CN102226453B - Dual-redundancy electro hydraulic servo actuator - Google Patents
Dual-redundancy electro hydraulic servo actuator Download PDFInfo
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- CN102226453B CN102226453B CN201110169201.0A CN201110169201A CN102226453B CN 102226453 B CN102226453 B CN 102226453B CN 201110169201 A CN201110169201 A CN 201110169201A CN 102226453 B CN102226453 B CN 102226453B
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Abstract
The invention relates to a dual-redundancy electro hydraulic servo actuator which comprises a double-outlet rod hydraulic cylinder and a single-outlet rod hydraulic cylinder which are connected in series, wherein one end of the double-outlet rod hydraulic cylinder extends outward, and is connected with load; the rodless cavity side of the single-outlet rod hydraulic cylinder is connected with a displacement sensor; and one end of the double-outlet rod hydraulic cylinder and the rodless cavity side of the single-outlet rod hydraulic cylinder are respectively controlled by a hydraulic control system. According to the invention, the double-outlet rod hydraulic cylinder and the single-outlet rod hydraulic cylinder are adopted to form the dual-redundancy electro hydraulic servo actuator, so that the defect of large occupied space for a dual-redundancy electro hydraulic servo actuator which is composed of two double-outlet rod hydraulic cylinders in series is overcome, thus the structure is more compact, because the control on a single-outlet rod return circuit has a cold and hot oil exchange process, the system working temperature is reduced, and the system works more stably.
Description
Technical field
The present invention is relevant with electro-hydraulic servo actuator, is more specifically a kind of two outlet-rod hydraulic cylinders, two redundancy electro hydraulic servo actuators of asymmetric servo cylinder and hydraulic control system thereof of comprising.
Technical background
When hydraulic pressure installation is used for some important events, require hydraulic pressure installation to have certain amount of redundancy, the hydraulic actuator being used as Aircraft Main flying surface, when a set of hydraulic pressure installation breaks down, another set of hydraulic pressure installation can substitute it and put into operation, makes aircraft normal flight.In existing electro-hydraulic servo loop device, the two remaining hydraulic actuators that use, employing be two hydraulic actuators that two outlet-rod hydraulic cylinders are cascadedly combined, in use the using and the reserved also can be worked simultaneously.Two oil hydraulic cylinders in hydraulic actuator are controlled by power source separately and control unit and control system respectively, form two independently electrohydraulic servo systems.In order to improve the capacity usage ratio of hydraulic servomechanism, reduce tubing length, mitigation system weight, new technology adopts closed method to control two outlet-rod hydraulic cylinders wherein, existing corresponding patented technology [EP0271744, 1988-06-22, DE3919823A1, 1990-12-20], because two outlet-rod hydraulic cylinder two chamber flows are symmetrical, the fluid amount that oil hydraulic pump sucks from oil hydraulic cylinder one chamber equates with the fluid amount that is discharged to another chamber of oil hydraulic cylinder, adopt existing oil hydraulic pump, two chambeies of oil hydraulic pump oil inlet and outlet and oil hydraulic cylinder are directly connected, just can control the operation of two outlet-rod hydraulic cylinders, the speed of oil hydraulic cylinder is directly proportional to pump delivery and rotating speed, it is little that such apparatus system has energy loss, the feature that energy efficiency is high.
But this pair of outlet-rod hydraulic cylinder, because piston rod is two-way, stretch out, take up room larger, when especially the stroke of oil hydraulic cylinder is larger, this shortcoming is just more outstanding, this is for requiring the less equipment that takes up room, if aircraft etc. is very worthless, and in this closed circuit, because hydraulic oil exchange capacity is less, working long hours system temperature can be very high, and fluid temperature rise is higher, and hydraulic system stable operation is had a negative impact.
