摩擦力作用下电液伺服系统非线性动力学行为

朱勇; 姜万录; 郑直

doi:10.13700/j.bh.1001-5965.2013.0685

摩擦力作用下电液伺服系统非线性动力学行为

doi: 10.13700/j.bh.1001-5965.2013.0685

朱勇^1,2,
姜万录^1,2, ,,
郑直^1,2

1.
燕山大学河北省重型机械流体动力传输与控制重点实验室, 秦皇岛 066004
2. 燕山大学先进锻压成形技术与科学教育部重点实验室, 秦皇岛 066004

基金项目: 国家973计划资助项目(2014CB046405);国家自然科学基金资助项目(51475405,51075349);河北省自然科学基金资助项目(E2013203161)

详细信息

作者简介:
朱勇(1986-),男,河南信阳人,博士生,zhuyong19862006@126.com

通讯作者:
姜万录(1964-), 山东烟台人,教授,wljiang@ysu.edu.cn,主要研究方向为故障诊断与智能信息处理、控制理论与控制工程.

中图分类号: TH137;TH113
计量
- 文章访问数: 988
- HTML全文浏览量: 118
- PDF下载量: 682
- 被引次数: 0
出版历程
- 收稿日期: 2013-11-28
- 网络出版日期: 2015-01-20

Nonlinear dynamic behaviors of electro-hydraulic servo system under friction

ZHU Yong^1,2,
JIANG Wanlu^{1,2
, ,},
ZHENG Zhi^1,2

1.
Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China
2. Key Laboratory of Advanced Forging & Stamping Technology and Science, Ministry of Education, Yanshan University, Qinhuangdao 066004, China

摘要

摘要: 以电液伺服系统为研究对象,重点探究了非线性摩擦力对系统动态特征的影响规律.根据非线性动力学原理,建立了电液伺服系统的非线性动力学模型.通过理论研究,指出非线性摩擦力作用可以用Van Der Pol方程描述.通过数值试验分析,揭示了系统内在的分岔现象及典型非线性动力学行为.用非线性动力学研究方法对实测的电液伺服系统的动态数据进行了深入分析,揭示了摩擦力引起的“极限环型振荡”现象.发现摩擦力的非线性作用会引起电液伺服系统在工作过程中发生非线性振动,其对系统动态特征的影响不容忽视,在系统建模与动态特性研究时应该将摩擦力的非线性作用考虑在内.
- 电液伺服系统 /
- 非线性摩擦力 /
- 极限环型振荡 /
- 分岔 /
- 混沌
Abstract: With electro-hydraulic servo system as the research object, the influence laws of nonlinear friction on system dynamic characteristics were explored. Based on the principle of the nonlinear dynamics, the nonlinear dynamical model of system was established. Then, a conclusion was put forward that the effect of nonlinear friction could be described by Van Der Pol equation. The bifurcation phenomenon and typical nonlinear dynamical behaviors which implied within the system were revealed through numerical experimental analysis. Moreover, with the nonlinear dynamics methods, the measured dynamic data were thoroughly analyzed. And the “limit cycle oscillation” phenomenon caused by friction was revealed. The results indicate that the nonlinear effect of friction can cause nonlinear vibration occurred in system working process. The influence of friction on system dynamic characteristics cannot be ignored. The nonlinear effect of friction should be taken into account in system modeling and dynamic characteristics research.
- electro-hydraulic servo system /
- nonlinear friction /
- limit cycle oscillation /
- bifurcation /
- chaos

HTML全文

参考文献(15)

[1]	王林鸿,吴波,杜润生,等.液压缸运动的非线性动态特征[J].机械工程学报,2007,43(12)：12-19.Wang L H,Wu B,Du R S,et al.Nonlinear dynamic characteristics of moving hydraulic cylinder[J].Chinese Journal of Mechanical Engineering,2007,43(12):12-19(in Chinese).
[2]	Dasgupta K,Murrenhoff H.Modelling and dynamics of a servo-valve controlled hydraulic motor by bondgraph[J].Mechanism and Machine Theory,2011,46(7):1016-1035.
[3]	Lan Z K,Su J,Xu G,et al.Study on dynamical simulation of railway vehicle bogie parameters test-bench electro-hydraulic servo system[J].Physics Procedia,2012,33:1663-1669.
[4]	Milic V,Situm Z,Essert M.Robust H_∞ position control synthesis of an electro-hydraulic servo system[J].ISA Transactions,2010,49(4):535-542.
[5]	郭栋,付永领,卢宁,等.自抗扰控制技术在电液力伺服系统中的应用[J].北京航空航天大学学报,2013,39(1)：115-119.Guo D,Fu Y L,Lu N,et al.Application of ADRC technology in electrohydraulic force servo system[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(1):115-119(in Chinese).
[6]	Chen C T.Hybrid approach for dynamic model identification of an electro-hydraulic parallel platform[J].Nonlinear Dynamics,2012,67(1):695-711.
[7]	朱勇,姜万录,王梦,等.非线性时变力作用下液压缸爬行机理与抑制方法研究[J].农业机械学报,2014,45(3)：305-313.Zhu Y,Jiang W L,Wang M,et al.Creeping mechanism and suppression methods of hydraulic cylinder under nonlinear time-varying force[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(3):305-313(in Chinese).
[8]	Tang R,Zhang Q.Dynamic sliding mode control scheme for electro-hydraulic position servo system[J].Procedia Engineering,2011,24:28-32.
[9]	Seo J,Venugopal R,Kenné J P.Feedback linearization based control of a rotational hydraulic drive[J].Control Engineering Practice,2007,15(12):1495-1507.
[10]	张从鹏,刘强.直线电机定位平台的摩擦建模与补偿[J].北京航空航天大学学报,2008,34(1)：47-50.Zhang C P,Liu Q.Friction modeling and compensation of positioning stage driven by linear motors[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(1):47-50(in Chinese).
[11]	杨安元,杨雪.液压系统的减振方法研究[J].液压与气动,2004(2)：51-53.Yang A Y,Yang X.Research on approaches to weakening vibration of hydraulic system[J].Chinese Hydraulics & Pneumatics,2004(2):51-53(in Chinese).
[12]	陈予恕,唐云,陆启韶,等.非线性动力学中的现代分析方法[M].北京：科学出版社,2000：1-50.Chen Y S,Tang Y,Lu Q S,et al.Modern analysis methods from nonlinear dynamics[M].Beijing:Science Press,2000:1-50(in Chinese).
[13]	师汉民.机械振动系统[M].武汉：华中科技大学出版社,2004：210-212.Shi H M.Vibration system[M].Wuhan:Huazhong University of Science & Technology Press,2004:210-212(in Chinese).
[14]	刘延柱,陈立群.非线性振动[M].北京：高等教育出版社,2001：60-63.Liu Y Z,Chen L Q.Nonlinear vibration[M].Beijing:Higher Education Press,2001:60-63(in Chinese).
[15]	姜万录,刘思远,张齐生.液压故障的智能信息诊断与监测[M].北京：机械工业出版社,2013：108-180.Jiang W L,Liu S Y,Zhang Q S.Intelligent information diagnosis and monitoring on hydraulic fault[M].Beijing:China Machine Press,2013:108-180(in Chinese)