CN100575716C - A kind of redundant electrohydraulic servo-controlling system - Google Patents
A kind of redundant electrohydraulic servo-controlling system Download PDFInfo
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- CN100575716C CN100575716C CN200810054655A CN200810054655A CN100575716C CN 100575716 C CN100575716 C CN 100575716C CN 200810054655 A CN200810054655 A CN 200810054655A CN 200810054655 A CN200810054655 A CN 200810054655A CN 100575716 C CN100575716 C CN 100575716C
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- servovalve
- pipe line
- electromagnetic valve
- way electromagnetic
- hydraulic pipe
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Abstract
A kind of redundant electrohydraulic servo-controlling system is the electrohydraulic servo system that adopts double fluid amount servovalve or double servo proportion control, adopt the 2/2-way solenoid valve to realize controllable being connected in parallel between the bivalve, realize the dynamic adjustment of controlling schemes, finish the realization of load movement speed, index, thereby reach purpose efficient, Energy Saving Control, improved the reliability of system simultaneously.
Description
Technical field
The present invention relates to a kind of electrohydraulic servo-controlling system, specifically is a kind of electrohydraulic servo system that adopts double fluid amount servovalve or servo proportion control.
Technical background
An existing electrohydraulic servo system independently, its crucial control unit adopts a servovalve or Proportional valve.Generally speaking, after the design speed of response of servovalve or Proportional valve arrives to a certain degree greatly, its design output flow descends gradually, if real system needs the speed of response height and the output flow of valve big simultaneously, then existing Hydraulic Servo Control Technology can't satisfy its requirement, and must reduce the index request of real system or abandon the Hydraulic Servo Control scheme this moment.Though the index of external product (mainly being the U.S., Germany, japanese product on the market) is high more a lot of than the index of home products, but still can't satisfy the growing high dynamic response demand of real system.On market, external product especially, after the design speed of response of servovalve or Proportional valve and design discharge index were very high, these indexs promoted faint amplitude again, and price will significantly rise.No matter at technical elements or economic aspect, this single valve controlling schemes has tangible deficiency.
The inventor is in real work, run into and control unit (servovalve/Proportional valve) speed of response is required very high, output flow is very big, requires the also very high electrohydraulic servo system of reliability simultaneously, only front 2 points do not have the product that can meet the demands at present on the domestic and international market.Adopt servovalve or Proportional valve bivalve parallel control technology scheme, can satisfy the requirement of system's high response speed, big output flow, 3 aspects of high reliability simultaneously.
Summary of the invention
Based on the deficiency of above-mentioned existing electrohydraulic servo-controlling system, the purpose of this invention is to provide a kind of redundant electrohydraulic servo-controlling system, to improve the reliability of electrohydraulic servo-controlling system, solve the problem of electrohydraulic servo-controlling system in high-speed case down-off deficiency.
A kind of redundant electrohydraulic servo-controlling system of the present invention, include oil hydraulic pump, motor, relief valve, accumulator, servovalve I, amplifier I, hydraulic actuator, displacement transducer, pressure transducer I, pressure transducer II, controller and load, constitute electrohydraulic servo-controlling system, it is characterized in that having additional in this electrohydraulic servo-controlling system servovalve II, amplifier II, 2/2-way electromagnetic valve I and 2/2-way electromagnetic valve II, wherein, the filler opening of described servovalve I is communicated with through the filler opening of the 5th hydraulic pipe line with servovalve II, first oil outlet of servovalve I is communicated with through the filler opening of first hydraulic pipe line with the 2/2-way electromagnetic valve I, second oil outlet of servovalve I is communicated with the filler opening of 2/2-way electromagnetic valve II and the cavity volume II of hydraulic actuator through second hydraulic pipe line, and servovalve I return opening is communicated with fuel tank; First oil outlet of described servovalve II is communicated with the oil outlet of 2/2-way electromagnetic valve I and the cavity volume I of hydraulic actuator through the 3rd hydraulic pipe line, servovalve II second oil outlet is communicated with 2/2-way electromagnetic valve II oil outlet through the 4th hydraulic pipe line, servovalve II return opening is communicated with fuel tank, but constitutes compensates for differential cylinder area difference or import and export independent control loop.
