CN106650170A - Method for evaluating reliability of hydraulic servo actuator - Google Patents
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- CN106650170A CN106650170A CN201710004284.5A CN201710004284A CN106650170A CN 106650170 A CN106650170 A CN 106650170A CN 201710004284 A CN201710004284 A CN 201710004284A CN 106650170 A CN106650170 A CN 106650170A
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Abstract
The invention relates to a method for evaluating the reliability of a hydraulic servo actuator. The method comprises the following steps: preliminarily screening potential characteristic performance parameters; confirming the first failure criteria expressed by a performance index requirement; adopting AMEsim for establishing a system function model; utilizing the model to perform sensitivity analysis on potential characteristic parameters, thereby acquiring thresholds of key performance parameters; acquiring the thresholds of the key performance parameters of all important parts through model simulation; confirming uncertain distribution of the design values of the key performance parameters of all important parts in a production process; on the basis of QMU theory, calculating reliability confidence coefficients of all the important parts; sampling, simulating and calculating the reliability confidence coefficient of the hydraulic servo actuator on the basis of the QMU theory. According to the invention, the method for evaluating the reliability of the hydraulic servo actuator based on QMU is established. According to the method provided by the invention, the reliability confidence coefficient of the hydraulic servo actuator in delivery can be acquired, the evaluation can be continuously performed in the use period of the equipment and the reliability of the equipment can be continuously and effectively evaluated.
Description
Technical field
The present invention relates to a kind of reliability estimation method of hydraulic servo actuator, which is it is important that be based on uncertainty quantification
(i.e. QMU) obtains equipment dependability confidence coefficient, belongs to reliability evaluation field.
Background technology
Hydraulic servo actuator is a hydraulic actuating mechanism, the hydraulic energy from hydraulic power source can be converted to mechanical energy,
SERVO CONTROL is carried out also dependent on the displacement transducer or travel switch for needing to carry by product, by applying controllable to load
The active force such as push away, draw, realize to load speed, direction, displacement, the control of power.Because which carries out servo-controlled superior
Property, which has been widely used in the industries such as aviation, ship.But, the reliability of domestic hydraulic servo actuator with it is advanced in the world
Product compares also larger gap.
At present, due to the factor such as non-linear that the complexity of its structure of hydraulic servo actuator, liquid flow, bring many
The uncertainty of uncertain problem, such as parameter index, uncertain, unknown modeling mistake of external disturbance etc..With
Toward the reliability assessment to which, its probabilistic problem is often directly ignored, and this allows for the accurate of its assessment result
Property reduce.In addition, in the past equipment was carried out reliability assessment final result be all can come represent equipment with the probit less than 1
By degree, evaluation process is complicated.Sent out by the technical literature retrieval of the reliability assessment to domestic and international existing hydraulic servo actuator
It is existing, also it is not based on the reliability estimation method of QMU.
The content of the invention
It is an object of the invention to：For the deficiency of existing reliability estimation method, there is provided a kind of new hydraulic servo is made
The reliability estimation method of dynamic device, it is based on QMU methods, by quantifying relevant uncertain parameter value, so calculate obtain part,
The confidence coefficient of system reliability, carries out reliability assessment to which with this.
The present invention is achieved by the following technical solutions：According to hydraulic servo actuator function and failure mode, just
Step filters out the potential characteristic performance parameter of hydraulic servo actuator and determines the failure at first that sign is required by performance indications
Criterion；The functional mode of hydraulic servo actuator is set up using AMEsim, while determining vitals；By functional mode pair
Potential characteristic performance parameter carries out sensitivity emulation, selects critical performance parameters；By the emulation of functional mode, show that performance is joined
Number reaches the threshold value of each vitals critical performance parameters during failure criteria；Determine each vitals critical performance parameters design load
The uncertain distribution results of up-and-down boundary in production；It is theoretical based on QMU, calculate the reliability confidence system of each vitals
Number；Finally, go out by sampling, emulation and based on QMU Theoretical Calculation the reliability confidence coefficient of hydraulic servo actuator.