In hydraulic system, more than 90% hydraulic actuator all adopts the differential hydro cylinder of single rod, because the flow in asymmetric servo cylinder two chambeies is unequal, so just can not adopt existing pair of outlet oil hydraulic pump directly to form closed circuit, also need some ancillary methods, or hydraulic pressure pump structure is redesigned, make the area difference of its coupling asymmetric servo cylinder, existing publication number is: the patent of invention of CN1818382A a kind of " closed electrohydraulic controlling system ", a kind of like this method is just provided, this disclosure of the invention a kind of oil hydraulic pump of three hydraulic fluid ports, the inlet port of pump and low pressure oil sources are connected, two other actuator port is connected with two chambeies of asymmetric servo cylinder respectively, solved the unequal problem of pump controlled hydraulic differential cylinder two chamber active area, can reduce the axial dimension of oil hydraulic cylinder, but the redundancy hydraulic actuator that two current two outlet-rod hydraulic cylinder serial connections form the oil hydraulic pump that is not suitable for using this three hydraulic fluid ports.
Summary of the invention
The object of this invention is to provide a kind of pair of redundancy electro hydraulic servo actuator, to optimize electro-hydraulic servo actuator structure, reduce the shared space of final controlling element, reduce the heating value of Electro-hydraulic Servo System simultaneously, make electro-hydraulic servo hydraulic pressure installation working stability, safety.
To achieve these goals, a kind of pair of redundancy electro hydraulic servo actuator provided by the present invention, comprise a pair of outlet-rod hydraulic cylinder 1, an asymmetric servo cylinder 2, two outlet-rod hydraulic cylinders 1 and asymmetric servo cylinder 2 share same cylinder body 21, and two outlet-rod hydraulic cylinders 1 and asymmetric servo cylinder 2 share same piston rod 4, and piston rod 4 is protruding in a side of two outlet-rod hydraulic cylinders 1, displacement transducer 3 is arranged in the rodless cavity of asymmetric servo cylinder 2, detects the displacement of piston rod 4.
Also include corresponding two hydraulic control system I of outlet-rod hydraulic cylinder 1 and the hydraulic control system II of asymmetric servo cylinder 2.
In technique scheme, described hydraulic control system I is a kind of of Closed Hydraulic control system and open hydraulic control system, described in it, Closed Hydraulic control system is that two hydraulic fluid ports of bidirectional hydraulic pump 8 are by the first two four-way electromagnetic reversing valves 11, be connected with two chambeies of two outlet-rod hydraulic cylinders 1 respectively, the running shaft of bidirectional hydraulic pump 8 is connected with the output shaft of the first actuating motor 9 through coupling, and the output signal of the first controller 5 is connected to the control end of the first actuating motor 9; Described in it, open hydraulic control system is that pressure oil is connected with electrohydraulic control 22 with fuel tank 24, electrohydraulic control 22 is by the first two four-way electromagnetic reversing valves 11, respectively with two outlet-rod hydraulic cylinders 1 two chambeies be connected, the output signal of the 3rd controller 23 is connected with the control end of electrohydraulic control 22; Described hydraulic control system II is Closed Hydraulic control system, the inlet port of three hydraulic fluid port oil hydraulic pumps 13 is connected with the second accumulator 17, two other hydraulic fluid port is by the second two four-way electromagnetic reversing valves 19, be connected with two chambeies of asymmetric servo cylinder 2 respectively, the running shaft of three hydraulic fluid port oil hydraulic pumps 13 is connected with the output shaft of the second actuating motor 16 through coupling, and the output signal of second controller 12 is connected to the control end of the second actuating motor 16; On the piston rod 4 of the described pair of outlet-rod hydraulic cylinder 1 and asymmetric servo cylinder 2, can be marked with scale; Described the first accumulator 6 and the second accumulator 17 are a kind of in pressure type fuel tank and accumulator; Described bidirectional hydraulic pump 8 is a kind of in the two-way change displacement hydraulic pump of quantitative hydraulic pump and proportional control; Described three hydraulic fluid port oil hydraulic pumps 13 are a kind of in the two-way change discharge capacity axial piston pump of quantitative hydraulic pump and proportional control; Described hydraulic control system I is a kind of in the closed circuit of hydraulic pump control and the open circuit of servo valve control.