After removing 2/2-way electromagnetic valve II and the 4th hydraulic pipe line in the technique scheme electrohydraulic servo-controlling system of the present invention, but constitute compensates for differential cylinder area difference or import and export independent control loop; After removing 2/2-way electromagnetic valve I and 2/2-way electromagnetic valve II in this electrohydraulic servo-controlling system, first oil outlet of servovalve I is communicated with first oil outlet of servovalve II through first hydraulic pipe line and the 3rd hydraulic pipe line, second oil outlet of servovalve I is communicated with second oil outlet of servovalve II through second hydraulic pipe line and the 4th hydraulic pipe line, constitutes the bivalve parallel control loop; After removing 2/2-way electromagnetic valve I, 2/2-way electromagnetic valve II and the 4th hydraulic pipe line in this electrohydraulic servo-controlling system, first oil outlet of servovalve I is communicated with first oil outlet of servovalve II through first hydraulic pipe line and the 3rd hydraulic pipe line, but constitutes the bivalve parallel control loop of compensates for differential cylinder area difference.
Hydraulic actuator in the technique scheme electrohydraulic servo-controlling system of the present invention can be a symmetrical hydraulic cylinder, also can be asymmetrical cylinder and oil hydraulic motor; Servovalve I and servovalve II can be that flow type servovalve also can be a flow type servo proportion.
The present invention adopts servovalve or the Proportional valve bivalve crucial control unit as system.Compare with prior art, improved the response capability of output flow and system by adopting two servovalves; When one of them servovalve broke down, the another one servovalve can work on, and had guaranteed the reliable operation of system; In addition, two servovalves can be distinguished independent control, realize the various control strategy neatly, reach to cut down the consumption of energy, increase Security, improve many-sided various objectives such as handling.Under the present market environment, when the servovalve of a big flow was not less than the speed of response of existing procucts and twice that output flow is not less than existing procucts in its speed of response, its price was considerably beyond the price of two existing products.
In the present invention, as accompanying drawing 1,, can dynamically change the annexation of two servovalves by the on off operating mode of control 2/2-way electromagnetic valve I and 2/2-way electromagnetic valve II, 1. the 2/2-way electromagnetic valve I is logical, the 2/2-way electromagnetic valve II is logical, and the flow of system's output (is l
2, l
3In output flow) be two servovalve output flow sums, and speed of response still keeps the speed of response of single servovalve, can realize the high-speed large-flow control to load; 2. the 2/2-way electromagnetic valve I is disconnected, the 2/2-way electromagnetic valve II is disconnected, can be to the second hydraulic pipe line l
2, the 3rd hydraulic pipe line l
3Output flow carries out independent control, and promptly servovalve I controls the second hydraulic pipe line l
2Output flow, servovalve II controls the 3rd hydraulic pipe line l
3Output flow, realize complicated load movement control strategy; 3. the 2/2-way electromagnetic valve I logical, when the 2/2-way electromagnetic valve II is disconnected, two servovalve I, servovalve II control the 3rd hydraulic pipe line l simultaneously
3Output flow has only servovalve I can control the second hydraulic pipe line l
2Output flow, realize the symmetry control of asymmetrical load; 4. the 2/2-way electromagnetic valve I disconnected, when the 2/2-way electromagnetic valve II is logical, two servovalve I and servovalve II control the second hydraulic pipe line l simultaneously
2Output flow, have only servovalve II can control the 3rd hydraulic pipe line l
3Output flow, realize loading on the very big speed difference of acquisition on the both direction, increase work efficiency.After among two servovalve I and the servovalve II any one broke down, another one can work independently, and makes the second hydraulic pipe line l
2With the 3rd hydraulic pipe line l
3Output flow still can control, the reliability of system is improved.
Except that can improving output flow, improving reliability, reduce cost, therefore the flexibility that can also improve controlling schemes greatly, can be widely used in the existing hydraulic servo control system in this bivalve control technique of the present invention.
Description of drawings
Fig. 1 is the structural principle schematic representation of embodiment of the present invention 1 and mode of execution 2
Fig. 2 is embodiment of the present invention 3 and mode of execution 4 structural principle schematic representation
Fig. 3 is embodiment of the present invention 5 structural principle schematic representation
Fig. 4 is embodiment of the present invention 6 structural principle schematic representation
Among the figure: 1: oil hydraulic pump 2: motor 3: relief valve 4: accumulator 5: servovalve I 6: servovalve II 7: amplifier I 8: amplifier II 9: hydraulic actuator 10: displacement transducer 11: pressure transducer I 12: pressure transducer II 13: controller 14: load 15: 2/2-way electromagnetic valve I 16: the 2/2-way electromagnetic valve II
l
1: the first hydraulic pipe line l
2: the second hydraulic pipe line l
3: the 3rd hydraulic pipe line l
4: the 4th hydraulic pipe line l
5: the 5th hydraulic pipe line V
A: cavity volume I V
B: cavity volume II A1: the servovalve I first oil outlet B1: the servovalve I second oil outlet P1: servovalve I filler opening T1: servovalve I return opening A2: the servovalve II first oil outlet B2: the servovalve II second oil outlet P2: servovalve II filler opening T2: servovalve II return opening C1: 2/2-way electromagnetic valve I filler opening D1: 2/2-way electromagnetic valve I oil outlet C2: 2/2-way electromagnetic valve II filler opening D2: 2/2-way electromagnetic valve II oil outlet
Embodiment
Can be further detailed principle of the present invention and structure in conjunction with the accompanying drawings and embodiments, present embodiment is a detailed description of the invention, the present invention is not made any restriction.
