric flow, and a double-pump coordinated control algorithm needs to be designed. For the above problems, the sub-chamber independent variable speed-pumps control differential cylinder principle is proposed. Two variable-speed open-type pumps are used to directly drive the two chambers of the differential cylinder without additional auxiliary oil source and throttling elements. It can adapt to the asymmetric flow caused by any area ratio of differential cylinder automatically. With reference to the static pressure balance characteristics of the valve control system, the sum pressure strategy of dual-pump cooperative control is designed to make the two chambers pressure sum of the hydraulic cylinder keep a constant value in the dynamic and static state, realizing the system pre-compression and leakage compensation, and improving the system stiffness. Further, the acceleration feedback is adopted to enhance system damping ratio and stability. Theoretical analysis and experimental results show that the system has good dynamic and static characteristics and the same speed gain in four quadrants, which can drive loads in four quadrants. Only a simple proportional control is used to achieve high positioning accuracy, and the control characteristics are similar to valve control systems. It's suitable for hydraulic elevator, press, injection molding machine and other high-power industrial equipment.

Key words: variable-speed pump, sub-chamber independent control, total pressure strategy, pump-controlled differential cylinder, electro-hydraulic servo system

中图分类号:

TH137

王波, 郝云晓, 权龙, 王翔宇, 葛磊, 赵斌. 分腔独立变转速泵控电液伺服系统特性研究[J]. 机械工程学报, 2020, 56(18): 235-243.

WANG Bo, HAO Yunxiao, QUAN Long, WANG Xiangyu, GE Lei, ZHAO Bin. Research on Characteristics of Electro-hydraulic Servo System by Sub-chamber Independent Variable-speed Pumps Control[J]. Journal of Mechanical Engineering, 2020, 56(18): 235-243.

参考文献

[1] STELSON K A. Saving the world's energy with fluid power[C]//Proceedings of the 8th JFPS International Symposium on Fluid Power,Okinawa,Japan,2011. 2011:1-7.
[2] 董致新,黄伟男,葛磊,等. 泵阀复合进出口独立控制液压挖掘机特性研究[J]. 机械工程学报,2016,52(12):173-180. DONG Zhixin,HUANG Weinan,GE Lei,et al. Research on the performance of hydraulic excavator with pump and valve combined separate meter in and meter out circuits[J]. Journal of Mechanical Engineering,2016,52(12):173-180.
[3] HUANG Weinan,QUAN Long,GE Lei,et al. Combined velocity and position control of large inertial hydraulic swing mechanism considering energy balance of supply and demand[J]. Automation in Construction,2019,106:102899.
[4] 权龙.泵控缸电液技术研究现状、存在问题及创新解决方案[J]. 机械工程学报,2008,44(11):87-92. QUAN Long. Current state,problems and the innovation solution of electro-hydraulic technology of pump con-trolled cylinder[J]. Journal of Mechanical Engineering,2008,44(11):87-92.
[5] QUAN Zhongyi,QUAN Long,ZHANG Jinman. Review of energy efficient direct pump controlled cylinder electro-hydraulic technology[J]. Renewable and Sustainable Energy Reviews,2014,35:336-346.
[6] KANG Rongjie,JIAO Zongxia,WANG Shaoping, et al. Design and simulation of electro-hydrostatic actuator with a built-in power regulator. Chin. J. Aeronaut.,2009,22(6):700-706.
[7] LODEWYKS J. Variable displacement pump closed loop controlled differential cylinder system[D]. Aachen:RWTH,1994.
[8] IVANTYSYNOVA M. Displacement controlled linear and rotary drives for mobile machines with automatic motion control[J]. SAE Transactions,2000(109):125-132.
[9] ZIMMERMAN J,IVANTYSYNOVA M. The effect of system pressure level on the energy consumption of disp-lacement controlled actuator systems[C]//Proceedings of the 5th FPNI PhD Symposium. Krakow,Poland,1-5 July,2008. 2008:77-92.
[10] BUSQUETS E,IVANTYSYNOVA M. Toward supervisory-level control for the energy consumption and performance optimization of displacement-controlled hydraulic hybrid machines[C]//Proceedings of 10th IFK International Conference on Fluid Power,2016.
[11] WANG Longke,BOOK W J,HUGGINS J D. A hydraulic circuit for single rod cylinders[J]. Journal of Dynamic Systems,Measurement,and Control,2012,134(1):011019.
[12] 权龙,NEUBERT T,HELDUSER S. 转速可调泵直接闭环控制差动缸伺服系统静特性[J]. 机械工程学报,2002,38(3):144-148. QUAN Long,NEUBERT T,HELDUSER S. Speed-controlled pump direct closed-loop control differential cylinder servo system static characteristics[J]. Journal of Mechanical Engineering,2002,38(3):144-148.
[13] 权龙,NEUBERT T,HELDUSER S. 转速可调泵直接闭环控制差动缸伺服系统的动特性[J]. 机械工程学报,2003,39(2):13-17. QUAN Long,NEUBERT T,HELDUSER S. Speed-controlled pump direct closed-loop control differential cylinder servo system dynamic characteristics[J]. Journal of Mechanical Engineering,2003,39(2):13-17.
[14] 权龙,郝慧敏,黄家海,等. 变转速容积直驱纯电液压挖掘机驱动及能量回收系统:中国,201410476502.1[P]. 2016-02-03. QUAN Long,HAO Huimin,HUANG Jiahai,et al. Variable speed volume direct drive pure electric hydraulic excavator drive and energy recovery system:China,201410476502.1[P]. 2016-02-03.
[15] CHEN Mingdong,ZHAO Dingxuan. The gravitational potential energy regeneration system with closed-circuit of boom of hydraulic excavator[J]. Mechanical Systems and Signal Processing,2017,82:178-192.
[16] ZHANG Shuzhong,MINAV T,PIETOLA M,et al. The effects of control methods on energy efficiency and position tracking of an electro-hydraulic excavator equip-ped with zonal hydraulics[J]. Automation in Construction,2019,100:129-144.
[17] 景健,权龙,黄家海,等. 非对称泵直驱液压挖掘机斗杆特性研究[J]. 机械工程学报,2016,52(6):188-196. JING Jian,QUAN Long,HUANG Jiahai,et al. Research on the characteristics of asymmetric pump directed con-trolled arm cylinder of excavator[J]. Journal of Mechanical Engineering,2016,52(6):188-196.
[18] GE Lei,QUAN Long,LI Yunwei,et al. A novel hydraulic excavator boom driving system with high effi-ciency and potential energy regeneration capability[J]. Energy Conversion and Management,2018,166:308-317.
[19] YAO Jing,WANG Pei,CAO Xiaoming,et al. Independent volume-in and volume-out control of an open circuit pump-controlled asymmetric cylinder system[J]. Journal of Zhejiang University-SCIENCE A,2018,19(3):203-210.
[20] 姚静,蒋东廷,张伟,等. 开式泵控非对称缸系统一阶轨迹灵敏度分析[J]. 机械工程学报,2019,55(2):223-232. YAO Jing,JIANG Dongting,ZHANG Wei,et al. First-order trajectory sensitivity analysis of open circuit pump-controlled asymmetric cylinder systems[J]. Journal of Mechanical Engineering,2019,55(2):223-232.
[21] KETELSEN S,PADOVANI D,ANDERSEN T O,et al. Classification and review of pump-controlled differential cylinder drives[J]. Energies,2019,12(7):1293.
[22] 权龙,廉自生. 应用进出油口独立控制原理改善泵控差动缸系统效率[J]. 机械工程学报,2005,41(3):123-127. QUAN Long,LIAN Zisheng. Improve the efficiency of the pump-controlled differential cylinder system by applying the meter in and meter out independent control principle[J]. Journal of Mechanical Engineering,2005,41(3):123-127.
[23] 权龙,李凤兰,王祥. 伺服电机定量泵驱动差动液压缸系统效率的研究[J]. 中国电机工程学报,2006(8):93-98. QUAN Long,LI Fenglan,WANG Xiang. Study on the efficiency of differential cylinder system driven with servo motor and constant pump[J]. Proceedings of The Chinese Society for Electrical Engineering,2006(8):93-98.

