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外文翻译--新型直动式压电电液伺服阀复合控制方法.doc

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外文翻译--新型直动式压电电液伺服阀复合控制方法.doc

附二外文翻译HIGHPRECISECONTROLMETHODFORANEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVEABSTRACTANEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEMWASPROPOSED.ANDTHENMULTILAYERPIEZOELECTRICACTUATORBASEDONNEWPIEZOELECTRICCERAMICMATERIALWASUSEDASTHEELECTRICITYMACHINECONVERTEROFTHEPROPOSEDPIEZOELECTRICELECTROHYDRAULICSERVOVALVETHEPROPOSEDPIEZOELECTRICELECTROHYDRAULICSERVOVALVEHASASCENDANTPERFORMANCECOMPAREDWITHCONVENTIONALONESBUTTHESYSTEMISOFHIGHNONLINEARITYANDUNCERTAINTY,ITCANNOTACHIEVEFAVORABLECONTROLPERFORMANCEBYCONVENTIONALCONTROLMETHOD.TODEVELOPANEFFICIENTWAYTOCONTROLPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEM.AHIGHPRECISEFUZZYCONTROLMETHODWITHHYSTERESISNONLINEARMODELINFEEDFORWARDLOOPWASPROPOSEDTHECONTROLMETHODISSEPARATEDINTOTWOPARTSAFEEDFORWARDLOOPWITHPREISACHHYSTERESISNONLINEARMODELANDAFEEDBACKLOOPWITHHIGHPRECISEFUZZYCONTRO1EXPERIMENTALRESULTSSHOWTHATTHEHYSTERESISLOOPANDTHEMAXIMUMOUTPUTHYSTERESISBYTHEPIDCONTROLMETHODARE422%AND2.11PM,RESPECTIVELY;THEHYSTERESISLOOPANDTHEMAXIMUMOUTPUTHYSTERESISBYTHEPROPOSEDCONTROLMETHODRESPECTIVELYARE0.74%AND0.37ΜM,RESPECTIVELY;THEMAXIMUMTRACKINGERRORBYTHEPIDCONTROLMETHODFORSINEWAVEREFERENCESIGNALISABOUT5.02%,THEMAXIMUMTRACKINGERRORBYTHEPROPOSEDCONTROLMETHODFORSINEWAVEREFERENCESIGNALISABOUT0.85%.CONTRO1.KEYWORDSPIEZOELECTRICELECTROHYDRAULICSERVOVALVE;HYSTERESISNONLINEARITY;PREISACHMODEL;FUZZYCONTROL1INTRODUCTIONELECTROHYDRAULICSERVOSYSTEMISWIDELYAPPLIEDININDUSTRIALDOMAINNOWADAYS.FOREXAMPLE.ROBOTDRIVE,MACHINEBUILDING,ARCHITECTURALENGINEERING.THEELECTROHYDRAULICSERVOVALVEISTHEKERNELOFTHEELECTROHYDRAULICSERVOSYSTEM,ANDITSPERFORMANCEHASDECISIVEEFFECTOFTHEWHOLESYSTEM.THECONVENTIONALDRIVEMODEOFELECTRO.HYDRAULICSERVOVALVEHASLOWERRESOLUTIONANDNARROWERWORKBANDWIDTH,WHICHRESTRICTSTHEAPPLICATIONSOFTHEELECTROHYDRAULICSERVOVALVE.THEPROPOSEDPIEZOELECTRICELECTROHYDRAULICSERVOVALVEADOPTSMULTILAYERPIEZOELECTRICACTUATORASELECTRICITYMACHINECONVERTERTHISHEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVEHASBETTERDYNAMICPERFORMANCETHANTHATOFCONVENTIONALONES.ATPRESENT,WITHTHERESEARCHANDTHEDEVELOPMENTOFNEWTYPEACTUATORBASEDONNEWTYPEMATERIALS,ITISPOSSIBLETOMAKETHENEWELECTRICITYMACHINECONVERTERWITHHIGHFREQUENCYNEWMATERIALSINCLUDEPIEZOELECTRICCERAMICMATERIALS,MAGNETOSTRJCTIVEMATERIALS,SHAPEMEMORYALLOYS.THEREINTO,MULTILAYERPIEZOELECTRICACTUATORSBASEDONNEWPIEZOELECTRICCERAMICMATERIALSHAVEMANYMERITSSUCHASSMALLCUBAGE,HIGHRESOLUTION,HIGHFREQUENCYANDLARGEDRIVEFORCE.HENCE,THEYAREWIDELYUSEDINTHEMICROPOSITIONDEVICEOFMACHINETOOLSANDOTHERPRECISIONMACHINES16.HOWEVER,THEYALSOHAVEMANYSHORTCOMINGS,FOR毕业设计(论文)第页1EXAMPLE,HYSTERESISNONLINEARITYMODELINFEEDFORWARDLOOPWASPROPOSED.2WORKPRINCIPLEANDCHARACTERISTICOFNEWTYPEOFPIEZOELECTRICELECTROHYDRAULICVALVEBECAUSETHEPULLINGFORCECAPACITYOFMULTILAYERPIEZOELECTRICACTUATORISVERYPOOR,ITCANNOTMAKETHESLIDEVALVEOFTHEELECTRO,HYDRAULICSERVOVALVEBIDIRECTIONALLVMOVETWOMULTILAYERPIEZOELECTRICACTUATORSWEREADOPTEDTOSOLVETHISPROBLEM78THESHORTCOMINGOFTHISMETHODISHIGHCOSTANDSYSTEMISDIFFICULTTOCONTRO1UTILIZINGTHERESTORINGFORCEOFALEAFSPRING,ONEMULTILAYERPIEZOELECTRICACTUATORCANREALIZEBIDIRECTIONALMOVEMENTOFTHESLIDEVALVEINTHISPAPERWHENTHEVOLTAGEIMPOSEDONMULTILAYERPIEZOELECTRICACTUATOR1SINCREASED,MULTILAYERPIEZOELECTRICACTUATORWILLELONGATEANDDRIVETHESLIDEVALVETOMOVETOWARDSTHELEFT,WHICHMAKESTHELEAFSPRINGDEFORM.ONTHECONTRARY,WHENTHEVOLTAGEIMPOSEDONMULTILAYERPIEZOELECTRICACTUATORISREDUCED,MULTILAYERPIEZOELECTRICACTUATORWILLBESHORTENEDANDTHENDRIVETHESLIDEVALVEMOVETOWARDSTHERIGHTBYTHEACTIONOFTHERESTORINGFORCEOFTHELEAFSPRINGTHESTRUCTUREOFNEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVEISSHOWNINFIG.1.THEINPUTOUTPUTCHARACTERISTICOFTHENEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEMINDICATESTHATITHASHYSTERESISNONLINEARITYWITHNONLOCA1MEMORYSEEFIG.2ATANYREACHABLEPOINTLUA,YAININPUTOUTPUTDIAGRAM,THENUMBEROFALTERNATIVECURVETHATDESCRIBESTHEFUTUREPATHOFHYSTERESISNONLINEARITYWITHNONLOCA1MEMORYISINFINITENAMELY,THEFUTUREOUTPUTOFTHESYSTEMDEPENDSNOTONLYONTHECURRENTOUTPUTYAANDFUTUREINPUT,BUTALSOONTHEPASTHISTORYOFINPUTVALUE’SEXTREMUMHENCE,THEOUTPUTRESPONSEOFNEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVETOANAPPLIEDINPUTVOLTAGEBECOMESUNPREDICTABLEINTHESYSTEM,THEREEXISTOTHERNONLINEARITIESSUCHASFORCEOFFRICTIONANDWORKDEADZONEOFVALVE,FURTHERMORE,DAMPINGCOEFFICIENTANDOILTEMPERATUREAREALSOCHANGEDWITHTIME.THENONLINEARITYANDUNCERTAINTYHAVESERIOUSLYEFFECTSONTHEPOSITIONPRECISIONTOIMPROVETHEPERFORMANCEOFTHENEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEM,AVALIDCONTROLMETHODISNEEDED3CONTROLALGORITHMATPRESENT,CONVENTIONALPIDCONTROLLERISWIDELYAPPLIEDININDUSTRIALCONTROLDOMAINBECAUSEOFITSSIMPLECONTROLSTRUCTURE,EASYDESIGNANDINEXPENSIVECOST.HOWEVER,CONVENTIONALPIDCONTROLLERISDIFFICULTTOACHIEVEGOODCONTROLPERFORMANCEINTHENEWTYPEOFPIEZOELECTRICELECTRO,HYDRAULICSERVOVALVESYSTEMBECAUSETHECONTROLOBJECTHASHIGH毕业设计(论文)第页2NONLINEARITYANDUNCERTAINTY.FUZZYCONTROLLERSHOWSGOODRESULTSINTHECASEOFCONTROLLINGHIGHNONLINEARSYSTEMSHOWEVER,CONVENTIONALFUZZYCONTROLLERISESSENTIALLYAKINDOFNONLINEARPDCONTROLLER,THEREEXISTSSTEADYSTATEERROR,WHICHCANNOTMEETTHEDEMANDOFHIGHPRECISEOFTHESYSTEM.INTHISPAPER,AHIGHPRECISEFUZZYCONTROLALGORITHMWITHPREISACHHYSTERESISNONLINEARMODELINFEEDFORWARDLOOPWASPROPOSED.THEBLOCKDIAGRAMOFTHECOMBINEDCONTROLISSHOWNINFIG.3.THECONTROLSYSTEMISCOMPOSEDOFAFEEDFORWARDLOOPBASEDONPREISACHMODELANDAFEEDBACKLOOPOFHIGHPRECISEFUZZYCONTROLLER.ULISTHEOUTPUTOFFEEDFORWARDLOOPBASEDONPREISACHMODE1.ASALINEARTERM,ITISSELECTEDFROMAPREISACHFUNCTIONTABLEBASEDONTHEGIVENPOSITIONVALUE.U2ISTHEOUTPUTOFTHEHIGHPRECISEFUZZYCONTROLLER.THESUMUTOFFEEDFORWARDCONTROLVOLTAGEFANDFEEDBACKCONTROLVOLTAGEU2T,ASULTIMATECONTROLVOLTAGE,ISACTEDONNEWTYPEPIEZOELECTRICELECTROHYDRAULICSERVOVALVE3.1FEEDFORWARDLOOPBASEDONPREISACHMODELTHEOPENLOOPRESPONSEOFTHENEWTYPEPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEMUNDERANARBITRARYANDNONCYCLICINPUTSIGNALISSHOWNINFIG.2.THISPHENOMENONAPPEARSASHYSTERESISNONLINEARITYWITHNONLOCALMEMORY,WHICHCANBEPREDICTEDBYPREISACHMODE1.THENUMERICALFORMOFPREISACHMODELCANBEWRITTENASFOLIOWSDDTUUTFS,1EQN1CANBEUSEDTOCALCULATETHERESPONSEOFTHENEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVESUBJECTTOAKNOWNARBITRARYINPUTVOLTAGESEQUENCE.ASERIESOFFIRSTORDERFUNCTIONSKKROFTHENEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVEAREEXPERIMENTALLYDETERMINED.THEPROCEDUREISASFOLLOWS.THESPACEBETWEENZEROANDSATURATIONVOLTAGEUSISDIVIDEDINTONEQUIPARTITIONS,ANDTHEVOLTAGEOFEVERYEQUANTPOINTISKUS/N,WHEREK0,1,2,⋯N.VOLTAGEISAPPLIEDFROMZEROTOEVERYEQUANTPOINTKUS/N,ANDTHENDECREASEDTOZERO.INTHISPROCESS,THEPOSITIONOUTPUTVALUESOFTHENEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVEARERECORDEDATEVERYEQUANTPOINTBETWEENZEROANDSATURATIONVOLTAGEUS,THEREWITH,KKRANDTHEPREISACHFUNCTIONTABLEAREOBTAINEDSEEFIG.4,毕业设计(论文)第页3DDTUDDUTFSTU,,(2)BASEDONTHEDRIVERVOLTAGERANGEOFTHENEWTYPEOFPIEZOELECTRICELECTRO.HYDRAULICSERVOVALVE,THECOORDINATESPACEISSELECTEDAS0≤U≤L50VAND0≤U150VFROMFIG.4,THELIMITTRIANGLEISDIVIDEDINTOSEVERALSQUARESANDTRIANGLES.DECREASINGTHESIZEOFTHESQUARESANDTRIANGLESISEXPECTEDTOINCREASETHEACCURACYOFTHEMODE1,HOWEVER,ITWILLSPENDMASSIVECOMPUTATIONALTIME.BASEDONTHEEXPERIMENTS,NISSELECTEDAS5,NAMELY,THESIZEOFEACHOFSIDESOFTHESQUARESANDTRIANGLESISSELECTEDAS30VBASEDONTHEGIVENPOSITIONVALUEANDTHENUMERICALFORMOFTHEPREISACHMODEL,1NUTUORTUNCANBEOBTAINED.THEREBY,BASEDONPREISACHFUNCTIONTABLE,THECONTROLVOLTAGEULTISOBTAINEDWHEN1NULIESONTHEVERTICALLINEORULIESONTHEHORIZONTALLINE.FORTHEINEXISTENCEVOLTAGEINTHEPREISACHFUNCTIONTABLE.ITCANBEOBTAINEDBYTHELINEARINTERPOLATION.INCOMPARISONTOACONVENTIONALFEEDBACKCONTROLLER,THEMAINADVANTAGEOFTHISMODE1BASEDFEEDFORWARDCONTROLLERISTHATITCANCOMPENSATETHEHYSTERESISNONLINEARITYOFTHESYSTEMANDACHIEVEHIGHLYDYNAMICOPERATIONATTHESAMETIME,ANDNOADDITIONALSENSORISNEEDED.THISLEADSTOAVERYSIMPLEANDINEXPENSIVECONTROLSYSTEM.THEMAINDRAWBACKOFTHEFEEDFORWARDCONTROLLERISSENSITIVETOUNMODELDATAANDUNCONSIDEREDEXTERNALDISTURBANCESSUCHASTEMPERATUREDRIFT.FORANEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEMTHATNEEDSHIGHCONTROLPRECISION.MODE1.BASEDFEEDFORWARDCONTROLLERCANNOTOBTAINGOODCONTROLEFFECT.THENACOMPOUNDCONTROLMETHODWITHFEEDFORWARDANDFEEDBACKCONTROLPROJECTWASPROPOSEDINTHISPAPEINTHEFEEDBACKCONTROLLOOP,AHIGHPRECISEFUZZYCONTROLALGORITHMWASADOPTED.THEMETHODCANOBTAINGOODPERFORMANCE.3.2HIGHPRECISEFUZZYCONTROLCONVENTIONALFUZZYCONTROLLERHASTWOINPUTVARIABLES,EANDΔE,ANDONEOUTPUTVARIABLE(U),THEYAREERROR,CHANGEOFERRORANDOUTPUTCONTROLOFFUZZYCONTROLLER.INTHENEWTYPEOFPIEZOELECTRICELECTROHYDRAULICSERVOVALVESYSTEM,THEPHYSICALRANGEOFTHESLIDEVALVEPOSITIONERRORANDCHANGEOFERROR△EAREX,XANDΔX,ΔX,RESPECTIVELY.THECORRESPONDINGDISCRETEUNIVERSESOFDISCOURSEOFE,△EANDUAREE,ECANDURESPECTIVELY.E,ECANDUAREDESIGNEDASNORMALIZEDFORM

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