發(fā)布時(shí)間：2018-08-05 15:05

【摘要】：作為電液伺服控制系統(tǒng)核心控制部件的電液伺服閥,是連接電氣系統(tǒng)和液壓系統(tǒng)的橋梁,其性能直接影響著整個(gè)電液伺服控制系統(tǒng)的控制精度、響應(yīng)速度、可靠性和使用壽命,因此研制控制精度高、響應(yīng)速度快、可靠性高的電液伺服閥對(duì)提高電液伺服控制系統(tǒng)的性能有著重要意義。隨著新型功能材料的發(fā)展,出現(xiàn)了具有輸出力大、能量密度高、可靠性高、分辨精度高、頻帶寬及響應(yīng)速度快等優(yōu)點(diǎn)的新型電-機(jī)轉(zhuǎn)換器,如基于壓電材料和超磁致伸縮材料的電-機(jī)轉(zhuǎn)換器。將這些新型電-機(jī)轉(zhuǎn)換器應(yīng)用在電液伺服閥中來(lái)提高電液伺服閥的性能是目前電液伺服閥研究和發(fā)展的一個(gè)重要方向。在此研究思路的指導(dǎo)下,本文將超磁致伸縮電-機(jī)轉(zhuǎn)換器和射流液壓放大器相結(jié)合,設(shè)計(jì)出了超磁致伸縮射流伺服閥,并通過(guò)多學(xué)科及多物理場(chǎng)協(xié)同優(yōu)化、物理機(jī)理建模、計(jì)算機(jī)仿真、有限元數(shù)值模擬等技術(shù)對(duì)超磁致伸縮射流伺服閥的基礎(chǔ)理論進(jìn)行了深入研究,最后采用實(shí)驗(yàn)的方法對(duì)所研制超磁致伸縮射流伺服閥的靜、動(dòng)態(tài)性能進(jìn)行了測(cè)試。本文的主要研究工作可分為六部分:第一部分總結(jié)和分析了超磁致伸縮電-機(jī)轉(zhuǎn)換器和超磁致伸縮電液控制閥的國(guó)內(nèi)外研究現(xiàn)狀,得出了研制超磁致伸縮射流伺服閥的關(guān)鍵技術(shù)及研究難點(diǎn)。第二部分論述了超磁致伸縮材料的應(yīng)用特性及超磁致伸縮射流伺服閥結(jié)構(gòu)優(yōu)化方法。首先介紹了超磁致伸縮材料的應(yīng)用特性,并基于此應(yīng)用特性提出了超磁致伸縮射流伺服閥的具體結(jié)構(gòu)。接著采用多物理場(chǎng)分析方法對(duì)其結(jié)構(gòu)進(jìn)行了優(yōu)化設(shè)計(jì),通過(guò)磁路建模和磁場(chǎng)數(shù)值模擬得出,當(dāng)超磁致伸縮棒長(zhǎng)度大于其直徑時(shí),軸向磁場(chǎng)不均勻度大于徑向磁場(chǎng)不均勻度,在線圈內(nèi)徑和長(zhǎng)度接近棒的尺寸時(shí),電磁結(jié)構(gòu)較優(yōu);通過(guò)傳熱建模分析和溫度場(chǎng)數(shù)值模擬可知,在油源與環(huán)境溫度相等且超磁致伸縮棒外部油液流速大于0.1m/s時(shí),可以使其溫升控制在0.1℃以下,超磁致伸縮電-機(jī)轉(zhuǎn)換器的熱誤差控制在0.1μm;以液壓能傳遞效率最大對(duì)射流液壓放大器進(jìn)行建模優(yōu)化的結(jié)果表明,最優(yōu)射流結(jié)構(gòu)參數(shù)為:射流噴嘴錐角取13.4°,兩接收孔夾角取30°,接收孔與射流噴嘴的面積比為1.6,射流噴嘴到接收面的距離為噴嘴直徑的0.63倍。第三部分論述超磁致伸縮電-機(jī)轉(zhuǎn)換器的非線性建模理論�；�于復(fù)數(shù)磁導(dǎo)率和磁化強(qiáng)度的關(guān)系模型、磁致伸縮模型以及集總參數(shù)的等效動(dòng)力學(xué)模型建立了計(jì)渦流和磁滯的超磁致伸縮電-機(jī)轉(zhuǎn)換器非線性動(dòng)態(tài)模型。通過(guò)仿真和實(shí)驗(yàn)得出,在控制電流變化范圍為-0.25A~0.25A時(shí),GMA輸出位移為-3.4μm~3.4μm;控制電流在額定范圍內(nèi)變化時(shí),即-1A~1A,GMA輸出位移約為-25μm~25μm;在單位控制電流作用下,GMA輸出位移為20.2μm,其階躍響應(yīng)的上升時(shí)間約為3ms,調(diào)節(jié)時(shí)間約為6ms;當(dāng)控制電流為0.5A時(shí),GMA輸出位移為10μm,其上升時(shí)間約為1.32ms,調(diào)節(jié)時(shí)間小于4ms;在控制電流幅值為1A時(shí),超磁致伸縮電-機(jī)轉(zhuǎn)換器的頻寬約為150Hz,在控制電流幅值為0.25A時(shí),其頻寬可達(dá)550Hz。第四部分介紹了超磁致伸縮電-機(jī)轉(zhuǎn)換器的驅(qū)動(dòng)和前饋逆補(bǔ)償控制技術(shù)。首先,依據(jù)超磁致伸縮致動(dòng)器驅(qū)動(dòng)電源和閥用伺服放大器的要求設(shè)計(jì)了伺服閥用超磁致伸縮電-機(jī)轉(zhuǎn)換器驅(qū)動(dòng)器,并對(duì)其性能進(jìn)行了測(cè)試,測(cè)試結(jié)果表明:在額定負(fù)載下,所設(shè)計(jì)驅(qū)動(dòng)器的線性度約為3.3%;在輸出電流2A時(shí),其上升時(shí)間小于0.5ms;在幅值為1V的簡(jiǎn)諧信號(hào)輸入下,其幅頻寬可達(dá)2k Hz。接著基于磁化能量損耗和復(fù)數(shù)磁導(dǎo)率虛部的函數(shù)關(guān)系,建立了計(jì)磁滯、渦流和附加損耗影響的超磁致伸縮電-機(jī)轉(zhuǎn)換器非線性動(dòng)態(tài)模型及其逆模型,并基于逆模型構(gòu)建了前饋逆補(bǔ)償控制器,對(duì)其輸出位移的相位滯后進(jìn)行遲滯補(bǔ)償。實(shí)驗(yàn)表明,在補(bǔ)償器的作用下,超磁致伸縮電-機(jī)轉(zhuǎn)換器輸出位移的相位滯后明顯減小。第五部分為射流液壓放大器模型及其流場(chǎng)數(shù)值模擬。首先詳細(xì)介紹射流液壓放大器的結(jié)構(gòu)和工作原理,并給出了通流面積的計(jì)算公式�；�于動(dòng)量定理和節(jié)流理論分別建立了射流液壓放大器的模型,并對(duì)其壓力特性、流量特性及壓力-流量特性進(jìn)行了仿真分析,仿真表明:在接收孔直徑取0.8mm,射流噴嘴直徑取0.6mm,射流噴嘴到接收面的距離取0.5mm時(shí),基于節(jié)流理論所建模型的最大無(wú)因次恢復(fù)壓力為0.65,最大無(wú)因次恢復(fù)流量為0.7,而基于動(dòng)量定理所建模型的最大無(wú)因次恢復(fù)壓力為0.8,最大無(wú)因次恢復(fù)流量為0.5;由設(shè)計(jì)參數(shù)(接收孔直徑為0.8mm,射流噴嘴直徑為0.6mm)下射流液壓放大器壓力特性和流量特性的仿真曲線可知,若射流噴嘴位移取值較小(不大于0.03mm),即使將射流噴嘴到接收面的距離擴(kuò)大到等于噴嘴直徑時(shí),射流液壓放大器仍能夠保證最優(yōu)性能。最后利用流場(chǎng)數(shù)值模擬軟件對(duì)設(shè)計(jì)參數(shù)下射流液壓放大器的仿真結(jié)果進(jìn)行了驗(yàn)證,驗(yàn)證結(jié)果表明,在射流噴嘴位移小于100μm時(shí),對(duì)于壓力特性的描述,基于節(jié)流理論所建模型需乘以修正系數(shù)為2.2,基于動(dòng)量定理所建模型需乘以修正系數(shù)為0.9;對(duì)于流量特性的描述,基于節(jié)流理論所建模型較準(zhǔn)確,而基于動(dòng)量定理所建模型需乘以修正系數(shù)為0.7。第六部分為對(duì)超磁致伸縮射流伺服閥性能的理論和實(shí)驗(yàn)研究。