变雨量变转速型一体化电滚动液作动系统控制

变雨量变转速型一体化电滚动液作动系统控制

新类型的能量-光治理机制可以充分利用未来的血容量绩效机制，而不是因为控制系统的累态化。血容量绩效机制（eha）和血容量机制（ea）以及血容量机制中的其他科学家（mea）。Accordingtothedifferencesofthetypesandcontrolmodesofthemotorandthepump,therearethreekindsofEHA,i.e.,EHAwithfixedpumpdisplacementandvariablemotorspeed(EHA-FPVM),EHAwithvariablepumpdisplacementandfixedmotorspeed(EHA-VPFM),andEHAwithvariablepumpdisplacementandvariablemotorspeed(EHA-VPVM).TheEHAusesahydraulicpumptotransfertherotationalmotionoftheelectricmotortotheactuatoroutput.Thehydrauliccouplingallowsagreatdealofflexibilityinthedesignoftheactuatorpackage.Thelocationsandorientationsofthemotorandpumprelativetotheoutputcylindercanbereadilyvariedtomeetthepackagedimensionalrequirements.TheEHAcanalsovarythetransmissionratiobyvaryingthedisplacementofthepump.Thevariabletransmissionratiocanbeusedtoincreasetheactuatorstiffness,decreasethepackagesize,anddecreasethepackageheating.1u3000desp坚持和管理双4自身可选,4,5.TheEHA-VPVMsystemmeansthatavariablespeedbrushlessDCmotor(BLDCM)isusedtodriveavariabledisplacementservopump,andthemotorspeedandthepumpdisplacementcanbevariedsynchronouslyastwosystemvariables.Bythismeans,itiscapabletocontroltheactuatoroutputandthedeflectionangleoftherudder.1.1u3000取样ABLDCMisusedasthedrivingmotorofthesystem,anditsmaximumspeedis12000r/min,nominalvoltageis270V,andnominalpoweris7.5kW.ThemathematicalmodeloftheBLDCMiscreatedagainstthesquare-wavemotor.TheelectromotiveforcebalanceequationisUC=E+RCiC+LCdiCdt(1)UC=E+RCiC+LCdiCdt(1)Thetorqueswhichactonthemotorshaftaretheelectromagnetismtorqueandtheloadtorque.AndthetorquebalanceequationoftheBLDCMisΤm=ΤΜ+(Jm+Jp)dωdt+(Bm+Bp)ω(2)Tm=TM+(Jm+Jp)dωdt+(Bm+Bp)ω(2)Andthebackelectromotiveforceequationandelectromagnetismtorqueequationare,respectively,E=Ceω(3)andΤm=CmiC(4)E=Ceω(3)andTm=CmiC(4)SoitcanbegottenthatUC=Ceω+RCiC+LCdiCdt(5)UC=Ceω+RCiC+LCdiCdt(5)WiththeLaplacetransform,themotorspeedcanbegottenfromEqs.(1)-(4),ω(s)=Cm(LCs+RC)(JΜs+Bm)+CeCm⋅(6)UC(s)-1JΜs+BΜ+CeCmLCs+RCΤΜω(s)=Cm(LCs+RC)(JMs+Bm)+CeCm⋅(6)UC(s)−1JMs+BM+CeCmLCs+RCTMwhereωistherotationspeedoftheBLDCM,RCisthemotorwindingresistance;LCisthemotorwindinginductance;JM=Jm+Jpisthesummomentofinertiaofmotorandpump;BM=Bm+Bpisthesumdampcoefficientofmotorandpump;Cmistheelectromagnetismtorqueconstant;Ceisthebackelectromotiveforceconstant;Tmistheelectromagnetismtorque,andTMistheloadtorquewhichactsonthemotorshaft,andcanbedescribedasΤΜ=qbpf2π(7)TM=qbpf2π(7)1.2出口条件最优可选可持续行为表达方式Mosttraditionalservopumpshaveavariabledisplacementactuateunitdrivenbyhydraulicservosystem,andanactuatorwhichiscontrolledbyaservovalvetodrivetheswashplateofthepump.Thefluidofthehydraulicservosystemissuppliedbytheservopumpdirectlyorbyasmallpumpwhichiscoaxialwiththeservopump.Thismethodhasmaturetechnologybywhicharapidresponsecanbeachieved,buttheadditoryhydraulicexecutivemechanismiscomplicated,andanexactservovalveisadopted,sothesystemfailurerateishigher.BecausethereisnoconstantsystempressureinEHA,anotherwaymustbetakentoprovidethedrivingforceforvariabledisplacementmechanism.Withthedevelopmentofthemotor,theservomotorhashadabetterperformance,anditsoutputpowerandresponsecharacteristicscanmeetsomehighrequirement.Forexample,akindofdirectdrivenvalvehasbeendesignedwithaservomotorwhichreplacesthevalve’sprestage.Basedonthesetechnologies,thedesignideaofElectricallyDrivenVariableDisplacementServoPumpisbroughtforward.ADCservomotorisintroducedtodrivethevariabledisplacementmechanismviathedrivinggear.BythismeansthedisplacementofthepumpcanbevariedtocontroltheoutputflowoftheEHA.ThetheoreticaloutputflowofthevariabledisplacementpumpisQf(s)=ΚQωγ(s)2π(8)whereqb=KQγisthedisplacementofthepump,andωistherotationspeedofthemotor-pump’smainshaft.ADCcorelessservomotorisselectedasthevariabledisplacementactuatingunit.Basedontheelectromotiveforcebalanceequation,torquebalanceequation,back-EMFequationandelectromagnetismtorqueequation,andconsideringtheloadtorqueMLbasanexternalinterfere,thearmaturevoltageUbasaninputquantity,andthemotorrevωbasanoutputquantity,andtakingtheinertialoadanddampingloadintoaccountatthesametime,thetransferfunctionoftheDCservomotorwhichdrivestheswashplatecanbegotten,Gωb=ωb(s)Ub(s)=-CmbCebCmb+(Jbs+Bb)(Labs+Rab)(9)Thedrivingtorquesoftheswashplateincludethehydraulictorqueoftheplungerpiston,theinertiatorqueoftheplungerpiston,thefrictiontorquefromthedeflectingoftheslipperandthefrictiontorquefromthefulcrumbearingoftheswashplate.Itisafunctionofrotationspeedωofthemotor-pump’smainshaft,theswivelangleγoftheswashplate,andtheoutputpressurepfofthepump.Asγisofsmallvalue,itcanbeconsideredthatcosγ≈1andtanγ≈γ.SothedrivingtorqueMΣoftheswashplateisΜΣ=-Κapf-Κbω2γ±Κcpf(10)wherethenegativesignmeansthetorqueincreasestheswivelangleoftheswashplate.AndinthepresentdesignoftheElectricallyDrivenVariableDisplacementServoPump,thefollowingvaluescanbegotten,Ka=5.9×10-8m3,Kb=4.6×10-6kg·m2andKc=4.6×10-8m3.ThereductionratioofthedrivingmechanismoftheswashplateisKj,sotheloadtorquewhichthedrivingmechanismoftheswashplateactsontheservomotorshaftisMLb=MΣ/Kj.FromEq.(10),thefollowingequationcanbegottenΜLb=-sign(γ)Κa|pf|-Κbω2γ+sign(ωb)Κc|pf|Κj(11)Theswivelangleoftheswashplateisγ(s)=ωb(s)Κjs(12)Thecontrolmodeoftheservomotorisadualclosedloopmode.ThecurrentfeedbackconstantisKIb,thespeedfeedbackconstantisKωb,andthefeedbackconstantofwholepositionloopisKγ.1.3u2004范围FlowQffromthepumptothehydraulicsystemwilldrivethepistonoftheactuator;inaddition,itwillcompensatetheleakageoftheactuator,thereductionoftheoil,theexpandingofthepipeandtheactuation.So,theflowequationoftheactuatorisQf=Adxtdt+V2Eydpfdt+Ctgpf(13)whereCtg=Cig+Cegistheleakageconstant,Cigistheinnerleakageconstant,Cegistheouterleakageconstant,Vistheone-sidedaveragevolumeofthepipeandactuator,andxtisthepositionofthepiston.LoadforcebalanceequationoftheactuatorisApf=mtd2xtdt2+Btdxtdt+Κtxt+FL(14)wherepfistheloadpressure,Aisthepistonareaoftheactuator,Eyisthemodulusofvolumeelasticityoftheoil,Btistheviscousdampingcoefficient,Ktistheloadelasticstiffness,FListheouterloadforce,andmtisthemassofthepiston.1.4/非价值可执行性参数Therudderishingedtothepiston,thelengthofthehingebarisRh,andthedynamicsequationoftherudderisFLRh-τL=(JLs2+BLs)θL(15)whereθL=xt/Rhisthedeflectionangleoftherudder.Foramodernfighterplanewithastabilator,itshingemomentcoefficientisChα≈Chσ.So,thehingemomentoftheruddercanbecalculatedwiththeequationτL=ˉqStRhChσ[α(s)θL(s)+1]θL(16)whereStistheareaoftherudder,ˉqisthedynamicpressure,ChαandChσarethehingemomentcoefficientsoftherudderrelativetotheangleofattackαandthedeflectionangleoftherudderθL.ThisequationcanbepredigestedasτL=GθθL,andtheGθhasdifferentvaluesindifferentflightconditions.1.5grafter-vaal-vara2.3.4.3Basedontheaboveanalyses,themodelofthedual-variableEHAsystemwithoutcontrollercanbegotten.TheschematicblockdiagramisshownasFig.1.1.6实行in百分点,土壤物理因子inql,w.s,即sque.3.3.4.3.4.3.4.3.4.3.4.5.4.4.4.4.5.4.5.4.4.4.4.5.4.5.4.5.4.5.4.5.4.5.4.5.4.5.4.5.4TheEHA-VPVMsystemisatimeinvariantsystemwiththesingleinputandsingleoutput.Thepresetinputvalueisu=ux,andtheoutputvalueisy=θL,thedeflectionangleoftherudder.Takingthestatevariableas,x=[iCωiCbωbγpfxt˙xt]Τ,thesystemstateequation˙x=f(x)withoutinput,i.e.,u=0,canbedescribedaswhereTM(x),MLb(x)andτL(x)areshownasEq.