智能阀门定位器中的压电阀门式I/P转换单元

阀门定位器是气动调节阀的配套产品,长期以来国产的阀门定位器是使用模拟信号和力平衡原理方法实现的。近年来,由于电子技术的发展,国外多家公司推出了智能阀门定位器,因为其控制精度高、可靠性好、抗振性好、调试方便、流量特性可在线修改、可远程通讯等优越性能,深受用户的青睐。我公     

国内外执行器研究的最新发展

对国内外进行的执行器数字化和智能化研究做一概述,论述了智能型电动执行器、智能型气动调节阀ICV、数字调节阀、全电子式阀门定位器K80PC、K80EC、智能型阀门管理器IVM等新产品的开发背景、功能原理和发展应用前景。     

新型智能阀门定位器中气动放大器的研制

气动放大器部件是阀门定位器实现智能化的关键部件之一,为了满足控制过程的智能化、网络化的发展需要,开发研制具有自主知识产权的气动放大器部件已迫在眉睫.本文介绍了一种新型智能阀门定位器气动放大器部件的工作原理、结构特点及控制原理.经我司开发批量生产验证,此型式气动放大器部件能耗很低,适用于MSP430系列芯片控制的智能阀门定位器.是未来智能阀门定位器发展主流方向之一.     

关于HVP系列智能阀门定位器的研发

智能阀门定位器是气动调节阀实现智能化的必备附件,为了满足现代工业过程控制的智能化、网络化的发展需要,开发研制具有自主知识产权的智能阀门定位器已迫在眉睫。产品设计中采用了压电技术、电磁效应原理、PID和模糊控制理论、气动放大原理、现场总线通信等关键技术,实现了控制室与现场信息的双向传输,提高了气动调节阀在工业过程控制中的调节精度、可靠性和效率。HVP智能阀门定位器填补了国内空白,受到广大用户的一致好评。可以预见,在未来几年内,智能阀门定位器必将成为该领域的主流产品。     

国产新型智能阀门定位器的设计

智能型阀门定位器已经成为现代过程控制系统的关键设备之一。为了进一步提高定位器的控制性能,研制了一款新型全电子式智能阀门定位器,介绍了该款定位器的主要组成部分和关键核心技术。此定位器采用比例式压电阀作为气动放大与驱动部件,利用自适应等多种智能控制技术,提高了智能阀门定位器的定位精度和抗干扰性能。该定位器具有功耗低、集成度高和运行可靠性好等优点,推动了国产电子式智能阀门定位器产业的发展。     

ABB智能阀门定位器在珞璜电厂技术改造中的应用

随着自动化技术的发展,系统对控制装置的要求也越来越高。针对ABB气动智能阀门定位器的特点,本文对珞璜电厂在阀门定位器改造过程中的问题和经验进行了介绍和交流,并分析了ABB智能阀门定位器的技术特点和控制原理,同时提出了改造的解决方案。     

智能阀门定位器的气动部件

在流程工业过程强化、功能安全和现场设备资产管理的强劲需求下,控制阀数字解决方案成为近年来控制阀制造厂商研发的重点,市场上数字式阀门定位器不断涌现,其中一些是具有数据处理、数字通信、状态识别和故障智能诊断、在线和离线测试等功能的智能阀门定位器。在计算机技术、电子技术、通信技术、智能预估诊断技术飞速发展的大环境下,智能阀门定位器的固件易于研发和技术提升,但其气动部件性能和表现却成为影响高可用性和安全可靠性的重要因素。本文试对中国市场常见的智能阀门定位器的气动部件进行探讨和细节分析。     

新型气动放大器在阀门定位器上的应用

该文介绍了一种新型气动放大器的结构和工作原理及其在阀门定位器上的应用。它具有体积小、寿命长、安装方便、高低压工作通用性强等特点,其性能显著优越于传统的气动放大器。     

智能电气阀门定位器的设计与自适应控制

针对传统阀门定位器的调节过程繁琐,精度较差的劣势,结合系统低功耗的要求,设计了MSP430F149作为微处理器的智能阀门定位器的硬件和软件;对阀门和气动执行器设备不确定性,提出了PID参数自整定的设计方法,自动辨识系统所需的控制参数,并引入模糊自适应算法进行在线校正;采用综合Bang--bang控制和模糊自适应算法的自适应控制器,满足了系统快速性和控制精度的要求;实验结果表明:控制系统调节时间约4s,超调量控制在2%之内,具有理论和应用价值.     

ZPZD3100型智能阀门定位器的原理与设计

智能型阀门定位器是气动调节阀实现智能控制的核心附件之一.随着石油、化工、化纤等行业的飞速发展,以及过程控制日益智能化、网络化的发展需求,开发具有中国自主知识产权的智能型阀门定位器已经势在必行.在ZPZD3100型智能阀门定位器的开发设计中,采用了电磁效应、气动放大、PID优化控制、现场总线、特殊工艺处理等关键技术和工艺,提高了气动阀门的控制性能,受到了用户的好评.     

