液压比例控制双语课件汇总全套ppt完整版课件最全教学教程整套课件全书电子教案

1、1/34电液比例控制技术Electro-hydraulic proportional control第一章 概述第二章 比例电磁铁第三章 电液比例控制阀第四章 电液比例容积控制第五章 电液比例控制基本回路第六章 比例放大器第七章 电液比例控制系统的分析 与设计第八章 电液比例控制技术的工程 应用Chapter 1 IntroductionChapter 2 The proportional electromagnetChapter 3 Electro-hydraulic Proportional Control ValveChapter 4 Electro-hydraulic proporti

2、onal volume controlChapter 5 Basic Electro-hydraulic Proportional Control CircuitsChapter 6 proportional amplifierChapter 7 Analysis and Design of Electro- hydraulic Proportional Control SystemChapter 8 Engineering application of Electro-hydraulic proportional control technology目录catalogue 3/34第一章 概

3、述Chapter 1 Introduction第一章 概述Chapter 1 Introduction 1.1 The overview of the development of Electro- hydraulic proportional technology1.2 The concept of Electro-hydraulic proportional control1.3 Basic principal of Electro-hydraulic proportional control system and its constitution1.4 Classification of

4、 Electro-hydraulic proportional control system1.5 Characteristics and applications of Electro-hydraulic proportional control system1.1 电液比例技术的发展概况1.2 电液比例控制的概念1.3 电液比例控制系统的工作 原理及组成1.4 电液比例控制系统的分类1.5 电液比例控制的特点及应用 传统的液压控制方式是开关型控制，它通过电磁驱动或手动驱动来实现液压流体的通、断和方向控制，从而实现被控对象的机械化和自动化。但是这种方式无法实现对液流流量、压力连续地按比例地控

5、制，同时控制的速度比较低、精度差、换向时冲击比较大。 The traditional way of hydraulic control is switch control. In this switch control method, there are two ways to control the hydraulic fluidthe electronagnetic drive way and manual drive way. The hydraulic fluid can be controlled to be through or off, thus the controlled o

6、bject can be achieve as mechanization and automation. However, in this switch control method, it is hardly to make sure that the flow rate and the pressure of the hydraulic fluid is controlled to be continuously and proportionally. Besides, in this switch control method, the response speed is slow,

7、the control accuracy is low, and in the case of hydraulic fluid direction changing , the impact is large. 1.1 电液比例技术的发展概况The overview of the development of electro-hydraulic proportional technology 第二次世界大战期间，由于以飞机、火炮等军事装备为对象的控制系统，要求快速响应、高精度等高性能指标，在这个背景下迅速发展了电液伺服控制。这种控制方式可根据输入信号(如电流)的大小连续、按比例地改变液流的流量

8、、压力和方向，克服开关型控制的缺点，实现高性能的控制要求。 During the Second World War, the control systems of aircraft, artillery and other military equipment require high-performance indicators such as fast response and high precision, then it cause rapid development of Electro-hydraulic servo control. In Electro-hydraulic se

9、rvo control system, the flow rate, pressure and direction of the fluid can be controlled to be continously and proportionally, according to the strength of the input signal (such as the current). This Electro-hydraulic servo control system overcomed the shortcomings of the switch control method , an

10、d achieved the requirements of high performance control. 60年代电液伺服控制日趋成熟 ，向民用工业推广。同时，液压伺服系统暴露出了它致命的弱点：元件的制造精度要求过高，成本昂贵；对油液污染十分敏感，因此系统的维护成本高；能量损失(阀压降)较大。因为一般工业控制系统，它要求精度不太高，响应也不需要太快。 In the 1960s, the use of electro-hydraulic servo control became matured day by day, and it was rapidly promoted to the

11、civilian industry. But at the same time, hydraulic servo system exposed its biggest weakness: high precision, expensive cost of components manufacturing and sensitiveness to oil pollution. All of these shortcomings means that it requires high cost of maintenance. Besides the loss in energy (such as

12、valve pressure drop) is also large. However, in most industrial control system, neither the precision is required so high nor the speed of respond is required so quickly. 却要求系统对油液污染和善通液压系统差不多，维护简单，成本低廉，于是人们就想到如何发展一种廉价的伺服控制，这便导致研究和发展电液比例控制技术。比例技术的发展大致可以划分为三个阶段：第一阶段：液压比例技术的诞生第二阶段：比例技术日趋成熟第三阶段：比例技术飞速发展

