液电混合直线驱动系统耦合特性及位置控制

doi:10.3901/JME.2021.22.386

摘要/Abstract

摘要： 液压系统与电-机械系统是广泛应用于航空航天、工业、非道路移动机械等领域的两种不同驱动方案。在实际中，两者通常单独使用，电-机械驱动方案能效高，但承载能力弱，液压驱动方案功率密度大、动态响应快，但能量效率低。为此，结合两个驱动方案优点，集成设计电-机械执行器与液压缸，构建一种新型液电混合直线驱动系统，分析系统工作原理及两个非相似驱动子系统耦合特性、力纷争现象及其影响。在此基础上，提出一种电-机械驱动单元运动控制与液压驱动单元力控制的调控方案。研究结果表明，采用所提调控方案可减轻两个非相似驱动子系统耦合作用，在液压阀低压损的同时，可获得良好的位置控制特性。新型液电混合直线驱动系统将为液压系统和电-机械系统的进一步发展提供新思路。

关键词: 电液控制系统, 电-机械执行器, 液电混合驱动, 位置控制

Abstract: To reveal the transient flow characteristics of the main flow-through components of the centrifugal pump as turbine under the best efficiency point condition, the unsteady flow characteristics of a centrifugal pump with specific speed of 90 under the turbine mode are simulated based on the modified partially-averaged Navier-Stokes (PANS) turbulence model, and the accuracy of the simulated results is verified by experiments. Subsequently, according to the inlet and outlet speed triangles of the blades, the theoretical best efficiency point condition of the inlet and outlet of the blade is calculated, respectively. The law of internal flow in the cascade under the best efficiency point conditions is predicted. The transient flow characteristics of the volute and impeller under the best efficiency point conditions are analyzed. The results show that the theoretical optimal inlet and outlet of the impeller and best efficiency operating discharge are 55 m³/h, 108 m³/h, and 80 m³/h, respectively. The rotor-stator interaction will promote the shedding of the vortex at the leading edge of the tongue of volute. When the leading edge of the impeller is parallel with the leading edge of the tongue, the pressure pulsation intensity of volute is the lowest. The shedding frequency of the vortex in the cascade is about 2f_n, and the evolution of the vortex is mainly dominated by the tensile term and the Coriolis force term in its transport equation. The evolution of the vortex near the suction surface has a great influence on the pressure fluctuation in the front and middle flow channels of the impeller, while the evolution of the blade trailing edge vortex has a great influence on the pressure fluctuation at the outlet of the impeller. The research results can provide a reference for improving the operating stability of centrifugal pumps as turbines in energy recovery systems.

Key words: electro-hydraulic control system, electro-mechanical actuator, hydraulic-electric hybrid drive, position control

中图分类号:

TH137

郝云晓, 乔舒斐, 夏连鹏, 权龙, 赵斌. 液电混合直线驱动系统耦合特性及位置控制[J]. 机械工程学报, 2021, 57(22): 386-394.

HAO Yunxiao, QIAO Shufei, XIA Lianpeng, QUAN Long, ZHAO Bin. Coupling Characteristics and Position Control of Hydraulic-electric Hybrid Linear Drive System[J]. Journal of Mechanical Engineering, 2021, 57(22): 386-394.

