Dynamic Modelling and Design of a Servomechanism for Hydraulic Directional-Control Valves

This paper analyses a control strategy applicable in heaVy-duty hydraulic Systems,namely, the introduction of a servovalve to achieve smoother operation of direCtional-control valves that serve also as flow-control valves over two fanges of operating conditions. A mathematical model of the dynamics of the System is etallished and design criteria are obtained from a linearised form of that model. The influence of variations in tile axial force on the spool of the main valve is investigated, and the use of the resultS in the design of systems of the proposed kind is discussed.

船用三通调节阀流-固耦合噪声数值模拟

针对船用PN10DN32三通调节阀噪声声压频谱、声指向性等声学特性规律不明确,噪声声压级是否满足使用要求的问题,基于流-固耦合理论,同时考虑流-固耦合面及流体域内的脉动声学激励源,开展阀门噪声数值模拟研究。分别对三通调节阀在80%及60%开度阀外1 m处的噪声进行数值模拟,分析研究噪声声压频谱特性及声指向性规律。结果表明:80%及60%开度下的噪声声压级分别为49.14 dB(A)、50.79 dB(A),均小于60 dB(A)的噪声限制,满足使用要求。该文为船用三通调节阀噪声数值模拟提供了理论及方法参考。

Where is the rudder of a fish?:the mechanism of swimming and control of self-propelled fish school

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.

A differential control method for the proportional directional valve

For the proportional directional valve controlled by two proportional solenoids, the normal control method(NCM) energizes only one solenoid at a time. The performance of the valve is greatly influenced by the nonlinearity of the proportional solenoid, such as dead zone and low force gain with a small current, and this effect cannot be eliminated by a simple dead-zone current compensation. To avoid this disadvantage, we propose the differential control method(DCM). By employing DCM, the controller outputs differential signals to simultaneously energize both solenoids of the proportional valve, and the operating point is found by analyzing the force output of the two solenoids to make a minimum variation of the current force gain. The comparisons of the valve response characteristics are made between NCM and DCM by nonlinear dynamic simulation and experiments. Simulation and experimental results show that by using DCM, the frequency response of the valve is greatly enhanced, especially when the input is small, which means that the dynamic characteristics of the proportional valve are improved.

MMC-HVDC物理模拟系统的控制器架构设计

相比传统直流输电,模块化多电平换流器型高压直流(MMC-HVDC)输电的一次系统与二次系统都更为复杂,并且控制系统的特性一定程度上决定了MMC-HVDC系统的性能。为研究物理控制器的设计方法,文中首先设计了MMC-HVDC物理模拟系统的主系统结构与电气参数,然后重点研究了分层的MMC-HVDC控制系统架构,运行人员控制系统(上位机)、极控制和保护系统、阀基控制器、子模块控制保护单元等由高到低构成了完备的控制体系,确立了各控制层之间的通信方式与内容,开发调试了控制系统程序。最后,进行了MMC-HVDC物理模拟系统的系统实验。实验表明控制系统可以有效地实现物理模拟系统的启停、子模块电容电压平衡、基本的故障保护以及直流电压与功率的控制。

液压放大式PZT-DDV建模与控制仿真

研制基于液压位移放大原理的压电陶瓷直接驱动伺服阀(PZT-DDV,Piezoelectric-Direct Drive Valve),实现大流量高频响的要求.分析其结构特点,建立系统数学模型,基于AMESim和Simulink的协同仿真环境,对其进行仿真控制研究.采用AMESim建立了PZTDDV的模型和虚拟液压测试系统,利用Simulink建立了数字控制器模型,通过接口组成协同仿真环境.针对PZT-DDV的迟滞、摩擦和液压位移放大结构的负载敏感特性,采用前馈控制改善迟滞,提高动态响应.基于LuGre摩擦力模型以及密闭腔压力监测,采用自适应backstepping方法实现摩擦及负载变化对放大机构输出位移的扰动补偿.仿真结果表明:前馈控制提高了系统的动态性能,自适应backstepping控制方法提高了系统的稳态控制精度.