As Fig. 1, oil hydraulic pump 1, motor 2, relief valve 3 and accumulator 4 constitute hydraulic oil source, the output shaft of motor 2 connects by the input shaft of coupling with oil hydraulic pump 1, and the filler opening of oil hydraulic pump 1 is connected to fuel tank by pipeline, and the oil outlet of oil hydraulic pump 1 is by the 5th hydraulic pipe line l
5Output, as the output of oil sources, the filler opening of relief valve 3 is by the 5th hydraulic pipe line l
5Be communicated to the oil outlet of oil hydraulic pump 1, the return opening of relief valve 3 is communicated to fuel tank, and accumulator 4 hydraulic fluid ports are by the 5th hydraulic pipe line l
5Be communicated to the oil sources output oil port; The first oil outlet A1 of servovalve I5 is by the first hydraulic pipe line l
1, 2/2-way electromagnetic valve I 15, the 3rd hydraulic pipe line l
3Be communicated to the first oil outlet A2 of servovalve II6, the second oil outlet B1 of servovalve I5 is by the second hydraulic pipe line l
2, 2/2-way electromagnetic valve II 16, the 4th hydraulic pipe line l
4Be communicated to the second oil outlet B2 of servovalve II6, the oil inlet P 1 of servovalve I5, servovalve II6, oil inlet P 2 are communicated with oil sources the 5th hydraulic pipe line l respectively
5, oil return inlet T 1, oil return inlet T 2 are communicated with fuel tank respectively, simultaneously, and the second hydraulic pipe line l
2Be communicated to the cavity volume II V of hydraulic actuator
B, the 3rd hydraulic pipe line l
3Be communicated to the cavity volume I V of hydraulic actuator
A Hydraulic actuator 9 drives load 14; The test end of displacement transducer 10 is connected to the motion parts of hydraulic actuator, is used to detect the output displacement of hydraulic actuator 9, and the test end of pressure transducer 11 is connected to the second hydraulic pipe line l
2, be used to detect the second hydraulic pipe line l
2In pressure, pressure transducer 12 test ends are connected to the 3rd hydraulic pipe line l
3, be used to detect the 3rd hydraulic pipe line l
3In pressure, the output terminal of amplifier I7 is received the input end of servovalve I5, the output terminal of amplifier II8 is received the input end of servovalve II6, and controller 13 connects displacement transducer 10, pressure transducer I11, pressure transducer II12 and amplifier I7 and amplifier II8 simultaneously.
2/2-way electromagnetic valve I 15,2/2-way electromagnetic valve II 16 are disconnected simultaneously,, realize hydraulic actuator 9 cavity volume IV by the control of 13 couples of servovalve I5 of controller and servovalve II6
A, cavity volume IIV
BIndependent control, i.e. the cavity volume IV of servovalve II6 control hydraulic actuator 9
A, the cavity volume IIV of servovalve I5 control hydraulic actuator 9
BThis example can realize complicated control strategy.
As Fig. 1, the Placement of present embodiment and structural principle are with embodiment 1,2/2-way electromagnetic valve I 15,2/2-way electromagnetic valve II 16 are connected simultaneously the twice of load 14 when the highest movement speed of left and right both direction reaches the control of single servovalve respectively in the drawings.Realization is to the high-speed response control of load.
As Fig. 2,2/2-way electromagnetic valve I 15 is connected, hydraulic actuator 9 a direction move (moving right among the figure) adopt two servovalve I5, servovalve II6 fuel feeding, hydraulic actuator then adopts single servovalve I5 fuel feeding in another one direction motion (among the figure to left movement).This mode is used to improve the one-way flow of hydraulic actuator 9, is fit to the movement velocity of the asymmetric hydraulic actuator 9 of balance on both direction.
As Fig. 2, present embodiment disconnects two cavity volume IV of hydraulic actuator 9 with 2/2-way electromagnetic valve I 15
AWith cavity volume IIV
B, being subjected to the independent control of servovalve II6 and servovalve I5 respectively, this mode has identical effect with embodiment 1.
As Fig. 3, present embodiment when both direction moves, all adopts two servovalve I5, servovalve II6 fuel feeding with hydraulic actuator 9.Mode of execution has identical effect with embodiment 2.
