Research on improved active disturbance rejection control of continuous rotary motor electro-hydraulic servo system

In order to meet the precision requirements and tracking performance of the continuous rotary motor electro-hydraulic servo system under unknown strong non-linear and uncertain strong disturbance factors,such as dynamic uncertainty and parameter perturbation,an improved active disturbance rejection control(ADRC)strategy was proposed.The state space model of the fifth order closed-loop system was established based on the principle of valve-controlled hydraulic motor.Then the three parts of ADRC were improved by parameter perturbation and external disturbance;the fast tracking differentiator was introduced into linear and non-linear combinations;the nonlinear state error feedback was proposed using synovial control;the extended state observer was determined by nonlinear compensation.In addition,the grey wolf algorithm was used to set the parameters of the three parts.The simulation and experimental results show that the improved ADRC can realize the system frequency 12 Hz when the tracking accuracy and response speed meet the requirements of double ten indexes,which lay foundation for the motor application.

Fluid simulation of internal leakage for continuous rotary electro-hydraulic servo motor

The internal leakage has important influence on low speed performance of continuous rotary electro-hydraulic motors,and research on internal leakage is of important significance to improve the motor low speed performance. UG software is adopted to establish a flow field inside a motor,which ignores the gap between the blade and the blade groove,and a motor fluid model in different working conditions is established. Using ICEM-CFD to generate high-quality O-Net mesh for meeting the computing requirements,the flow field inside the motor is simulated using fluid simulation software CFX. Applying reasonable boundary conditions and then solving it,pressure field distribution and the variation rule of internal leakage with different pressure difference in the flow field are obtained when the clearance value of the motor key components is 0.01 mm. At the same time the motor's leakage experiment has also been done to verify the validity of the simulation results,which lays a foundation for the study of motor internal leakage effect on the low speed performance.

Continuous rotary motor electro-hydraulic servo system based on the improved repetitive controller

In order to suppress the periodic interference of the continuous rotary electro-hydraulic servo motor,this paper makes the motor tracking the periodic signals with high accuracy,and improves the influence of friction interference to the performance of continuous rotary electro-hydraulic servo motor.The mathematic model of the electro-hydraulic position servo system of the continuous rotary motor was established,and the compound control method was adopted based on the repetitive control,feed forward and PID to suppress the friction interference.Through the simulation,the result confirms that the compound control method decreases the tracking error of the system,increases the robust performance of the system and improves the performance of the continuous rotary electro-hydraulic servo motor.

Self-correcting wavelet neural network control of continuous rotary electro-hydraulic servo motor

In allusion to the problem of friction,leakage,vibration and noise existing in continuous rotary motor electro-hydraulic servo system,highly nonlinearity and uncertainties affecting the system performance,based on the transfer function of electro-hydraulic servo system,a kind of Pol-Ind friction model is proposed.The parameters of Pol-Ind friction model are identified and the accurate mathematical model of friction torque is obtained by experiment.The self-correcting wavelet neural network(WNN)controller is proposed,and Adam optimization algorithm is used to perform gradient optimization on scale factor and displacement factor in wavelet basis function,so as to improve the speed and precision of parameter optimization.Through comparative simulation analysis,it is clearly that the self-correcting WNN controller can effectively improve the frequency response and tracking accuracy of continuous rotary motor electro-hydraulic servo system.

Electro-Hydraulic Servo System Identification of Continuous Rotary Motor Based on the Integration Algorithm of Genetic Algorithm and Ant Colony Optimization

In order to increase the robust performance of electro-hydraulic servo system, the system transfer function was identified by the intergration algorithm of genetic algorithm and ant colony optimization(GA-ACO), which was based on standard genetic algorithm and combined with positive feedback mechanism of ant colony algorithm. This method can obtain the precise mathematic model of continuous rotary motor which determines the order of servo system. Firstly, by constructing an appropriate fitness function, the problem of system parameters identification is converted into the problem of system parameter optimization. Secondly, in the given upper and lower bounds a set of optimal parameters are selected to meet the best approximation of the actual system. And the result shows that the identification output can trace the sampling output of actual system, and the error is very small. In addition, another set of experimental data are used to test the identification result. The result shows that the identification parameters can approach the actual system. The experimental results verify the feasibility of this method. And it is fit for the parameter identification of general complex system using the integration algorithm of GA-ACO.

