CN101839364A - Chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism - Google Patents
Chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism Download PDFInfo
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- CN101839364A CN101839364A CN 201010157508 CN201010157508A CN101839364A CN 101839364 A CN101839364 A CN 101839364A CN 201010157508 CN201010157508 CN 201010157508 CN 201010157508 A CN201010157508 A CN 201010157508A CN 101839364 A CN101839364 A CN 101839364A
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Abstract
The invention relates to a chatter compensation method for hysteresis-loop nonlinearity of a digital-valve transmission mechanism, which comprises the following steps: a high-frequency chatter signal is superposed on the input signal of a digital valve, the frequency of the high-frequency chatter signal is identical or approximate to the natural frequency of the digital valve, the high-frequency chatter signal generates chatter, and the amplitude value of the high-frequency chatter signal is adjusted to reduce the hysteresis-loop nonlinearity of the digital-valve transmission mechanism. The invention provided the method which can effectively reduce or eliminate the hysteresis-loop nonlinearity of the digital-valve transmission mechanism.
Description
Technical field
The present invention relates to the chatter compensation method for hysteresis-loop nonlinearity that causes because of the gap of driving mechanism in the electrohydraulic digital servovalve.
Background technique
Driving mechanism is one of chief component of digital valve, its effect is except being converted to rotatablely moving of electromechanical converter (for example stepper motor) the straight line motion, also often play the effect that power/moment is amplified, be used for remedying the deficiency of digital valve with the ouput force/moment of electromechanical converter.Common digital valve mainly contains gear mechanism, cam mechanism and screw-nut body etc. with driving mechanism.Because driving mechanism is generally mechanical component, its without exception have a gap, thereby cause digital valve to produce stagnating the ring nonlinear characteristics.Digital valve is as the core parts of electrohydraulic control system, and non-linear the tending to of its ring that stagnates produces adverse influence to electrohydraulic control system, makes the output of system produce vibration, when serious even cause system's instability.Therefore, it is non-linear to reduce or eliminate the ring that stagnates.
Summary of the invention
There is the nonlinear deficiency of ring that stagnates in order to overcome existing digital-valve transmission mechanism, the invention provides and a kind ofly can effectively reduce or eliminate chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism, overlapped high-frequency vibrating signal on the input signal of described digital valve, the frequency of described high frequency vibrating signal is identical with the natural frequency of described digital valve or be close, described high frequency vibrating signal produces flutter, and the stagnant ring that reduces digital-valve transmission mechanism by the amplitude of adjusting the high frequency vibrating signal is non-linear.
Further, there is the gap in described digital-valve transmission mechanism, and the amplitude of described high frequency vibrating signal equals described gap.
Technical conceive of the present invention is: high frequency vibrating signal of stack on the signal of digital valve input, as high frequency sinusoidal signal etc., the natural frequency of the electromechanical converter that its frequency should be used with digital valve is close, and (electromechanical converter commonly used is composite stepper motor as digital valve, its natural frequency is roughly between 200-400HZ), producing flutter by the amplitude of adjusting the high frequency vibrating signal, to reduce or eliminate the stagnant ring that the gap because of driving mechanism produces non-linear; The amplitude size of nonlinear control effect of ring and high frequency vibrating signal of stagnating is directly proportional: when the amplitude of high frequency vibrating signal during less than the gap value of driving mechanism, non-linear being reduced of ring stagnates; Amplitude is big more, and the nonlinear inhibition effect of ring is good more for stagnating; When amplitude during more than or equal to the gap value of driving mechanism, stagnant cyclic group originally is eliminated.
Beneficial effect of the present invention mainly shows: adopt the Chatter Compensation technology can reduce or eliminate the stagnant ring nonlinear characteristics that factor word valve driving mechanism gap produces, improve the dynamic performance and the control accuracy of digital valve and digital electrohydraulic control system.
Description of drawings
Fig. 1 is the schematic representation of digital valve hysteresis characteristic;
Fig. 2 is the schematic representation in digital valve transmission system gap;
Fig. 3 is the pyramidal wave input signal schematic representation of digital valve when not having the overlapped high-frequency vibrating signal;
Fig. 4 is the spool travel that do not have overlapped high-frequency flutter letter time signal to produce because of the gap of the driving mechanism non-linear schematic representation of ring that stagnates;
Fig. 5 is the triangular signal schematic representation of digital valve behind the overlapped high-frequency vibrating signal;
Fig. 6 adopts the hysteresis characteristic of Chatter Compensation (signal amplitude is less than gap value) back under the effect of pyramidal wave input signal;
Fig. 7 adopts the hysteresis characteristic of Chatter Compensation (signal amplitude is more than or equal to gap value) back under the effect of pyramidal wave input signal.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 7, a kind of chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism, overlapped high-frequency vibrating signal on the input signal of described digital valve, the frequency of described high frequency vibrating signal is identical with the natural frequency of described digital valve or be close, described high frequency vibrating signal produces flutter, and the stagnant ring that reduces digital-valve transmission mechanism by the amplitude of adjusting the high frequency vibrating signal is non-linear.
There is the gap in described digital-valve transmission mechanism, and the amplitude of described high frequency vibrating signal equals described gap.
