CN112052630B - Double-acting cylinder simulation method and device - Google Patents
Double-acting cylinder simulation method and device Download PDFInfo
- Publication number
- CN112052630B CN112052630B CN201910484879.4A CN201910484879A CN112052630B CN 112052630 B CN112052630 B CN 112052630B CN 201910484879 A CN201910484879 A CN 201910484879A CN 112052630 B CN112052630 B CN 112052630B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- simulation
- pressure
- piston
- fault
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Actuator (AREA)
Abstract
The invention discloses a double-acting cylinder simulation method and device, which are used for simulating a double-acting cylinder under fault and fault conditions by establishing and describing a proportional direction valve pressure-flow equation, a linear cylinder two-cavity flow equation, a linear cylinder friction equation and a linear cylinder piston force balance equation of dynamic characteristics of a linear cylinder, acquiring cylinder related parameters, inputting cylinder rod cavity pressure and rodless cavity pressure as well as air source pressure and rodless side end point displacement and shaft side end point displacement, and outputting simulation results of the double-acting cylinder under fault and fault conditions, thereby providing a basis for verifying the performance of a fault diagnosis recorder of a pneumatic actuator and exploring a fault diagnosis theory and analysis of the operation of the pneumatic actuator, and having important theoretical research value and engineering practical significance.
Description
Technical Field
The invention relates to the technical field of pneumatic simulation, in particular to a double-acting cylinder simulation method and device.
Background
The pneumatic actuator and the automatic control system thereof are one of the important means for realizing automation, have a series of advantages of high working efficiency, low cost, no pollution and the like, and are increasingly widely applied in the industrial fields of electric power, papermaking, machinery, chemical industry, metallurgy, food, medicine and the like. The cylinder has two types of reciprocating rectilinear motion and reciprocating swing. The cylinders doing reciprocating rectilinear motion can be divided into 4 types of single-acting cylinders, double-acting cylinders, diaphragm type cylinders and impact cylinders.
Along with the wider and wider application of the double-acting air cylinder, the improvement of the intelligent level and the continuous development of the big data analysis technology, the method has higher requirements on the parameter record and the fault diagnosis of the operation process of the double-acting air cylinder, thus establishing a mathematical model of the operation process of the double-acting air cylinder, simulating the fault condition of the simulated pneumatic actuator, and having important theoretical research value and engineering practical significance for verifying the performance of the fault diagnosis recorder of the pneumatic actuator and exploring the fault diagnosis theory and the analysis method of the operation of the pneumatic actuator.
Disclosure of Invention
The invention provides a double-acting cylinder simulation method and a double-acting cylinder simulation device, which can establish a mathematical model of the operation process of a double-acting cylinder and simulate the fault condition and the fault condition of a simulated pneumatic actuating mechanism.
In a first aspect, the present invention provides a double-acting cylinder simulation method, the method comprising the steps of:
an equation describing the dynamics of a linear cylinder is established, the equation comprising:
a proportional directional valve pressure-flow equation, wherein,
mass flow rate of rod cavity
Rodless cavity mass flowWherein k is the ratio of specific heat at constant pressure to specific heat at constant volume, P 0 At atmospheric pressure, P 1 For the pressure of the rod cavity, P 2 Is the rodless cavity pressure, P S Is the pressure of the gas source, R is the ideal gas constant, T S At ambient temperature, T 2 Is the temperature of the rodless cavity, A T Is a control signal;
two-chamber flow equation of straight line cylinder:wherein A is 1 The effective area of the piston with the rod cavity is that of the cylinder, A 2 The piston is the effective area of a piston without a rod cavity of the cylinder, l is the stroke of the piston of the cylinder, and y is the displacement;
linear cylinder friction equation:wherein v is d Critical speed, k v1 For the first segment velocity coefficient, k v2 Is the second segment speed coefficient;
linear cylinder piston force balance equation:wherein M is the cylinder piston and the load mass, < ->For accelerating the mass of the cylinder piston and the load, F L For external load force F f Is the total friction force of the cylinder;
acquiring cylinder parameters used for simulation, wherein the cylinder parameters comprise: cylinder piston and load mass M, effective area A of cylinder piston with rod cavity 1 Effective area A of cylinder rodless cavity piston 2 External load force F L The ratio k of the constant pressure specific heat to the constant heat capacity, the cylinder piston stroke l, the ideal gas constant R and the ambient temperature T S Temperature T of rod cavity 1 Temperature T of rodless cavity 2 Critical speed v d First segment velocity coefficient k v1 Second segment velocity coefficient k v2 Static friction force K j N, air source pressure P S Atmospheric pressure P 0 ；
The pressure intensity of a rod cavity of the input cylinder is P 1 The rodless cavity pressure is P 2 Air source pressure P S 6 standard atmospheric pressures, no axial side end point displacement and axial side end point displacement;
performing simulation under fault-free and fault conditions on the double-acting cylinder;
and outputting simulation results of the double-acting cylinder under the condition of no fault.
