CN102109857B - Device and method for recognizing parameter of executive mechanism in electro-hydraulic angular speed servo system - Google Patents

Device and method for recognizing parameter of executive mechanism in electro-hydraulic angular speed servo system Download PDF

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Publication number
CN102109857B
CN102109857B CN 201110048069 CN201110048069A CN102109857B CN 102109857 B CN102109857 B CN 102109857B CN 201110048069 CN201110048069 CN 201110048069 CN 201110048069 A CN201110048069 A CN 201110048069A CN 102109857 B CN102109857 B CN 102109857B
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angular velocity
current signal
angular speed
hydraulic
steady
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CN 201110048069
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Chinese (zh)
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CN102109857A (en
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曾文火
朱鹏程
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江苏科技大学
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Abstract

The invention discloses a device and a method for recognizing a parameter of an executive mechanism in an electro-hydraulic angular speed servo system. The recognition device consists of a step current signal generator, an electro-hydraulic servo valve, a hydraulic motor, a mechanical load, an angular speed detection sensor, a recording instrument and a hydraulic source. The recognition method comprises the following steps of: inputting a step current signal into the electro-hydraulic servo valve; driving the hydraulic motor and the mechanical load to rotate through the hydraulic source; recording the variation process of the amplitude value of the step current signal and an angular speed signal along with time until the angular speed signal reaches a steady-state value; dividing the amplitude value of the step current signal by the steady-state value of the angular speed signal to acquire the equivalent viscous damping coefficient of the executive mechanism; and multiplying the equivalent viscous damping coefficient by a time value corresponding to the intersection point at which a tangent line at the zero hour position of an angular speed signal curve is intersected with the steady-state value of the angular speed signal to acquire the equivalent inertia of the executive mechanism. By the device and the method, time and labor can be saved when the electro-hydraulic angular speed servo system is debugged, and good static and dynamic properties can be acquired by the electro-hydraulic angular speed servo system.

Description

Actuating mechanism parameter identification device and recognition methods in the electricity liquid angular velocity servo system

One. technical field:

The present invention relates to a kind of electro hydraulic servo system design method, more particularly, relate to actuating mechanism parameter identification device and recognition methods in a kind of electric liquid angular velocity servo system.

Two. background technology:

Electricity liquid angular velocity servo system is widely used in the departments such as industry, traffic, scientific research.In order to obtain good angular velocity servo performance, electric liquid angular velocity servo system must adopt closed-loop control.Electricity liquid angular velocity servo system comprises electronic controller, topworks, angular velocity detection sensor and hydraulic power source.Wherein topworks is exactly topworks, it by electrohydraulic servo valve, oil motor and it with mechanical load form.Only have topworks is carried out qualitative identification, could determine which type of electronic controller of design, only have the parameter of topworks is quantitatively identified, could accurately adjust the control parameter of electronic controller.

At present, the known electronic controller of the prior art of electric liquid angular velocity servo system, its control parameter is not to adjust according to the parameter of topworks, but directly adopts method of trial and error or empirical method to adjust the control parameter of electronic controller.This control parameter adjustment that just causes electronic controller relatively blindly, the debugging of electric liquid angular velocity servo system is wasted time and energy, the angular velocity servo performance is difficult to engineering demands.Therefore, when electric liquid angular velocity servo system design and debugging, how identifying the parameter of topworks, then is problems to be solved in the prior art.

Three. summary of the invention:

The objective of the invention is for above-mentioned problems of the prior art, actuating mechanism parameter identification device and recognition methods in a kind of electric liquid angular velocity servo system is provided, so that when the design of electric liquid angular velocity servo system and debugging, adjust with a definite target in view the parameter of electronic controller.