Backstepping Adaptive Controller of Electro-Hydraulic Servo System of Continuous Rotary Motor

In order to consider the influence of the continuous rotary motor electro-hydraulic servo system parameters change on its performance,the design method of backstepping adaptive controller is put forward.The mathematical model of electro-hydraulic servo system of continuous rotary motor is established,and the whole system is decomposed into several lower order subsystems,and the virtual control signal is designed for each subsystem from the final subsystem with motor angular displacement to the subsystem with system control input voltage. Based on Lyapunov method and the backstepping theory,an adaptive backstepping controller is designed with the changed parameters adaptive law. It is proved that the system reaches the global asymptotic stability,and the system tracking error asymptotically tends to zero. The simulation results show that the backstepping adaptive controller based on the adaptive law of the changed parameters can improve the performance of continuous rotary motor,and the proposed control strategy is feasible.

Pressure impact characteristic of vane type continuous rotary motor under different buffer structures

In order to solve the problem of pressure shock on the continuous rotary electro-hydraulic servo motor,the mathematical models of pressure gradient under the structure of pre-compressed chamber and U-shaped groove were established.The optimal structure dimensions of the pre-compressed chamber and the U-shaped groove were determined.The fluid models were established by Solidworks under the four structures of triangular groove,triangular groove with pre-compression chamber,U-shaped groove and U-shaped groove with pre-compression chamber.Simulation analysis of depressurization process of fluid models was performed based on FLUENT.The pressure nephograms of different buffer structures were compared and analyzed,and the pressure change curves and pressure gradient change curves in the process of depressurization were obtained.The results show that the optimal edge length of the pre-compressed chamber of continuous rotary electro-hydraulic servo motor is 20 mm in the process of decompression.The pressure reduction effect is the best when the width of the U-shaped groove is 1.5 mm and the depth is 1.65 mm.The U-shaped groove structure with pre-compression chamber is more conducive to alleviate the pressure shock phenomenon of the motor compared with different combine buffer structures.

Numerical simulation and experimental study on the leakage of continuous rotary electro-hydraulic servo motor

In order to study the influence of inlet and outlet pressure difference and triangular buffer groove on the internal leakage of continuous rotary electro-hydraulic servo motor,the flow field model of motor with and without triangular groove is established respectively.The mesh model is divided.The pressure distribution of the internal flow field under different pressure difference is analyzed by Fluent.Then,the gap leakage under different pressure difference is calculated,and the leakage curve is obtained.Finally,continuous rotary electro-hydraulic servo motor experimental system is built to conduct the internal leakage test,and the leakage under different pressure difference is measured and compared with the simulation results.The results show that the occurrence of leakage in the motor can be reduced by setting the triangular buffer groove on the flow plate,the simulation and experimental results are consistent.It can be concluded that the larger the pressure difference between the inlet and the outlet of the motor,the larger the gap leakage.The research lays foundation for the application of continuous rotary electro-hydraulic servo motor.

基于径向基函数神经网络算法的高频转阀阀芯稳定性

针对伺服电机驱动高频转阀时受液动力矩变化影响造成高频输出精度下降的问题,以液压马达作为动力源,提出一种基于径向基函数神经网络算法的转阀阀芯转速控制策略。首先,搭建高频转阀阀芯转速控制系统的数学模型;其次根据数学模型在MATLAB/Simulink平台搭建仿真模型,对不同算法作用下阀芯转速控制特性进行仿真分析;最后建立高频转阀转速控制系统实验台,对不同算法作用下阀芯转速控制特性进行实验研究和理论验证。结果表明:与常规PID控制方法相比,基于径向基函数神经网络的高频转阀转速控制策略转速控制系统阶跃响应所需调整时间最少为0.16 s,超调量小;三角波与正弦波转速跟踪误差均值下降最大值分别为46.51%、53.69%;6 MPa、10 MPa下,转速稳态误差均值分别下降34.92%、38.26%。径向基函数神经网络算法有效提高了高频转阀阀芯转速控制精度。