With reference to the first aspect, in a first implementation manner of the first aspect, in the step of performing fault-free and fault-condition simulation on the double-acting cylinder, a PID control algorithm is used to perform positioning control simulation on the cylinder.
With reference to the first aspect, in a second implementation manner of the first aspect, in the step of outputting a simulation result of the double-acting cylinder in a fault-free and fault situation, the outputting the simulation result includes: the simulation system comprises an air pressure simulation curve graph and a piston displacement curve graph under the condition of no faults, a jam simulation curve graph, a valve resistance increase simulation curve graph, a positioner air outlet valve air leakage simulation curve graph, a positioner air outlet valve normal air outlet simulation curve graph, a cylinder piston poor sealing simulation curve graph, a cylinder shaft side external air leakage simulation curve graph, a positioner air outlet valve non-air outlet simulation curve graph and a working air source free simulation curve graph.
In a second aspect, the present invention provides a double acting cylinder simulation apparatus, the apparatus comprising:
an establishing unit for establishing an equation describing the dynamic characteristics of the linear cylinder, the equation including:
a proportional directional valve pressure-flow equation, wherein,
mass flow rate of rod cavity
Rodless cavity mass flowWherein k is the ratio of specific heat at constant pressure to specific heat at constant volume, P 0 At atmospheric pressure, P 1 For the pressure of the rod cavity, P 2 Is the rodless cavity pressure, P S Is the pressure of the gas source, R is the ideal gas constant, T S At ambient temperature, T 2 Is the temperature of the rodless cavity, A T Is a control signal;
two-chamber flow equation of straight line cylinder:wherein A is 1 The effective area of the piston with the rod cavity is that of the cylinder, A 2 The piston is the effective area of a piston without a rod cavity of the cylinder, l is the stroke of the piston of the cylinder, and y is the displacement;
linear cylinder friction equation:wherein v is d Critical speed, k v1 For the first segment velocity coefficient, k v2 Is the second segment speed coefficient;
linear cylinder piston force balance equation:wherein M is the cylinder piston and the load mass, < ->For accelerating the mass of the cylinder piston and the load, F L For external load force F f Is the total friction force of the cylinder;
the acquisition unit is used for acquiring cylinder parameters used for simulation, and the cylinder parameters comprise: cylinder piston and load mass M, effective area A of cylinder piston with rod cavity 1 Effective area A of cylinder rodless cavity piston 2 External load force F L The ratio k of the constant pressure specific heat to the constant heat capacity, the cylinder piston stroke l, the ideal gas constant R and the ambient temperature T S Temperature T of rod cavity 1 Temperature T of rodless cavity 2 Critical speed v d First segment velocity coefficient k v1 Second segment velocity coefficient k v2 Static friction force K j N, air source pressure P S Atmospheric pressure P 0 ；
An input unit for inputting the pressure of the rod cavity of the cylinder as P 1 The rodless cavity pressure is P 2 Air source pressure P S 6 standard atmospheric pressures, no axial side end point displacement and axial side end point displacement;
the simulation unit is used for simulating the double-acting cylinder under fault-free and fault conditions;
and the output unit is used for outputting simulation results of the double-acting cylinder under the condition of no fault and fault.
With reference to the second aspect, in a first implementation manner of the second aspect, the simulation unit performs positioning control simulation on the cylinder by using a PID control algorithm.
With reference to the second aspect, in a second possible implementation manner of the second aspect, the output unit is configured to output an air pressure simulation curve graph and a piston displacement curve graph, a jam simulation curve graph, a valve resistance increase simulation curve graph, a positioner air outlet valve air leakage simulation curve graph, a positioner air outlet valve constant air outlet simulation curve graph, a cylinder piston poor sealing simulation curve graph, a cylinder axis side external air leakage simulation curve graph, a cylinder axis free side external air leakage simulation curve graph, a positioner air outlet valve no air outlet simulation curve graph, and a working air source free simulation curve graph.
