摘要
电静液作动器(EHA)广泛用于飞机和机器人系统,其应用正在逐步向大型机械设备发展。本文提出了一种在活塞侧连接一个蓄能器的新型EHA结构,该结构用于在空载情况下实现快速启动。此外,当外部负载突然施加或改变时,为了使蓄能器以最佳状态吸收系统压力和流量的脉动,提出了一种新的参数自适应控制方法(PACM)。建立了EHA和PACM的数学模型,并证明了所提出的结构和PACM的可行性和有效性。仿真结果表明,传统液压结构的EHA启动时间为62.8 s,而我们提出的配备蓄能器的EHA的启动时间为2.1 s,这使EHA的启动时间缩短了96.6%。当施加5000N的外部负载时,采用PACM可以使压力脉动降低31%,并且流量曲线过度平滑,可以根据特定的工作条件方便地调整PACM参数。
Electro hydrostatic actuators(EHAs)are widely used in aircrafts and robotic systems,and their application is gradually progressing toward large mechanical equipment.In this paper,a new structure wherein an accumulator is attached to the piston-side of the EHA is proposed,which is used to achieve rapid start-up under no-load.In addition,a new parameter adaptive control method(PACM)is proposed to allow the accumulator to absorb the pulsation of the system pressure and flow rate in the best state when the external load is suddenly applied or changed.The mathematical models of EHA and PACM are established.The feasibility and validity of the proposed structure and PACM are then demonstrated.The simulation results demonstrate that the start-up time of the EHA with the conventional hydraulic structure is 62.8 s,whereas that of our proposed EHA equipped with an accumulator is 2.1 s,which shortens the EHA start-up time by 96.6%.The accumulator with PACM can reduce the pressure pulsation by 31%,when the external load of 5000 N is applied.Moreover,the flow rate curve is excessively smoother and the PACM parameter can be conveniently adjusted according to specific working conditions.
作者
韩小霞
谢建
冯永保
何祯鑫
李良
魏小玲
Xiao-xia HAN;Jian XIE;Yong-bao FENG;Zhen-xin HE;Liang LI;Xiao-ling WEI(Rocket Force University of Engineering,Xi’an 710025,China)
出处
《机床与液压》
北大核心
2020年第24期33-44,共12页
Machine Tool & Hydraulics
基金
陕西省自然科学基金项目(2019JQ-491)。
关键词
电静液作动器
快速启动
蓄能器
参数自适应控制
Electro hydrostatic actuator
Rapid start-up
Accumulator
Parameter adaptive control
