气缸恒力加载系统的研究与开发

【作者】 许强；

【导师】 李小宁；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 加载试验是现代科研和生产中一个非常重要的环节，一个性能优良的模拟加载系统，可以真实地复现承载对象在实际工作中受到的各种动、静态力，这对于客观、真实地评价研究对象的特性具有重要意义。其中以伺服电机为执行元件的电动加载系统以其动、静态特性好、响应速度快、结构紧凑、使用维护方便等优点，在小功率加载领域越来越受到青睐。本文主要研制一种以交流伺服电机为主要执行元件的恒力加载系统，该系统能够对不同型号的直线气缸在运动过程中实现动态恒力加载。完成的工作主要包括以下几个方面：(1)对恒力加载系统的总体结构进行了设计，主要包括机械传动和力矩-力转换装置，同时以“交流伺服电机+运动控制卡”的运动控制方案为基础，建立了一个转矩控制模式的控制子系统；(2)通过试验对伺服电机的主要特性进行了研究；(3)建立了加载系统的数学模型和传递函数，设计了加载系统的软件控制模块，提出了以PID控制算法为核心的全闭环控制方法；(4)对加载系统进行了整体加载试验。试验结果表明，使用本文设计的恒力加载系统对直线气缸进行动态恒力加载，在30N～200N的加载范围内，动态恒力加载的加载力误差小于7％，调节时间小于0.3s，能够满足系统预定的性能指标要求。更多还原

【Abstract】 Loading test is a very important link in scientific research and manufacturingprocess. The static and dynamic force can be exerted on the load-carrying object by theloading system with excellent performance, which can assess characteristics of researchobjects objectively and authenticly. The electric loading system driven by the servo motorhas attracted more and more attention in the field of low power loading because it hasadvantages of good dynamic properties, rapid response, compact structure and convenientmaintenance.Developing a loading system with constant force driven by the AC servo motor isthe main purpose of this thesis.Dynamic constant force can be carried on all kinds ofworking linear cylinders by this system. The main research contents completed are asfollows: (1) Completing the general structure design of the loading system includingmechanical transmission and torque-force conversion equipment. A torque control modelsubsystem is set up on the basis of the control strategy of "AC servo motor +motioncontrol card"; (2) Doing the research on the servo motor through preliminary tests; (3)Building the mathematical model and transfer functions of the loading system, designingthe control software module and proposing a closed-loop control method based on PIDcontrol algorithm; (4) Doing the whole loading test to gain the main performance indexs.The result suggests that the error rate of the constant force is less than 7% and theregulating time is lower than 0.3s when the linear cylinders are loaded by the system in aload range of 30N～200N, which can meet the performance requirements.更多还原