According to the double-acting cylinder simulation method and device, the proportional direction valve pressure-flow equation, the linear cylinder two-cavity flow equation, the linear cylinder friction equation and the linear cylinder piston force balance equation which describe the dynamic characteristics of the linear cylinder are established, the cylinder related parameters are obtained, the cylinder rod cavity pressure and the rodless cavity pressure are input, the air source pressure, the rodless side end point displacement and the spindle side end point displacement are input, the double-acting cylinder is simulated under the conditions of no fault and fault, and simulation results of the double-acting cylinder under the conditions of no fault and fault are output, so that a basis is provided for verifying the performance of a fault diagnosis recorder of a pneumatic actuator and exploring the fault diagnosis theory and analysis of the operation of the pneumatic actuator, and the double-acting cylinder simulation method and device have important theoretical research value and engineering practical significance.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a flowchart of a double-acting cylinder simulation method provided by an embodiment of the invention.
Fig. 2 is a schematic diagram of a double-acting cylinder structure according to an embodiment of the present invention.
FIG. 3 is a simulation result of a fault-free air pressure provided by an embodiment of the present invention.
FIG. 4 is a simulation result of a fault-free piston displacement provided by an embodiment of the present invention.
Fig. 5 is a simulation result of the air pressure of the valve plug according to the embodiment of the present invention.
Fig. 6 is a simulation result of the displacement of the piston of the valve plug according to the embodiment of the present invention.
FIG. 7 is a simulation result of increasing the valve resistance to air pressure according to an embodiment of the present invention.
FIG. 8 is a simulation result of the displacement of the piston with increased gate resistance provided by an embodiment of the present invention.
Fig. 9 is a simulation result of the air leakage pressure of the air outlet valve of the positioner according to the embodiment of the present invention.
Fig. 10 is a simulation result of the displacement of the leakage piston of the air outlet valve of the positioner according to the embodiment of the present invention.
FIG. 11 is a simulation result of the normal air pressure of the air outlet valve of the positioner according to the embodiment of the present invention.
Fig. 12 is a simulation result of the displacement of the constant outlet piston of the outlet valve of the positioner according to the embodiment of the present invention.
Fig. 13 is a simulation result of the in-cylinder leakage pressure provided in the embodiment of the present invention.
Fig. 14 is a simulation result of the displacement of the piston leaked in the cylinder according to the embodiment of the present invention.
Fig. 15 is a simulation result of the air pressure of the leakage on the axial side according to the embodiment of the present invention.
Fig. 16 is a simulation result of displacement of a piston with axial leakage according to an embodiment of the present invention.
Fig. 17 is a simulation result of the shaftless side leakage air pressure provided in the embodiment of the present invention.
Fig. 18 is a simulation result of the displacement of the piston without axial leakage provided by the embodiment of the invention.
FIG. 19 is a simulation result of the non-air pressure of the air outlet valve of the positioner according to an embodiment of the present invention.
Fig. 20 is a simulation result of displacement of a non-gas outlet piston of a gas outlet valve of a positioner according to an embodiment of the present invention.
FIG. 21 is a simulation result of the air pressure of the working air source according to the embodiment of the present invention.
FIG. 22 is a simulation result of piston displacement without working gas source provided by an embodiment of the present invention.
Fig. 23 is a schematic diagram of a double-acting cylinder simulation device provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following describes in detail the technical solutions provided by the embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1, the method for simulating the double-acting cylinder provided by the invention is used for performing simulation on the operation of the double-acting cylinder. Wherein, the structural schematic diagram of the double-acting cylinder is shown in figure 2, and the control signal is A T The air source pressure is P S With a rod chamber pressure of P 1 The rodless cavity pressure is P 2 The displacement of the end of the rod cavity is 0, and the displacement of the piston is positive when the piston moves to the rodless cavity. The dynamics of a linear cylinder are mainly described by the following four equations: proportional directional valve pressure-flow equation, linear cylinder two-chamber flow equation, linear cylinder friction equation, and linear cylinder piston force balance equation. The execution subject of the method can be a processor, and the method specifically comprises the following steps:
step S101, an equation describing the dynamic characteristics of the linear cylinder is established, the equation including:
(1) Proportional directional valve pressure-flow equation.
