基于能量回收的新型电伺服作动器及其动态能耗分析

doi:10.13229/j.cnki.jdxbgxb.20220757

Abstract

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

CLC Number:

TP242.2

Qian LIU,Zhu-xin ZHANG,Ding-xuan ZHAO,Li-xin WANG,Ya-fei WANG. A new electric servo actuator based on energy recovery and its dynamic energy consumption analysis[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(5): 1196-1204.

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

电机参数	数值	单位	控制器参数	数值
最大速度	6000	r/min	K_p	2000
最大转矩	14	N·m	T_i	0.8
转子惯量	0.04	kg·m²	T_a	0.8

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-5	rad/（N·m）
联轴器	I₄	转动惯量	7.18e-4	kg·m²
丝杠	C₆	刚度系数	7.8e-9	rad/（N·m）
	I₈	转动惯量	8.63e-4	kg·m²
	R₉	转动阻尼	6.3e-4	N·m·s
丝杠-螺母	TF₁	转动变为平动	628	m^-1
油腔-螺母	TF₂	流动变为平动	22.61e-3	m²
液压油	C₁₄	弹性系数	6.53e-13	m³/Pa
管路	R₁₆	流动阻尼	1.81e6	Pa·s/m³
节流阀	R₁₈	流动阻尼	8.76e7	Pa·s/m³
缸杆	I₂₁	质量	18.46	kg
	Se₂₂	重力	-180.91	N
	R₂₃	摩擦阻力	12	N
负载	I₂₅	质量	600	kg
负载	Se₂₆	重力	-5880	N

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

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