倾斜柱塞式斜盘变量泵的流量特性研究
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摘要
液压传动技术在工程机械等领域得到了广泛应用。随着节能环保要求的不断提高,液压传动系统的效率问题日益突显。众所周知,变量泵是提高液压传动系统效率的最有效途径。斜盘式轴向变量柱塞泵具有供油压力高、易于实现变量等技术优势,成为绝大多数高压泵控系统的首选动力元件。因此改善斜盘式轴向变量柱塞泵流量特性是进一步提高液压系统效率必须解决的技术难题。
论文以倾斜柱塞式斜盘变量泵为研究对象,针对这种泵的流量脉动和变流量控制等特性,采用理论分析、数值仿真与试验研究相结合的方法进行了系统的研究。针对倾斜柱塞式斜盘变量泵的结构特点,着重研究了柱塞倾角对泵性能的影响。论文的主要研究内容如下：
1.建立了倾斜柱塞式斜盘变量泵的理论模型。根据绝对坐标系下的柱塞运动规律,采用集中参数法分别建立了柱塞泵理想液体和实际液体的瞬时流动特性模型。针对倾斜柱塞式斜盘变量泵的结构特点,依据刚体动力学方法建立了柱塞-缸体摩擦副、滑靴-斜盘摩擦副的动力学方程。建立了变量机构的位移-力反馈型控制系统数学模型。上述基于倾斜柱塞式斜盘变量泵结构特点引入柱塞倾角作为变参数的数学模型,同样适用于其它结构形式的柱塞泵理论分析。
2.建立了倾斜柱塞式斜盘变量泵流量特性的研究平台。依据上述理论模型,建立了基于协同交互技术和虚拟样机技术的柱塞泵性能仿真平台和试验测试装置,为柱塞泵流量特性的研究打下了基础。仿真平台利用模块之间的数据交换实现了对柱塞泵实际工作状况的真实模拟。测试装置通过传感器实现对液压泵压力、流量、斜盘角位移等参量的直接测量,并能根据试验测试原理求解出柱塞泵瞬时输出流量、变量机构稳态和动态特性等。协同仿真平台的仿真结果可以通过试验测试进行验证,还能完成试验装置不易测试的参数分析。
3.倾斜柱塞式斜盘变量泵的流量脉动研究。采用Matlab对柱塞运动规律和柱塞泵理想液体模型的流量脉动进行数值求解。利用协同仿真平台分析了柱塞泵实际模型的流量脉动变化规律及影响因素。提出一种测量柱塞泵输出流量脉动的近似方法,并利用测试装置完成对柱塞泵输出管道内压力脉动和流量脉动的测量。
4.倾斜柱塞式斜盘变量泵的变量控制特性研究。利用虚拟样机技术分析了柱塞泵动力元件的力学特性,讨论了配合间隙和柱塞倾角对柱塞-缸体摩擦副受力的影响。基于协同仿真平台,研究了变量控制机构的稳态和动态控制特性及其影响因素。通过试验测试装置得到了变量控制机构在不同工况下的稳态和动态控制特性。研究结果表明,变量控制机构的位移-力反馈组件复位弹簧是影响变量机构稳态比例特性的重要因素,基于三通阀控制差动缸的变量机构在动态特性方面存在明显的非对称性。
上述研究内容是开发高压大流量轴向变量柱塞泵必须解决的关键问题。研究结论有助于更深入地理解流量脉动的形成机理以及变量机构的控制原理,能为优化轴向变量柱塞泵流量特性提供理论依据和设计参考。
Hydraulic transmission technology has been widely used in construction machinery and other engineering fields. The tansmission efficiency of hydraulilic power system, however, is becoming more and more overhang as the requirements of energy saving and environment protection are higher and higher. As well known, the most effective method to increase efficiency of hydraulilic power system is to use variable displacement pump directly. Because of its techno-dominance such as high supply pressure and easy for variable displacement control, swashplate axial piston variable displacement pumps have been the preferential hydraulic pumps for most hydraulic system with high pressure. To improve flow characteristics of swashplate axial piston variable displacement pump, therefore, is one of the key problems for increasing efficiency of hydraulic transmission system.
Taking Incline Piston Type Swashplate Variable Displacement Pump (IPTSVDP) as main researching object, aimed at the flow characteristics such as flow pulsation, control performance of variable displacement machnism and so on, the pump performance are studied systematically by means of combinative methods such as theoretical analysis, numerical simulation and experimental investigation in this dissertation. Aimed at the structure specialty of IPTSVDP, the effects of piston conical angle to IPTSVDP performance are mainly researched. The main study contents of the dissertation are as follows:
1. The theoretical model of IPTSVDP is established. According to the law of piston motion in absolute coordinate, transient flow characteristic model of the pump both in ideal liquid state and in actual liquid state are developed respectively by lamped parameter method. Dynamic equitions of friction pairs between piston and its cylinder hole, piton slipper and swash plate are established by rigid-body dynamics. The mathematic model of displacement-force feedback control system for pump delivery variable mechanism are built. Theoretical models above are built based on structucture of specialty IPTSVDP and also the piston axis angle is introduced as variable perameter. The models can be not only used for IPTSVDP performace analysis, but also employed to other type piston pump analysis.