A kind of pair of redundancy electro hydraulic servo actuator of the present invention, compared with prior art, employing is composed in series by the oil hydraulic cylinder of a double piston-rod and the oil hydraulic cylinder of a single-piston rod, compare with the final controlling element that the oil hydraulic cylinder serial connection of existing two double piston-rods forms, can save axial space 1/3rd, particularly evident for large stroke hydraulic cylinder effect, this is very important for the little equipment that takes up room as requirements such as aircraft.Two redundancy electro hydraulic servo actuators that the present invention adopts, owing to having adopted an oil hydraulic cylinder with single-piston rod, compare the closed circuit of the oil hydraulic cylinder composition of double piston-rod, owing to there being the exchange of cold and hot oil, reduce the operating temperature of system, made system works safer, stable.
Accompanying drawing explanation
Fig. 1 is the structural representation of the two redundancy electro hydraulic servo actuators of the present invention and the hydraulic control system schematic diagram of the two redundancy electro hydraulic servo actuators of the present invention.
Fig. 2 is the structural representation of the two redundancy electro hydraulic servo actuators of the present invention and the another kind of hydraulic control system schematic diagram of the two redundancy electro hydraulic servo actuators of the present invention.
In figure: 1: two outlet-rod hydraulic cylinders; 2: asymmetric servo cylinder; 3: displacement transducer; 4: piston rod; 5: the first controllers; 6: the first accumulators; 7: the first one-way valves; 8: bidirectional hydraulic pump; 9: the first actuating motors; 10: the second one-way valves; 11: the first two four-way electromagnetic reversing valves; 12: second controller; 13: three hydraulic fluid port oil hydraulic pumps; 14: the first Pilot operated check valves; 15: the first relief valves; 16: the second actuating motors; 17: the second accumulators; 18: the second Pilot operated check valves; 19: the second two four-way electromagnetic reversing valves; 20: the second relief valves; 21: cylinder body; 22: electrohydraulic control; 23: the three controllers; 24: fuel tank.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further detailed.
Mode of execution 1
implement a kind of pair of redundancy electro hydraulic servo actuator of the present invention, comprise two outlet-rod hydraulic cylinders 1 and hydraulic control system I, asymmetric servo cylinder 2 and hydraulic control system II thereof.
As shown in Figure 1: two redundancy electro hydraulic servo actuators are composed in series by two outlet-rod hydraulic cylinders 1 and an asymmetric servo cylinder 2, two outlet-rod hydraulic cylinders 1 and asymmetric servo cylinder 2 share same cylinder body 21, two outlet-rod hydraulic cylinders 1 and asymmetric servo cylinder 2 share same piston rod 4, piston rod 4 is protruding in a side of two outlet-rod hydraulic cylinders 1, on piston rod 4, can be marked with the scale of its overhang of indication, displacement transducer 3 is arranged in the rodless cavity of asymmetric servo cylinder 2, detects the displacement of piston rod 4, two outlet-rod hydraulic cylinders 1 are same loads with asymmetric servo cylinder 2 drivings, and the using and the reserved in use also can be worked simultaneously, the hydraulic control system I of a kind of pair of outlet-rod hydraulic cylinder 1 is as shown in Figure 1: hydraulic control system is closed type hydraulic system, by bidirectional hydraulic pump 8, the first actuating motor 9, the first one-way valve 7 and the second one-way valve 10, the first two four-way electromagnetic reversing valves 11, the first accumulator 6, the first controllers 5, formed, the running shaft of bidirectional hydraulic pump 8 is connected with the output shaft of the first actuating motor 9 through coupling, and two outlets of bidirectional hydraulic pump 8 are by pipeline and the first two four-way electromagnetic reversing valves 11
mouthful,
mouthful connect, the first two logical four solenoid directional control valves 11
mouthful,