First, establish mass flow of rod-like and rodless chambers of a proportional pressure valveWith air supply pressure P S High pressure P 0 Pressure P of rod cavity 1 Rodless cavity pressure P 2 And control signal A T Relationship between them. When the rod cavity and the air source pressure are equal, namely P 1 /P s When=1, no air flow is generated from the valve port to the cylinder, and no movement is generated from the piston. When the pressure of the rod cavity and the air source is smaller than the critical pressure ratio, namely P 1 /P s When the pressure of the throttling orifice is less than or equal to 0.528P, the air flow of the throttling orifice is choked, and the pressure of the throttling orifice is constant at 0.528P S . When the pressure of the rod cavity and the air source is greater than or equal to the critical pressure, namely P is more than or equal to 0.528 1 /P 2 When the pressure is less than or equal to 1, the airflow with stable pressure drop flows through the throttle orifice, and the air pressure of the throttle orifice is equal to the pressure of the cylinder everywhere. The mass flow equation thus established is:
wherein P is T For choke pressure, k is the ratio of specific heat at constant pressure to specific heat at constant pressure (ideal gas 1.4), R is ideal gas constant, T S Is ambient temperature.
The above formula can be rewritten based on the threshold value as follows:
mass flow rate of rod cavity
Rod-less chamber mass flowWherein k is the ratio of specific heat at constant pressure to specific heat at constant volume, P 0 At atmospheric pressure, P 1 For the pressure of the rod cavity, P 2 Is the rodless cavity pressure, P S Is the pressure of the gas source, R is the ideal gas constant, T S At ambient temperature, T 2 Is the temperature of the rodless cavity, A T Is a control signal.
(2) And a linear cylinder two-cavity flow equation.
Let cylinder piston stroke be l, displacement be y, have pole chamber bottom to set up to 0 point, the piston removes to no pole chamber top displacement be l, then has:
the first term on the right of the equal sign is the mass flow rate required to control the volume change of the body, and the second term is the mass flow rate required to control the body to be compressed, which describes the fluid flow caused by the gas change. The transform on the top is available:
two-chamber flow equation of straight line cylinder:wherein A is 1 The effective area of the piston with the rod cavity is that of the cylinder, A 2 The piston is the effective area of the piston without the rod cavity of the cylinder, l is the stroke of the piston of the cylinder, and y is the displacement.
(3) Linear cylinder friction equation.
The cylinder piston receives static friction force in a non-motion state, namely when the speed is zero; when the cylinder moves, the static friction becomes dynamic friction, the friction gradually decreases, but when the speed exceeds a critical value, the friction starts to increase due to the viscous friction force:
wherein v is d Critical speed, k v1 For the first segment velocity coefficient, k v2 Is the second segment velocity coefficient. A complete cylinder friction model is thus obtained:
linear cylinder friction equation:
(4) Linear cylinder piston force balance equation.
According to newton's second law, the force balance equation can be obtained as follows:
linear cylinder piston force balance equationWherein M is the cylinder piston and the load mass, < ->For accelerating the mass of the cylinder piston and the load, F L For external load force F f Is the total friction of the cylinder.
Step S102, acquiring parameters of a cylinder used for simulation, wherein the specific parameters of the cylinder used in the simulation process are as follows:
cylinder piston and load mass m=5 kg;
effective area of piston with rod cavity of cylinder
Effective area of piston without rod cavity of cylinder
External load force F L ＝0N；
The ratio k=1.4 of the specific heat of constant pressure to the specific heat of constant capacity;
cylinder piston stroke l=0.32 m;
ideal gas constant r=287.1 (n·s)/(kg·k);
ambient temperature T S ＝293k；
With rod chamber temperature T 1 ＝293k；
Rodless cavity temperature T 2 ＝293k；
Critical velocity v d ＝0.1m/s；
First segment velocity coefficient k v1 ＝92N·s/m；
Second segment velocity coefficient k v2 ＝89N·s/m；
Static friction force K j N＝86N；
Air source pressure P S ＝0.6×10 6 pa；
Atmospheric pressure P 0 ＝0.1×10 6 pa。
Step S103, inputting the pressure of the rod cavity of the cylinder to be P 1 The rodless cavity pressure is P 2 Air sourcePressure P S 6 normal atmospheric pressures, and the displacement of the non-axial end point was 0.32m, and the displacement of the axial end point was 0m.