The present invention is a kind of reliability estimation method of hydraulic servo actuator, and which comprises the following steps that：
Step one：According to hydraulic servo actuator function and failure mode, preliminary screening goes out hydraulic servo actuator
Potential characteristic performance parameter；In various failure mechanisms of hydraulic servo actuator, wear and tear for main degradation mechanism, concrete manifestation
For guiding valve valve element valve pocket between adhesive wear, to affect guiding valve performance various parameters carry out preliminary screening, determine potential spy
Levy performance parameter；
Step 2：According to hydraulic servo actuator function and failure mode, obtain hydraulic servo actuator and referred to by performance
The failure criteria at first that mark is characterized；During the degeneration that the abrasion of valve core of the spool valve valve pocket is caused, some performance parameters can also be degenerated, and find out which
In start at first to degenerate and less than the parameter of performance requirement, the index request of this performance parameter α be set to into failure criteria Y at first；
Step 3：Set up the functional mode of hydraulic servo actuator；Using AMEsim, (AMEsim is by French IMAGINE
The modeling and simulating and dynamic analyses platform in the multidisciplinary field of the hydraulic pressure based on bond graph and mechanical system of company's design,
On unified platform, the multidisciplinary system modelling including magnetic, electricity, heat, machinery, hydraulic pressure and the physical field such as pneumatic can be realized
And analogue simulation) building the physical function model of hydraulic servo actuator and its associated component, for emulating hydraulic servo work
Relation under dynamic device working condition between structural parameters and performance, wherein watching with sliding valve structure and during worn spool valve to hydraulic pressure
Take the larger part of actuator performance impact and be set to vitals；
Step 4：Emulate by the functional mode of hydraulic servo actuator, sensitivity is carried out to potential characteristic performance parameter
Property emulation, will most significantly potential characteristic performance parameter be set to the critical performance parameters of vitals to performance impact；
Step 5：By the emulation of functional mode, obtain each vitals when performance parameter α reaches failure criteria Y and close
The value of key performance parameter, threshold value W of as each vitals critical performance parameters；
Step 6：Determine the uncertain distribution knot of up-and-down boundary of the critical performance parameters design load of vitals in production
Really, take the uncertain distribution results Normal Distribution [N of up-and-down boundary1(u1,σ1 2),N2(u2,σ2 2)], wherein N1(u1,σ1 2) make a living
The coboundary normal distribution of the critical performance parameters of vitals, u during product1For the average of its normal distribution, σ1 2For its normal state point
The variance of cloth, N2(u2,σ2 2) be production when vitals critical performance parameters lower boundary normal distribution, u2For its normal state point
The average of cloth, σ2 2For the variance of its normal distribution；
Step 7：Based on the theoretical method of QMU (uncertainty quantification), by the tried to achieve vitals key performance ginseng of step 5
Several threshold values and uncertain distribution results when having its production that step 6 determines calculate the reliability of each vitals and put
Letter coefficient, [CF1,CF2]；Wherein CF1For the lower limit of important part reliability confidence coefficient, CF2For important part reliability confidence
The upper limit of coefficient；
Step 8：Up-and-down boundary to the critical performance parameters design load of vitals that determines in step 6 in production
Uncertain distribution results carry out Monte Carlo sampling respectively, and the functional mode brought in step 3 respectively is emulated, finally
Each vitals critical performance parameters design load is obtained in production in the case of the up-and-down boundary, corresponding hydraulic servo start
The uncertain distribution results of the up-and-down boundary of device performance parameter α, the result Normal Distribution obtained using least square fitting
[N3(u3,σ3 2),N4(u4,σ4 2)], and then go out the reliability confidence coefficient [CF of hydraulic servo actuator based on QMU Theoretical Calculation3,
CF4]；Wherein CF3For the lower limit of hydraulic servo actuator reliability confidence coefficient, CF4For hydraulic servo actuator reliability confidence
The upper limit of coefficient；N3(u3,σ3 2)、N4(u4,σ4 2) to be respectively hydraulic servo actuator performance parameter α extreme in two kinds of error of production
In the case of normal distribution；u3、u4Respectively hydraulic servo actuator performance parameter α is under production two kinds of extreme cases of error
The average of normal distribution；σ3 2、σ4 2Respectively hydraulic servo actuator performance parameter α is under production two kinds of extreme cases of error
The variance of normal distribution.
