吉林大学学报(工学版) ›› 2024, Vol. 54 ›› Issue (5): 1196-1204.doi: 10.13229/j.cnki.jdxbgxb.20220757

• 车辆工程·机械工程 • 上一篇    

基于能量回收的新型电伺服作动器及其动态能耗分析

刘谦1(),张祝新2(),赵丁选1,王立新1,王亚非3   

  1. 1.燕山大学 机械工程学院，河北 秦皇岛 066000
    2.燕山大学 车辆与能源学院，河北 秦皇岛 066000
    3.中国船舶集团有限公司 系统工程研究院，北京 100094
  • 收稿日期:2022-06-18 出版日期:2024-05-01 发布日期:2024-06-11
  • 通讯作者: 张祝新 E-mail:lq_ysu@stumail.ysu.edu.cn;zhzhxn@ysu.edu.cn
  • 作者简介:刘谦（1995-），男，博士研究生.研究方向：复杂机械系统动力学.E-mail：lq_ysu@stumail.ysu.edu.cn
  • 基金资助:
    国家重点研发计划项目(2016YFC0802902);河北省重点研发计划项目(20353501D)

A new electric servo actuator based on energy recovery and its dynamic energy consumption analysis

Qian LIU1(),Zhu-xin ZHANG2(),Ding-xuan ZHAO1,Li-xin WANG1,Ya-fei WANG3   

  1. 1.School of Mechanical Engineering，Yanshan University，Qinhuangdao 066000，China
    2.School of Vehicle and Energy，Yanshan University，Qinhuangdao 066000，China
    3.Systems Engineering Research Institute，China State Shipbuilding Corporation Limited，Beijing 100094，China
  • Received:2022-06-18 Online:2024-05-01 Published:2024-06-11
  • Contact: Zhu-xin ZHANG E-mail:lq_ysu@stumail.ysu.edu.cn;zhzhxn@ysu.edu.cn

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摘要：

针对现有电伺服作动器在负载回落阶段负载势能被浪费的问题，提出了基于能量回收的新型电伺服作动器的实现方案。该方案通过与传动系统并联的蓄能器来回收负载回落时耗散的势能，在负载举升时将其用于提供辅助推力。结合功率键合图理论引入了一种复杂能域下的机械系统动态能耗分析方法，建立了新型电伺服作动器的动态能耗模型，并进行了对比仿真实验。结果表明，所设计的电伺服作动器使得系统响应时间缩短了约36.9%，所需的电机启动转矩降低了约43.3%；在举升负载时的能耗降低了约31%，在负载回落时能够回收36%的势能；在工作过程中滚珠螺旋副的承载大大降低，有助于减少摩擦热、延长丝杠的使用寿命。

关键词: 机械电子工程, 电伺服作动器, 能量回收, 蓄能器, 功率键合图, 动态能耗分析

Abstract:

Aiming at the problem that the load potential energy is wasted in the load falling stage of the existing electric servo actuator， this paper proposes a new electric servo actuator implementation scheme based on energy recovery. The project uses an accumulator parallel to the transmission system to recover the potential energy dissipated during the load falling stage and provide extra thrust during the load lifting stage. Combined with the theory of power bond graph， a dynamic energy consumption analysis method of mechanical system in complex energy domain is introduced. The dynamic energy consumption model is established， and the comparison simulation test is carried out. The simulation results show that the response time can be reduced by 36.9%， and the motor starting torque can be reduced by 43.3%. When lifting the load， the energy consumption is reduced by about 31%， and 36% of potential energy can be recovered. In the working process， the bearing capacity of the ball screw pair is significantly reduced， which is helpful to reduce friction heat and prolong the service life of the screw.

Key words: mechatronics engineering, electric servo actuator, energy recovery, accumulator, power bond graph, dynamic energy consumption analysis

中图分类号: 

  • TP242.2

图1

结构原理图"

表1

关键结构参数"

结构参数数值/型号单位结构参数数值/型号单位
负载质量600kg丝杠导程10mm
电机功率3kW丝杠外径40mm
最大转矩14N·m丝杠惯量8.63e-4kg?m2
缸杆外径80mm联轴器型号C68—
缸杆质量18.46kg联轴器惯量7.18e-4kg?m2

图2

工作原理图"

图3

传动系统能耗分析图"

图4

传动系统的键合图"

图5

电机的数学模型"

图6

蓄能器原理模型"

图7

仿真系统原理图"

表2

伺服电机及控制器参数"

电机参数数值单位控制器参数数值
最大速度6000r/minKp2000
最大转矩14N·mTi0.8
转子惯量0.04kg·m2Ta0.8

表3

键合图模型参数"

元器件名称符号物理意义数值单位
联轴器C2刚度系数6.7e-5rad/（N·m）
I4转动惯量7.18e-4kg·m2
丝杠C6刚度系数7.8e-9rad/（N·m）
I8转动惯量8.63e-4kg·m2
R9转动阻尼6.3e-4N·m·s
丝杠-螺母TF1转动变为平动628m-1
油腔-螺母TF2流动变为平动22.61e-3m2
液压油C14弹性系数6.53e-13m3/Pa
管路R16流动阻尼1.81e6Pa·s/m3
节流阀R18流动阻尼8.76e7Pa·s/m3
缸杆I21质量18.46kg
Se22重力-180.91N
R23摩擦阻力12N
负载I25质量600kg
Se26重力-5880N

图8

负载速度响应曲线"

图9

电机启动转矩曲线"

图10

新型电伺服作动器的动态曲线"

图11

滚珠螺旋副输出推力曲线"

图12

传统电伺服作动器的能量曲线"

图13

新型电伺服作动器的能量曲线"

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