北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (1): 50-57.doi: 10.13700/j.bh.1001-5965.2013.0685

• 论文 • 上一篇    下一篇

摩擦力作用下电液伺服系统非线性动力学行为

朱勇1,2, 姜万录1,2, 郑直1,2   

  1. 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
  • 收稿日期:2013-11-28 出版日期:2015-01-20 发布日期:2015-02-04
  • 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. E-mail:wljiang@ysu.edu.cn
  • 作者简介:朱勇(1986-),男,河南信阳人,博士生,zhuyong19862006@126.com
  • 基金资助:

    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)

Nonlinear dynamic behaviors of electro-hydraulic servo system under friction

ZHU Yong1,2, JIANG Wanlu1,2, ZHENG Zhi1,2   

  1. 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
  • Received:2013-11-28 Online:2015-01-20 Published:2015-02-04

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.

关键词: 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.

Key words: electro-hydraulic servo system, nonlinear friction, limit cycle oscillation, bifurcation, chaos

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