And step S104, performing fault-free and fault-condition simulation on the double-acting cylinder.
Specifically, a PID control algorithm is adopted to simulate the positioning control of the cylinder.
And step S105, outputting simulation results of the double-acting cylinder without faults and under fault conditions.
In this embodiment, in the step of outputting the simulation result of the double-acting cylinder in the case of no fault and the fault, the output simulation result includes: the simulation system comprises an air pressure simulation curve graph and a piston displacement curve graph under the condition of no faults, a jam simulation curve graph, a valve resistance increase simulation curve graph, a positioner air outlet valve air leakage simulation curve graph, a positioner air outlet valve normal air outlet simulation curve graph, a cylinder piston poor sealing simulation curve graph, a cylinder shaft side external air leakage simulation curve graph, a positioner air outlet valve non-air outlet simulation curve graph and a working air source free simulation curve graph.
Specifically, in the case of no fault, the initial target value is 0.25m, the target value is 0.1m after 5s, and the air pressure simulation result and the piston displacement result are shown in fig. 3 and 4. The results of the jam simulation are shown in fig. 5 and 6. The results of the valve resistance increase simulation (resistance increase at 0.5-0.7 s) are shown in fig. 7 and 8. The results of the positioner air outlet valve air leakage simulation (air outlet valve air leakage at 1.8 s) are shown in fig. 9 and 10. The simulation results of the constant gas outlet of the positioner gas outlet valve are shown in fig. 11 and 12. The results of the simulation of poor seal of the cylinder piston (1.8 s internal leakage) are shown in fig. 13 and 14. The results of the cylinder axis side external leakage simulation (1.8 s external leakage) are shown in fig. 15 and 16. The results of the cylinder shaftless side external leakage simulation (leakage at 4 s) are shown in fig. 17 and 18. The simulation results of the non-gas outlet of the positioner gas outlet valve are shown in fig. 19 and 20. The simulation results of the working gas source-free are shown in fig. 21 and 22.
Referring to fig. 23, the present invention further provides a double-acting cylinder simulation device, which includes:
an establishing unit 231 for establishing an equation describing the dynamic characteristics of the linear cylinder, the equation including:
a proportional directional valve pressure-flow equation, wherein,
mass flow rate of rod cavity
Rodless cavity mass flowWherein k is the ratio of specific heat at constant pressure to specific heat at constant volume, P 0 At atmospheric pressure, P 1 For the pressure of the rod cavity, P 2 Is the rodless cavity pressure, P S Is the pressure of the gas source, R is the ideal gas constant, T S At ambient temperature, T 2 Is the temperature of the rodless cavity, A T Is a control signal;
two-chamber flow equation of straight line cylinder:wherein A is 1 The effective area of the piston with the rod cavity is that of the cylinder, A 2 The piston is the effective area of a piston without a rod cavity of the cylinder, l is the stroke of the piston of the cylinder, and y is the displacement;
linear cylinder friction equation:wherein v is d Critical speed, k v1 For the first segment velocity coefficient, k v2 Is the second segment speed coefficient;
linear cylinder piston force balance equation:wherein M is the cylinder piston and the load mass, < ->For accelerating the mass of the cylinder piston and the load, F L For external load force F f Is the total friction of the cylinder.
The obtaining unit 232 is configured to obtain cylinder parameters used for simulation, where the cylinder parameters include: cylinder piston and load mass M, effective area A of cylinder piston with rod cavity 1 Effective area A of cylinder rodless cavity piston 2 External load force F L The ratio k of the constant pressure specific heat to the constant heat capacity, the cylinder piston stroke l, the ideal gas constant R and the ambient temperature T S Temperature T of rod cavity 1 Temperature T of rodless cavity 2 Critical speed v d First segment velocity coefficient k v1 Second segment velocity coefficient k v2 Static friction force K j N, air source pressure P S Atmospheric pressure P 0 。
An input unit 233 for inputting the cylinder rod chamber pressure P 1 The rodless cavity pressure is P 2 Air source pressure P S 6 normal atmospheric pressures, and no axis side endpoint displacement and axis side endpoint displacement.