通過(guò)對(duì)超磁致伸縮射流伺服閥輸出性能進(jìn)行仿真可知,在系統(tǒng)供油壓力為7MPa,控制電流從-1A~1A時(shí),所設(shè)計(jì)超磁致伸縮射流伺服閥的理論輸出壓力為-0.6MPa~0.6MPa,理論輸出流量可達(dá)-0.10L/min~0.10L/min;控制電流與輸出壓力(或輸出流量)的關(guān)系曲線呈現(xiàn)出嚴(yán)重的遲滯,其線性度為9.8%,滯環(huán)為100%,分辨率為15.6%,零偏為0;壓力特性和流量特性有著相同的理論動(dòng)態(tài)響應(yīng)性能,在單位階躍控制電流的作用下,上升時(shí)間約為3ms,而當(dāng)控制電流從0躍變到0.25A時(shí),上升時(shí)間小于1ms;在控制電流幅值為0.25A時(shí),其幅頻寬可達(dá)550Hz以上,相頻寬700Hz,而在控制電流幅值為1A時(shí),其幅頻寬為150Hz,相頻寬約為200Hz。對(duì)所設(shè)計(jì)超磁致伸縮射流伺服閥輸出壓力的靜態(tài)測(cè)試表明,在7MPa供油壓力下,當(dāng)控制電流在-1A到1A之間變化時(shí),其輸出壓力的最大變化量為0.92MPa;輸出壓力和控制電流關(guān)系曲線的線性度約為40%、滯環(huán)約為52.8%、分辨率約為12.8%、零偏為20%。通過(guò)在驅(qū)動(dòng)器前加前饋控制器進(jìn)行校正,使輸入量從電流變?yōu)榱丝刂破鞯妮斎胄盘?hào)后,輸出壓力特性曲線的線性度為12%,滯環(huán)為16.8%,分辨率為10%,零偏為5.8%;在控制電流在-0.5A到0.5A之間變化時(shí),超磁致伸縮射流伺服閥輸出壓力變化量約為0.37MPa,輸出壓力隨控制電流變化曲線的線性度約為6.2%,滯環(huán)約為23%,分辨率約為3.12%、零偏為3.42%。校正后,輸出壓力特性曲線的線性度為5%,滯環(huán)為9.6%,分辨率為3%,零偏為2.9%。對(duì)超磁致伸縮射流伺服閥輸出壓力的動(dòng)態(tài)測(cè)試可知,在7MPa供油壓力下,控制電流從-1A躍變到1A時(shí),輸出壓力變化量約為0.92MPa,其上升時(shí)間約為5ms;在控制電流從0躍變到1A時(shí),輸出壓力為0.37MPa,上升時(shí)間約為3ms;在控制電流從0躍變到0.25A時(shí),輸出壓力約為0.076MPa,上升時(shí)間約為1.08ms。由其輸出壓力的頻率響應(yīng)曲線可知,在控制電流幅值為1A時(shí),其幅頻寬為150Hz,相頻寬為350Hz,而在控制電流幅值為0.5A,其幅頻寬可達(dá)400Hz,相頻寬接近500Hz。本文的研究工作得到了國(guó)家自然科學(xué)基金《超磁致伸縮執(zhí)行器驅(qū)動(dòng)的射流伺服閥關(guān)鍵技術(shù)研究(50805080)》和《面向高頻大流量電液伺服閥的智能GMA的基礎(chǔ)研究(51175243)》;航空科學(xué)基金《基于超磁致伸縮材料的高頻響射流伺服閥的應(yīng)用研究(20090752008)》和《基于智能GMA的高頻電液放大器的基礎(chǔ)研究(20110752006)》以及浙江大學(xué)流體動(dòng)力與機(jī)電系統(tǒng)國(guó)家重點(diǎn)實(shí)驗(yàn)室2011年度開(kāi)放基金《集電液轉(zhuǎn)換與傳感控制一體化的智能GMA的基礎(chǔ)研究(GZKF-201116)》等項(xiàng)目的資助。
[Abstract]:The electro-hydraulic servo valve, which is the core control part of the electro-hydraulic servo control system, is a bridge connecting the electrical system and the hydraulic system. Its performance directly affects the control precision of the whole electro-hydraulic servo control system, the response speed, the reliability and the service life. Therefore, the electro-hydraulic servo valve with high control precision, fast response and high reliability is developed. It is of great significance to improve the performance of the electro-hydraulic servo control system. With the development of new functional materials, a new type of electric machine converter, such as high output power, high energy density, high reliability, high resolution, wide band and fast response speed, is developed, such as piezoelectric and magnetostrictive material based electrical machine converter. It is an important direction for the research and development of electro-hydraulic servo valves to be used in electro-hydraulic servo valves to improve the performance of electro-hydraulic servo valves. Under the guidance of this research idea, a giant magnetostrictive jet servo valve is designed by combining a giant magnetostrictive electric machine converter with a jet hydraulic amplifier. The basic theory of the giant magnetostrictive jet servo valve is deeply studied through multi discipline and multi physical field synergy optimization, physical mechanism modeling, computer simulation and finite element numerical simulation. Finally, the static and dynamic performance of the developed giant magnetostrictive jet servo valve is tested by the experimental method. The research work can be divided into six parts: the first part summarizes and analyzes the domestic and foreign research status of the giant magnetostrictive electric to machine converter and the giant magnetostrictive electro-hydraulic control valve, and obtains the key technology and research difficulties in the development of the giant magnetostrictive jet servo