偏导射流伺服阀建模及动态特性研究

为研究偏导射流液压放大器内部结构与伺服阀动态性能的内在联系,分别建立力矩马达、偏导射流液压放大器、功率级液压放大器的解析数学模型。分析接收口的复杂流动情况,提出一种简化的前置级液动力计算方法。构造偏导射流伺服阀完整模型,揭示射流口宽度、射流盘厚度及喷射口宽度对伺服阀动态特性的作用机理。针对整阀动态特性的漂移问题,探究了偏导射流前置级流量增益的非线性变化规律及其对动态特性的影响规律。仿真和试验结果表明,该数学模型能够有效地复现实际伺服阀动态特性,可为偏导射流伺服阀的设计和优化提供理论基础。     

偏导射流伺服阀前置级流场特性研究

建立偏导射流伺服阀前置级流场精确且完整的数学模型,对伺服阀先导级设计和研究有着重要作用。将射流过程分为初次射流、偏导板压力恢复、二次射流、接收口压力恢复4个阶段,在前置级二次射流过程中分别采用不同理论模型来构建前置级流场完整的数学模型,对射流形态的演变过程进行了描述。分析发现,油液射流进入前置级流场与偏导板侧壁发生撞击,流动形态发生改变,一部分油液沿侧壁反向流出偏导板,另一部分油液流速降低在下游形成高压区。油液流出偏导板时受到分流器的作用,分别流入不同通道。根据节流模型流量和压力特性公式求得了压力增益,并建立起负载压力与偏导板偏移量之间的数学关系。数值模拟过程中,采用不同湍流模型对前置级流场压力分布进行了分析。通过数值模拟仿真结果、外特性实验结果与射流模型计算结果的比较和分析,验证了该模型描述射流特性的有效性和合理性。     

Consensus problem of multi-agent systems under arbitrary topology

Consensus problem of second-order leader-following multi-agent systems under arbitrary topology is investigated in this paper.Arbitrary topology means the variable topology shifts continuously rather than switches among several different structures.For ensuring the consensus of leader-following multi-agent systems,some sufficient conditions and controller design principles are deduced both for a double-integrator case and a nonlinear case.Certainly,numerical simulations are carried out to prove the feasibility and effectiveness of theory derivation,which vividly illustrates that the following agents can successfully track the leader agent.