液压伺服系统闭环刚度特性分析与试验研究

doi:10.3901/JME.2018.16.170

机械工程学报 ›› 2018, Vol. 54 ›› Issue (16): 170-177.doi: 10.3901/JME.2018.16.170

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液压伺服系统闭环刚度特性分析与试验研究

张立杰^1,2, 王力航¹, 李玉昆^2,3, 贾超¹, 李永泉^2,3

1. 燕山大学河北省重型机械流体动力传输与控制重点实验室秦皇岛 066004;
2. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066004;
3. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004

收稿日期:2017-09-05 修回日期:2018-03-05 出版日期:2018-08-20 发布日期:2018-08-20
通讯作者: 李永泉(通信作者),男,1979年出生,副教授。研究方向为并联机构及机器人技术。E-mail:lijiang197879@sina.com
作者简介:张立杰,男,1969年出生,教授,博士研究生导师。主要研究方向为机构学、机械结构力学性能分析及结构优化设计、电液控制系统、流体机械优化设计。E-mail:ljzhang@ysu.edu.cn;王力航,男,1989年出生,博士研究生。研究方向为液压伺服控制技术。E-mail:wlh5578@qq.com;李玉昆,男,1978年出生,高级实验师。研究方向为并联机器人误差分析、运动学标定及系统测试技术。E-mail:lyk@ysu.edu.cn;贾超,男,1992年出生,硕士研究生。研究方向为机电系统测试技术。E-mail:jiachao6969@163.com
基金资助:
国家自然科学基金（51405421、51275438）和河北省自然科学基金（E2015203101）资助项目。

Analysis and Experimental Study on Closed-loop Stiffness of Hydraulic Servo System

ZHANG Lijie^1,2, WANG Lihang¹, LI Yukun^2,3, JIA Chao¹, LI Yongquan^2,3

1. Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
3. Parallel Robot and Mechatronic System of Laboratory of Hebei Provincie, Yanshan University, Qinhuangdao 066004

Received:2017-09-05 Revised:2018-03-05 Online:2018-08-20 Published:2018-08-20

摘要/Abstract

摘要： 以阀控非对称缸系统为研究对象，借助键合图建立系统六阶状态空间模型，基于闭环传递函数对系统进行刚度特性分析，得到液压伺服系统闭环刚度特性的解析表达，研究液压伺服系统闭环刚度特性及其影响因素。提出液压位置伺服系统闭环刚度仅与供油压力有关，与伺服缸活塞初始位置、比例增益等因素无关，并且负载力与伺服缸活塞位移增量成平方反比关系。开展液压伺服系统闭环刚度试验研究，测试不同供油压力、比例增益以及伺服缸活塞初始位置条件下，伺服缸在外负载力作用下的位移响应过程。试验结果表明，液压位置伺服系统闭环刚度与供油压力显著相关，与比例增益以及伺服缸活塞初始位置无明显关系，并且负载力与伺服缸活塞位移增量近似符合平方反比关系。

关键词: 闭环刚度, 电液伺服系统, 阀控非对称缸, 键合图

Abstract: A kind of valve controlled asymmetric cylinder system is modeled as a six order state space model by bond graphs. Based on the closed loop transfer function, the stiffness characteristic and influencing factors of the hydraulic servo system is studied. An analytical expression of the closed-loop stiffness of the hydraulic servo system is finally obtained. It is proposed that the closed loop stiffness of the hydraulic positioning servo system is only related to the pressure of the oil supply, and it is not related to the initial position of the cylinder piston and the proportional gain. And the load force is inversely proportional to the square of displacement increment of servo cylinder piston. An experimental study is conducted on the closed-loop stiffness of the hydraulic servo system. In different conditions of oil supply pressure, proportional gain and initial position of servo cylinder piston, the displacement response process of servo cylinder is tested under external load. The experimental results show that the closed-loop stiffness of the hydraulic positioning servo system is significantly related to the oil supply pressure, and it is not obviously related to the initial position of the cylinder piston and the proportional gain. In addition, the load force is approximately in inverse proportion to the square of the displacement increment of the servo cylinder.

Key words: bond graphs, closed loop stiffness, electro-hydraulic servo system, valve-controlled asymmetrical cylinder system

中图分类号:

TH137

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.

ZHANG Lijie, WANG Lihang, LI Yukun, JIA Chao, LI Yongquan. Analysis and Experimental Study on Closed-loop Stiffness of Hydraulic Servo System[J]. Journal of Mechanical Engineering, 2018, 54(16): 170-177.

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液压伺服系统闭环刚度特性分析与试验研究

Analysis and Experimental Study on Closed-loop Stiffness of Hydraulic Servo System

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