And a simulation unit 234, configured to perform fault-free and fault-condition simulation on the double-acting cylinder.
And the output unit 235 is used for outputting simulation results of the double-acting cylinder in the fault-free and fault condition.
Wherein, the simulation unit 234 adopts PID control algorithm to simulate the positioning control of the cylinder. The output unit 235 is configured to output an air pressure simulation curve graph and a piston displacement curve graph, a jam simulation curve graph, a valve resistance increase simulation curve graph, a positioner air outlet valve air leakage simulation curve graph, a positioner air outlet valve normal air outlet simulation curve graph, a cylinder piston poor sealing simulation curve graph, a cylinder axis side external air leakage simulation curve graph, a positioner air outlet valve non-air outlet simulation curve graph, and a working air source free simulation curve graph.
The embodiment of the invention also provides a storage medium, and further provides a storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, part or all of the steps in each embodiment of the double-acting cylinder simulation method provided by the invention are realized. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), or the like.
It will be apparent to those skilled in the art that the techniques of embodiments of the present invention may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in essence or what contributes to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present invention.
The same or similar parts between the various embodiments in this specification are referred to each other. In particular, for the double acting cylinder simulation apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference is made to the description in the method embodiment for the matters.
The embodiments of the present invention described above do not limit the scope of the present invention.
Claims (6)
1. A double-acting cylinder simulation method is characterized by comprising the following steps:
an equation describing the dynamics of a linear cylinder is established, the equation comprising:
a proportional directional valve pressure-flow equation, wherein,
mass flow rate of rod cavity
Rodless cavity mass flowWherein k is the ratio of specific heat at constant pressure to specific heat at constant volume, P 0 Is the atmospherePressure, P 1 For the pressure of the rod cavity, P 2 Is the rodless cavity pressure, P S Is the pressure of the gas source, R is the ideal gas constant, T S At ambient temperature, T 2 Is the temperature of the rodless cavity, A T Is a control signal;
two-chamber flow equation of straight line cylinder:
wherein A is 1 The effective area of the piston with the rod cavity is that of the cylinder, A 2 The piston is the effective area of a piston without a rod cavity of the cylinder, l is the stroke of the piston of the cylinder, and y is the displacement;
linear cylinder friction equation:wherein v is d Critical speed, k v1 For the first segment velocity coefficient, k v2 Is the second segment speed coefficient;
linear cylinder piston force balance equation:wherein M is the cylinder piston and the load mass, < ->For accelerating the mass of the cylinder piston and the load, F L For external load force F f Is the total friction force of the cylinder;
acquiring cylinder parameters used for simulation, wherein the cylinder parameters comprise: cylinder piston and load mass M, effective area A of cylinder piston with rod cavity 1 Effective area A of cylinder rodless cavity piston 2 External load force F L The ratio k of the constant pressure specific heat to the constant heat capacity, the cylinder piston stroke l, the ideal gas constant R and the ambient temperature T S Temperature T of rod cavity 1 Temperature T of rodless cavity 2 Critical speed v d First segment velocity coefficient k v1 Second segment velocity coefficient k v2 Static friction force K j N, air source pressure P S Atmospheric pressure P 0 ；
The pressure intensity of a rod cavity of the input cylinder is P 1 The rodless cavity pressure is P 2 Air source pressure P S 6 standard atmospheric pressures, no axial side end point displacement and axial side end point displacement;
performing simulation under fault-free and fault conditions on the double-acting cylinder;
and outputting simulation results of the double-acting cylinder under the condition of no fault.
2. The method of claim 1 wherein in the step of simulating the double acting cylinder without and in the event of a fault, a PID control algorithm is used to simulate the positioning control of the cylinder.
3. The method of claim 1, wherein in the step of outputting simulation results for the double-acting cylinder without a fault and in the event of a fault, the simulation results output include: the simulation system comprises an air pressure simulation curve graph and a piston displacement curve graph under the condition of no faults, a jam simulation curve graph, a valve resistance increase simulation curve graph, a positioner air outlet valve air leakage simulation curve graph, a positioner air outlet valve normal air outlet simulation curve graph, a cylinder piston poor sealing simulation curve graph, a cylinder shaft side external air leakage simulation curve graph, a positioner air outlet valve non-air outlet simulation curve graph and a working air source free simulation curve graph.