As Fig. 4, present embodiment moves hydraulic actuator 9 (moving right among the figure) in a direction, adopts two servovalve I5, servovalve II6 fuel feeding, and hydraulic actuator adopts single servovalve I5 fuel feeding at the motion of another one direction (among the figure to left movement).This mode has identical effect with embodiment 3.
As Fig. 1-4, present embodiment is replaced by servo proportion with servovalve I5, servovalve II6, and the function and the characteristics of structural principle of the present invention and system are constant.
Claims (6)
1. redundant electrohydraulic servo-controlling system, include oil hydraulic pump (1), motor (2), relief valve (3), accumulator (4), servovalve I (5), amplifier I (7), hydraulic actuator (9), displacement transducer (10), pressure transducer I (11), pressure transducer II (12), controller (13) and load (14), constitute electrohydraulic servo-controlling system, it is characterized in that having additional in this electrohydraulic servo-controlling system servovalve II (6), amplifier II (8), 2/2-way electromagnetic valve I (15) and 2/2-way electromagnetic valve II (16), wherein, the filler opening (P1) of described servovalve I (5) is through the 5th hydraulic pipe line (l
5) be communicated with the filler opening (P2) of servovalve II (6), first oil outlet (A1) of servovalve I (5) is through the first hydraulic pipe line (l
1) be communicated with the filler opening (C1) of 2/2-way electromagnetic valve I (15), second oil outlet (B1) of servovalve I (5) is through the second hydraulic pipe line (l
2) and the filler opening (C2) of 2/2-way electromagnetic valve II (16) and the cavity volume II (V of hydraulic actuator (9)
B) be communicated with, servovalve I (5) return opening is communicated with fuel tank; First oil outlet (A2) of described servovalve II (6) is through the 3rd hydraulic pipe line (l
3) and the oil outlet (D1) of 2/2-way electromagnetic valve I (15) and the cavity volume I (V of hydraulic actuator (9)
A) be communicated with, servovalve II (6) second oil outlets (B2) are through the 4th hydraulic pipe line (l
4) be communicated with 2/2-way electromagnetic valve II (16) oil outlet (D2), servovalve II (6) return opening is communicated with fuel tank, but constitutes compensates for differential cylinder area difference or import and export independent control loop.
2. redundant electrohydraulic servo-controlling system as claimed in claim 1 is characterized in that removing in this electrohydraulic servo-controlling system 2/2-way electromagnetic valve II (16) and the 4th hydraulic pipe line (l
4) after, but constitute compensates for differential cylinder area difference or import and export independent control loop.
3. redundant electrohydraulic servo-controlling system as claimed in claim 1, after it is characterized in that removing in this electrohydraulic servo-controlling system 2/2-way electromagnetic valve I (15) and 2/2-way electromagnetic valve II (16), first oil outlet (A1) of servovalve I (5) is through the first hydraulic pipe line (l
1) and the 3rd hydraulic pipe line (l
3) be communicated with first oil outlet (A2) of servovalve II (6), second oil outlet (B1) of servovalve I (5) is through the second hydraulic pipe line (l
2) and the 4th hydraulic pipe line (l
4) be communicated with second oil outlet (B2) of servovalve II (6), constitute the bivalve parallel control loop.
4. redundant electrohydraulic servo-controlling system as claimed in claim 1 is characterized in that removing in this electrohydraulic servo-controlling system 2/2-way electromagnetic valve I (15), 2/2-way electromagnetic valve II (16) and the 4th hydraulic pipe line (l
4) after, first oil outlet (A1) of servovalve I (5) is through the first hydraulic pipe line (l
1) and the 3rd hydraulic pipe line (l
3) be communicated with first oil outlet (A2) of servovalve II (6), but the bivalve parallel control loop of formation compensates for differential cylinder area difference.
5. redundant electrohydraulic servo-controlling system as claimed in claim 1 is characterized in that hydraulic actuator can be a symmetrical hydraulic cylinder, also can be asymmetrical cylinder and oil hydraulic motor.
6. redundant electrohydraulic servo-controlling system as claimed in claim 1 is characterized in that servovalve I (5) and servovalve II (6) are flow type servovalve or flow type servo proportion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810054655A CN100575716C (en) | 2008-03-21 | 2008-03-21 | A kind of redundant electrohydraulic servo-controlling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810054655A CN100575716C (en) | 2008-03-21 | 2008-03-21 | A kind of redundant electrohydraulic servo-controlling system |
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| CN101245794A CN101245794A (en) | 2008-08-20 |
| CN100575716C true CN100575716C (en) | 2009-12-30 |
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| CN200810054655A Expired - Fee Related CN100575716C (en) | 2008-03-21 | 2008-03-21 | A kind of redundant electrohydraulic servo-controlling system |
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Granted publication date: 20091230 Termination date: 20160321 |