开式泵控非对称缸系统一阶轨迹灵敏度分析

doi:10.3901/JME.2019.02.223

机械工程学报 ›› 2019, Vol. 55 ›› Issue (2): 223-232.doi: 10.3901/JME.2019.02.223

• 交叉与前沿 • 上一篇

扫码分享

开式泵控非对称缸系统一阶轨迹灵敏度分析

姚静^1,2,3, 蒋东廷³, 张伟³, 董兆胜³

1. 燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066004;
2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004;
3. 燕山大学机械工程学院秦皇岛 066004

收稿日期:2018-03-10 修回日期:2018-10-12 出版日期:2019-01-20 发布日期:2019-01-20
通讯作者: 姚静(通信作者),女,1978年出生,博士研究生。主要研究方向为重型机械流体传动与控制系统和新型液压元件。E-mail:jyao@ysu.edu.cn
基金资助:
国家自然科学基金（51575471）、河北省教育厅高等学校科技计划重点项目（ZD2017077）和流体动力与机电系统国家重点实验室2017年开放基金（GZKF-201716）资助项目

First-order Trajectory Sensitivity Analysis of Open Circuit Pump-controlled Asymmetric Cylinder Systems

YAO Jing^1,2,3, JIANG Dongting³, ZHANG Wei³, DONG Zhaosheng³

1. Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004;
3. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004

Received:2018-03-10 Revised:2018-10-12 Online:2019-01-20 Published:2019-01-20

摘要/Abstract

摘要： 泵控技术在工程机械、重型机械等领域应用广泛，但目前对其输出特性的分析较少。为了探究泵控系统关键参数对系统输出特性的影响，基于开式泵控非对称缸系统状态方程建立系统一阶轨迹灵敏度模型，并求出各参数的灵敏度函数曲线。提出了峰值灵敏度、均值灵敏度两个衡量指标，分析各参数变化对位移输出特性影响程度的大小。基于0.6 MN开式泵控油压机试验平台，验证灵敏度理论分析的准确性。结果表明：空载时，伺服变量泵2先导级伺服阀增益、伺服变量泵2和伺服变量泵1的先导级伺服阀时间常数影响较大；加载时，各参数两项灵敏度指标数值相近，其中伺服变量泵2的先导级伺服阀的增益、时间常数和油缸面积以及流量增益、系统比例增益影响较大。分析结果可为泵控非对称缸系统性能优化提供理论依据。

关键词: 泵控系统, 非对称缸, 灵敏度, 状态方程

Abstract: The pump-controlled technology has wide application in engineering machinery, heavy machinery and other fields. However, there are few analyses on its output characteristics at present. To explore the effect of the critical parameters of the pump control system on the output characteristics of the system, based on the state equations of open circuit pump- controlled asymmetric cylinder systems, the first-order trajectory sensitivity equations are derived and the sensitivity function curves of each parameter are obtained. Two measures of peak sensitivity and mean sensitivity are proposed to analyze the influence degree of each parameter variation on the displacement output characteristics. Based on 0.6MN pump-controlled hydraulic forging test bench, the accuracy of sensitivity theory analysis is verified. Experimental results indicate that in no-load time, servo variable pump 2 pilot servo valve gain, servo variable pump 2 and servo variable pump 1 pilot stage servo valve time constant has great influence. In load, that value of the sensitivity indexes of two parameter of each parameter is similar, in which the gain of pilot stage servo valve of servo variable pump 2, time constant and oil cylinder area and flow gain and system ratio gain are greatly affected. All the research above can provide theoretical basis for pump-controlled asymmetric cylinder systems performance optimization.

Key words: asymmetric cylinder, pump-controlled system, sensitivity analysis, state equations

中图分类号:

TH137

姚静, 蒋东廷, 张伟, 董兆胜. 开式泵控非对称缸系统一阶轨迹灵敏度分析[J]. 机械工程学报, 2019, 55(2): 223-232.

YAO Jing, JIANG Dongting, ZHANG Wei, DONG Zhaosheng. First-order Trajectory Sensitivity Analysis of Open Circuit Pump-controlled Asymmetric Cylinder Systems[J]. Journal of Mechanical Engineering, 2019, 55(2): 223-232.