新型位移-电反馈 PWM 比例多路换向阀

本文介绍了一种新型的位移———电反馈ＰＷＭ比例多路换向阀。试验结果表明该阀具有良好的动静态特性。

2D数字式P-Q阀

文章介绍了一种新型的2D数字式P－Q阀的结构原理及控制方法。实验结果表明该阀具有良好的流量和压力控制特性。此外，与传统的P－Q阀相比，该阀还具有结构简单及可直接数字控制等优点。

全桥型MMC-HVDC直流短路故障穿越控制保护策略

直流故障穿越是柔性直流输电(voltage sourced converter based high voltage direct current transmission,VSCHVDC)技术面临的重要问题之一。全桥型模块化多电平换流器(full bridge modular multilevel converter,FBMMC)能够快速清除直流侧故障,是实现直流故障穿越的理想拓扑。该文首先分析现有换流阀闭锁保护策略下电容放电阶段和换流阀闭锁阶段的等效电路,推导电容电压和电流的解析式。针对实际工程中功率模块具有恒功率负载特性,换流站闭锁期间功率模块电容电压逐渐发散并最终导致交流断路器跳闸的问题,提出一种FBMMC-HVDC的故障穿越控制保护策略。在故障穿越期间,换流器处于可控状态,能够避免电容电压发散,无需切断交直流系统连接;在故障清除后能够立即恢复正常运行,具备暂时性和永久性直流故障穿越能力。在PSCAD/EMTDC软件中构建了FBMMC-HVDC仿真模型,对比上述两种保护策略,分析两种策略各自的优缺点。

Proportional directional valve based automatic steering system for tractors

Most automatic steering systems for large tractors are designed with hydraulic systems that run on either constant flow or constant pressure. Such designs are limited in adaptability and applicability. Moreover, their control valves can unload in the neutral position and eventually lead to serious hydraulic leakage over long operation periods. In response to the problems noted above, a multifunctional automatic hydraulic steering circuit is presented. The system design is composed of a 5-way-3-position proportional directional valve, two pilot-controlled check valves, a pressure-compensated directional valve, a pressurecompensated flow regulator valve, a load shuttle valve, and a check valve, among other components. It is adaptable to most open-center systems with constant flow supply and closed-center systems with load feedback. The design maintains the lowest pressure under load feedback and stays at the neutral position during unloading, thus meeting the requirements for steering. The steering controller is based on proportional-integral-derivative(PID) running on a 51-microcontroller-unit master control chip. An experimental platform is developed to establish the basic characteristics of the system subject to stepwise inputs and sinusoidal tracking. Test results show that the system design demonstrates excellent control accuracy, fast response, and negligible leak during long operation periods.

气-气二级增压缸设计原理

文章论述了一种新型增压缸以气─气方式实现二级增压的原理与过程。

A fault-tolerant triple-redundant voice coil motor for direct drive valves:Design, optimization, and experiment

A direct drive actuator （DDA） with direct drive valves （DDVs） as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor （TRVCM） used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet （PM） Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization （PSO） method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis （FEA）. A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems.

电-气动伺服系统实验平台的设计与研究

以气动伺服控制技术为基础，提出了基于该项技术的２种实验平台的设计方案．一种方案为气动模拟伺服与数字伺服联合应用的三自由度全气动式机械人；另一种方案为气动模拟伺服与电动伺服联合应用的三自由度机械人．同时，还对该实验平台的软、硬件工作原理及性能分析进行了着重介绍．通过该实验平台的建造，可以使学生真正了解到气动伺服控制技术这种最新的技术．

POCV-200/31.5型液控单向阀

介绍了一种用于液压支架大流量、快速移架系统中的 POCV- 2 0 0 /31 .5型液控单向阀的工作原理和结构特点。分析了该阀的性能 ,并指出了其推广应用前景。

微小流量旋转直驱伺服阀传控特性分析与优化

针对无人机、战术弹、支线民航等小型飞行器航空发动机燃油计量系统与推力矢量系统微小流量的伺服控制需求,就旋转直驱伺服阀偏心球副传动接口与非全周节流阀口等关键结构进行了尺寸约束设计分析,并就节流阀口宽度、球副偏心距以及驱动电机转动惯量等重要参数进行了优化分析,给出了伺服阀结构设计的优化区间。在此基础上,研究提出了电机转角与电流双闭环控制方法,幅频响应实测结果与理论分析较为一致,200 Hz以上高频响应满足实际需求,且双闭环控制方法大幅降低了伺服阀响应超调并提升了稳定性。