Electricity liquid angular velocity servo system comprises electronic controller, topworks, angular velocity detection sensor and hydraulic power source.Wherein topworks by electrohydraulic servo valve, oil motor and it with mechanical load form.Electrohydraulic servo valve is the crux device of electric liquid angular velocity servo system, in electrohydraulic servo system, place switching place of electric signal and hydraulic pressure signal, it at first converts the current signal of electronic controller output to the displacement of spool, and then convert again the load flow of hydraulic pressure signal to, and be enlarged into powerful hydraulic energy and drive topworks's motion.

Topworks by electrohydraulic servo valve, oil motor and it with mechanical load form.In the electricity liquid angular velocity servo system, during to the electrohydraulic servo valve input current, be output as the oil motor axle and with the angular velocity of mechanical load.Therefore, being output as oil motor axis angular rate ω (t) (rad/s) with respect to the input current i (t) of the electrohydraulic servo valve transport function expression formula between (A) is

Ω ( s ) I ( s ) = 1 J d s + B d - - - ( 1 )

J in the formula d---be called equivalent inertia;

B d---be called equivalent viscous damping ratio.

Formula (1) is exactly the mathematical model of the topworks of practical engineering in the electric liquid angular velocity servo system.It is a first-order system.Know the form that topworks's mathematical model adopts transport function to express, only finished the qualitative understanding to it.Only have J in the formula (1) dAnd B dThe size identification of these two parameters out just can be finished the quantitative identification to topworks's mathematical model.So, how it is quantitatively identified? in order to address this problem, the present invention realizes that the technical scheme that purpose is taked is:

Actuating mechanism parameter identification device in a kind of electric liquid angular velocity servo system, consisted of by step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection sensor, register instrument and hydraulic power source, wherein step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection sensor and register instrument are linked in sequence, meanwhile, the step current signal generator also is directly connected to register instrument, and described hydraulic power source is connected respectively to electrohydraulic servo valve and oil motor.

Described electrohydraulic servo valve, oil motor and mechanical load have just formed the topworks that will carry out parameter identification.

Described step current signal generator generation step current signal offers the electrohydraulic servo valve in the topworks, electrohydraulic servo valve converts current signal to the displacement of spool, and then convert again load flow in the hydraulic system to, and be enlarged into that powerful hydraulic energy promotes the oil motor axle and the mechanical load of being with rotates, the angular velocity detection sensor with the oil motor axle and detect and deliver to register instrument with the angular velocity signal of mechanical load and carry out record; Meanwhile, the step current signal of step current signal generator output is also delivered to register instrument it is recorded.

To achieve these goals, another technical scheme of taking of the present invention is: parameter of actuating mechanism recognition methods in a kind of electric liquid angular velocity servo system.

Be I with amplitude MStep current signal i (t) be input to electrohydraulic servo valve in the topworks, obtain the output response of topworks, namely obtain the oil motor axle and with the motion angular velocity omega (t) of mechanical load.Write out the corresponding differential equation according to transport function formula (1)

J d dω ( t ) dt + B d = I M - - - ( 2 )

The time solution of obtaining this differential equation is

ω ( t ) = I M B d ( 1 - e - B d J d t ) - - - ( 3 )

According to this time solution of formula (3), can find two inferences that are of great significance:

1. when t → ∞, the steady-state value of ω (t) is In the engineering practice, as long as Just can substantially reach steady-state value, not need by the time infinitely great.

2. formula (3) is asked this value constantly of single order differential t=0, obtain

dω ( t ) dt | t = 0 = I M B d 1 T e - 1 T t | t = 0 = I M B d 1 T - - - ( 10 ) ?

