摘要
针对起重机阀控系统响应快但能耗大,泵控系统效率高但控制精度低的问题,提出了一种变转速变排量双动力源泵阀协同的多执行元件电液系统。首先,提出了一种多模式控制策略,即在单动作微动模式下,其中一个动力源卸荷,由于系统小流量时动态响应较慢,因此小流量时采用双变量模式控制系统,通过阀芯位置自适应调节和动力源的压力闭环控制,实现了流量精准匹配的目的;其次,在单动作快速运动模式下,双动力源合流驱动单执行元件,通过控制电液动力源相关参数,补偿了因负载变化引起的泵泄漏量,以实时控制执行元件速度;在复合快速运动模式下,双动力源分流单独驱动多执行元件,通过调节单个动力源的相关参数来实时控制各执行元件速度,以及实现系统流量比例分流的目的;然后,建立了系统AMESim-Simulink的联合仿真模型与试验平台;最后,对该系统在同一设定压差下的不同设定流量的控制特性进行了仿真和试验分析。研究结果表明:该系统能实现负载变化时对流量的补偿目的,并且该系统与定转速变排量泵阀协同液压系统相比,在单动作微动模式下的流量控制精度优化了约14.76%,动态响应时间减少了约0.12 s;在单动作快速运动模式下,流量变化减小了约6.21%,系统能耗降低约了13.94 kJ;在复合快速运动模式下,系统能耗降低了约50.31 kJ;同时,该系统比传统抗流量饱和负载敏感系统具有更好的流量稳定性。
Aiming at the problems of fast response but high energy consumption in the crane valve control system,high efficiency but low control accuracy in the pump control system,a multi actuator electro-hydraulic system with variable speed and displacement dual power source pump valve collaboration was established.Firstly,a multi-mode control strategy was proposed,in which one power source was unloaded and the other power source was in operation in a single action micro motion mode.Due to the small swing angle of the hydraulic pump and slow dynamic responded of the system at low flow rates,a dual variable mode control system was adopted at low flow rates.Accurate flow matching was achieved through adaptive adjustment of valve core position and pressure closed-loop control of power source.Secondly,in the single action fast motion mode,the dual power sources merge to drive the single actuator,by controlling the relevant parameters of the electro-hydraulic power source to compensate for pump leakage caused by load changes,the speed of the actuator was controlled in real-time.In the composite fast motion mode,multiple actuators were driven separately by the dual power source shunt.By adjusting the relevant parameters of a single power source,the speed of each actuator was controlled in real-time and the system flow proportional shunt was achieved.Then,a joint simulation model and experimental platform for the system AMESim simulink were established.Finally,simulation and experimental analysis were conducted on the control characteristics of the built system with different set flow rates and under the same set pressure difference.The research results indicate that the system can achieve flow compensation when load changes,and comparing with the constant speed pump valve collaborative pressure flow composite control system,the flow control accuracy is optimized by about 14.76%in single action micro motion mode,and the dynamic response time is reduced by about 0.12 s.In the single action fast motion mode,the flow change decreas
作者
李琦
杨敬
权龙
LI Qi;YANG Jing;QUAN Long(School of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)
出处
《机电工程》
CAS
北大核心
2024年第3期482-493,共12页
Journal of Mechanical & Electrical Engineering
基金
国家重点研发计划项目(2018YFB2001203)
山西省基础研究计划项目(20210302123200)。
关键词
汽车起重机
变转速变排量
泵阀协同电液系统
压力闭环控制
比例积分微分控制器
流量控制特性
泵泄漏
truck crane
variable speed and displacement
pump-valve cooperative electro-hydraulic system
pressure closed-loop control
proportional-integral-derivative(PID)controller
flow control characteristics
pump leakage