参考文献

[1] ZHANG Yujie, LIU Liansheng, PENG Yu, et al. An electro-mechanical actuator motor voltage estimation method with a feature-aided kalman filter[J]. Sensors, 2018, 18(12):1-15.
[2] AKIYOSHI H, HIRAKI E, TANAKA T, et al. Peak power shaving of an electric injection molding machine with supercapacitors[J]. IEEE Transactions on Industry Applications, 2013, 50(2):1114-1120.
[3] DELBECQ S. Knowledge-based multidisciplinary sizing and optimization of embedded mechatronic systemsapplication to aerospace electro-mechanical actuation systems[D]. Toulouse:Institut National des Sciences Appliquées, 2018.
[4] 任广通, 赵江波, 王军政, 等. 基于虚拟样机的电动六自由度并联机器人结构参数设计[J]. 工程科学学报, 2012, 34(1):65-70. REN Guangtong, ZHAO Jiangbo, WANG Junzheng, et al. Design of structural parameters for motor-driven6-DOF parallel manipulators based on virtual prototype[J]. Chinese Journal of Engineering, 2012, 34(1):65-70.
[5] LIU Chunliang, LUO Guangzhao, CHEN Zhe, et al. Alinear ADRC-based robust high-dynamic double-loop servo system for aircraft electro-mechanical actuators[J]. Chinese Journal of Aeronautics, 2019, 32(9):2174-2187.
[6] 翟富刚, 尹燕斌, 李超, 等. 伺服电动缸传动系统刚度建模与前馈控制[J]. 吉林大学学报, 2021, 51(2):442-449. ZHAI Fugang, YIN Yanbin, LI Chao, et al. Stiffness modeling and feedforward control of servo electric cylinder drive system[J]. Journal of Jilin University, 2021, 51(2):442-449.
[7] HILL C, BOZHKO S, YANG T, et al. More electric aircraft electro-mechanical actuator regenerated power management[C]//24th International Symposium on Industrial Electronics (ISIE), June 3-5, 2015, Buzios, Brazil, 2015:337-342.
[8] TRENTIN A, ZANCHETTA P, WHEELER P, et al. Power flow analysis in electro-mechanical actuators for civil aircraft[J]. IET Electric Power Applications, 2011, 5(1):48-58.
[9] WHEELER P, TRENTIN A, BOZHKO S, et al. Regeneration of energy onto an aircraft electrical power system from an electro-mechanical actuator[C]//2012Electrical Systems for Aircraft, Railway and Ship Propulsion, October 16-18, 2012, Bologna, Italy, 2012:1-6.
[10] Volvo Construction Equipment. Volvo CE unveils 100%electric compact excavator prototype[EB/OL].[2017-05-15]. https://www. volvoce. com/global/en/this-isvolvo-ce/what-we-believe-in/innovation/prototype-electricexcavator/.
[11] LIU He, ZHANG Xiaogang, QUAN Long, et al. Research on energy consumption of injection molding machine driven by five different types of electro-hydraulic power units[J]. Journal of Cleaner Production, 2020, 242:1-11.
[12] DJUROVIC M, HELDUSER S. New control strategies for electro-hydraulic load-sensing[C]//Fluid Power and Motion Control (FPMC), September 10-12, 2004, Bath, UK, 2004:201-210.
[13] FINZEL R, HELDUSER S, JANG D S. Electro-hydraulic dual-circuit system to improve the energy efficiency of mobile machines[C]//7th International Fluid Power Conference, March 22-24, 2010, Aachen, Germany, March 22-24, 2010(3):151-163.
[14] 程敏, 于今, 丁孺琦, 等. 基于流量前馈与压力反馈复合控制的电液负载敏感系统[J]. 机械工程学报, 2018, 54(20):262-270. CHENG Min, YU Jin, DING Ruqi, et al. Electrohydraulic load sensing system via compound control of flow feedforward and pressure feedback[J]. Journal of Mechanical Engineering, 2018, 54(20):262-270.
[15] JANSSON A, PALMBERG J. Separate controls of meter-in and meter-out orifices in mobile hydraulic systems[J]. SAE Transactions, 1990, 99(2):377-383.
[16] ERIKSSON B, PALMBERG J. Individual metering fluid power systems:Challenges and opportunities[J]. Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering, 2011, 225(2):196-211.
[17] 杨华勇, 刘伟, 徐兵, 等. 挖掘机电液流量匹配控制系统特性分析[J]. 机械工程学报, 2012(14):156-163. YANG Huayong, LIU Wei, XU Bing, et al. Characteristics analysis of electro-hydraulic flow matching control system in hydraulic excavator[J]. Journal of Mechanical Engineering, 2012(14):156-163.
[18] 徐兵, 刘伟, 杨华勇, 等. 挖掘机电液流量匹配控制系统流量补偿试验[J]. 浙江大学学报, 2012, 46(8):1382-1389. XU Bing, LIU Wei, YANG Huayong, et al. Experiment study on flow compensation of electro-hydraulic flow matching control system in hydraulic excavator[J]. Journal of Zhejiang University, 2012, 46(8):1382-1389.
[19] LIU Bin, QUAN Long, GE Lei. Research on the performance of hydraulic excavator boom based pressure and flow accordance control with independent metering circuit[J]. Proceedings of the Institution of Mechanical Engineers, Part E:Journal of Process Mechanical Engineering, 2017, 231(5):901-913.
[20] YAO B, DEBOER C. Energy-saving adaptive robust motion control of single-rod hydraulic cylinders with programmable valves[C]//Proceedings of the 2002American Control Conference, Anchorage, AK, USA, May 8-10, 2002, 6:4819-4824.
[21] 牛善帅, 王军政, 张鹏, 等. 基于负载口独立控制的双伺服阀控缸系统[J]. 北京理工大学学报, 2019, 39(12):1292-1297. NIU Shanshuai, WANG Junzheng, ZHANG Peng, et al. Separate meter in and meter out valve controlled cylinder system based on dual servo control[J]. Transaction of Beijing Institute of Technology, 2019, 39(12):1292-1297.
[22] 权龙, 冯克温, 陈青. 泵阀复合流量匹配进出油口独立控制电液系统:中国, CN101109398[P]. 2008-01-23. QUAN Long, FENG Kewen, CHEN Qing. Pump and valve combined flow matching separate meter in and meter out electro-hydraulic system:China, CN101109398[P]. 2008-01-23.
[23] SHI Jianpeng, QUAN Long, ZHANG Xiaogang, et al. Electro-hydraulic velocity and position control based on independent metering valve control in mobile construction equipment[J]. Automation in Construction, 2018, 94:73-84.
[24] 董致新, 黄伟男, 葛磊, 等. 泵阀复合进出口独立控制液压挖掘机特性研究[J]. 机械工程学报, 2016, 52(12):173-180. DONG Zhixin, HUANG Weinan, GE Lei, et al. Research on the performance of hydraulic excavator with pump and valve combined separate meter in and meter out circuits[J]. Journal of Mechanical Engineering, 2016, 52(12):173-180.
[25] QUAN Zongyi, QUAN Long, ZHANG Jinman. Review of energy efficient direct pump controlled cylinder electro-hydraulic technology[J]. Renewable and Sustainable Energy Reviews, 2014, 35:336-346.
[26] 付永领, 韩旭, 杨荣荣, 等. 电动静液作动器设计方法综述[J]. 北京航空航天大学学报, 2017, 43(10):1939-1952. FU Yongling, HAN Xu, YANG Rongrong, et al. Review on design method of electro-hydrostatic actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(10):1939-1952.
[27] LÜLitong, CHEN Zheng, YAO Bin. Development of pump and valves combined hydraulic system for both high tracking precision and high energy efficiency[J]. IEEETransactions on Industrial Electronics, 2018, 66(9):7189-7198.
[28] 郝云晓, 夏连鹏, 葛磊, 等. 液电混合直线驱动系统位置控制特性研究[J]. 农业机械学报, 2020, 51(3):379-385. HAO Yunxiao, XIA Lianpeng, GE Lei, et al. Position control performance of hydraulic electric hybrid linear drive system[J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(3):379-385.