电静液作动器精细化建模和特性分析

doi:10.3901/JME.2021.24.066

机械工程学报 ›› 2021, Vol. 57 ›› Issue (24): 66-73.doi: 10.3901/JME.2021.24.066

• 特邀专栏：液压元件及系统轻量化关键技术 • 上一篇下一篇

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电静液作动器精细化建模和特性分析

葛曜文, 朱威霖, 刘家辉, 邓文翔, 姚建勇

南京理工大学机械工程学院南京 210094

收稿日期:2021-04-24 修回日期:2021-09-30 出版日期:2021-12-20 发布日期:2022-02-28
通讯作者: 姚建勇(通信作者),男,1984年出生,博士,教授,博士研究生导师。主要研究方向为机电系统伺服控制、动态系统故障检测与容错、武器系统半实物仿真技术、火箭导弹发射技术。E-mail:jerryyao.buaa@gmail.com
作者简介:葛曜文,男,1992年出生,博士研究生。主要研究方向为泵控系统特性分析与非线性控制。E-mail:geyaowen2020@163.com
基金资助:
国家自然科学基金资助项目（52075262，51905271）。

Refined Modeling and Characteristic Analysis of Electro-hydrostatic Actuator

GE Yaowen, ZHU Weilin, LIU Jiahui, DENG Wenxiang, YAO Jianyong

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094

Received:2021-04-24 Revised:2021-09-30 Online:2021-12-20 Published:2022-02-28

摘要/Abstract

摘要： 电静液作动器（Electro-hydrostatic actuator，EHA）是电驱液传的执行机构，具有体积小、重量轻、功率密度高、可控性好、维护性好、集成度高、可靠性高等优势。传统EHA的线性建模方法通常忽视电机和泵的强非线性，这种建模方式过于保守，导致模型精度降低，影响高性能控制及性能预测的准确性。为处理传统建模方式的保守性问题，建立考虑伺服电机和泵非线性的精细化模型：通过MATLAB/SIMULINK建立时变、非线性、强耦合、多变量的永磁同步交流电机（Permanent magnet synchronous motor，PMSM）模型，通过AMESim建立含流量脉动和外泄漏的定量柱塞泵模型，完善了EHA仿真模型；改变系统参数进行MATLAB-AMESim机电液联合仿真，通过多种仿真工况的结果对比，分析EHA系统的典型特性，揭示了系统参数对控制器跟踪性能的影响。建立精细化模型进行特性分析，为EHA系统参数对控制性能的影响度分析提供了理论支撑和仿真验证手段。

关键词: 电静液作动器, 精细化建模, 机电液联合仿真, 特性分析

Abstract: Electro-hydrostatic actuator(EHA), the actuator of electric drive and hydraulic transmission, is competitive in that it is small in size, light in weight, high in power density. In addition, it is equipped with good controllability and maintainability as well as high integration and reliability. Traditional EHA linear modeling methods usually ignore the strong nonlinearities of motor and pump. This modeling method is too conservative, which reduces the accuracy of the model and affects the accuracy of high performance control and performance prediction. In order to deal with the conservative problem of the traditional modeling method, a refined model considering the nonlinearities of servo motor and pump is established. To improve the EHA simulation model, the permanent magnet synchronous motor(PMSM), a time-varying, nonlinear, strongly coupled and multivariate system, is established by MATLAB/SIMULINK; and a quantitative piston pump model with flow pulsation and leakage is established by AMESim. Further, the system parameters of PMSM and pump are changed to perform an electro-hydraulic co-simulation based on MATLAB-AMESim. Comparisons are made under multiple simulation conditions, which reveal the typical characteristics of the EHA system and the influences of system parameters on tracking performance of the controller. The refined model is established for characteristic analysis, which provides theoretical support and simulation verification means for the impact analysis of EHA system parameters on control performance.

Key words: electro-hydrostatic actuator, refined modeling, electro-hydraulic co-simulation, characteristic analysis

中图分类号:

TG156

葛曜文, 朱威霖, 刘家辉, 邓文翔, 姚建勇. 电静液作动器精细化建模和特性分析[J]. 机械工程学报, 2021, 57(24): 66-73.

GE Yaowen, ZHU Weilin, LIU Jiahui, DENG Wenxiang, YAO Jianyong. Refined Modeling and Characteristic Analysis of Electro-hydrostatic Actuator[J]. Journal of Mechanical Engineering, 2021, 57(24): 66-73.

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电静液作动器精细化建模和特性分析

Refined Modeling and Characteristic Analysis of Electro-hydrostatic Actuator

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