磁流变气动伺服系统的研究-机械制造及自动化专业论文.docx

万方数据 万方数据 磁流变气动伺服系统的研究 摘 要 传统的气压传动控制系统受气体可压缩性、膨胀因素的影响，通常不能满足对执 行元件实现精确的速度和定位控制。磁流变液体是一种智能流体，磁流变技术及其应 用是近年来国内外学者竞相研究的课题。基于磁流变技术的阻尼器由于有耗能能力 强、阻尼力连续可调的优点已被广泛应用于众多领域。 本文针对传统气动控制系统的缺点和磁流变技术的显著优点，将磁流变技术与气 动技术相结合，设计了一种并联分体式的磁流变阻尼器，并把此阻尼器引入气动伺服 系统，创建了一种新型的磁流变气动伺服系统。围绕此系统，本文在对磁流变气动伺 服系统的总体设计的基础上，结合系统相关的性能参数要求，对系统的各部分硬件和 软件进行了详细设计，并组建了串联式磁流变伺服控制实验系统。为了分析系统的静 态和动态性能，通过对新型系统的数学建模，采用 MATLAB 软件进行系统性能仿真， 从理论上分析系统的性能；最后对磁流变伺服控制实验系统进行性能检测实验，实验 结果证实了该种新型的磁流变气动伺服系统较传统气动伺服系统具有更好的快速响 应性，更高的速度和位置控制精度，更强的抗干扰能力。 研究结果表明：磁流变阻尼器具有较强的使用价值，把磁流变技术应用于气动伺 服系统具有一定的可行性，值得推广，这将为今后的气动技术开辟一条新路。 关键词：磁流变技术 磁流变阻尼器 气动伺服系统 仿真 I 磁流变 磁流变气动伺服系统的研究 Abstract Because of high compression and expansion of air, traditional pneumatic position control system can’t meet demands of precision controlled velocity and position. Magnetorheological fluid(MRF) is a kind of intellective fluid. In these years, Magnetorheological technology and its applications are widely researched by scholars. By using MR technology, MR damper, which has many notable advantages such as continuously controllable resistance and strong ability to consume kinetic energy, is widely used in many fields. Considering the shortcomings of traditional pneumatic servo system and the notable advantages of MR technology, based on the viewpoint of combining the technology of pneumatic, a MR damper is designed. Employing the damper a new MR pneumatic servo system is set up in this paper. Following collectively frame of the new system, hardware and software of the system are separately designed, and assembling which, experiment system is established. After mathematic models are deduced, static and dynamic performances of system are analyzed by using MATLAB software. Finally experiments are carried out to test operation of the system. Comparing the results of simulink and experiments，it is proved that the new system has such advantages: better precision of velocity and position, and quickly response, stronger ant-disturb and so on. The results of res