摩擦负阻尼与伴生阻尼对低速工况下液压缸振动的耦合作用机制

doi:10.3901/JME.2022.09.157

机械工程学报 ›› 2022, Vol. 58 ›› Issue (9): 157-165.doi: 10.3901/JME.2022.09.157

扫码分享

摩擦负阻尼与伴生阻尼对低速工况下液压缸振动的耦合作用机制

汪志能¹, 宾光富¹, 龚日朝², 龙辉², 潘阳¹

1. 湖南科技大学机电工程学院湘潭 411201;
2. 湖南科技大学数据与智能决策研究中心湘潭 411201

收稿日期:2021-05-07 修回日期:2022-03-08 出版日期:2022-05-05 发布日期:2022-06-23
通讯作者: 宾光富(通信作者)，男，1981年出生，博士，教授，博士研究生导师。主要研究方向为机械动力学与非线性振动特性。E-mail：abin811025@163.com E-mail:abin811025@163.com
作者简介:汪志能，男，1988年出生，博士，讲师，硕士研究生导师。主要研究方向为机电液耦合系统建模与控制。E-mail：wzn101315@163.com
基金资助:
国家自然科学基金(52175091)和湖南省自然科学基金(2020JJ5184，2020JJ5183)资助项目

Coupling Effects of Negative and Associative Friction Damping on the Vibration of Hydraulic Cylinder Running at Low Speeds

WANG Zhineng¹, BIN Guangfu¹, GONG Rizhao², LONG Hui², PAN Yang¹

1. School of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411201;
2. Research Center of Big Data and Intelligent Decision Making, Hunan University of Science and Technology, Xiangtan 411201

Received:2021-05-07 Revised:2022-03-08 Online:2022-05-05 Published:2022-06-23

摘要/Abstract

摘要： 摩擦负阻尼与伴生阻尼耦合作用于低速液压缸，诱发液压缸振动、冲击，制约了液压装备的精密性能。考虑低速工况下摩擦的负阻尼与伴生阻尼效应，建立了液压缸运动非线性模型，基于摄动理论推导了液压缸速度脉动率解析表达式，分析了液压缸振动幅度与频率的变化特征，揭示了负阻尼与伴生阻尼对振动的耦合作用机制。研究结果表明：负阻尼促进系统振动，伴生阻尼抑制系统振动，负阻尼与伴生阻尼存在对立竞争关系。当系统速度低于0.61倍Stribeck速度v_s时，负阻尼效应增强，伴生阻尼效应降低，振动随运行速度增大逐渐加剧；当运行速度高于0.71v_s时，负阻尼效应减小，伴生阻尼效应先增大后减小，振动幅度逐渐下降直至平稳运行；当系统工作在0.61v_s至0.71v_s区间时，负阻尼效应达到最大，伴生阻尼效应达到最低，振动幅度急剧增大，频率下滑，形成尖脉冲冲击。研究结果揭示了摩擦对液压缸振动特征的影响机制，为精密液压装备的稳定运行与控制提供了理论参考。

关键词: 振动, 冲击, 摩擦, 阻尼, 液压缸

Abstract: The negative and associative dampings, acting on hydraulic cylinder running at low speeds, results in a complex nonlinear vibration and restricts the equipment precision performance. A nonlinear model of hydraulic cylinders is proposed by considering friction negative and associative dampings. A perturbation theory is employed for solving this nonlinear model to obtain a pulsating rate expression. And then, the coupling effects of negative and associative dampings on the cylinder vibration amplitude and frequency are studied. The results showed that: It is an opposite and competitive relationship between these two dampings because negative one promotes vibration while associative one suppresses vibration. When running velocity is below 0.61 times of Stribeck velocity v_s, the vibration gradually increases because its negative effect increases while its associative effect decreases; When running velocity exceeds 0.71v_s, the vibration gradually decreases until to zero because its negative effect decreases while its associative effect firstly increases and then decreases to zero; When running velocity is between 0.61v_s and 0.71v_s, its negative effect reach to its maximum while its associative effect reach to its minimum, resulting in diverging of vibration amplitude and decreasing of fluctuation frequency, which finally forms a spike impulse. The investigation revealed nonlinear characteristic of hydraulic cylinder under low speed condition and provided a theoretical foundation for stable operation and control of hydraulic system.

Key words: vibration, shock, friction, damping, hydraulic cylinder

中图分类号:

TH137

汪志能, 宾光富, 龚日朝, 龙辉, 潘阳. 摩擦负阻尼与伴生阻尼对低速工况下液压缸振动的耦合作用机制[J]. 机械工程学报, 2022, 58(9): 157-165.