valve. The second part discusses the application characteristics and the super magnetic extension of the giant magnetostrictive material. The structure optimization method of the jetting servo valve is introduced. First, the application characteristics of the giant magnetostrictive material are introduced, and the specific structure of the giant magnetostrictive jet servo valve is put forward based on the application characteristics. Then the structure is optimized by using the multi physical field analysis method, and the magnetic circuit modeling and magnetic field numerical simulation are obtained. When the length of the shrinking rod is larger than its diameter, the axial magnetic field inhomogeneity is greater than the radial magnetic field inhomogeneity, and the electromagnetic structure is better when the inner diameter and length of the loop are close to the rod size. By the heat transfer modeling analysis and the temperature field numerical simulation, it can be found that the oil source is equal to the ambient temperature and the external oil flow velocity of the supermagnetic expansion rod is greater than 0.1m/s. In order to control the temperature rise below 0.1 C, the thermal error of the magnetostrictive electric machine converter is controlled at 0.1 M. The results of modeling and optimization of the jet hydraulic amplifier with the maximum hydraulic energy transfer efficiency show that the optimum jet structure parameters are: the jet nozzle cone angle is 13.4, the angle of the two receiving hole is 30 degrees, the area ratio of the receiving hole to the jet nozzle is compared. For 1.6, the distance of the jet nozzle to the receiving surface is 0.63 times that of the nozzle diameter. The third part discusses the nonlinear modeling theory of the giant magnetostrictive electric machine converter. Based on the relationship model of the complex permeability and the magnetization, the magnetostrictive model and the equivalent kinetic model of the lumped parameters establish the giant magnetostrictive of the eddy current and magnetic hysteresis. The nonlinear dynamic model of an electric machine converter is obtained by simulation and experiment. The output displacement of GMA is -3.4 mu m~3.4 mu m when the control current is changed to -0.25A~0.25A. When the control current changes in the rated range, the output displacement of GMA is -25 u m~25 micron m. Under the action of unit controlled current, the GMA output displacement is 20.2 mu m, and its step response is ringing. The time of rise is about 3MS and the adjustment time is about 6ms; when the control current is 0.5A, the output displacement of GMA is 10 mu m, its rising time is about 1.32ms and the adjusting time is less than 4ms. When the amplitude of the current is 1A, the bandwidth of the giant magnetostrictive electric machine converter is about 150Hz. When the amplitude of the control current is 0.25A, the bandwidth can reach the 550Hz. fourth part. This paper introduces the drive of the giant magnetostrictive electric to machine converter and the feed forward inverse compensation control technology. First, according to the requirements of the servo amplifier for the drive power supply and valve of the giant magnetostrictive actuator, the servo valve is designed with a giant magnetostrictive electric machine converter driver, and its performance is tested. The test results show that under the rated load, it is set up. The linearity of the driver is about 3.3%, and