13、requires that the controlled system is not sensitive to oil pollution and easy maintenance and low cost. Hence people turned to develop a low-cost servo control system. And it caused the research and development of Electro-hydraulic proportional control technology. Proportional control technology ca

14、n be divided into three stages:The first stage: the birth of hydraulic proportional technology The second stage:proportional control technology is matured day by dayThe third stage:proportional technology entered into the rapid development第一阶段：1967年瑞士Beoringer公司率先生产出KL型比例复合阀，标志液压比例技术的诞生。到70年代初日本油研公司

15、研制压力和流量两种比例阀并获得了专利。这段时间，主要是以比例型电-机械变换器，例如比例电磁铁、伺服电机、动圈式力矩马达等取代普通液压阀中的手动调节装置和普通电磁铁，实现电液比例控制，而阀内的结构和设计准则几乎没有什么变化。从性能上说，频宽约15Hz，滞环约47，多数只用于开环控制。 The first stage: In 1967, the Swiss Beoringer company firstly produced the KL type proportional composite valve, which was marked as the birth of hydraulic pr

16、oportional technology. In the early 1970s, Japanese YUKEN company produced two kinds of proportional valve (pressure and flow), and applied them for patent. In this period of time, manual adjustment device and ordinary electromagnet was mainly replaced by proportional electro - mechanical converter

17、such as proportional solenoid, servo motor, dynamic torque motor, etc. to realize electro hydraulic proportional control. And the structure and design standards almost kept the same. In terms of performance , the bandwidth is about 15Hz and hysteresis is about 47%, most are only used for switch cont

18、rol.第二阶段：从1975年到1980年，比例技术进入发展的第二阶段，比例器件普遍采用了各种内反馈回路，同时研制了耐高压的比例电磁铁，与之配套的比例放大器也日趋成熟，从性能上说，比例阀的频宽已达515Hz，滞环缩小到3左右，不仅用于开环控制，也广泛地用于各种闭环控制系统中。The second stage: From 1975 to 1980, proportional control technology entered into its second stage. The proportional devices had commonly used variety of internal

19、 feedback loops. Meanwhile, high pressure solenoid is developed and the development of amplifier is matured day by day. In the term of the performance, the bandwidth of proportional valves had reached to 515Hz and hysteresis had been narrowed to 3%, proportional technology had begun to be not only u

20、sed for open loop control system, but also widely used in a variety of closed-loop control system.第三阶段：1980年以来，比例技术进入了飞速发展阶段，并取得了长足的进步，具体体现如下： 设计原理进一步完善，通过液压、机械以及电气的各种反馈手段，使比例阀的性能如滞环、频宽等，同工业伺服阀接近，只是因制造成本所限，尚存在一定的中位死区；比例技术同插装技术结合，开发出二通、三通比例插装阀； The third stage: Since the 1980s, proportional technolog

21、y had entered into the rapid development stage, and made great progress. For example: 1) Design principles have been improved. And the performances of proportional valve such as hysteresis,bandwidth, etc. was more and more approach to the servo valves, though there still existed some median dead zon

22、e because of the limit of manufacturing cost;2) Proportional technology was combined with the cartridge technology, and two and three proportional cartridge valves had been developed； 第三阶段：80年代以来，比例技术进入了飞速发展阶段，并取得了长足的进步，具体体现如下： 3) 设计原理进一步完善，通过液压、机械以及电气的各种反馈手段，使比例阀的性能如滞环、频宽等，同工业伺服阀接近，只是因制造成本所限，尚存在一定的

23、中位死区；4) 比例技术同插装技术结合，开发出二通、三通比例插装阀； The third stage: Since the 1980s, proportional technology had entered into the rapid development stage, and made great progress. For example: 3) Electro-mechanical devices had appeared, in which devices it combined proportional valve, sensors, electronic amplifier