WANG Zhineng, BIN Guangfu, GONG Rizhao, LONG Hui, PAN Yang. Coupling Effects of Negative and Associative Friction Damping on the Vibration of Hydraulic Cylinder Running at Low Speeds[J]. Journal of Mechanical Engineering, 2022, 58(9): 157-165.

参考文献

[1] WANG Lixin, ZHAO Dingxuan, LIU Fucai. Active disturbance rejection control for electro-hydraulic proportional servo force loading[J]. Journal of Mechanical Engineering, 2020, 56(18): 216-225. 王立新, 赵丁选, 刘福才. 电液比例伺服力加载自抗扰控制[J]. 机械工程学报, 2020, 56(18): 216-225.
[2] SOAZZI L. Stress variability in multilayer composite hydraulic cylinder[J]. Composite Structures, 2020, 259(6): 113249.
[3] WON H I, CHUNG J. Numerical analysis for the stick-slip vibration of a transversely moving beam in contact with a frictional wall[J]. Journal of Sound and Vibration, 2018, 419: 42-62.
[4] LI Z, CAO Q, NIE Z. Stick-slip vibrations of a self-excited SD oscillator with coulomb friction[J]. Nonlinear Dynamics, 2020, 102(3): 1-17.
[5] CHEN J, SUN H, JIAO T, et al. Stick-slip vibration analysis and vibration frequency extraction of coke pushing system[J]. Engineering Failure Analysis, 2019, 108: 104325.
[6] WEI Z, PENG J, LI S. Damping force modeling and suppression of self-excited vibration due to magnetic fluids applied in the torque motor of a hydraulic servovalve[J]. Energies, 2017, 10(6): 749.
[7] QIN W, ZHANG Z, QIN H, et al. Self-excited vibration of a flexibly supported shafting system induced by friction[J]. ASME: Journal of Vibration and Acoustics, 2017, 139(2): 021004.
[8] LIU N, OUYANG H. Friction-induced vibration considering multiple types of nonlinearities[J]. Nonlinear Dynamics, 2020, 102(1): 1-19.
[9] PAN Q, ZENG Y, LI Y, et al. Experimental investigation of friction behaviors for double-acting hydraulic actuators with different reciprocating seals[J]. Tribology International, 2020153: 106506.
[10] FAN Y, ZHAO P, GUO Z, et al. Dynamic mechanical properties of variable friction damper based on new piezoelectric ceramic tubular actuator[J]. Journal of Materials Research and Technology, 2020, 9(5): 10909-10915.
[11] GAO Zhongyong, PANG Xinwei, HUANG Qiufeng. A test device for checking the friction associated damping[J]. Equipment Manufacturing Technology, 2006(4): 4-5. 高中庸, 庞新维, 黄秋凤. 一种验证摩擦伴生阻尼的实验装置[J]. 装备制造技术, 2006(4): 4-5.
[12] LIU Z, LI P, JIANG J, LIU B. Research on vibration characteristics of mill rolls based on nonlinear stiffness of the hydraulic cylinder[J]. Journal of Manufacturing Processes, 2021, 64.
[13] ZHU Yong, JIANG Wanlu, WANG Meng, et al. Creeping mechanism and suppression methods of hydraulic cylinder under nonlinear time-varying force[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(3): 305-313. 朱勇, 姜万录, 王梦, 等非线性时变力作用下液压缸爬行机理与抑制方法研究[J]. 农业机械学报, 2014, 45(3): 305-313.
[14] JIANG Wanlu, ZHU Yong, ZHENG Zhi. Nonlinear vibration mechanism of electro-hydraulic servo system and its experimental verification[J]. Journal of Mechanical Engineering, 2015, 51(4): 175-184. 姜万录, 朱勇, 郑直. 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.
[15] LIU C H, HU M, FAO W, et al. A high-precise model for the hydraulic power take-off of a raft-type wave energy converter[J]. Energy, 2020, 215: 119107.
[16] HE Xiaodong, HUANG Xiuchang, HUA Hongxing. Design of viscoelastic-dry friction damping ring for micro-vibration suppression of a flywheel[J]. Journal of Mechanical Engineering, 2020, 56(23): 98-106. 贺晓东, 黄修长, 华宏星. 用于飞轮微振动抑制的黏弹性-干摩擦阻尼环设计[J]. 机械工程学报, 2020, 56(23): 98-106.
[17] CHEN Wei, XIANG Zaiyu, QIAN Honghua, et al. The frequency-up-conversion effect driven by friction-induced vibration for ultra-low frequency vibration energy harvesting[J]. Journal of Mechanical Engineering, 2021, 57(15): 1-8. 陈伟, 项载毓, 钱泓桦, 等基于摩擦自激振动升频效应的超低频振动能量收集[J]. 机械工程学报, 2021, 57(15): 1-8.
[18] WEI Qiong, JIAO Zongxia, WANG Jun, et al. Control of pneumatic position servo with LuGre model-based friction compensation[J]. Journal of Mechanical Engineering, 2018, 54(20): 131-138. 魏琼, 焦宗夏, 王君, 等. 基于LuGre模型的气动位置伺服系统摩擦补偿控制[J]. 机械工程学报, 2018, 54(20): 131-138.
[19] El-Dib YO. Homotopy perturbation method with rank upgrading technique for the superior nonlinear oscillation[J]. Mathematics and Computers in Simulation, 2021, 182: 555-565.
[20] HARIR A, MELLIANI S, HARFI HE, et al. Variational iteration method and differential transformation method for solving the SEIR epidemic model[J]. International Journal of Differential Equations, 2020, 2020(1): 1-7.
[21] ODIBAT Z. An improved optimal homotopy analysis algorithm for nonlinear differential equations[J]. Journal of Mathematical Analysis and Applications, 2020, 488(2): 124089.
[22] HU Haiyan. Nonlinear dynamics[M]. Beijing: Aviation Industry Press, 2000. 胡海岩. 应用非线性动力学[M]. 北京: 航空工业出版社, 2000.