参考文献

[1] 权龙. 泵控缸电液技术研究现状、存在问题及创新解决方案[J]. 机械工程学报,2008,44(11):87-92. QUAN Long. Current state, problems and the innovative solution of electro-hydraulic technology of pump controlled cylinder[J]. Chinese Journal of Mechanical Engineering,2008,44(11):87-92.
[2] MINAV T A,LAURILA L I E,PYRHUENRN J J. Analysis of electro-hydraulic lifting system's energy efficiency with direct electric drive pump control[J]. Automation in Construction,2013,30:144-150.
[3] QUAN Zhongyi,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.
[4] 徐绳武. 泵控系统在国外的发展[J]. 液压气动与密封,2010,30(3):1-4. XU Shengwu. Development of pump-controlled system abroad[J]. Hydraulics Pneumatics and Seals,2010,30(3):1-4.
[5] 景健,权龙,黄家海,等. 非对称泵直驱液压挖掘机斗杆特性研究[J]. 机械工程学报,2016,52(6):188-196. JING Jian,QUAN Long,HANG Jiahai,et al. Research on the characteristics of asymmetric pump directed controlled arm cylinder of excavator[J]. Journal of Mechanical Engineering,2016,52(6):188-196.
[6] UWE K. A hydraulic high-speed tryout press for the simulation of mechanical forming processes[J]. Journal of Materials Processing Technology,2001,111(1):159-163.
[7] 姜继海,苏文海,张洪波,等. 直驱式容积控制电液伺服系统及其在船舶舵机上的应用[J]. 中国造船,2004(4):58-63. JIANG Jihai,SU Wenhai,ZHANG Hongbo,et al. Direct drive variable speed electro-hydraulic servo system to position control of a ship Rudder[J]. Shipbuilding of China, 2004(4):58-63.
[8] TSAO T C,TOMIZUKA M. Robust adaptive and repetitive digital tracking control and application to a hydraulic servo for noncircular machining[J]. Journal of Dynamic Systems, Measurement and Control Transactions of the ASME,1994,116(1):24-32.
[9] TO K,YAMADA T,IKEO S,et al. Application of simple adaptive control to water hydraulic servo cylinder system[J]. Chinese Journal of Mechanical Engineering,2012,25(5):882-888.
[10] LIU R,ALLEYNE A. Nonlinear force/pressure tracking of an electro-hydraulic actuator[J]. Journal of Dynamic Systems, Measurement and Control Transactions of the ASME,2000,122(1):232-237.
[11] GUAN Cheng,PAN Shuangxia. Adaptive sliding mode control of electro-hydraulic system with nonlinear unkNown parameters[J]. Control Engineering Practice,2008,16(11):1275-1284.
[12] CHO S H,BURTON R. Position control of high performance hydrostatic actuation system using a simple adaptive control (SAC) method[J]. Mechatronics,2010,21(1):109-115.
[13] KYOUNG K A,QUANG T D. Self-tuning of quantitative feedback theory for force control of an electro-hydraulic test machine[J]. Control Engineering Practice,2009,17(11):1291-1306.
[14] SONG X M,KONG F Z,ZHAN C S,et al. Parameter identification and global sensitivity analysis of Xin'anjiang model using meta-modeling approach[J]. Water Science and Engineering,2013,6(1):1-17.
[15] HALL J W,BOYCE S A,WANG Y L,et al. Sensitivity analysis for hydraulic models[J]. Journal of Hydraulic Engineering,2009,135(11):959-969.
[16] WEI Pengfei,SONG Jingwen,LU Zhenzhou. Global reliability sensitivity analysis of motion mechanisms[J]. Journal of Risk and Reliability,2016,230:265-277.
[17] 王新刚,张义民,王宝艳. 机械零部件的动态可靠性灵敏度分析[J]. 机械工程学报,2010,46(10):188-193. WANG Xingang,ZHANG Yimin,WANG Baoyan. Dynamic reliability sensitivity analysis of mechanical components[J]. Journal of Mechanical Engineering,2010,46(10):188-193.
[18] VERHOEVEN R. Analysis of the workspace of tendon-based Stewart platform[D]. Duisburg, Germany:Gerhard Mercator University,2004.
[19] BA Kaixian,YU Bin,KONG Xiangdong,et al. The dynamic compliance and its compensation control research of the highly integrated valve-controlled cylinder position control system[J]. International Journal of Control, Automation & SystemsJournal of Dynamic Systems,2017,15(4):1814-1825.
[20] BA Kaixian,YU Bin. Parameters sensitivity analysis of position-based impedance control for bionic legged robots' HDU[J]. Applied Sciences,2017,7(10):1035.
[21] ANTON I,LOAN S. Numerical modeling of cavitation characteristics and sensitivity curves for reversible hydraulic machinery[J]. Engineering Analysis with Boundary Elements,2014,41:18-27.
[22] 姚静,任旭辉,曹晓明,等. 开式变量泵控快锻油压机系统能耗特性实验研究[J]. 中国机械工程,2017,28(4):462-470. YAO Jing,REN Xuhui,CAO Xiaoming,et al. Experimental study on energy consumption characteristics of fast hydraulic forging press with open variable pump-controlled system[J]. China Mechanical Engineering,2017,28(4):462-470.
[23] 姚静,王佩,董兆胜,等. 开式泵控非对称缸负载容腔独立控制耦合特性[J]. 中国机械工程,2017,28(14):1639-1645. YAO Jing,WANG Pei,DONG Zhaosheng,et al. Coupling characteristics of independent volume-in and volume-out control for open circuit pump-controlled asymmetric cylinder systems[J]. Chian Mechanical Engineering,2017,28(14):1639-1645.

