Research Of2D Valve-Controlled Asymmetry Cylinder And Synchronization Eletrohydraulic Digital Servo System

With the advantages of large load stiffness, high power to weight ratio, fast dynamic response and so on, the electro-hydraulic servo system has being widely used in the aerospace, shipbuilding, equipment manufacturing and other fields. Compared to other types of servo valve,2D servo valve not only possesses benefits of fast response, anti-pollution ability, high repeat precision, but can digital controlled directly.2D servo valve has wide range of application.The center of this paper is2D valve-controlled asymmetry cylinder. To design2D valve-controlled asymmetry cylinder and synchronization eletrohydraulic digital servo system is the key and core task,and to finish the experiment related to2D valve-controlled asymmetry cylinder based on the system. This paper includes four parts,math modeling of2D valve-controlled asymmetry cylinder,stability analysis and response analysis of2D valve-controlled asymmetry cylinder,the design of embedded controller and experimental research.The details of the research and result are following:In chapter one, discussed the development situation of electro-hydraulic servo system and hydraulic synchronous control at home and abroad, the purpose and significance of the research was expounded at the same time.In chapter two, the principle of2D digital valve was analyzed, and the model of2D digital valve was bulid. The math model of2D digital valve’electro-mechanical converter was also bulid, and analyzed the dynamic characteristicof it. At last,the transfer function of asymmetry cylinder was calulated.In chapter three, the stability of automatic position control of2D valve-controlled asymmetry cylinder and the response of the system output for input were analyzed. The mathematical model of automatic position control of2D valve-controlled asymmetry cylinder and double-cylinder synchronization. Because of the difference of motion direction of asymmetry cylinder, the velocity of different direction was analyzed.In chapter four, the hardware and software of embedded controller of automatic position control of2D valve-controlled asymmetry cylinder was designed.In chapter five, experiment research on asymmetry cylinder. By analyzing the different performance when input different signal, when the amplitude of input signal is0.1V (8mm), rising time of step response is about1.2s, setup time is about2.5s,the steady-state error is0, bandwidth reaches5Hz at-3dB. Researching on the performance of double cylinder synchronism, the maximal synchronism error was cased by delay, and the maximal synchronism error was0.8mm.In chapter six, all achievements of the dissertation are summarized and the further research work is put forward.