直线旋转开关磁阻电机的轴向速度控制与快速轴向定位

目前直线旋转开关磁阻电机(Linear-rotary switched reluctance motor,LRSRM)只可实现轴向定位控制,两自由度运动方式较为单一。为提高LRSRM轴向控制性能,本文提出了一种轴向速度控制方法,通过线性位置/速度观测器协调控制转子的轴向位移和轴向速度,由转矩与轴向力的数学模型解算出转矩及轴向力绕组的给定电流,再将其分配到对应的绕组导通区间,分别进行电流滞环控制。该方法可以有效调节转子在旋转过程中的轴向定位速度。仿真和实验验证了所提方法的控制效果。

旋切式电动割胶刀在茂名植胶区试验初报

广东茂名植胶区由于胶价低迷,胶工短缺,面临橡胶大面积弃割风险。提高现有胶工的潜力,快速培养合格胶工,对天然橡胶发展速度、质量和效益有积极的影响。传统推式割胶方式是一种精细且技术性很强的手工操作,茂名植胶区大部分都是使用这种方式进行采胶,采用此方法存在胶工劳动强度大、培训时间长、橡胶树死皮率高、割胶速度难以再进一步提高等缺点。机械化、智能化割胶工具与技术研究在国内外都备受重视,良具良法的升级换代离不开新的核心资源引进或者创制。本研究以茂名植胶区比较有代表性的品种‘热研73397’为试验材料,进行4CJX型旋切式电动割胶刀(旋切胶刀)和传统推式割胶刀(传统胶刀)对比试验,结果发现,旋切胶刀耗皮量更低,割胶深度更浅,割胶速度更快,劳动强度更低(p<0.01),培训7 d就可以进行试验割胶,对缩短胶工培训时间、降低培训成本有积极作用。割胶方式多样化发展,有利于割胶技术的进一步提升,旋切胶刀割胶不会污染胶水,且对乳管挤压、摩擦均与传统胶刀的差异不大,通过机械结构控制耗皮量和割胶深度,能避免胶工超深割胶,不易伤树,对保护橡胶树有积极作用,橡胶树保持健康,是保持高产、稳产的保障。有必要通过加强胶工针对性培训,来解决减产问题。同时,机械还有不少改进空间,来进行更有针对性的设计。随着机械的进一步发展,技术的进一步成熟,旋切式电动割胶刀会成为解决茂名植胶区割胶难题的重要工具。

基于多电机协调运动的回转送进控制系统研究

介绍了一种用于三辊皮尔格轧机的多电机协调运动的新型回转送进方式。该系统由7台电机协同工作,采用双回转双送进策略,在轧辊的空转送进区完成回转和送进。为了加强伺服电机的协调性,采用了环形耦合控制结构,通过速度补偿器协调多个电机之间的耦合关系。在Simulink平台上进行仿真对比,结果表明,相较于传统的并行结构控制方式,环形耦合结构具有更好的协同性能,尤其在负载扰动下,系统表现更为稳定。该新型回转送进方式和环形耦合控制结构有效提高了轧管机的生产效率,确保了系统的控制精度和稳定性。该研究结果为轧管工业中的连续轧制提供了一种可行的控制方案。

变排量液压马达旋转驱动系统角位移控制技术

变排量液压马达旋转驱动系统具有效率高、响应快、高负载匹配性、低功率需求等优势,能够大幅提高飞机液压旋转驱动系统的效率。为实现对变排量液压马达旋转驱动系统的精确控制,需开展系统角位移控制技术研究。建立了系统的数学模型,搭建了AMESim仿真模型,分析了系统的运动特性及频域控制特性,提出了由排量回路、转速回路和角位移回路组成的三闭环串级控制方案,研究了不同控制参数对系统控制特性的影响。研究结果表明,双闭环控制无法满足旋转驱动系统的稳定条件,三闭环控制引入转速负反馈克服了双闭环控制中角位移对转速的正反馈效应,增大了位置回路的阻尼,能实现系统稳定控制。同时研制了原理样机并进行了测试验证,测试数据表明,三闭环控制方案能实现旋转驱动系统高精度位置控制,为变量马达在飞机液压旋转驱动系统中的应用提供了参考。