24、and digital display into one piece； 4) The proportional valves were combined with hydraulic pumps and hydraulic motors, and that constitutes energy-saving proportional volume devices. 近年来比例控制技术被迅速、广泛地应用于各种工业控制，各种比例器件在许多国家形成了系列化、标准化的产品，例如西德已有30普通阀的市场被比例阀取代。除了模拟式的电液比例元件外，人们也注重于开发出各种数字式的比例元件。数字式液压元件也是今

25、后比例技术发展的一个重要分支。 In recent years, the proportional control technology has been rapidly and widely used in various industrial control systems. And the proportional devices have been developed in serial and standardly in many countries. For example, over 30% of the market of the normal valves have been

26、 replaced by proportional valves in West Germany. And people have paid more attention to the development of various digital proportional components besides the analogous electro-hydraulic proportional components. Digital hydraulic components will become one of most important branches of proportional

27、 control technology in the future. 电液比例技术还出现了很多所谓整体闭环控制，即全程电反馈的电液比例元件。其中有各种比例阀、比例容积控制、恒功率控制、恒流量控制、恒压力控制动力源等。 Electro-hydraulic proportional components with overall closed-loop control which means the electrical feedback in the whole course such as various proportional valves, proportional volume con

28、trol, constant power control, constant flow control, constant pressure control,etc. also appear in the field of Electro-hydraulic proportional technology. 从广义上讲，凡是输出量，如压力、流量、位移、速度、加速度等，能随输入信号连续地按比例地变化的控制系统，都称为比例控制系统。从这个意义上说，伺服控制也是一种比例控制。 但是通常所说的比例控制系统是特指介于开关控制和伺服控制之间的一种新型控制系统。与开关控制系统比较，它能实现连续、比例控制，并

29、且控制精度高、反应速度快；Generally speaking, proportional control system is the one that output signal such as pressure, flow, displacement, velocity and acceleration, etc. can change continuously and proportionally with the input signal. In this sense, servo control is also a kind of proportional control. Howe

30、ver, normally, proportional control system is considered as a new kind of control system between the on-off control and servo control. Compared with the on-off control system, it can achieve the continuous and proportional control, and it has high control accuracy and quick response.1.2电液比例控制的概念The

31、concept of electro-hydraulic proportional control 此外，以德国Bosch公司为代表推出的高性能闭环比例阀。由于采用了高响应直流比例电磁铁和相应的放大器，含内置位置检测电子装置和反馈闭环，采用零开口四边滑阀，其输出稳态特性中无中位死区滞环仅0.3%，频宽达200Hz，其性能与伺服阀无异。 In addition, as a representative, the German Bosch company has introduced high-performance closed-loop proportional valves, which u

32、sed high response DC proportional solenoids, corresponding amplifiers, built-in position detection electronic devices and feedback loops, with zero-opened four-sided slide valve. There is no dead zone in its steady-state characteristics and the hysteresis is just 0.3% and the bandwidth is 200Hz, whi

33、ch has the same performance as servo valves. 现在比例阀已有些是把传感器、测量放大器、控制放大器和阀复合在一起的机电一体化的元件，使得结构更紧凑，性能进一步提高。 Nowadays, some proportional valves are Electro-mechanical components which combine the sensors, measuring amplifiers and control amplifiers with valves. This makes the structure more compact and i

34、mproves the performance. 与伺服控制系统比较，由于比例阀是在普通工业用阀的基础上改造而成的，因此加工精度不高，成本低廉，抗污染性能好，几乎同开关型控制差不多，控制精度、反应速度等控制性能虽然比伺服阀和伺服系统差，但能满足大多数工业控制的要求，并且阀内压降小，因此能节省能耗，降低发热量。Compared with the servo control system, the proportional control system is almost similar with the on-off control. Since proportional valves are

35、transformed from common industrial valves, so they have low cost and good anti-pollution performance, but their machining accuracy are not so good. Though proportional valves and systems have lower control performances such as control precision, response speed, etc. than servo valves and servo syste

36、ms, they still can meet the requirements of most industrial control systems. Besides, the valve pressure drop is low, so it saves energy and reduces heat. 比例控制主要用于开环系统，伺服控制主要用于闭环系统。伺服控制装置总是带有内反馈，任何检测到的误差都会引起系统状态的改变，而这种改变正是强迫这个误差为零。误差为零时伺服系统处于平衡状态，直到新的误差检测出来。在伺服控制系统中，平衡状态控制信号（误差）理论上为零，而比例控制系统却永远不会为零。

37、The proportional control system is mainly used in open-loop control system, and the servo control system is mainly used in closed-loop system. Servo control devices always have internal feedback. Any error detected can cause the change of system state, and this change is to force the error to zero.