气动薄膜执行机构模型优化及参数辨识

在气动调节阀中,针对智能电气阀门定位器控制算法的开发通常需以气动薄膜执行机构模型为基础;本研究对应用于气动薄膜执行机构的传统Karnopp摩擦模型进行了优化,对动静摩擦判断条件DV(临界速度)进行修改,修改后的模型解决了DV如何选取这一问题。同时对传统气动薄膜执行机构模型的参数辨识方法进行改进,将多元线性回归和最小二乘法应用于估算气动薄膜执行机构中移动部件质量,弹簧刚度系数,预紧力,库伦摩擦和粘滞摩擦系数,通过实际气室压力和估计气室压力的标准误差、相关系数与参数向量中每个参数对应的p-value三个指标来决定参数的选取结果。将摩擦模型整合进气动薄膜执行机构动力学模型中,通过仿真和实验验证了参数辨识方法有效性。在开环不同幅值的阶跃信号和随机信号激励下进行仿真和实验对比,结果表明,整合后的摩擦模型能准确模拟气动薄膜执行机构的动态过程,该模型和参数辨识方法同样适用于其它机械装备。     

基于EPA标准的执行机构产品开发

介绍了基于EPA标准的执行机构的工作原理，详细介绍了EPA通信卡的硬件设计，并阐述了基于模块化的软件设计，主要包括EPA用户应用程序、EPA协议栈软件和硬件驱动等主要模块。从而使执行机构具有基于EPA标准的工业以太网通信能力，同时利用EPA标准的多信息传输能力，实现了执行机构的远程组态、远程标定和远程故障诊断等功能，达到了执行机构设备智能化、数字化和网络化的目的，具有广阔的应用前景。     

Flow control valve for pneumatic actuators using particle excitation by PZT vibrator

This paper reports a new flow control valve for pneumatic actuators that has a lightweight and simple structure and uses particle excitation by PZT vibrator. The flow control valve in this report consists of an orifice plate which has plural orifices, PZT vibrator which is adhered on the orifice plate and iron particles. The valve is normally closed, because air flow carries the particles on to the orifice and particles seal the air flow. Because the orifice plate excitation by the PZT vibrator works to make the particles away from the orifice plate, the air flows through the orifices. It is driven at resonance mode and can be used as a variable speed controller for pneumatic actuators. The new flow control valve avoids the stopping shock of pneumatic actuators at the stroke ends while retaining the advantages of pneumatic actuators.     

气动人工肌肉驱动球面并联机器人关节的力控制研究

分析了具有柔索冗余驱动特点的静力关系，研究了力控制的智能控制算法及策略，在建立的实验样机上达到了良好的力伺服性能．将气动人工肌肉的被动柔顺性与位置控制到力控制过渡的主动柔顺控制策略结合，有效避免了机器人在与环境接触时的碰撞与冲击．     

A pneumatic muscle actuator driven manipulator for nuclear waste retrieval

This paper describes the development of a prototype tele-operated rig for the retrieval of radioactive material (spent Magnox fuel) from underwater storage ponds. The ‘robotic’ mechanism developed for the task combines the established and accepted manual manipulation system with new pneumatic muscle actuators (pMA), that provide the controlled, flexible and robust energy input replacing direct human operation. This paper covers all aspects of the tele-operational system but focuses on the benefits of using pMA drives. Results show the capacity of the actuators to manoeuvre heavy loads accurately through large work volumes.     

Microsized Piston-Cylinder Pneumatic and Hydraulic Actuators Fabricated by Lithography

Future microrobotic applications require actuators that can generate a high actuation force in a limited volume. Up to now, little research has been performed on the development of pneumatic or hydraulic microactuators, although they offer great prospects in achieving high force densities. In addition, large actuation strokes and high actuation speeds can be achieved by these actuators. This paper describes a fabrication process for piston-cylinder pneumatic and hydraulic actuators based on etching techniques, UV-definable polymers, and low-temperature bonding. Prototype actuators with a piston area of 0.15 mm² have been fabricated in order to validate the production process. These actuators achieve actuation forces of more than 0.1 N and strokes of 750 mum using pressurized air or water as driving fluid.     

Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube

Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.     

气动人工肌肉驱动的机器人控制方法研究现状概述

随着机器人技术的飞速发展,传统执行器(如电机、液压驱动等)结构繁冗、体积庞大,越来越难以满足新一代智能机器人对轻质化与柔顺性的需求,具有更高柔顺性、更强安全性的气动人工肌肉日益受到广大学者的关注.气动人工肌肉结构简单、材料轻便、生物适应性好,在医疗康复、航空航天、水下作业、抢险救灾等领域均具有良好的适应性,可方便地用于驱动机器人完成多项复杂任务.然而,气动人工肌肉与生俱来的迟滞、高度非线性、蠕变等特性,为其驱动的柔性机器人精准智能控制带来了挑战.鉴于此,首先对气动人工肌肉的工作原理、优势缺陷、建模与应用现状等进行简要介绍;然后基于气动肌肉的主流模型,对近年来单、多气动人工肌肉驱动的机器人运动控制方法研究现状与最新进展进行重点阐述;最后根据当今研究现状与尚未解决的难题,简要分析气动人工肌肉驱动的机器人未来发展趋势.     

High-fidelity sliding mode control of a pneumatic haptic teleoperation system

For a pneumatic teleoperation system with on/off solenoid valves, sliding mode control laws for position and force ensuring low switching (open/close) activity of the valves are developed. Since each pneumatic actuator has two pneumatic chambers with a total of four on/off valves, 16 possible combinations (‘operating modes’) for the valves’ on/off positions exist, but only seven of which are both functional and unique. While previous work has focused on three-mode sliding-based position control of one pneumatic actuator, this paper develops the seven-mode sliding-based bilateral control of a teleoperation system comprising a pair of pneumatic actuators. The proposed bilateral sliding control schemes are experimentally validated on a pair of actuators utilizing position-position and force-position teleoperation architectures. The results demonstrate that leveraging the additional modes of operation leads to more efficient and smoother control of the pneumatic teleoperation system. It was found that viscous friction forces were crippling haptic feedback in the position-position architecture. Through the use of force sensors, the force-position architecture was able to compensate for the heavy viscous friction forces.