4. A double acting cylinder simulation apparatus, the apparatus comprising:
an establishing unit for establishing an equation describing the dynamic characteristics of the linear cylinder, the equation including:
a proportional directional valve pressure-flow equation, wherein,
mass flow rate of rod cavity
Rodless cavity mass flowWherein k is the ratio of specific heat at constant pressure to specific heat at constant volume, P 0 At atmospheric pressure, P 1 For the pressure of the rod cavity, P 2 Is the rodless cavity pressure, P S Is the pressure of the gas source, R is the ideal gas constant, T S At ambient temperature, T 2 Is the temperature of the rodless cavity, A T Is a control signal;
two-chamber flow equation of straight line cylinder:
wherein A is 1 The effective area of the piston with the rod cavity is that of the cylinder, A 2 The piston is the effective area of a piston without a rod cavity of the cylinder, l is the stroke of the piston of the cylinder, and y is the displacement;
linear cylinder friction equation:wherein v is d Critical speed, k v1 For the first segment velocity coefficient, k v2 Is the second segment speed coefficient;
linear cylinder piston force balance equation:wherein M is the cylinder piston and the load mass, < ->For accelerating the mass of the cylinder piston and the load, F L For external load force F f Is the total friction force of the cylinder;
acquisition unitThe method is used for acquiring cylinder parameters used for simulation, and the cylinder parameters comprise: cylinder piston and load mass M, effective area A of cylinder piston with rod cavity 1 Effective area A of cylinder rodless cavity piston 2 External load force F L The ratio k of the constant pressure specific heat to the constant heat capacity, the cylinder piston stroke l, the ideal gas constant R and the ambient temperature T S Temperature T of rod cavity 1 Temperature T of rodless cavity 2 Critical speed v d First segment velocity coefficient k v1 Second segment velocity coefficient k v2 Static friction force K j N, air source pressure P S Atmospheric pressure P 0 ；
An input unit for inputting the pressure of the rod cavity of the cylinder as P 1 The rodless cavity pressure is P 2 Air source pressure P S 6 standard atmospheric pressures, no axial side end point displacement and axial side end point displacement;
the simulation unit is used for simulating the double-acting cylinder under fault-free and fault conditions;
and the output unit is used for outputting simulation results of the double-acting cylinder under the condition of no fault and fault.
5. The apparatus of claim 4, wherein the simulation unit performs positioning control simulation on the cylinder using a PID control algorithm.
6. The apparatus of claim 4, wherein the output unit is configured to output a gas pressure simulation graph and a piston displacement graph, a stuck simulation graph, a valve resistance increase simulation graph, a positioner gas outlet valve gas leakage simulation graph, a positioner gas outlet valve constant gas outlet simulation graph, a cylinder piston poor seal simulation graph, a cylinder axis side external gas leakage simulation graph, a positioner gas outlet valve non-gas outlet simulation graph, and a working gas source free simulation graph in a fault-free condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910484879.4A CN112052630B (en) | 2019-06-05 | 2019-06-05 | Double-acting cylinder simulation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910484879.4A CN112052630B (en) | 2019-06-05 | 2019-06-05 | Double-acting cylinder simulation method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112052630A CN112052630A (en) | 2020-12-08 |
| CN112052630B true CN112052630B (en) | 2023-09-01 |
Family
ID=73608576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910484879.4A Active CN112052630B (en) | 2019-06-05 | 2019-06-05 | Double-acting cylinder simulation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112052630B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113484231B (en) * | 2021-07-09 | 2023-06-16 | 中国人民解放军63796部队 | Online testing method for friction force of low-temperature pneumatic stop valve |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003329009A (en) * | 2002-05-14 | 2003-11-19 | Japan Science & Technology Corp | Frictional force and measuring method for viscous damping coefficient |
| DE102004044814A1 (en) * | 2004-09-16 | 2006-03-23 | Robert Bosch Gmbh | Combustion process simulating method for internal combustion engine, involves creating simulation model by considering energy and mass balances, and issuing controlling and/or adjustment parameter of engine by inputting input parameter |
