Stability of mechatronic hydraulic drive
DOI:
https://doi.org/10.31649/2413-4503-2019-9-1-66-76Keywords:
mechanotron hydraulic drive, mathematical model, stability of hydraulic drive, modes and conditions of operation, parameters of regulatorsAbstract
In mobile and technological machines, the use of mechanotron hydraulic drives is expanded on the basis of regulated pumps, proportional valves and controllers. In such hydraulic actuators there is the use of several regulators. They operate in conditions characterized by load variations and high-speed modes in wide ranges. In such hydraulic drives, frictional forces are applied to the working bodies and valve spools, and the working fluid and pipelines are supplemented This raises the problem of ensuring the stability of mechanotron hydraulic drives at the design stage.
The scheme of the mechatronic hydraulic drive on the basis of the regulated pump is presented. Hydraulic drive also includes directional valves, throttles, hydraulic cylinder, hydromotor, pressure sensors and controller. The hydraulic actuator ensures the simultaneous operation of the hydraulic cylinder and the hydraulic motor. The speed of the hydraulic cylinder and the hydromotor are regulated in wide ranges. The controller provides a change in the speed of the hydraulic cylinder when changing the load on the hydraulic motor. Such a mode of operation of the mechanotronic actuator provides adaptation to the change of external conditions. The article presents a mathematical model of a mechanotron hydraulic drive and studies the stability of its work. The influence on the stability of the parameters characterizing conditions and operating modes of the hydraulic drive has been revealed. The stability of the mechanotron hydraulic actuator is influenced by the moment of inertia on the hydromotor shaft, the mass of the working mechanism, the flow of the working fluid, the effort on the hydraulic cylinder, the moment on the hydraulic motor. It is also determined the influence on the stability of the hydraulic drive parameters of the regulators included in its composition. Increase the stability of the hydraulic drive is possible due to the choice of throttle regulator pump, the coefficient of amplification of the valve spool of the pump, the gain of the valve, damping the valve, the values of the diameter of the valve.
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