The stagnant ring of digital valve is defined as: between positive and negative voltage rating, with dynamic inoperative speed circulation time, produce the percentage of maximum difference and voltage rating between two voltages of identical output flow.When there is the gap in the driving mechanism of digital valve (as shown in Figure 2), when not adopting the Chatter Compensation technology, a high frequency vibrating signal (see figure 3) does not promptly superpose on the pyramidal wave input signal, then under the pyramidal wave input action spool travel of digital valve can to produce the ring that stagnates because of the gap b of driving mechanism non-linear, as shown in Figure 4.When adopting the Chatter Compensation technology, a high frequency vibrating signal (see figure 5) promptly superposes on the pyramidal wave input signal, the natural frequency of the electromechanical converter that signal frequency and digital valve are used is close, and (electromechanical converter commonly used is composite stepper motor as digital valve, its natural frequency is roughly between 200-400HZ), digital valve is inhibited because of the non-linear meeting of stagnant ring that the gap b of transmission system produces.It is non-linear to reduce or eliminate the stagnant ring that is produced because of gap b by the amplitude of adjusting the high frequency vibrating signal; The amplitude size of nonlinear control effect of ring and high frequency vibrating signal of stagnating is directly proportional: when the amplitude of high frequency vibrating signal during less than the gap value b of driving mechanism, non-linear being reduced of ring that stagnate, as shown in Figure 6; Amplitude is big more, and the nonlinear inhibition effect of ring is good more for stagnating; When amplitude during more than or equal to gap value b, stagnant cyclic group originally is eliminated, as shown in Figure 7.
Above-mentioned embodiment is used for explaining the present invention, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (2)
1. chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism, it is characterized in that: overlapped high-frequency vibrating signal on the input signal of described digital valve, the frequency of described high frequency vibrating signal is identical with the natural frequency of described digital valve or be close, described high frequency vibrating signal produces flutter, and the stagnant ring that reduces digital-valve transmission mechanism by the amplitude of adjusting the high frequency vibrating signal is non-linear.
2. chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism as claimed in claim 1 is characterized in that: there is the gap in described digital-valve transmission mechanism, and the amplitude of described high frequency vibrating signal equals described gap.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101575084A CN101839364B (en) | 2010-04-29 | 2010-04-29 | Chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism |
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| CN2010101575084A CN101839364B (en) | 2010-04-29 | 2010-04-29 | Chatter compensation method for hysteresis-loop nonlinearity of digital-valve transmission mechanism |
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| CN101839364A true CN101839364A (en) | 2010-09-22 |
| CN101839364B CN101839364B (en) | 2012-01-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739307A (en) * | 2016-01-29 | 2016-07-06 | 浙江大学 | Proportional pressure reducing valve hysteresis compensation device based on self-adaptive robust control and method thereof |
| CN113325886A (en) * | 2021-05-27 | 2021-08-31 | 三一重机有限公司 | Valve hysteresis compensation method and device, electronic equipment and storage medium |
| CN113325887A (en) * | 2021-05-28 | 2021-08-31 | 三一重机有限公司 | Valve hysteresis compensation method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348873C (en) * | 2005-11-03 | 2007-11-14 | 武汉科技大学 | Digital input type electrohydraulic servo-valve |
| CN101666341A (en) * | 2009-09-25 | 2010-03-10 | 浙江工业大学 | High frequency large flow 2D digital servo valve |
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2010
- 2010-04-29 CN CN2010101575084A patent/CN101839364B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348873C (en) * | 2005-11-03 | 2007-11-14 | 武汉科技大学 | Digital input type electrohydraulic servo-valve |
| CN101666341A (en) * | 2009-09-25 | 2010-03-10 | 浙江工业大学 | High frequency large flow 2D digital servo valve |
Non-Patent Citations (3)
| Title |
|---|
| 《振动与冲击》 20080228 谢玉东 基于颤振效应的气动比例阀摩擦力补偿研究 全文 1-2 第27卷, 第2期 2 * |
| 《机械工程学报》 20051130 阮健 数字阀的分级控制及非线性 全文 1-2 第41卷, 第11期 2 * |
| 《润滑与密封》 20070930 谢玉东 气动比例阀摩擦力补偿机制及实验研究 全文 1-2 第32卷, 第9期 2 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739307A (en) * | 2016-01-29 | 2016-07-06 | 浙江大学 | Proportional pressure reducing valve hysteresis compensation device based on self-adaptive robust control and method thereof |
| CN105739307B (en) * | 2016-01-29 | 2018-08-07 | 浙江大学 | The stagnant ring compensation device of proportional pressure-reducing valve based on adaptive robust control and method |
| CN113325886A (en) * | 2021-05-27 | 2021-08-31 | 三一重机有限公司 | Valve hysteresis compensation method and device, electronic equipment and storage medium |
| CN113325886B (en) * | 2021-05-27 | 2023-02-28 | 三一重机有限公司 | Valve hysteresis compensation method and device, electronic equipment and storage medium |
| CN113325887A (en) * | 2021-05-28 | 2021-08-31 | 三一重机有限公司 | Valve hysteresis compensation method and device, electronic equipment and storage medium |
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| CN101839364B (en) | 2012-01-18 |
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