开式泵控非对称缸系统一阶轨迹灵敏度分析

First-order Trajectory Sensitivity Analysis of Open Circuit Pump-controlled Asymmetric Cylinder Systems

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]	程洪鑫, 李璐祎, 周长聪. 基于Kriging模型和代理抽样的分布参数不确定性灵敏度分析方法[J]. 机械工程学报, 2024, 60(8): 370-383.
[2]	段骁航, 张伟伟, 薛晨阳, 姜生元, 迟关心. 基于介电特性的含冰月壤含水率反演方法研究[J]. 机械工程学报, 2024, 60(2): 313-322.
[3]	牛善帅, 王军政, 赵江波, 沈伟. 泵控电液伺服系统基于未知死区补偿的自适应鲁棒控制[J]. 机械工程学报, 2024, 60(18): 327-337.
[4]	袁野, 杨怀广, 丁亮, 兰清宁, 杨超杰, 高海波, 邓宗全. 反映载荷影响的星球车车轮试验及模型研究[J]. 机械工程学报, 2024, 60(14): 263-271.
[5]	林莉, 马志远, 孙珞茗, 罗忠兵, 雷明凯. 航空功能涂层表界面完整性参数超声检测反演原理及其应用[J]. 机械工程学报, 2023, 59(8): 1-8.
[6]	常琦, 周长聪, 刘付超, 张浩, 岳珠峰. 考虑铰接间隙区间不确定性的飞机舱门锁机构可靠性分析[J]. 机械工程学报, 2023, 59(8): 264-272.
[7]	杨强, 孙本奇, 李树军, 戴建生. 面向构态切换稳定性的约束变胞机构可靠性优化设计方法[J]. 机械工程学报, 2023, 59(3): 22-37.
[8]	度红望, 许晓亚, 邵仁波, 熊伟, 王海涛. 气动弯曲型人工肌肉瞬态动力学建模、分析与验证[J]. 机械工程学报, 2023, 59(21): 199-208.
[9]	朱林, 邱建春, 陈敏. 基于修正Sobol灵敏度模型的拨穗授粉机疲劳寿命影响因素分析研究[J]. 机械工程学报, 2022, 58(16): 189-196.
[10]	范晋伟, 谢本田, 叶倩, 陶浩浩. 基于区间理论的数控内圆复合磨床几何误差灵敏度分析方法研究[J]. 机械工程学报, 2022, 58(11): 220-230.
[11]	刘家军, 高浩博, 韩思丹. 接触网中验电位置对电容型验电器灵敏度的影响研究^*[J]. 电气工程学报, 2021, 16(3): 177-183.
[12]	巴凯先, 康岩, 俞滨, 付康平, 黄智鹏, 徐悦鹏, 袁立鹏, 孔祥东. 足式机器人轻量化液压驱动执行器质量建模及灵敏度分析[J]. 机械工程学报, 2021, 57(24): 39-48,82.
[13]	张俊, 蒋舒佳, 池长城. 2UPR&2RPS型冗余驱动并联机器人的运动学标定[J]. 机械工程学报, 2021, 57(15): 62-70.
[14]	戴大力, 肖新标, 陈辉, 姚丹, 金学松. 基于声功率灵敏度的仿生脉序优化方法研究[J]. 机械工程学报, 2021, 57(1): 138-147.
[15]	杨赟, 朱梦瑞, 李慧敏, 杜正春, 杨建国. 基于灵敏度分析的立式加工中心批量空间误差建模和补偿[J]. 机械工程学报, 2020, 56(7): 204-212.