摘要
在单摆负载电液伺服系统的研制过程中,发现系统执行机构与单摆负载之间球铰连接处总会存在间隙,为了研究间隙对系统性能的影响作用,结合系统从动部分阻尼较大的特性,在分析了系统主动部分越过间隙过程中从动部分运动特征的基础上,建立了系统含有迟滞间隙特性的数学模型。借助MATLAB软件对一个球铰轴套与负载轴间最大间隙为1 mm、最大摆角为30°的实际单摆负载系统进行了仿真分析和实验研究。结果表明:随着球铰轴套与负载轴间间隙值的增大,系统单位阶跃响应震荡加剧,稳态误差增大、超调量增加,甚至在间隙值较大时,出现极限环震荡现象。
In the development process of simple pendulum load electro-hydraulic servo system,it is found that the clearance will always exist in the ball joint connection,which is between the enforcement mechanism and the pendulum load.For studying the influence of clearance on system,combining with the greater damping characteristics from the secondary part of system,the system mathematical model with hysteretic backlash characteristics is built based on analysis of the system driven part motion characteristics in the process of active part across the clearance.With the help of the software MATLAB,we make a simulation,analysis and experiment research for an actual simple pendulum load electric hydraulic servo system that the largest clearance in ball hinge between the sleeve and the shafts of load is 1 mm and the maximum swing angle of simple pendulum load is 30 degrees.It shows that,with the clearance values at spherical hinge sleeve and the shaft of load increase,the concussion of system unit step response intensifies,the steady state error and the overshoot increase.When the clearance value is large enough,the system appears limit cycle oscillation phenomenon.
出处
《液压与气动》
北大核心
2014年第8期9-13,共5页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金项目(51365028)
关键词
单摆负载
间隙
动态性能
极限环震荡
simple pendulum load
clearance
dynamic properties
limit cycle oscillation