In the step 3, the physical function mould of hydraulic servo actuating system and its associated component is built using AMEsim
The modeling process of type is as follows：
(1) under draft mode, it is considered to the function of each part, and the realistic model of system is divided into into each portion by function
Point, then represented with the actual components in model library；Element acquiescence selects most simple submodel
(2) the submodel arrange parameter under parametric model, to each element；
(3) corresponding operational factor is set in the operating mode, complete emulation.
In the step 7, the calculating process for calculating the reliability confidence coefficient of vitals is as follows：To each weight
Part is wanted, lower column count is carried out successively：Wherein M1=(W-u1),U1=σ1 2；Wherein M2=(W-u2),
U2=σ2 2
M1For the allowance of the coboundary of vitals critical performance parameters during production；M2It is key for vitals during production
The allowance of the lower boundary of energy parameter；U1For the uncertain value of the coboundary of vitals critical performance parameters during production, U2For
The uncertain value of the lower boundary of vitals critical performance parameters during production；W is the critical performance parameters of vitals
Threshold value.
In the step 8, the calculating process for calculating the reliability confidence coefficient of system is as follows：Wherein M3
=(Y-u3),U3=σ3 2；Wherein M4=(Y-u4),U4=σ4 2CF3=max (CF', CF ")；CF4=min (CF',
CF”)
Wherein, CF'CF " is respectively the chosen candidate value of the bound of hydraulic servo actuator reliability confidence coefficient；M3、M4Point
Not Wei each vitals critical performance parameters design load in production in the case of the up-and-down boundary, corresponding hydraulic servo start
The allowance of the uncertain distribution results of the up-and-down boundary of device performance parameter α；U3、U4Respectively each vitals critical performance parameters set
In production in the case of up-and-down boundary, the up-and-down boundary of corresponding hydraulic servo actuator performance parameter α does not know evaluation
The uncertain value of distribution results；Y is the failure criteria at first represented by the index request of performance parameter α.
The present invention has advantages below compared with prior art：
(1) uncertainty that the present invention can be preferably in quantization parameter, the accuracy of raising assessment result.
(2) present invention can be just carried out when equipment dispatches from the factory with confidence coefficient come the reliability of assessment equipment, convenient effective.
(3), during hydraulic servo actuator use, persistently its reliability can be estimated with the present invention, is beneficial to
Grasp its degenerate case.
Description of the drawings
Fig. 1 is the inventive method FB(flow block)；
Fig. 2 is the hydraulic servo actuator illustraton of model of the embodiment of the present invention；
Fig. 3 a and Fig. 3 b be respectively the embodiment of the present invention each vitals critical performance parameters design load production when at
In the case of up-and-down boundary, the uncertain distribution results of up-and-down boundary of corresponding hydraulic servo actuator system frequency response are just
State distribution curve schematic diagram, in figure, symbol description is as follows：
1 is electrohydraulic servo valve, and 2 is switching valve, and 3 is ditch port valve, and 4 is selector valve, and 5 is orifice valve, and 6 is pressurized strut, and 7 is flat
Plate valve, 8 is electromagnetic valve, and 9 is oil line pipe.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Following examples are implemented according to flow process as shown in Figure 1.Hydraulic servo actuator model in embodiment
Figure is as shown in Fig. 2 it is mainly by electrohydraulic servo valve 1, switching valve 2, ditch port valve 3, selector valve 4, orifice valve 5, pressurized strut 6, flat board
Valve 7, electromagnetic valve 8 and numerous oil line pipes 9 are constituted.