its rise time is less than 0.5ms when the output current 2A is less than 0.5ms; under the input of a simple harmonic signal with a amplitude of 1V, the amplitude of its amplitude is up to 2K Hz. and based on the function relation of the magnetized energy loss and the virtual part of the complex permeability, a magnetostrictive electric machine converter with the influence of magnetic hysteresis, eddy current and additional loss is established. The linear dynamic model and its inverse model are used to construct a feedforward inverse compensation controller based on the inverse model. The phase lag compensation for its output displacement is compensated. The experiment shows that the phase lag of the output displacement of the giant magnetostrictive electric machine converter is obviously reduced under the action of the compensator. The fifth part is the model of the jet hydraulic amplifier and its flow. Field numerical simulation. First, the structure and working principle of the jet hydraulic amplifier are introduced in detail, and the calculation formula of the flow area is given. Based on the momentum theorem and the throttle theory, the model of the jet hydraulic amplifier is established, and the pressure characteristic, the flow characteristic and the pressure flow characteristic are simulated and analyzed. The simulation shows that it is received in the reception. When the diameter of the hole is 0.8mm, the diameter of the jet nozzle is 0.6mm, the maximum dimensionless recovery pressure of the model based on the throttle theory is 0.65, the maximum dimensionless recovery flow rate is 0.7, and the maximum dimensionless recovery pressure based on the momentum theorem is 0.8 and the maximum dimensionless recovery flow rate is 0.5. The simulation curve of the pressure characteristics and flow characteristics of the jet hydraulic amplifier under the design parameters (the diameter of the receiving hole is 0.8mm and the jet nozzle diameter 0.6mm) shows that if the displacement value of the jet nozzle is small (not more than 0.03mm), the jet hydraulic amplifier can still guarantee the jet nozzle to be equal to the diameter of the nozzle, even if the jet nozzle is extended to the receiving surface. Finally, the simulation results of the jet hydraulic amplifier under the design parameters are verified by the flow field numerical simulation software. The results show that, when the displacement of the jet nozzle is less than 100 m, the model based on the throttle theory is multiplied by the correction factor of 2.2 and the model based on the momentum theorem needs to be multiplied. The correction coefficient is 0.9. For the description of the flow characteristics, the model based on the throttle theory is more accurate, and the model based on the momentum theorem needs to be multiplied by the correction factor of 0.7. sixth as the theoretical and experimental study of the performance of the super magnetostrictive jet servo valve. When the oil supply pressure of the system is 7MPa and the current from -1A~1A is controlled, the theoretical output pressure of the designed giant magnetostrictive jet servo valve is -0.6MPa~0.6MPa and the theoretical output flow can reach -0.10L/min~0.10L/min. The relation curve of the control current and the output pressure (or output flow) shows a serious hysteresis, its linearity is 9.8% and the hysteresis is 100%. The discrimination rate is 15.6%, the zero deviation is 0, the pressure characteristic