分腔独立变转速泵控电液伺服系统特性研究

Research on Characteristics of Electro-hydraulic Servo System by Sub-chamber Independent Variable-speed Pumps Control

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	牛善帅, 王军政, 赵江波, 沈伟. 泵控电液伺服系统基于未知死区补偿的自适应鲁棒控制[J]. 机械工程学报, 2024, 60(18): 327-337.
[2]	张立杰, 王力航, 李玉昆, 贾超, 李永泉. 液压伺服系统闭环刚度特性分析与试验研究[J]. 机械工程学报, 2018, 54(16): 170-177.
[3]	姜万录, 朱勇, 郑直, 张生. 电液伺服系统非线性振动机理及试验研究[J]. 机械工程学报, 2015, 51(4): 175-184.
[4]	李斌;权龙;赵丙龙;王红兵;王景财. 热卷取踏步控制电液伺服系统仿真、试验及其应用[J]. , 2011, 47(4): 164-170.
[5]	张晓刚;权龙;杨阳;王成宾;姚李威. 并联型三配流窗口轴向柱塞泵特性理论分析及试验研究[J]. , 2011, 47(14): 151-157.
[6]	柏艳红;权龙. 电液位置速度复合伺服系统控制策略[J]. , 2010, 46(24): 150-155.
[7]	许小庆;权龙;王永进. 伺服阀流量动态校正改善电液位置系统性能的理论和方法[J]. , 2009, 45(8): 95-100.
[8]	何静;邱静;张昌凡;王锡波. 非线性系统的集成故障诊断和容错控制[J]. , 2009, 45(5): 70-78.
[9]	岑豫皖;叶金杰;潘紫微. 非线性状态空间方法辨识电液伺服控制系统[J]. , 2008, 44(12): 80-85.
[10]	王益群;宁淑荣;刘建. 热轧立辊电液伺服系统的自适应模糊控制[J]. , 2007, 43(12): 1-4.
[11]	陈宝江;莫波;曹泛. 变量泵源阀控系统的前馈自适应控制方法[J]. , 2006, 42(3): 217-220.
[12]	李运华;杨丽曼;张志华. 电液伺服系统的二阶滑模控制算法研究[J]. , 2005, 41(3): 72-75.
[13]	段锁林;王明智. 自学习模糊滑模控制及其在电液伺服系统中的应用[J]. , 2004, 40(3): 162-167.
[14]	李运华. 抑制电液力矩控制系统的多余力矩的新方法[J]. , 2000, 36(3): 4-7.
[15]	李运华;王占林;陈栋梁;施永敏;干勇. 基于电液伺服控制实现的连铸机结晶器振动装置[J]. , 1999, 35(1): 72-75.