基于动力学死区的复杂气动伺服直线传动装置模型研究  

Research on model of complex servo pneumatic linear transmission based on dynamical dead zone

作　　者：郑睿 曹爽 ZHENG Rui;CAO Shuang(Railway Locomotive School,Jilin Railway Vocational and Technical College,Jilin 132000,Jilin,China;School of Electrical and Mechanical Engineering,Henan University of Science and Technology,Luoyang 471000,Henan,China)

机构地区：[1]吉林铁道职业技术学院铁道机车学院,吉林吉林132000 [2]河南科技大学机电工程学院,河南洛阳471000

出　　处：《中国工程机械学报》2020年第6期525-529,535,共6页Chinese Journal of Construction Machinery

基　　金：河南省自然科学基金资助项目(182300510252)。

摘　　要：针对气动伺服系统执行机构运动精度较低问题,设计了气动伺服系统改进传动装置模型。创建了气动伺服阀系统执行机构运动简图,分析了阀门的非线性质量流动特性、死区、多变温度模型、传热和非线性摩擦对执行机构运动精度的影响,根据动力学死区难以识别问题,设计出气动伺服系统执行机构运动的数学模型和相应的参数识别方法。采用Matlab软件对改进模型进行仿真验证,并且与理论值进行比较。结果显示:改进前,气动伺服系统活塞运动产生的位置、速度和压力与理论值相比,误差整体波动幅度较大;改进后,气动伺服系统活塞运动产生的位置、速度和压力与理论值相比,误差整体波动幅度较小。气动伺服系统执行机构在压力动力学、活塞速度和活塞位置方面,改进后的传动装置模型能够提高执行机构动力学死区的识别的精度。Aiming at the problem of low motion accuracy of actuator in pneumatic servo system,an improved transmission device model of pneumatic servo system is designed.The motion sketch of actuator in pneumatic servo valve system is created.The influence of non-linear mass flow characteristics,dead zone,multi-variable temperature model,heat transfer and non-linear friction of valve on the motion accuracy of actuator is analyzed.According to the difficulty of identifying dead zone in dynamics,the mathematical model of actuator motion in pneumatic servo system is designed.Type A and corresponding parameter identification methods.The improved model is simulated and validated by using Matlab,and compared with the theoretical value.The results show that before the improvement,the position,velocity and pressure of the piston motion in pneumatic servo system fluctuate greatly compared with the theoretical value;after the improvement,the position,velocity and pressure of the piston motion in pneumatic servo system fluctuate less than the theoretical value.In the aspects of pressure dynamics,piston speed and piston position,the improved transmission model of pneumatic servo system actuator can improve the accuracy of dynamic dead zone identification of actuator.

关 键 词：气动伺服系统 数学模型 死区 动力学 精度 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]