液压阀控伺服系统四象限负载等效及其关键参数分析

doi:10.3901/JME.260507

机械工程学报 ›› 2026, Vol. 62 ›› Issue (10): 404-413.doi: 10.3901/JME.260507

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液压阀控伺服系统四象限负载等效及其关键参数分析

朱琦歆¹, 康鸿飞², 俞滨², 巴凯先², 纵怀志³, 张军辉³, 徐兵³, 孔祥东²

1. 浙江理工大学机械工程学院杭州 310018;
2. 燕山大学机械工程学院秦皇岛 066004;
3. 浙江大学机械工程学院杭州 310027

收稿日期:2025-05-08 修回日期:2025-12-09 发布日期:2026-07-29
作者简介:朱琦歆,男,1992年出生,博士,副教授,硕士研究生导师。主要研究方向为足式机器人高性能电液伺服系统匹配设计及控制、液压系统轻量化。E-mail:qixinz@zstu.edu.cn;康鸿飞,男,2001年出生,硕士研究生。主要研究方向为电液伺服泵控系统参数匹配及设计。E-mail:khf@stumail.ysu.edu.cn;俞滨,男,1985年出生,博士,教授,博士研究生导师。主要研究方向为足式机器人液压系统设计与控制、电液伺服控制系统。E-mail:yb@ysu.edu.cn;巴凯先,男,1989年出生,博士,教授,博士研究生导师。主要研究方向为液压伺服控制系统、液压足式机器人轻量化设计与控制。E-mail:bkx@ysu.edu.cn;纵怀志(通信作者),男,1995年出生,博士。主要研究方向为高功率密度伺服元件和系统、液压机器人开发和控制等。张军辉,男,1983年出生,博士,教授,博士研究生导师。主要研究方向为高功率密度液压传动、智能液压元件和液压驱动机器人。E-mail:benzjh@zju.edu.cn;徐兵,男,1971年出生,博士,教授,博士研究生导师。主要研究方向为机电控制、流体动力元件与系统等。E-mail:bxu@zju.edu.cn;孔祥东,男,1959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控制。E-mail:xdkong@ysu.edu.cn
基金资助:
国家自然科学基金(52305076，52475071，52475072)、河北省燕赵青年科学家(E2023203258)、河北省自然科学基金(E2022203002)和浙江理工大学科研启动基金(XJ2024000901)资助项目。

Four-quadrant Load Equivalence and Key Parameter Analysis of Hydraulic Valve-controlled Servo System

ZHU Qixin¹, KANG Hongfei², YU Bin², BA Kaixian², ZONG Huaizhi³, ZHANG Junhui³, XU Bing³, KONG Xiangdong²

1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018;
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
3. School of Mechanical Engineering, Zhejiang University, Hangzhou 310027

Received:2025-05-08 Revised:2025-12-09 Published:2026-07-29

摘要/Abstract

摘要： 液压阀控伺服系统是高端装备的重要组成部分，动力机构(如阀控液压缸)作为其核心部件，负责驱动负载运动。为了动力机构能完全满足驱动负载的需求，采用负载匹配计算动力机构的参数，以使动力机构输出特性曲线能完全包络负载轨迹。然而，在实际系统中，负载轨迹和动力机构输出特性曲线通常是四象限，在匹配过程中却难以兼顾该特性，导致四象限负载匹配过程烦琐、匹配效率低。基于此，提出一种四象限负载等效方法，将第三四象限负载轨迹等效至第一二象限，以实现在第一二象限完成四象限的匹配任务；同时，对等效公式中的参数进行分析，以掌握关键参数对等效轨迹的影响规律，进一步完善四象限负载等效理论。最后，仿真和试验结果显示：动力机构输出特性曲线对等效后负载轨迹和四象限负载轨迹的包络效果相同，采用四象限负载等效的负载匹配方法计算的动力机构能闭环跟踪负载轨迹，且其具备更高的匹配效率。

关键词: 四象限负载等效, 负载匹配, 液压阀控伺服系统, 动力机构

Abstract: Hydraulic valve-controlled servo system is an important part of high-end equipment, and the power mechanism (such as valve-controlled hydraulic cylinder) as its essential component, responsible for driving the load movement. In order for the power mechanism to fully meet the demand of driving loads, load matching method is used to calculate the parameters of the power mechanism, so that the output characteristic curves of the power mechanism can fully envelope the load trajectory. However, the load trajectory and the output characteristic curves of the power mechanism are usually four-quadrant in the actual system. It is difficult to take this characteristic into account in the matching process, which leads to a cumbersome four-quadrant load matching process and low matching efficiency. Based on this, in order to achieve a four-quadrant matching task in the first and second quadrants, a four-quadrant load equivalence method is proposed to equate a third and fourth quadrants load trajectory to a first and second quadrants. At the same time, the parameters of the equivalence formula are analyzed to grasp the influence of the key parameters on the equivalence trajectory and to further refine the four-quadrant load equivalence method. Finally, the simulation and experimental results show that the output characteristic curves of the power mechanism have the same envelope effect on the equivalent load trajectory and the four-quadrant load trajectory. The power mechanism calculated by the load matching method based on the four-quadrant load equivalence can track the load trajectory, which verifies the correctness of the four-quadrant load equivalence method.

Key words: four-quadrant load equivalence, load matching method, hydraulic valve-controlled servo system, power mechanism

中图分类号:

TH137

朱琦歆, 康鸿飞, 俞滨, 巴凯先, 纵怀志, 张军辉, 徐兵, 孔祥东. 液压阀控伺服系统四象限负载等效及其关键参数分析[J]. 机械工程学报, 2026, 62(10): 404-413.

ZHU Qixin, KANG Hongfei, YU Bin, BA Kaixian, ZONG Huaizhi, ZHANG Junhui, XU Bing, KONG Xiangdong. Four-quadrant Load Equivalence and Key Parameter Analysis of Hydraulic Valve-controlled Servo System[J]. Journal of Mechanical Engineering, 2026, 62(10): 404-413.

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液压阀控伺服系统四象限负载等效及其关键参数分析

Four-quadrant Load Equivalence and Key Parameter Analysis of Hydraulic Valve-controlled Servo System

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