2. The research platform for IPTSVDP flow characteristics is created. According to above theoretical model, simulation platform based on the technics of synergism collaborative and virtual prototype and the testing device are built up. The platform could be a fundation for piston pump flow characteristics analysis. The real simulation of actual working state of the pump is carried out by means of data exchange in different modules. Pump pressure, flow rate and angle displacement of swash plate as well as other pump parameters can be measured by sensors in the test device, and the instantaneous discharge flow of piston pump, steady and dynamical performance of variable displacement mechanism are obtained based on the principle of experimentation. The simulation results of collaborative simulation platform can be verified by testing conclusion, besides the collaborative simulation platform is able to accomplish some parameters analyses that is carried out unreachably by experimentation.
3. Researches on flow pulsation of IPTSVDP. Piston motion low and the flow pulsation in ideal liquid model of the pump are simulated numerically by Matlab. The flow pulsation varing rule in actual liquid model and its affect factors of the pump are analyzed by means of the collaborative simulation platform. An approximate method for measuring pump flow pulsation is given out, and measurements of pressure ripple and flow pulsation in outlet pipeline of the pump are carried out.
4. Researches on variable delivery control characteristics of IPTSVDP. The dynamic performance of the IPTSVDP mechanical component is analyzed by virtual prototyping model, and the friction force affectors of frinction pair between piston and its cylinder hole due to matching clearance and piston dip angle are discussed. The control characteristics and their affecors of the pump variable displacement mechanism in steady state and dynamic state are researched based on collaborative simulation platform. The control characteristics of the pump variable displacement mechanism in steady state and dynamic state are measured by testing device in different operating conditions. The research results show that offsetting spring in displacement-force feedback system is an important factor, which affects the steady state control characteristic of the pump variable displacement mechanism. And there is evident asymmetry in the dynamic control characteristic of the pump variable displacement mechanism based on differential cylinder controlled by a three way valve.
The research contents above are the key problems should be solved in design and development of high pressure and large flow rate axial piston variable displacement pump. The research conclusions conduce to comprehending the forming mechanism of flow pulsation and the control principle of variable displacement mechanism. Therefore, these conclusions are the theoretical foundation and data reference for optimizing the flow characteristics of swashplate-type axial variable displacement piston pump.
论文以倾斜柱塞式斜盘变量泵为研究对象,针对这种泵的流量脉动和变流量控制等特性,采用理论分析、数值仿真与试验研究相结合的方法进行了系统的研究。针对倾斜柱塞式斜盘变量泵的结构特点,着重研究了柱塞倾角对泵性能的影响。论文的主要研究内容如下：
1.建立了倾斜柱塞式斜盘变量泵的理论模型。根据绝对坐标系下的柱塞运动规律,采用集中参数法分别建立了柱塞泵理想液体和实际液体的瞬时流动特性模型。针对倾斜柱塞式斜盘变量泵的结构特点,依据刚体动力学方法建立了柱塞-缸体摩擦副、滑靴-斜盘摩擦副的动力学方程。建立了变量机构的位移-力反馈型控制系统数学模型。上述基于倾斜柱塞式斜盘变量泵结构特点引入柱塞倾角作为变参数的数学模型,同样适用于其它结构形式的柱塞泵理论分析。
2.建立了倾斜柱塞式斜盘变量泵流量特性的研究平台。依据上述理论模型,建立了基于协同交互技术和虚拟样机技术的柱塞泵性能仿真平台和试验测试装置,为柱塞泵流量特性的研究打下了基础。仿真平台利用模块之间的数据交换实现了对柱塞泵实际工作状况的真实模拟。测试装置通过传感器实现对液压泵压力、流量、斜盘角位移等参量的直接测量,并能根据试验测试原理求解出柱塞泵瞬时输出流量、变量机构稳态和动态特性等。协同仿真平台的仿真结果可以通过试验测试进行验证,还能完成试验装置不易测试的参数分析。
3.倾斜柱塞式斜盘变量泵的流量脉动研究。采用Matlab对柱塞运动规律和柱塞泵理想液体模型的流量脉动进行数值求解。利用协同仿真平台分析了柱塞泵实际模型的流量脉动变化规律及影响因素。提出一种测量柱塞泵输出流量脉动的近似方法,并利用测试装置完成对柱塞泵输出管道内压力脉动和流量脉动的测量。
4.倾斜柱塞式斜盘变量泵的变量控制特性研究。利用虚拟样机技术分析了柱塞泵动力元件的力学特性,讨论了配合间隙和柱塞倾角对柱塞-缸体摩擦副受力的影响。基于协同仿真平台,研究了变量控制机构的稳态和动态控制特性及其影响因素。通过试验测试装置得到了变量控制机构在不同工况下的稳态和动态控制特性。研究结果表明,变量控制机构的位移-力反馈组件复位弹簧是影响变量机构稳态比例特性的重要因素,基于三通阀控制差动缸的变量机构在动态特性方面存在明显的非对称性。
上述研究内容是开发高压大流量轴向变量柱塞泵必须解决的关键问题。研究结论有助于更深入地理解流量脉动的形成机理以及变量机构的控制原理,能为优化轴向变量柱塞泵流量特性提供理论依据和设计参考。
Hydraulic transmission technology has been widely used in construction machinery and other engineering fields. The tansmission efficiency of hydraulilic power system, however, is becoming more and more overhang as the requirements of energy saving and environment protection are higher and higher. As well known, the most effective method to increase efficiency of hydraulilic power system is to use variable displacement pump directly. Because of its techno-dominance such as high supply pressure and easy for variable displacement control, swashplate axial piston variable displacement pumps have been the preferential hydraulic pumps for most hydraulic system with high pressure. To improve flow characteristics of swashplate axial piston variable displacement pump, therefore, is one of the key problems for increasing efficiency of hydraulic transmission system.
Taking Incline Piston Type Swashplate Variable Displacement Pump (IPTSVDP) as main researching object, aimed at the flow characteristics such as flow pulsation, control performance of variable displacement machnism and so on, the pump performance are studied systematically by means of combinative methods such as theoretical analysis, numerical simulation and experimental investigation in this dissertation. Aimed at the structure specialty of IPTSVDP, the effects of piston conical angle to IPTSVDP performance are mainly researched. The main study contents of the dissertation are as follows:
1. The theoretical model of IPTSVDP is established. According to the law of piston motion in absolute coordinate, transient flow characteristic model of the pump both in ideal liquid state and in actual liquid state are developed respectively by lamped parameter method. Dynamic equitions of friction pairs between piston and its cylinder hole, piton slipper and swash plate are established by rigid-body dynamics. The mathematic model of displacement-force feedback control system for pump delivery variable mechanism are built. Theoretical models above are built based on structucture of specialty IPTSVDP and also the piston axis angle is introduced as variable perameter. The models can be not only used for IPTSVDP performace analysis, but also employed to other type piston pump analysis.
2. The research platform for IPTSVDP flow characteristics is created. According to above theoretical model, simulation platform based on the technics of synergism collaborative and virtual prototype and the testing device are built up. The platform could be a fundation for piston pump flow characteristics analysis. The real simulation of actual working state of the pump is carried out by means of data exchange in different modules. Pump pressure, flow rate and angle displacement of swash plate as well as other pump parameters can be measured by sensors in the test device, and the instantaneous discharge flow of piston pump, steady and dynamical performance of variable displacement mechanism are obtained based on the principle of experimentation. The simulation results of collaborative simulation platform can be verified by testing conclusion, besides the collaborative simulation platform is able to accomplish some parameters analyses that is carried out unreachably by experimentation.
3. Researches on flow pulsation of IPTSVDP. Piston motion low and the flow pulsation in ideal liquid model of the pump are simulated numerically by Matlab. The flow pulsation varing rule in actual liquid model and its affect factors of the pump are analyzed by means of the collaborative simulation platform. An approximate method for measuring pump flow pulsation is given out, and measurements of pressure ripple and flow pulsation in outlet pipeline of the pump are carried out.
4. Researches on variable delivery control characteristics of IPTSVDP. The dynamic performance of the IPTSVDP mechanical component is analyzed by virtual prototyping model, and the friction force affectors of frinction pair between piston and its cylinder hole due to matching clearance and piston dip angle are discussed. The control characteristics and their affecors of the pump variable displacement mechanism in steady state and dynamic state are researched based on collaborative simulation platform. The control characteristics of the pump variable displacement mechanism in steady state and dynamic state are measured by testing device in different operating conditions. The research results show that offsetting spring in displacement-force feedback system is an important factor, which affects the steady state control characteristic of the pump variable displacement mechanism. And there is evident asymmetry in the dynamic control characteristic of the pump variable displacement mechanism based on differential cylinder controlled by a three way valve.
The research contents above are the key problems should be solved in design and development of high pressure and large flow rate axial piston variable displacement pump. The research conclusions conduce to comprehending the forming mechanism of flow pulsation and the control principle of variable displacement mechanism. Therefore, these conclusions are the theoretical foundation and data reference for optimizing the flow characteristics of swashplate-type axial variable displacement piston pump.
引文
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