水液压阀控摆动缸结构设计及动态性能仿真分析  

Structure Design and Dynamic Performance Simulation Analysis of Water Hydraulic Valve Controlled Swing Cylinder

作　　者：张天 葛卫[3] 聂松林[1,2] 尹方龙[1,2] 李开福 贾国涛 ZHANG Tian;GE Wei;NIE Song-lin;YIN Fang-long;LI Kai-fu;JIA Guo-tao(College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124;Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing 100124;Hubei Institue of Aerospace Chemical Technology, Xiangyang, Hubei 441003;The 705 Kunming Branch, China Ship Heavy Industry, Kunming, Yunnan 650032)

机构地区：[1]北京工业大学机电学院,北京100124 [2]北京工业大学先进制造技术北京市重点实验室,北京100124 [3]湖北航天化学技术研究所,湖北襄阳441003 [4]中船重工七○五研究所昆明分部,云南昆明650032

出　　处：《液压与气动》2021年第7期28-34,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51905011,51975010,51705008);北京市自然科学基金(3182003);北京市教委科技计划项目(KM201810005014,KM201910005033);中船重工热能动力技术重点实验室开放基金(TPL2017BB010)。

摘　　要：液压摆动缸作为水下机械臂的核心部件之一,是机械臂的重要执行与能量转换机构。目前的液压摆动缸主要依靠油压驱动,存在与海洋环境不相容和易发生腐蚀磨损失效等诸多问题,因此提出了一种以水作为传动介质的液压摆动缸。研究了水压摆动缸关键部位的密封形式,并建立高速开关阀控摆动缸AMESim模型,分析了批处理的单参数对阀控缸系统跟随特性的影响;然后利用AMESim和Simulink联合仿真技术,建立了联合仿真模型。通过联合仿真解决了传统MATLAB仿真中难以建立精确数学模型的问题,加入PID控制器,使得系统响应速度加快,超调减小,抗干扰能力提高,跟随性能提高。As one of the core parts of the underwater manipulator,the hydraulic swing cylinder is an important executing and energy conversion mechanism of the manipulator.At present,the hydraulic oscillating cylinder is mainly driven by oil pressure,which is incompatible with the Marine environment and prone to corrosion and wear failure.Therefore,a valve-controlled hydraulic swing cylinder with water as the driving medium is proposed.The sealing form of the key parts of the hydraulic swing cylinder was studied,and the AMESim model of the valve controlled swing cylinder was established.The influence of single parameter of batch processing on the tracking performance of valve-controlled cylinder system was analyzed.Then,AMESim and Simulink co-simulation technology were used to establish a co-simulation model,which solved the problem of difficulty in establishing accurate mathematical model in traditional MATLAB simulation.A PID controller was added,the system response speed is accelerated,the over shooting is reduced,the anti-interference ability is improved,and the tracking performance is improved.

关 键 词：摆动液压缸 水液压 AMESIM 仿真分析 动态特性 

分 类 号：TH137[机械工程—机械制造及自动化]