(7),Eq.(11)andEq.(16),respectively.2u3000eha-vpvmInthebalancestate,thereis˙x=f(x)=0.So,fromEq.(17),itcanbeknownthatthesystemflowshouldbeQf0=ΚQγ0ω02π=0.ItmeansthatatleastoneoftherotationspeedoftheBLDCMωandthedisplacementofthepumpqbshouldbezero,sothatthebalancestateofthesystemcanbegotten,x0=[0ω000000]Torx0=[0000γ0000]T.TheformerstatecanberegardedastheEHA-VPFM,andthelaterstatecanberegardedastheEHA-FPVM.So,whenhavingformedtheclosedloopKγoftheswivelangleofthepumpandtheclosedloopKω,thecontrollersoftheBLDCMandservopumpcanbedesignedrespectively.FromtheschematicblockdiagramoftheEHA-VPVM,itcanbelearnedthatthetwocontrolledvariables,thespeedofthemotor-pumpωandthedisplacementofthepumpqb,bringanonlinearityofmultiplicationtothesystem.Fixingoneofthetwovariablesandvaryingtheother,thesystemoutputcanalsobecontroled.Theoutputofthesystemisafunctionofthesquareofthepresetinputvalueux.ItmeansthatthetransferfunctionofthesystemisakindofG(s)=xt/u2x.Atthesametime,thepresetvaluesofthetwocontrolledvariablesaregottenfromtheerrorofthepositionfeedback.Highspeedservomotorwillhavecrawlingandvibrationinlowspeedstate.Soitslowspeedperformanceislimited,andthereisaminimumrotationspeedωmin.ToaBLDCM,itismoredifficulttochangeitsrotationdirectionthantoanormalservomotor.AndthesystemresponsecharacteristicwillbereducedbadlyiftheBLDCMchangesitsrotationdirectioncontinuallyaroundzerospeed.Ifthedual-variablecontrolmodeisintroduced,itiscapabletocontrolthemotortoworkinarightrangeofrotationspeed,andvarythedisplacementofthepumptomeettherequirementofvaryingthesystemflow.So,therequirementofthemotor’slowspeedperformanceisreduced.IntheEHA-FPVMsystem,theBLDCMshouldreachalowspeedofabout1rad/stocompensatetheflowlosswhichcomesfromtheleakage.ItisunrealisticforaBLDCMdrivenbysquare-wave.Theefficiencyandheatdissipationaresignificantproblemsinairborneactuationsystem.IntheEHAsystem,themainconsiderationisfocusedonthemotorefficiencies.Motorhasdifferentefficienciesunderdifferentspeedsandtorques.So,itiscapabletovarythepumpdisplacementtoletthemotorworkonhigherefficiencyoperatingpoint.Theoutputtorqueofthemotorisproportionaltothecurrent.Furthermore,theoutputtorquedependsontheloadpressureandthepumpdisplacement.So,itiscapabletomatchthepumpdisplacementandmotorspeedtokeepthesuitablespeedoftheactuatorinaspecifiedloadstate.Asinahighload(highpf)andlowspeed(lowQf)state,itiscapabletoreducethepumpdisplacementqfandincreasethemotorspeedω,andkeeptheoutputpower.Bythisway,thetorqueofthemotorisreduced,andtheworkingcurrentisreducedtoo.So,theI2Rlossislimitedandtheheatdissipationofthemotorisreduced.Themotorwillworkefficiently.InRef.,akindofcontrolmethodisintroduced.Afunctionalswitchwhichcanchangethecontrolsignalisemployedtoswitchbetweenthemotorspeedcontrollingandpumpdisplacementcontrolling.Throughthisway,thelowspeedstateandlowefficiencystateofthemotorcanbeavoided,and20%powercostiscutdown.AsimulationmodelofEHA-VPVMsystemiscreatedinSimulink/Matlab.Andafuzzycontrollerisintroducedasthecontrolleroftheouterloopofthesyst