According to the above-mentioned theory analysis and through practice test, parameter of actuating mechanism recognition methods in the electric liquid angular velocity servo system provided by the invention may further comprise the steps:

(1) be that the step current signal of certain certain value (the amplitude size is decided according to the specification of electrohydraulic servo valve) is input to electrohydraulic servo valve with amplitude, drive oil motor and institute's mechanical load of be with moves by hydraulic power source, by angular velocity detection sensor detection oil motor axle and load-carrying angular velocity signal;

(2) with register instrument described step current signal and angular velocity signal temporal evolution process record are got off, until angular velocity signal reaches steady-state value and measures its size;

(3) with the amplitude of the described step current signal steady-state value divided by the linea angulata rate signal, obtain the equivalent viscous damping ratio of topworks;

(4) steady-state value of described angular velocity signal is made extended line until intersect with ordinate to the ordinate direction;

(5) constantly make tangent line and its steady-state value and intersect at a point to the extended line of ordinate direction in the place at this curve of described angular velocity signal zero, read time value corresponding to this intersection point at time shaft;

(6) above-mentioned equivalent viscous damping ratio and above-mentioned time value are multiplied each other, obtain the equivalent inertia of topworks.

Advantage and the beneficial effect of actuating mechanism parameter identification device and recognition methods mainly are in the electric liquid angular velocity servo system of the present invention: obtain after the equivalent viscous damping ratio and equivalent inertia of topworks, the control parameter size of electronic controller just can design and adjust according to these two parameters of topworks in the electricity liquid angular velocity servo system, thereby overcome the blindness of the control parameter adjustment of electronic controller, not only so that the adjustment of electric liquid angular velocity servo system is sparing of one's energy and the time, but also can obtain good static properties and dynamic property.

Four. description of drawings

Fig. 1 is actuating mechanism parameter identification device block scheme in the electric liquid angular velocity servo system of the embodiment of the invention.

Fig. 2 is that parameter of actuating mechanism when identification of the embodiment of the invention is for the angular velocity signal figure of step current signal input.

Five. embodiment:

In order to deepen the understanding of the present invention, below in conjunction with accompanying drawing specific embodiments of the invention further are described in detail, this embodiment only is used for explaining the present invention, does not consist of the restriction to protection domain of the present invention.

Fig. 1 is that actuating mechanism parameter identification device consists of block diagram in the electric liquid angular velocity servo system of the embodiment of the invention.Actuating mechanism parameter identification device in the electric liquid angular velocity servo system of the embodiment of the invention, by a step current signal generator 110, an electrohydraulic servo valve 121, an oil motor 122, with mechanical load 123, an angular velocity detection sensor 130, a register instrument 140, and hydraulic power source 150 consists of, wherein said step current signal generator 110, electrohydraulic servo valve 121, oil motor 122, mechanical load 123, angular velocity detection sensor 130, and register instrument 140 is linked in sequence, meanwhile, described step current signal generator 110 also directly is connected with register instrument 140; Described hydraulic power source 150 is connected respectively to electrohydraulic servo valve 121 and oil motor 122.Wherein electrohydraulic servo valve 121, oil motor 122 and mechanical load 123 form topworks 120.

It is I that described step current signal generator 110 provides current amplitude MStep signal, be sent to electrohydraulic servo valve 121, electrohydraulic servo valve 121 converts current signal to the displacement of spool, and then by the high power hydraulic of hydraulic power source 150 after amplifying can drive oil motor 122 piston and the mechanical load of being with 123 carry out rectilinear motion, by angular velocity detection sensor 130 measure oil motors and with the size of mechanical load angular velocity, the signal of step current signal generator 110 and angular velocity detection sensor 130 is all delivered to register instrument 140, the oil motor that register instrument 140 is recorded and with mechanical load for the angular velocity signal of step current signal input as shown in Figure 2.