38、When the error is zero, servo system is in balance until a new error is detected.In servo control system,the error of control signal in balance is zero,but proportional control system is never be zero. 比例系统中的主控元件可以有无限种状态，分别对应受控对象的无限种运动，而开关控制中控制元件只有两种状态。在工程实际应用中，由于多数被控对象仅需要有限的几种状态，因而开关控制也有可取之处。开关元件通常

39、简单可靠，不存在系统的不稳定性。 在模拟比例控制中，如果需要用计算机来控制，则必须具有A/D、D/A接口元件与计算机连接。In the proportional system, the main control elements may have infinite states, in corresponding to infinite states of controlled elements. However, in on-off control system, the control elements only have two states. In actual engineering

40、 application, as most controlled elements only need several states, on-off control does have its merits, with simple and reliable on-off elements, while without instability in the system. In the analog signal proportional control system, if the computer is needed, A/D, D/A interface elements must be

41、 connected with the computer. 近年来已经开发出了一些比例元件（电液数模转换器），其输出量与脉冲数、脉宽或脉冲频率成比例。其优点是抗污染能力强，滞后时间短，重复性好，能与数字计算机直接连接，是电液比例技术中的一个新领域。In recent years, some proportional elements such as electro-hydraulic analog-to-digital converter have been invented, whose outputs are proportional to pulse number, pulse widt

42、h or pulse frequency. With the advantages in contamination resistance, shorter delay time, excellent repeatability and connection to the computer directly, it is a new field in electro-hydraulic proportional technology.1.3 电液比例控制系统的工作原理及组成Basic principal of electro-hydraulic proportional control sys

43、tem and its constitution 图1.1 电液比例开环控制系统方框图 电液比例控制可以分为开环控制和闭环控制。开环控制如图1.1所示，输入电压 U 经电子放大器放大后，驱动比例电磁铁，使之产生一个与驱动电流 I成比例的力Fd，去推动液压控制阀，液压控制阀输出一个强功率的液压信号（压力 P 和流量 Q ），使执行元件拖动负载以所期望的速度 v 运动。 Electro-hydraulic control can be divided into open-loop control and closed loop control.As in Fig 1.1, in open-loop

44、 control, the input voltage U is amplified by the amplifier, and drives the proportional electromagnet, to create a force Fd which is proportional to the driving electricity I, and push the hydraulic control valve. Then the hydraulic control valve outputs a high power hydraulic signal（pressure P and

45、 flow Q） to drive the load with an expected velocity. We can change the velocity of load through changing the input signal U. Fig. 1.1 Block Diagram (BD) of Electro-Hydraulic open-loop control system 若需提高控制性能，可以采用闭环控制，如图1.2。这时，可在开环控制的基础上增加一个测量反馈元件，不断测量系统的输出量v，并将它转换成一个与之成比例的电压U2 ，反馈到系统的输入端，同输入信号U1比较，

46、形成偏差e。图1.2 电液比例闭环控制系统方框图Fig. 1.2 Block Diagram (BD) of Electro-Hydraulic closed loop control system If we want to improve the control performance, we can use closed loop control system, as shown in Figure 1.2. Then, based on the open-loop control system, a measuring and feedback element will be adde

47、d, which measures the output v and transforms it into voltage U2 proportionally. The voltage U2 returns to the input, compares with the input signal U1, and deviation signal e is formed. 此偏差信号e经放大、校正后，加到电液比例阀上，放大成强功率的液压信号P和Q，去驱动执行元件，以拖动负载朝着消除偏差的方向运动，直到偏差e趋近于零为止。从图可知，电液比例控制系统同电液伺服系统相似，只不过用电液比例阀取代了伺服系

48、统中的电液伺服阀而已。 电液比例控制系统，尽管其结构各异，功能也不相同，但都可归纳为由功能相同的基本单元组成的系统，如图1.3所示。After the deviation signal was amplified and corrected, it will be added to the electro-hydraulic proportional valve. Then, the signal is converted to hydraulic signal P and Q , driving the power element to eliminate the deviation unt

49、il the deviation tends to be 0. From the figure, the electro-hydraulic proportional control system is similar to the electro-hydraulic servo control system, merely substituting the electro-hydraulic proportional valve for the electro-hydraulic servo valve.In the electro-hydraulic proportional contro

50、l system, though differing in structures and functions, it can be categorized to the system comprised by basic units of the same function, as shown in figure 1.3. 图中虚线所示为可能实现的检测与反馈。包含了外反馈回路控制系统的才称为闭环控制系统，不包含外反馈的称为开环系统。如果存在比例阀本身的内反馈，也可以构成实际的局部小闭环控制。但一般这不称为闭环系统。In the figure, the dashed line represent

51、s possible measuring and feedback. Those systems including external feedback are called closed-loop control system, otherwise open-loop control system. If the proportional valve has internal feedback itself, it can also constitute local small closed-loop control. But in general, it can not be called

52、 closed-loop control system.图1.3 电液比例控制系统Fig. 1.3 Electro-hydraulic proportional control system 组成电液比例控制系统的基本元件有：指令元件、比较元件、电控器、比例阀、液压执行器、检测反馈元件。(1)指令元件 它是给定控制信号的产生与输入的元件。也叫编程器或输入电路。在有反馈信号存在的情况下，它给出与反馈信号有相同形式和量级的控制信号。它也可以是信号发生装置或程序控制器。(2)比较元件 它的功用是把给定输入与反馈信号进行比较，得出偏差信号作为电控器的输入。进行比较的信号必须是同类型的，当信号类型不同时

53、，在比较前要进行信号类型转换。Basic elements of Electro-hydraulic proportional control system: order element,comparison element,electric controller,proportional valve,Hydraulic actuator,measuring and feedback element.(1)Order Element It is the generating and inputting element of the given control signal, also know

54、n as the programming unit or input circuit. With the feedback signal, it will give the control signal with the same type and order as that feedback signal. It can be either signal generator or programming controller.(2)Comparison Element Its function is to compare the input signal and feedback signa

55、l, with the deviation as the input of electric controller. The signals compared should be in the same type. Otherwise before the comparison, a transformation of signal type is needed.(3)电控器 电控器通常被称作比例放大器。它的作用是对输入的信号进行加工、整形和放大，使达到电-机械转换装置的控制要求。(4)比例阀 它作为整个系统的功率放大部分，可分为两部分：电-机械转换器、液压放大元件。还可能带有阀内的检测反馈元

56、件。(5)液压执行器 通常指液压缸或液压马达，它是系统的输出装置，用于驱动负载。(3)Electric Controller Generally, electric controller is called proportional amplifier, with the function of processing, shaping and amplifying the input signal and meeting the control requirement of electro-mechanical conversion device.(4)Proportional Valve A

57、s the part of power amplification of the whole system, it can be divided into two categories: electro-mechanical transformer and hydraulic amplifier (some even with a measuring and feedback element inside).(5)Hydraulic Actuator Generally, known as the hydraulic cylinder or the hydraulic motor, it is

58、 the system output unit, used for driving the load.(6)检测反馈元件 对于闭环控制需要加入检测反馈元件。它检测被控量或中间变量的实际值，得出系统的反馈信号。从框图中可见，检测元件还有内、外环之分。内环检测元件通常包含在比例阀内，用于改善比例阀的动、静态特性；外环检测元件直接检测输出量，用于提高整个系统的性能和控制精度。(6)Measuring and Feedback Element In closed-loop control system, a measuring and feedback element is needed, which

59、 will measure the controlled object or the actual value of intermediate variable and get the feedback signal of system. From the block diagram, the measuring elements are classified into external and internal loop. For internal loop measuring elements, they are inside the proportional valves, to imp

60、rove the dynamic and static characteristics of the valves. For external measuring elements, they are used for measuring the output directly, to improve performance and control accuracy of the whole system.1.4 电液比例控制系统的分类Classification of electro-hydraulic proportional control system被控量是否有反馈控制信号比例元件类