| CN102323063A (en) * | 2011-05-30 | 2012-01-18 | 重庆大学 | Method for testing oil-film force of piston assembly based on crankshaft vibration signal and system |
| WO2013145952A1 (en) * | 2012-03-28 | 2013-10-03 | オムロン株式会社 | Simulation device, simulation method and simulation program |
| CN104111650A (en) * | 2014-06-27 | 2014-10-22 | 潍柴动力股份有限公司 | Dual-fuel engine controller simulation test system |
| CN204437251U (en) * | 2015-01-05 | 2015-07-01 | 王建军 | A kind of ATM based on forced maneuver formula speed changer automobile emulates operating mechanism |
| CN106682298A (en) * | 2016-12-22 | 2017-05-17 | 西北工业大学 | Aviation hydraulic steering engine system fault simulation model base building method |
-
2019
- 2019-06-05 CN CN201910484879.4A patent/CN112052630B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003329009A (en) * | 2002-05-14 | 2003-11-19 | Japan Science & Technology Corp | Frictional force and measuring method for viscous damping coefficient |
| DE102004044814A1 (en) * | 2004-09-16 | 2006-03-23 | Robert Bosch Gmbh | Combustion process simulating method for internal combustion engine, involves creating simulation model by considering energy and mass balances, and issuing controlling and/or adjustment parameter of engine by inputting input parameter |
| CN102323063A (en) * | 2011-05-30 | 2012-01-18 | 重庆大学 | Method for testing oil-film force of piston assembly based on crankshaft vibration signal and system |
| WO2013145952A1 (en) * | 2012-03-28 | 2013-10-03 | オムロン株式会社 | Simulation device, simulation method and simulation program |
| CN104111650A (en) * | 2014-06-27 | 2014-10-22 | 潍柴动力股份有限公司 | Dual-fuel engine controller simulation test system |
| CN204437251U (en) * | 2015-01-05 | 2015-07-01 | 王建军 | A kind of ATM based on forced maneuver formula speed changer automobile emulates operating mechanism |
| CN106682298A (en) * | 2016-12-22 | 2017-05-17 | 西北工业大学 | Aviation hydraulic steering engine system fault simulation model base building method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112052630A (en) | 2020-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Wang et al. | Application of singular perturbation theory to hydraulic pump controlled systems | |
| CN103424308B (en) | A kind of method that Quick gas-liquid compound auto-compensation loads and auto-compensation loader | |
| Li et al. | CFD simulation of dynamic characteristics of a solenoid valve for exhaust gas turbocharger system | |
| Yousefi et al. | Application of differential evolution in system identification of a servo-hydraulic system with a flexible load | |
| Meng et al. | Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders | |
| CN105697463B (en) | A kind of Hydraulic Position Servo exports feedback adaptive control method | |
| CN112052630B (en) | Double-acting cylinder simulation method and device | |
| Lin et al. | Intelligent electro-pneumatic position tracking system using improved mode-switching sliding control with fuzzy nonlinear gain | |
| CN103939423A (en) | Load-sensitive multi-way valve simulation modeling method | |
| Zhang et al. | Research on modeling of hydropneumatic suspension based on fractional order | |
| Vigolo et al. | Sizing optimization of pneumatic actuation systems through operating point analysis | |
| Schmidt et al. | 2-smc of electro-hydraulic drives using the twisting algorithm | |
| CN1180233C (en) | Hydraulic energy source equipment | |
| Magdziak et al. | Concept of improving positioning of pneumatic drive as drive of manipulator | |
| Chen et al. | Analysis of temperature characteristics of electro-hydraulic servo valve based on AMESim | |
| Lin et al. | Electro-pneumatic position tracking control system based on an intelligent phase-change PWM strategy | |
| CN105051379A (en) | Servo actuator | |
| CN111237292B (en) | Speed closed-loop control method of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition | |
| CN106930988A (en) | Sound state bidirectional hydraulic loading device and its control method based on accumulator | |
| Abdalla et al. | A computational study of the actuation speed of the hydraulic cylinder under different ports’ sizes and configurations | |
| Richter et al. | Friction dynamics mathematical modeling in special pneumatic cylinder | |
| Zhan et al. | Study on friction characteristics of energizing pneumatic cylinders | |
| Chikhalsouk et al. | Modeling and simulation swash plate pump response characteristics in load sensing and pressure compensated hydraulic system | |
| Zhang et al. | PID control with multimedia interaction based on improved genetic algorithm with its application in hydraulic transmission | |
| Ma | Simulation Research on Dynamic Characteristics of High-Pressure Variable Piston Pump on AMESim Simulation Platform Based on Human-Computer Interaction Technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |