Study on Water hydraulic System

水压系统研究

• 批准号: 12650161
• 负责人: MATSUI Takashi
• 金额: $ 1.98万
• 依托单位: Shizuoka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650161/
• 关键词: Water hydraulic; PWM control method; ON; OFF solenoid valve; Servovalve; Water hydraulic manipulator; Motion control

Two kinds of driving and control methods for a water hydraulic system are investigated in this study. The first is a method using a water hydraulic servovalve, which aims high speed and high performance control. The second is a method using ON/OFF solenoid valves, which aims to avoid failures of water hydraulic-system caused by contaminants such as microorganisms.A position control system using a servovalve shows good performance due to large bulk modulus of water. But force control is more difficult than position control because of the property of water. Derivative feedback of load pressure is effective to compensate the force control. Usage of a disturbance torque observer is effective to motion control and is expected as a control approach to compensate large friction force caused by low lubrication of water.The PWM and differential PWM control method using ON/OFF solenoid valves show good performances in stepwise responses by using PID controllers with suitably adjusted parameters. … More In the step responses pressure variations and noises do not cause serious problems, because the switching of valves occurs, at most, several times in settling time. On the other hand, continuous position control shows good following characteristic by the PWM and differential PWM control method. But in this case, switching of valves always occurs and it causes noisy behaviors. The differential PWM control gives slightly lower pressure variations and smoother positional responses than the PWM control. Remarkable shortening of PWM carrying wave period provides smoother position control and enables stable force control.We made a 3 D-O-F water hydraulic manipulator as one concrete example of water hydraulic system required high performance control. Preliminary control experiments have been made so far. The driving and control methods described above and some other methods will be applied to realize a water hydraulic manipulator with high performance, robustness against contamination of water, and lower level noises. Less

本研究研究了水液压系统的两种驱动和控制方法，第一种是使用水液压伺服阀的方法，其目的是实现高速和高性能控制，第二种是使用开/关电磁阀的方法。其目的是避免微生物等污染物引起的水液压系统故障。由于水的体积模量较大，使用伺服阀的位置控制系统表现出良好的性能，但由于水的体积模量，力控制比位置控制更困难。负载压力的微分反馈对于补偿力控制是有效的，并且可以作为补偿由于水的低润滑性而产生的大摩擦力的控制方法。使用开/关电磁阀的差分 PWM 控制方法通过使用具有适当调整参数的 PID 控制器，在逐步响应中表现出良好的性能……更多 在逐步响应中，压力变化和噪音不会引起严重的问题，因为最多会发生阀门的切换。 ,另一方面，连续位置控制通过 PWM 和差分 PWM 控制方法表现出良好的跟随特性，但在这种情况下，总是会发生阀门切换，并导致噪声行为，而差分 PWM 控制则稍低。与 PWM 控制相比，可实现更平滑的压力变化和更平滑的位置响应 显着缩短 PWM 携带波周期，实现更平滑的位置控制并实现稳定的力控制。我们制作了 3 D-O-F 水液压机械手作为需要高性能的水液压系统的一个具体示例。到目前为止，已经进行了初步的控制实验，将应用上述的驱动和控制方法以及其他一些方法来实现具有高性能、抗水污染性和低噪声的水液压机械手。

项目成果

小木曽 福久生, 伊藤 友孝, 松井 隆: "オンオフ電磁弁で駆動される水圧サーボシステムに関する研究"第2回流体計測制御シンポジウム講演論文集. 25-28 (2001)

Fukuhisa Ogiso、Tomotaka Ito、Takashi Matsui：“开关电磁阀驱动的液压伺服系统的研究”第二届流体测量与控制研讨会论文集25-28（2001）。

H. OGISO, T. ITOH, T. MATSUI: Proc. of the 2^<nd> Fluid measurement and Control Symposium. 25-28 (2001)

H. OGISO、T. ITOH、T. MATSUI：Proc。