and the flow characteristic have the same theoretical dynamic response performance. Under the action of unit step control current, the rise time is about 3MS, and when the control current is changed from 0 to 0.25A, the rise time is less than 1ms. When the amplitude of the control current is 0.25A, the width of the amplitude is above 550Hz and the phase width 700Hz, When the amplitude of the control current is 1A, the amplitude bandwidth is 150Hz and the phase frequency width is about 200Hz.. The static test of the output pressure of the designed giant magnetostrictive jet servo valve shows that the maximum variation of the output pressure is 0.92MPa when the control current varies from -1A to 1A under the 7MPa supply pressure, and the relation curve of the output pressure and the control current is the curve of the output pressure. The linear degree is about 40%, the hysteresis loop is about 52.8%, the resolution is about 12.8%. The zero bias is 20%. by adding a feedforward controller before the driver. After the input is changed from the current to the input signal of the controller, the linearity of the output pressure characteristic curve is 12%, the hysteresis is 16.8%, the resolution is 10%, the zero deviation is 5.8%, and the control current is from -0.5A to 0.5A. The variation of the output pressure of the super magnetostrictive jet servo valve is about 0.37MPa, the linearity of the output pressure with the control current curve is about 6.2%, the hysteresis is about 23%, the resolution is about 3.12%, the zero bias is 3.42%. correction, the linearity of the output pressure characteristic curve is 5%, the hysteresis is 9.6%, the resolution is 3%, and the zero bias is 2.9%. to the supermagnetic field. The dynamic test of the output pressure of the telescopic jet servo valve shows that when the control current is changed from -1A to 1A under the oil supply pressure of 7MPa, the output pressure change is about 0.92MPa and its rising time is about 5ms. When the control current is changed from 0 to 1A, the output pressure is 0.37MPa and the rising time is about 3MS; the output pressure is the output pressure when the control current is changed from 0 to 0.25A. The force is about 0.076MPa, and the rise time is about 1.08ms. from the frequency response curve of its output pressure. When the amplitude of the control current is 1A, the amplitude is 150Hz, the phase width is 350Hz, and the amplitude of the control current is 0.5A, the amplitude of the amplitude is 400Hz, the phase frequency is close to 500Hz., and the National Natural Science Foundation of the National Natural Science Foundation is "super magnetic". Research on key technology of jet servo valve driven by telescopic actuator (50805080) > Basic Research (51175243) for intelligent GMA for high frequency and large flow electro-hydraulic servo valves; application of aero Science Fund < high frequency jet servo valve based on giant magnetostrictive material (20090752008) > base of high frequency electrohydraulic amplifier based on Intelligent GMA Foundation Research (20110752006) and projects such as the basic research (GZKF-201116) of the National Key Laboratory of the State Key Laboratory of hydrodynamics and mechanical and electrical systems of Zhejiang University (GZKF-201116), the integration of the integrated liquid conversion and sensing control (GMA).
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TH137.52

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