As shown in figure 1, a kind of reliability estimation method of hydraulic servo actuator of the invention to implement step as follows：
Step one：According to hydraulic servo actuator function and failure mode, it can be found that in hydraulic servo actuator
In various failure mechanisms, wear and tear for its major degenerative mechanism, the adhesive wear being embodied between the valve element valve pocket of guiding valve.To shadow
The various parameters for ringing guiding valve performance carry out preliminary screening, primarily determine that four potential characteristic performance parameters：In valve core diameter, valve pocket
Footpath, valve element valve pocket gap, valve element valve pocket contact length.
Step 2：Generally, hydraulic servo actuator performance parameter mainly has：Pressurized strut piston maximum output power,
Pressurized strut piston maximum displacement amount, pressurized strut piston mobile rate and system frequency response.According to degenerative process feature, when interior
When leakage quantity is little, through the accumulation of certain hour, system frequency response starts to degenerate at first, is also less than performance requirement at first.Cause
This according to design objective, is set to failure criteria at first standard design load 3dB of system frequency response in Hydrauservo System
Y。
Step 3：Set up the functional mode of hydraulic servo actuator.Select using AMEsim to build hydraulic servo start
Larger is affected on systematic function during the physical function model, wherein worn spool valve of system and its associated component, servo valve is selected, is turned
Change valve, ditch port valve, selector valve, orifice valve, pressurized strut be vitals.Hydraulic servo actuator model such as Fig. 2 of the present embodiment
It is shown.
Wherein modeling process is as follows：
(1) under draft mode, it is considered to the function of each vitals, and the realistic model of system is divided into servo valve, is turned
Valve, ditch port valve, selector valve, orifice valve, pressurized strut are changed, and the actual components in these part model libraries are represented；Unit
Part acquiescence selects most simple submodel
(2) with reference to technical instruction, under parametric model, design parameter is arranged to the submodel of each element；
(3) run accordingly in the operating mode, emulated.
Step 4：Emulate by the functional mode of hydraulic servo actuator, to potential characteristic performance parameter, i.e. valve element is straight
Footpath, valve pocket internal diameter, valve element valve pocket gap, valve element valve pocket contact length carry out sensitivity analyses, and four design loads are substituted into model
Result standard as a comparison is obtained, then initial value is amplified into 150%, 200%, 400% brings functional mode respectively into is calculated.
It is sensitivity highest parameter that valve element valve pocket gap can be obtained, thus selected works take it is maximum to hydraulic servo actuator performance impact
Valve element valve pocket gap as vitals critical performance parameters.
Step 5：According to the failure criteria in step 2, when system frequency response is equal to 3dB, between part valve element valve pocket
The value of gap is the threshold value in the part valve element valve pocket gap.Emulate by functional mode, system frequency response is obtained equal to 3dB
When, threshold value W in each vitals valve element valve pocket gap is as shown in table 1 below.
1 each vitals valve element valve pocket gap threshold of table
Step 6：Determine the uncertain distribution knot of up-and-down boundary of each vitals valve element design of valve clearance value in production
Really.Wherein switching valve, ditch port valve, selector valve are identical with orifice valve, are all [N1(0.00699,8.33×10-3),N2(0.007,
8.33×10-3)], electrohydraulic servo valve is [N1(0.000997,8.33×10-3),N2(0.001,8.33×10-3)], pressurized strut is
[N1(0.00998,8.33×10-3),N2(0.01,8.33×10-3)]。
Step 7：By each vitals valve element valve pocket gap threshold and its design load above tried to achieve production when
Uncertain distribution results calculate the reliability confidence coefficient of each vitals, as shown in table 2 below
The reliability confidence coefficient of 2 each vitals of table
| Unit | Electrohydraulic servo valve | Switching valve | Communication | Selector valve | Orifice valve | Pressurized strut |
| Confidence coefficient | [6.33,6.34] | [8.03,8.05] | [7.82,7.87] | [7.79,7.82] | [8.15,8.17] | [4.55,4.57] |
Its calculating process is as follows：
For electrohydraulic servo valve
The calculating process of remaining vitals the like.
Step 8：To the uncertain distribution knot of the up-and-down boundary of the valve element design of valve clearance value of each vitals in production
Really carry out Monte Carlo sampling respectively, and bring functional mode into being emulated, last each vitals critical performance parameters design
In production in the case of up-and-down boundary, the up-and-down boundary of corresponding hydraulic servo actuator performance parameter α is uncertain to be divided value
Cloth result, the result Normal Distribution obtained using method of least square, [N3(2.9796,0.0129),N4(2.9817,
0.0128)], as best shown in figures 3 a and 3b.The reliability confidence coefficient of hydraulic servo actuator is calculated further, [1.4297,
1.5814]。
Its calculating process is as follows：
CF3=1.4297, CF4=1.5814
The present invention establishes the reliability estimation method of the hydraulic servo actuator based on QMU.Using the method, can obtain
The reliability confidence coefficient of hydraulic servo actuator when dispatching from the factory, this appraisal procedure can be persistently carried out during use in equipment,
Continuous and effective is estimated to equipment dependability.
The physical significance such as following table explanation of letter is quoted in the present invention：
| Y | Failure criteria |
| α | Characterize the performance parameter of failure criteria |
| W | Threshold value |
| U | Uncertain value |
| u | Average |
| σ2 | Variance |
| CF | Confidence coefficient |
In a word, the present invention establishes the reliability estimation method of the hydraulic servo actuator based on QMU.Using the method,
The reliability confidence coefficient of hydraulic servo actuator when can obtain dispatching from the factory, this appraisal procedure can continue during use in equipment
Carry out, continuous and effective is estimated to equipment dependability.
Non-elaborated part of the present invention belongs to techniques well known.
Above example is provided just for the sake of the description purpose of the present invention, and is not intended to limit the scope of the present invention.This
The scope of invention is defined by the following claims.The various equivalents made without departing from spirit and principles of the present invention and repair
Change, all should cover within the scope of the present invention.
Claims (4)
1. a kind of reliability estimation method of hydraulic servo actuator, it is characterised in that comprise the following steps：
Step one：According to hydraulic servo actuator function and failure mode, preliminary screening goes out the potential of hydraulic servo actuator
Characteristic performance parameter；In various failure mechanisms of hydraulic servo actuator, wear and tear for main degradation mechanism, be embodied in cunning
Adhesive wear between the valve element valve pocket of valve, the various parameters to affecting guiding valve performance carry out preliminary screening, determine potential characteristic
Can parameter；
Step 2：According to hydraulic servo actuator function and failure mode, determine hydraulic servo actuator by performance indications table
The failure criteria at first levied；During the degeneration that the abrasion of valve core of the spool valve valve pocket is caused, some performance parameters can also be degenerated, and find out wherein most
First start to degenerate and less than the parameter of performance requirement, the index request of this performance parameter α is set to into failure criteria Y at first；
Step 3：Set up the functional mode of hydraulic servo actuator；Hydraulic servo actuator and its phase are built using AMEsim
The physical function model of component is closed, for emulating the pass under hydraulic servo actuator working condition between structural parameters and performance
System, wherein part larger to performance impact with sliding valve structure and during worn spool valve is set to vitals；
Step 4：Emulate by the functional mode of hydraulic servo actuator, sensitivity is carried out to potential characteristic performance parameter and is imitated
Very, the critical performance parameters of vitals will be set to the most obvious Potential performance parameter of performance impact；
Step 5：By the emulation to functional mode, each vitals when performance parameter α reaches failure criteria Y is obtained crucial
The value of performance parameter, threshold value W of as each vitals critical performance parameters；
Step 6：Determine up-and-down boundary uncertain distribution results of the critical performance parameters design load of vitals in production,
Take the uncertain distribution results Normal Distribution [N of up-and-down boundary1(u1,σ1 2),N2(u2,σ2 2)], wherein N1(u1,σ1 2) for production