摩擦负阻尼与伴生阻尼对低速工况下液压缸振动的耦合作用机制

Coupling Effects of Negative and Associative Friction Damping on the Vibration of Hydraulic Cylinder Running at Low Speeds

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]	刘臻, 胡三宝, 胡军华, 向超. 基于深度学习方法的含间隙铰链多刚体系统的动力学建模与分析[J]. 机械工程学报, 2022, 58(9): 136-146.
[2]	丁文锋, 曹洋, 赵彪, 徐九华. 超声振动辅助磨削加工技术及装备研究的现状与展望[J]. 机械工程学报, 2022, 58(9): 244-269.
[3]	刘正勇, LIN Htein, 刘繄, 钟永康, 谭华耀. 特种微结构光纤振动传感器及其铁路监测应用[J]. 机械工程学报, 2022, 58(8): 63-70.
[4]	张鹏, 赵升吨, 张传伟, 陈政, 费亮瑜, 张佳莹. 螺纹铆钉式搅拌摩擦铆焊塑性连接机理及接头力学性能研究[J]. 机械工程学报, 2022, 58(8): 126-135.
[5]	杨佳佳, 贺尔铭, 陈鹏翔, 舒俊成. 混合质量阻尼器在海上漂浮式风力机振动响应抑制中的应用[J]. 机械工程学报, 2022, 58(8): 250-257.
[6]	陈俊霖, 肖新标, 姚丹, 李牧皛, 韩健. 热载荷下板模态间耦合对声功率的影响分析[J]. 机械工程学报, 2022, 58(7): 131-140.
[7]	田家林, 胡志超, 张昕, 葛桐旭, 朱志. 纵扭复合冲击工具动力学特性研究[J]. 机械工程学报, 2022, 58(7): 141-151.
[8]	江红祥, 刘送永, 蔡芝源. 滚刀振动切削岩石动力学特性[J]. 机械工程学报, 2022, 58(7): 152-165.
[9]	王晓亮, 买买提明·艾尼, 孙志, 杨杰. 柔性RSS机座动力学参数全局匹配与系统振动特性[J]. 机械工程学报, 2022, 58(7): 166-175.
[10]	袁松梅, 邵梦博, 李麒麟, 高晓星, 陈博川. 碳化钛颗粒增强钢基复合材料超声振动辅助划痕仿真及试验研究[J]. 机械工程学报, 2022, 58(7): 246-257.
[11]	张嘉恒, 胡志力. 铝合金搅拌摩擦焊接头组织热稳定性[J]. 机械工程学报, 2022, 58(6): 73-80.
[12]	杨智勇, 李武鹏, 李志强, 刘小龙, 李卫京. 搅拌摩擦焊多平面搅拌头对材料流动行为的影响[J]. 机械工程学报, 2022, 58(6): 81-90.
[13]	孙朱俊, 许斌, 黄典贵. 前缘涡振圆柱对翼型气动性能的影响[J]. 机械工程学报, 2022, 58(6): 242-252.
[14]	乔舒斐, 郝云晓, 权龙, 葛磊, 夏连鹏. 机电液混合驱动直线执行器构型设计与性能测试[J]. 机械工程学报, 2022, 58(5): 212-222.
[15]	高朋, 侯磊, 陈予恕. 双转子系统中介轴承的动载荷及其对轴承温度的影响[J]. 机械工程学报, 2022, 58(5): 87-97.