Hydraulic cylinder position system controlled by piezoelectric high-speed on-off valve
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摘要:
针对开关阀控液压缸位置分辨率低、响应慢的问题，设计了压电式高速开关阀控液压缸位置系统。首先，建立开关阀控液压缸位置系统模型，分析了PWM载波频率对开关阀流量特性的影响规律，采用基于差动流量的双阀结构，实现液压缸负载流量的非线性补偿，减小开关阀死区对系统静、动态性能的影响。然后，分析双阀控制式液压缸系统负载脉冲流量的影响因素，得到了开关阀控液压缸位置抖振的产生机理，比较基于脉冲流量的PWM、PAM、PFM控制方法。最后，依据压电式高速开关阀流量特性，提出了PWM+PAM的复合控制方法，根据误差信号及其变化，调节占空比和流量幅值，实现液压缸位置的快速、精确控制。仿真及实验结果表明：系统定位精度将近1%，为高速开关阀及其控制系统应用提供了理论基础。
Abstract:Aimed at low position resolution and slow response of on-off valve controlled cylinder, a hydraulic cylinder position system controlled by piezoelectric high-speed on-off valve was designed. Firstly, the position system model of on-off valve was built in order to analyze the influence of PWM carrier frequency on the on-off valve flow characteristics. The system structure based on differential flow of double valve is adopted to realize the nonlinear compensation of hydraulic cylinder load flow, which reduced the influence of dead zone on the static and dynamic performance. Then, mechanism and principle of on-off valve controlled hydraulic cylinder position chattering are obtained by analyzing the influence factors of load pulse flow of double valve controlled hydraulic cylinder system, and PWM, PAM and PFM control methods based on the pulse flow are compared.Finally, considering the piezoelectric high-speed on-off valve flow characteristics, a composite control method with PWM and PAM is proposed, which helps the system realize fast and accurate position control by adjusting the duty cycle and flow amplitude according to the error signal and change. Simulation and experimental results show that the positioning accuracy is nearly 1%, which provides a theoretical basis for the application of high-speed on-off valve and control system.
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Key words:
- high-speed on-off valve /
- flow characteristics /
- position control /
- PWM /
- PFM /
- PAM /
- position resolution
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图 1 压电式高速开关阀结构原理及样机
Figure 1. Structure principle and prototype of piezoelectric high-speed on-off valve
图 2 压电式高速开关阀驱动等效电路
Figure 2. Driving equivalent circuit of piezoelectric high-speed on-off valve
图 4 高速开关阀控液压缸位置系统
Figure 4. Hydraulic cylinder position system controlled by high-speed on-off valve
图 6 双开关阀控液压缸位置系统原理
Figure 6. Schematic diagram of hydraulic cylinder position system controlled by double on-off valve
图 7 压电式高速开关阀控液压缸位置系统仿真模型
Figure 7. Simulation model of hydraulic cylinder position system controlled by piezoelectric high-speed on-off valve
图 10 不同载波频率下位置跟踪曲线
Figure 10. Position tracking curves under different carrier frequency
图 16 开关阀控液压缸位置系统实物图
Figure 16. Photo of hydraulic cylinder position system controlled by on-off valve
图 17 不同开关阀控液压缸位置跟踪曲线
Figure 17. Position tracking curves of hydraulic cylinder controlled by different on-off valves
表 1 压电式高速开关阀参数
Table 1. Parameters of piezoelectric high-speed on-off valve
参数 数值 压电叠堆外尺寸/(mm×mm×mm) 32(长)×10×8 位移放大倍数 4.3 锥阀角α/(°) 45 阀口直径d/mm 12 开关阀流量幅值Qmax/(L·min-1) 16.8 死区时间t0/ms 0.22 完全开启时间ton/ms 1.15 完全关闭时间toff/ms 0.85 
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表 2 压电式高速开关阀控液压缸参数
Table 2. Parameters of hydraulic cylinder controlled by piezoelectric high-speed on-off valve
参数 数值 液压缸负载等效质量m/kg 1.5 活塞直径d0/mm 25 活塞杆直径d1/mm 15 液压缸最大行程xmax/m 0.5 泄漏系数C/((L·min-1)·bar-1) 0.000 2 阻尼系数B/(N·(m·s-1)-1) 350 静摩擦/N 15 摩擦系数/(N·(m·s-1)-1) 150 PWM驱动电压U/V 120 PWM载波频率f/Hz 100 供油压力PS/MPa 7
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