摘要
为了改善连续回转电液伺服马达的超低速性能,针对超低速运行时局部爬行及振荡现象,在考虑压力切换过程中密闭容腔内部压力、流量变化及泄漏和摩擦特性的基础上,分析密闭工作容腔内流量及压力的连续特性,同时鉴于求解问题的复杂性,采用基于初始种群渐进漂移的自适应改进遗传算法,对马达超低速性能结构进行寻优解算,得出马达定子预过渡曲线及其包角范围和配油三角缓冲槽理论公式及最佳尺寸。经过仿真及试验数据对比分析,验证了该方法理论分析的正确性及实践应用的有效性。该寻优方法不仅避免了传统遗传算法早熟现象,同时通过引入初始种群渐进漂移技术,改善了算法邻域函数结构和初值鲁棒性。采用此方法进行设计能够使新型连续回转电液伺服马达跟踪0.001(°)/s的超低速斜坡信号并满足0.001°的公差带要求,为类似问题的求解开辟了新途径。
In order to improve the low speed performance of continuous rotary electro-hydraulic servomotor,the flow and pressure characteristics of motor airtight cavity are analyzed considering the changes of flow and pressure and the characteristics of leakage and friction in the course of pressure switch.In view of the complication of solving the problem,an improved genetic algorithm with initial population gradually drifting is introduced to carry out the structure optimization for improving low speed performance.The formula of pre-transitional curve of the stator and its angle range is derived,and the optimum dimension of triangle cushioning groove of the valve plate is also obtained.The analysis result of the simulation and experiment validates that the theory is reasonable and the algorithm is effective.This optimization method avoids premature convergence.Furthermore,by applying the technique of initial population gradually drifting to the improved genetic algorithm,the robust capability of initial value is also improved and the neighbor-function structure is more reasonable.By using the method to design the servomotor,the continuous rotary electro-hydraulic servomotor can track the ultra-low speed ramp signal of 0.001（°）/s and meet the requirement of the tolerance zone of 0.001°.So,this method opens up a new way of solving this kind of problem.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2010年第12期166-174,共9页
Journal of Mechanical Engineering
基金
国家'十一五'工程资助项目(A232006011)
关键词
连续回转电液伺服马达
遗传算法
低速性能
压力冲击
Continuous rotary electro-hydraulic servomotor Genetic algorithm Low speed performance Pressure impact