The parameter of actuating mechanism recognition methods may further comprise the steps in the described electric liquid angular velocity servo system:

(1) be I with amplitude MThe step current signal i (t) of (the amplitude size is decided according to the specification of electrohydraulic servo valve) is input to electrohydraulic servo valve, drive the oil motor axle and institute's mechanical load of be with moves by hydraulic power source, by angular velocity detection sensor detection oil motor axle and with the angular velocity signal ω (t) of mechanical load;

(2) with register instrument described step current signal i (t) and angular velocity signal ω (t) temporal evolution process record are got off, until angular velocity signal reaches steady-state value Ω MAnd measure its size;

(3) with described step current signal amplitude I MSteady-state value Ω divided by angular velocity signal M, obtain the equivalent viscous damping ratio B of topworks d

(4) steady-state value of described angular velocity signal is made extended line until intersect with ordinate to the ordinate direction;

(5) constantly make tangent line and its steady-state value intersects at the S point to ordinate direction extended line in the place at this bar response curve of described angular velocity signal zero, the P point reads time value T on the time shaft corresponding with this intersection point;

(6) with above-mentioned equivalent viscous damping ratio B dMultiply each other with above-mentioned time value T, obtain the equivalent inertia J of topworks d

By the qualitative understanding of topworks's mathematical model as can be known, the mathematical model of topworks is first-order system.According to the version of mathematical model, can determine the composition form of electronic controller in the electric liquid angular velocity servo system.

Obtain the equivalent viscous damping ratio B of above-mentioned topworks dWith equivalent inertia J dAfterwards, the parameter in topworks's mathematical model is just quantitatively identified, according to the equivalent viscous damping ratio B of topworks dWith equivalent inertia J dThe size of these two parameters just can design and adjust the control parameter of electronic controller in the electric liquid angular velocity servo system.

Facts have proved, the method for the invention not only can be sparing of one's energy and the time in electric liquid angular velocity servo system design and debugging, and can obtain good static properties and dynamic property.

Claims (1)

1. actuating mechanism parameter identification device in the electric liquid angular velocity servo system, it is characterized in that: described recognition device is made of step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection sensor, register instrument and hydraulic power source, and wherein said step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection sensor and register instrument are connected in order; Described step current signal generator also directly links to each other with register instrument; Described hydraulic power source is connected with oil motor with electrohydraulic servo valve respectively; The recognition methods of this recognition device is:
(1) amplitude is input to electrohydraulic servo valve for the step current signal of certain certain value, drives the oil motor axle and institute's mechanical load of be with moves by hydraulic power source, by angular velocity detection sensor detection oil motor axle and load-carrying angular velocity signal;
(2) adopt register instrument that described step current signal amplitude and angular velocity signal temporal evolution process record are got off, until angular velocity signal reaches steady-state value and measures its size, horizontal ordinate represents the time, and ordinate represents angular velocity signal;
(3) with the amplitude of the described step current signal steady-state value divided by angular velocity signal, obtain the equivalent viscous damping ratio of topworks;
(4) steady-state value of described angular velocity signal is made extended line until intersect with ordinate to the ordinate direction;
(5) constantly make tangent line and its steady-state value and intersect at a point to the extended line of ordinate direction in the place at this bar response curve of described angular velocity signal zero, read time value corresponding to this intersection point at time shaft;
(6) described equivalent viscous damping ratio and described time value are multiplied each other, obtain the equivalent inertia of topworks.
CN 201110048069 2011-03-01 2011-03-01 Device and method for recognizing parameter of executive mechanism in electro-hydraulic angular speed servo system CN102109857B (en)

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CN102331715B (en) * 2011-09-15 2012-10-24 江苏科技大学 Method for determining control parameters of electrohydraulic linear speed servo system
CN103631281B (en) * 2013-12-06 2016-01-13 江苏科技大学 A kind of oil motor angular velocity servo system
CN104535327B (en) * 2015-01-04 2017-04-26 巢湖学院 Parameter recognizing method of servo valve control motor device

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CN101403892B (en) * 2008-10-31 2011-06-01 江苏科技大学 Controlled member parameter recognition method based on DC motor angular displacement control
CN101510746B (en) * 2008-10-31 2010-09-08 江苏科技大学 Method for recognizing control object parameter based on DC motor speed control
CN101394146B (en) * 2008-10-31 2012-01-25 江苏科技大学 Parameter recognition system and method for DC electric motor speed control object

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