双磁路旋转音圈电机电枢反应的抑制方法

旋转音圈电机具有体积小、精度高等优点,一直广泛运用于精密指向机构中。通电线圈引发电枢反应扰乱电机磁场分布,进而影响电机控制性能。本文研究旋转音圈电机电枢反应及其抑制方法,在电机控制模型中引入电枢反应影响系数,边磁轭开矩形口截断电枢反应干扰磁路,分析电机控制系统动态特性和稳态特性,确定最优开口参数,设计并制造样机。实验结果表明:该方法可将电机控制系统稳态误差降低近50%,有效抑制电枢反应,提高系统稳态性能。

一种单轴直驱数控转台的研制

文章提出了一种单轴直驱数控转台的研发方案,对研发过程中的关键技术进行了深入分析,包括内部总体结构、主要部件的选择、锁紧密封机构的设计及装配调试等方面。为类似单轴或双轴直驱数控转台的研发提供了有益的借鉴。

高精度工具磨床电主轴精度超差的原因及解决措施

针对某国产品牌电主轴在实际应用中易出现回转精度超差的问题,分析造成电主轴产生精度超差的主要原因是电主轴的气密封效果不佳,使得前端轴承及碟形弹簧进油受污染,从而导致电主轴前端轴承失效、轴芯磨损和拉刀力衰减过快。通过提升气密封压力值和改善轴芯材质及拉刀机构,解决了电主轴内部进油、轴芯磨损和拉刀力衰减过快的问题,使电主轴使用寿命提升1倍以上。

耐200℃高温永磁同步电机设计

航空、航天等领域和大型锅炉、深井勘探等高温环境对电机的耐高温性要求较高。由于霍尔传感器、光电传感器等位置反馈元件在高温下采集信号不稳定,以28 V、10000 r·min^(-1)的电机为例,采用新工艺提高电机主要发热元件电枢的耐高温性能,以耐高温旋转变压器作为位置反馈传感器,从而解决霍尔传感器高温不稳定的问题,并将电机的长时间工作温度提高到200℃。在常温条件下使用负载电机进行标定,在高温环境下使用2台耐高温电机进行对拖测试,通过电流和电机反电动势波形间接测试设计的耐高温电机的性能。

基于WinCC组态和PLC控制的交流电机变频调速系统设计

对轨枕综合生产线电力拖动系统进行升级改造,设计并实现交流电机的变频调速系统,解决交流电机调速性能差和控制方式复杂的问题,使其工作效率达到最优,最终达到节约能源、降低消耗的目的。具体来说,变频控制系统以西门子变频器MM440作为执行机构,通过旋转编码器和可编程逻辑控制器(Programmable Logic Controller,PLC)实现转速的闭环控制。同时,采用STEP 7软件的功能模块FB41实现转速的比例-积分-微分(Proportional Integral Derivative,PID)控制,并进行PID参数整定,使系统具有很高的稳态精度和较好的动态性能。此外,通过WinCC组态使系统具有远程监控功能。

PATH CONTROL OF A 3-DOF ROBOT MECHANISM ACTUATED WITH LOW-PRESSURE AIR POWERED MOTORS

This paper described the researches carried out on the characteristics and control of a low pressure pneumatic system to actuate a three degree of freedom (3 DOF) robot. The motors used are the low pressure rotary type air motors equipped with two valves to adjust the motor speed and its direction. The 3 DOF model was used to perform the test of path control under different amounts of payload. A control algorithm based on the PID feedback control was developed for the robot.

Technological Analysis on Motor Stall and Its Perspective

The brush lock is due to assembly tightly during assembling three gripper so that it curls after some time in motor and bare motors.The motor happen to have current decreasing and cause rotary too slowly is an important technique problem.At last the motor hasn’t worked due to disconnection.It give company to bring assembly issue for customers.So the motor stall is main issue in motor working.We shall pay more attention to it necessarily and shall be strict quality inspection and we shall monitor the flow line for the sake of decreasing it.We shall solve the problem as soon as possible and communicate with the customer engineers.Unloaded rotation is radical in the base inspection.The engineer need to negotiate with supplying engineers for the qualified material of brush.Increasing inspection into more times is a method to decrease unqualified brushes.Some experiment method is explained to analyze for customer engineers.Two kinds of motors ie.stepping and asynchronous motor and motors used in future in car is explained to further knowledge to motor’s application.Such as the experiment with torque,voice and electric voltage converter.The pseudo soldering results the slow rotary.The reverse voltage is a reason for a motor to slow rotary even stall.