高压阀口液动力补偿控制策略仿真分析

直动式比例伺服阀是一种新型的单级伺服阀,采用比例电磁铁或线性力马达直接驱动滑阀运动,具有成本低、频响高、抗污染能力强等优点,广泛应用于注塑机进给控制、轧机板厚控制系统等高速高精度液压控制系统中。传统的直动式比例伺服阀采用PID控制策略实现阀芯的精确位置控制,在高压大流量工况下(供油压力达到20 MPa、流量大于100 L/min),阀芯受到液动力扰动变得更加剧烈,易出现响应速度慢、阀芯抖动的现象,影响了比例伺服阀的控制精度。为了解决大液动力扰动的问题,提出了一种基于指数收敛干扰观测器的滑模控制器。通过建立阀芯动力学模型来设计滑模控制器,保证阀芯位置的高动态跟踪性能;使用基于指数收敛的干扰观测器,估计阀芯动力学模型中液动力的不确定性扰动,解决高压大流量工况下的阀芯液动力扰动补偿问题。搭建了比例伺服阀系统的联合仿真模型进行仿真验证,结果表明,提出的控制器可以解决高压大流量工况下阀芯液动力扰动对阀芯位置控制的干扰问题。

船用合流型三通调节阀声流固耦合声学特性研究

针对合流型三通调节阀噪声声压频谱、声指向性等声学特性规律不明确的问题,基于声流固耦合理论,以PN50 DN250三通调节阀为研究对象开展声学特性研究。基于k-ε模型分析阀门定常流动,在定常流动收敛的基础上开展LES非定常流动分析,并导出流固耦合面及流体域内的时域脉动信息作为噪声激励源,开展三通调节阀不同工况下的声学特性研究。搭建三通调节阀流噪声试验台,试验工况下数值模拟噪声与实测噪声声压仅相差1.85 dB(A),验证声流固耦合数值模拟方法的准确性。分别数值模拟阀门实际工况下80%及60%开度下的噪声声学特性,总结出阀门噪声声压级分别为51.18和54.13 dB(A),验证三通调节阀噪声满足使用要求,提出的声流固耦合数值模拟方法可为合流型三通调节阀声学特性分析提供一定参考。

基于复合PWM的高速开关阀先导控制电液换向阀特性试验研究

针对传统液压支架换向阀存在流量控制不精准、压力冲击大等问题,提出一种高速开关阀先导式电液换向阀控制液压缸方案,搭建试验平台对方案中阀的特性进行了研究,对比了高速开关阀和常规电磁开关阀做先导级时电液换向阀的响应速度,由于高速开关阀滞后时间短,控制腔压力上升较快,故高速开关阀先导时电液换向阀响应速度快;提出脉宽调制(PWM)和脉频调制(PFM)的方法,控制电液换向阀主阀芯位移方法。结果表明,主阀芯稳态位移经历4个阶段且在一定占空比范围内可以呈现比例开启效果;在供液压力10 MPa下实现高速开关阀对主阀芯位移在全行程内的调节,复合PWM信号控制区间占空比为30%~65%,常规PWM信号控制区间占空比为35%~50%,复合PWM信号相较于常规PWM信号有着更宽的调节区间,更适合换向阀芯位移比例控制。研究结果可为液压支架控制阀的设计开发提供参考。

某型全自动变截面板簧轧机液压系统故障分析与排除

对某型汽车板簧轧机液压系统原理及工作全过程进行了分析,对机器生产现场出现的两类故障现象进行阐示:①压下缸推动上轧滚压下钢板时,压力不够。观看压下缸压力表此时只有7MPa,钢板压制的尺寸不到位,导致报废;②设备刚启动后,控制压力油路表3压力较低,把控制油的回油管(L管路)堵塞,压力就升上来,影响压下缸正常工作进行阐示,对这两种故障原因进行分析,并分别给出解决方案,现场排除了故障。

电液控换向阀流场仿真与响应面预测

大流量电液控换向阀是支架液压系统的关键控制元件之一,仿真手段对于换向阀的流动特性分析具有重要意义,然而流体仿真存在计算复杂度高、仿真时间较长的问题,对于要求实时高效流动特性分析的场合并不适用。因此,针对大流量电液控换向阀在不同阀口开度、不同入口压力、不同流量下的流场分布情况进行了仿真分析,发现换向阀入口压力随阀口关闭值呈指数上升趋势,随流量增加呈上升趋势,与出口压力值接近正比关系,并且阀口关闭位移越大换向阀入口附近涡流越剧烈。在换向阀流场仿真的基础上采用均匀抽样方法进行试验设计,提出并建立了基于多维勒让德正交多项式的响应面模型,采用均方根误差、决定系数和经过调整的决定系数,验证了响应面模型替代Fluent仿真模型进行流场分析的准确性和快速性,通过前期少量的流场仿真数据建立响应面模型,实现了大流量电液控换向阀流动特性的实时高效预测。