阀控液压马达数学建模及研究

胡建军,等阀控液压马达数学建模及研究MachineBuildingAutomation,Jun2009,38(3):141~143:(1980),,,,阀控液压马达数学建模及研究1,1,1,1,2(1.650093;2.116,453003):,,:;;;:TH137.51:A:16715276(2009)03014103ConstructandStudyMmathematicalModelofDirectactingProportionalControlValveHydraulicPressureMotorHUJianjun1,YANGShangping1,ZHANGLunzhao1,LUShengjie1,JIAHanfang2(1.KunmingUniversityofScienceandTechology,Kunming650093,China;2.StaterunNo.116Works,Xinxiang453003,China)Abstract:Thispaperconsidersthevalvecoreunderthesteadyhydrokineticdisturbancecondition,formalizesthetransferfunctionanditsstatusspaceexpressionofvalvecontrolledhydraulicpressuremotorandgainsamoreprecisemathematicalmode.lKeywords:directdrive;proportionalcontrolvalve;mathmaticalmode;lhydraulicpressuremotor0前言,,,,,,,,,,,1建立阀控液压马达数学模型[5]:I(s)=[Uc(s)-keSX(s)]1LS+(Rc+rp)=U1G1(1):U=Uc(s)-keSX(s);G1=LS+(Rc+rp);I;X;L;Rc,rp;ke;uc:X(s)=[kiI(s)+kfpP1(s)]1G2(2):G2=(mS2+cS+ks+kfx+ky)ki;m;c;ks;ky11:141胡建军,等阀控液压马达数学建模及研究http:!ZZHD.chinajourna.lnet.cnEmai:[e-mail]∀机械制造与自动化#QL=Cdwx2(ps-p1)(3):Cd;w;(4):QL(s)=kxX(s)-kpP1(s)(4):kx=Cdw2(ps-p10);kp=Cdwx022pS-p10:pL=p1-p2,,:QL=ctmpL+Dmm+12eV1pL2+(V-V1)pL2=ctmpL+Dmm+VpL4e(5):ctm;Dm;e;V(5):QL(s)=ctmPL(s)+DmSm(s)+V4eSPL(s)(6):p2!pL=!p1,(4)(6):kxX(s)-(kP+ctm+V4eS)P1(s)=DmSm(s)(7):T=DmpL=(JS2+ctmS)m(s)+Tf(8):T;Tf;J;cm:G5=JDmS2+cmDmS(7)(8):kxX(s)-G4Tf=G3m(s)(9):G4=ctm+kp+V4eSDm;G3=[DmS+(kp+ctm+V4eS)JS2+cmSDm]m(s)=VJ4eDmS3+ctmJDm+kpJDm+Vcm4eDmS2+ctmcmDm+kpcmDm+DmS(1)(2)(8)(9)23,3,,,,,,,2,,,,2数学模型的简化(1),:R=Rc+rpG1:G1=RLRS+1,LR=1,:G1∃R(2),:k1=ks+ky+kfp,k1,:G2=mS2+cS+k1=k1S2k1m+cSk1mk1m+1:Wn=k1m-,m,k1,,G2:G2∃k1,334:m=Dmk3Uc-keSXR+k4Tf-k1k2+V4eSTfk1VJ4eS3+k1k2J+k1cmV4e-k4JS2+(k1k2cm+k1D2m-k4cm)S(10):k2=kp+ctm;k3=kIgkx;k4=kfpgkx3状态空间模型的建立,142胡建军,等阀控液压马达数学建模及研究MachineBuildingAutomation,Jun2009,38(3):141~143:x1=x;x2=x;x3=;x4=;x5=i;x6=pL:uc;Tf::x=Ax+Buy=Cx+Du(1)(2)(4)(5)(8):A=010000-ks+kfx+kym-cm00kImkfpm000100000-cmJ0DmJ0-keL00-Rc+rpL04eVkx00-4eVDm0-4eV(kp+ctm)B=0000000-1J1L000C=[001000]D=04结论,,:[1].[M].:,1988.[2],纮.电液比例控制技术[M].北京:机械工业出,1997.[3],.[M].:,1988.[4].[M].:,2000.[5],,.[J].,2008(6):99102.:20081008(128)3:[1],.GPRS[J].,2006.[2],,.GPRS[J].,2004:19.[3],.CAN[J].,2002(2):1216.[4]KrishnanM,IsmailM,AnnuarK.RadioresourceandmobilitymanagementinGPRSnetwork,researchanddevelopment,2002[C].SCOReD2002.StudentConferenceon,2002:132135.[5](Bud)BatesJR.(GPRS)[M].,.:,2004.[6],,.GSMGPRS[J].,2001(1):2324.:20081010143