并联式泵阀协调电液系统：对比分析与运动控制

doi:10.3901/JME.2022.10.136

机械工程学报 ›› 2022, Vol. 58 ›› Issue (10): 136-151.doi: 10.3901/JME.2022.10.136

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并联式泵阀协调电液系统：对比分析与运动控制

吕立彤¹, 陈正^2,3, 姚斌⁴

1. 石家庄铁道大学机械工程学院石家庄 050043;
2. 浙江大学流体动力与机电系统国家重点实验室杭州 310027;
3. 浙江大学海洋学院舟山 316021;
4. 美国普渡大学机械工程学院西拉法叶 IN47907 美国

收稿日期:2021-06-06 修回日期:2021-09-15 出版日期:2022-05-20 发布日期:2022-07-07
通讯作者: 陈正(通信作者)，男，1984年出生，博士，教授，博士研究生导师。主要研究方向为流体传动与机电系统的高性能控制。E-mail：zheng_chen@zju.edu.cn
作者简介:吕立彤，男，1992年出生，博士，讲师，硕士研究生导师。主要研究方向为液压系统控制。E-mail：lvlitong@yeah.net;姚斌，男，1968年出生，博士，教授，博士研究生导师。主要研究方向为高性能控制理论与应用。E-mail：byao@purdue.edu
基金资助:
国家重点研发计划(2020YFB2009703)、国家自然科学基金(52105065,52075476,61633019)和国家自然科学基金创新研究群体科学基金(51821093)资助项目。

Parallel-connected Pump-valves Coordinated Electro-hydraulic System: Comparative Study and Motion Control

Lü Litong¹, CHEN Zheng^2,3, YAO Bin⁴

1. School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043;
2. State Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou 310027;
3. Ocean College, Zhejiang University, Zhoushan 316021;
4. School of Mechanical Engineering, Purdue University, West Lafayette IN 47907, USA

Received:2021-06-06 Revised:2021-09-15 Online:2022-05-20 Published:2022-07-07

摘要/Abstract

摘要： 在智能制造和节能减排的大背景下,电液系统的执行器控制精度和系统能效都十分重要。现有技术实现高精度或高能效单一目标并不困难,但同时实现两个目标仍面临挑战。从电液系统对高精度和高能效的实际需求出发,概述液压回路和控制方法两方面的相关研究现状;其次,以同时实现高精度与高能效为目标,提出并联式泵阀协调电液系统的原理方案,并与单阀芯阀控、负载口独立阀控、开式泵控等常用系统进行对比分析;进而,针对液压缸速度轨迹高精度跟踪任务,采用理想补偿的自适应鲁棒控制方法,设计速度跟踪闭环运动控制器,并从理论上证明了闭环系统的稳定性和跟踪性能;最后,开展了对比试验研究,结果证明该系统能够取得与负载口独立阀控系统相同的高精度,并显著降低系统能耗,即同时实现了高精度与高能效的预定目标。

关键词: 流体传动与控制, 泵阀协调, 运动控制, 节能

Abstract: The rapid development of intelligent manufacturing and stringent demands for energy conservation have put forward much higher requirements for electro-hydraulic systems, which should not only achieve high control precision but also work in a highly energy-efficient way. Actually, with the existing techniques it is not difficult to achieve single objective, i.e., high precision or high efficiency; what is really challenging is achieving both objectives simultaneously. This study is derived from the practical requirements for high precision and high energy efficiency. In the beginning, the related studies are reviewed from two aspects, i.e., hydraulic circuit configuration and system control design. Then, oriented for simultaneous achievement of high precision and high efficiency, the parallel-connected pump-valves coordinated electro-hydraulic system is proposed, and it is compared with the commonly used systems in this field. To track the given velocity trajectory with high precision, the system controller is synthesized based on the desired compensation adaptive robust control. The tracking performance and stability of the closed-loop system are analyzed in theory. Finally, the comparative experiments are conducted and the results show that the proposed system can achieve not only the same level of high tracking precision as the typical valve-controlled system, but also a high level of energy efficiency.

Key words: fluid power transmission and control, pump and valve coordination, motion control, energy saving

中图分类号:

TH137

吕立彤, 陈正, 姚斌. 并联式泵阀协调电液系统：对比分析与运动控制[J]. 机械工程学报, 2022, 58(10): 136-151.

Lü Litong, CHEN Zheng, YAO Bin. Parallel-connected Pump-valves Coordinated Electro-hydraulic System: Comparative Study and Motion Control[J]. Journal of Mechanical Engineering, 2022, 58(10): 136-151.

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并联式泵阀协调电液系统：对比分析与运动控制

Parallel-connected Pump-valves Coordinated Electro-hydraulic System: Comparative Study and Motion Control

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