When vitals critical performance parameters coboundary normal distribution, u1For the average of its normal distribution, σ1 2For its normal distribution
Variance, N2(u2,σ2 2) be production when vitals critical performance parameters lower boundary normal distribution, u2For its normal distribution
Average, σ2 2For the variance of its normal distribution；
Step 7：Based on the theoretical method of QMU (uncertainty quantification), by the tried to achieve vitals critical performance parameters of step 5
Uncertain distribution results during its production determined in threshold value and step 6 calculate the reliability confidence system of each vitals
Number, [CF1,CF2]；Wherein CF1For the lower limit of important part reliability confidence coefficient, CF2For important part reliability confidence coefficient
The upper limit；
Step 8：Up-and-down boundary to the critical performance parameters design load of vitals that determines in step 6 in production is not true
Determining distribution results carries out Monte Carlo sampling respectively, and the functional mode brought in step 3 respectively is emulated, and is finally obtained
In the case of each vitals critical performance parameters design load is in up-and-down boundary in production, corresponding hydraulic servo actuator
The uncertain distribution results of up-and-down boundary of energy parameter alpha, the result Normal Distribution [N obtained using least square fitting3
(u3,σ3 2),N4(u4,σ4 2)], and then go out the reliability confidence coefficient [CF of hydraulic servo actuator based on QMU Theoretical Calculation3,
CF4]；Wherein CF3For the lower limit of hydraulic servo actuator reliability confidence coefficient, CF4For hydraulic servo actuator reliability confidence
The upper limit of coefficient；N3(u3,σ3 2)、N4(u4,σ4 2) to be respectively hydraulic servo actuator performance parameter α extreme in two kinds of error of production
In the case of normal distribution；u3、u4Respectively hydraulic servo actuator performance parameter α is under production two kinds of extreme cases of error
The average of normal distribution；σ3 2、σ4 2Respectively hydraulic servo actuator performance parameter α is under production two kinds of extreme cases of error
The variance of normal distribution.
2. the reliability estimation method of hydraulic servo actuator according to claim 1, it is characterised in that：The step 3
In, the modeling process that the physical function model of hydraulic servo actuating system and its associated component is built using AMEsim is as follows：
(1) under draft mode, it is considered to the function of each part, and the realistic model of system is divided into into various pieces by function, then
Represented with the actual components in model library；Element acquiescence selects most simple submodel
(2) the submodel arrange parameter under parametric model, to each element；
(3) corresponding operational factor is set in the operating mode, complete emulation.
3. the reliability estimation method of hydraulic servo actuator according to claim 1, it is characterised in that：The step 7
In, the calculating process for calculating the reliability confidence coefficient of vitals is as follows：To each vitals, carry out successively following
Calculate：
Wherein M1=(W-u1),U1=σ1 2；Wherein M2=(W-u2),U2=σ2 2
M1For the allowance of the coboundary of vitals critical performance parameters during production；M2For vitals key performance ginseng during production
The allowance of several lower boundaries；U1For the uncertain value of the coboundary of vitals critical performance parameters during production, U2For production
When vitals critical performance parameters lower boundary uncertain value；Threshold values of the W for the critical performance parameters of vitals.
4. the reliability estimation method of hydraulic servo actuator according to claim 1, it is characterised in that：The step 8
In, the calculating process for calculating the reliability confidence coefficient of system is as follows：Wherein M3=(Y-u3),U3=σ3 2；Wherein M4=(Y-u4),U4=σ4 2CF3=max (CF', CF ")；CF4=min (CF', CF ")
Wherein, CF'CF " is respectively the chosen candidate value of the bound of hydraulic servo actuator reliability confidence coefficient；M3、M4Respectively
In the case of each vitals critical performance parameters design load is in up-and-down boundary in production, corresponding hydraulic servo actuator
The allowance of the uncertain distribution results of up-and-down boundary of energy parameter alpha；U3、U4Respectively obtain each vitals critical performance parameters to set
In production in the case of up-and-down boundary, the up-and-down boundary of corresponding hydraulic servo actuator performance parameter α does not know evaluation
The uncertain value of distribution results；Y is the failure criteria at first represented by the index request of performance parameter α.
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