mouth is connected with two chambeies of two outlet-rod hydraulic cylinders 1 respectively, the outlet of the outlet of the first one-way valve 7 and the second one-way valve 10 is connected with two outlets of bidirectional hydraulic pump 8 respectively, the import of the import of the first one-way valve 7 and the second one-way valve 10 is connected with the first accumulator 6, the first one-way valve 7 and the second one-way valve 10 are connected in parallel with two outlet-rod hydraulic cylinders 1 simultaneously, the displacement signal of two outlet-rod hydraulic cylinders 1 is detected by displacement transducer 3 and is connected with the first controller 5, input instruction signal is connected with the first controller 5, the first actuating motor 9 tach signals are connected with the first controller 5, the first controller 5 output signals are connected with the control end of the first actuating motor 9, control rotating speed and the direction of the first actuating motor 9, the hydraulic control system II of asymmetric servo cylinder 2 is as shown in Figure 1: by three hydraulic fluid port oil hydraulic pumps 13, the second actuating motor 16, the first Pilot operated check valve 14 and the second Pilot operated check valve 18, the first relief valve 15 and the second relief valve 20, the second two four-way electromagnetic reversing valves 19, the second accumulator 17, second controller 12 forms, the running shaft of three hydraulic fluid port oil hydraulic pumps 13 is connected with the output shaft of the second actuating motor 16 through coupling, three hydraulic fluid port oil hydraulic pumps 13
outlet is connected with the second accumulator 17, three hydraulic fluid port oil hydraulic pumps 13
,
outlet by pipeline respectively with the second two four-way electromagnetic reversing valves 19
mouthful,
mouthful connect, the second two four-way electromagnetic reversing valves 19
mouthful,
mouth is connected with rodless cavity with the rod chamber of asymmetric servo cylinder 2 respectively, the first Pilot operated check valve 14
mouth and the second Pilot operated check valve 18
mouth is connected with rodless cavity with the rod chamber of asymmetric servo cylinder 2 respectively, the first Pilot operated check valve 14
mouth and the second Pilot operated check valve 18
mouth is connected with the second accumulator 17, the control port of the first Pilot operated check valve 14
and the control port of the second Pilot operated check valve 18
be connected with rod chamber with the rodless cavity of asymmetric servo cylinder 2 respectively, the import of the first relief valve 15 is connected with rodless cavity with the rod chamber of asymmetric servo cylinder 2 respectively with outlet, the import of the second relief valve 20 is connected with rod chamber with the rodless cavity of asymmetric servo cylinder 2 respectively with outlet, the displacement signal of asymmetric servo cylinder 2 is detected by displacement transducer 3 and is connected with second controller 12, input instruction signal is connected with second controller 12, the second actuating motor 16 tach signals are connected with second controller 12, the output signal of second controller 12 is connected with the control end of the second actuating motor 16, control rotating speed and the direction of the second actuating motor 16.
Mode of execution 2
The present invention's a kind of pair of redundancy electro hydraulic servo actuator of the present invention another kind of hydraulic control system as shown in Figure 2: the another kind of hydraulic control system I of two outlet-rod hydraulic cylinders 1 is as shown in Figure 2, adopt open hydraulic control system, electrohydraulic control 22, the first two four-way electromagnetic reversing valves 11, the 3rd controller 23, fuel tanks 24, consist of, pressure oil and fuel tank 24 are respectively with electrohydraulic control 22
mouthful and
mouth connects, electrohydraulic control 22
mouthful,
mouth is respectively with the first two four-way electromagnetic reversing valves 11
mouthful,
mouthful connect, the first two four-way electromagnetic reversing valves 11
mouthful,
mouth respectively with two outlet-rod hydraulic cylinders 1 two chambeies be connected, the displacement signal of two outlet-rod hydraulic cylinders 1 is detected by displacement transducer 3 and is connected with the 3rd controller 23, input instruction signal is connected with the 3rd controller 23, and the output signal of the 3rd controller 23 is connected with the control end of electrohydraulic control 22, the hydraulic control system II of asymmetric servo cylinder 2 is as shown in Figure 1: by three hydraulic fluid port oil hydraulic pumps 13, the second actuating motor 16, the first Pilot operated check valve 14 and the second Pilot operated check valve 18, the first relief valve 15 and the second relief valve 20, the second two four-way electromagnetic reversing valves 19, the second accumulator 17, second controller 12 forms, the running shaft of three hydraulic fluid port oil hydraulic pumps 13 is connected with the output shaft of the second actuating motor 16 through coupling, three hydraulic fluid port oil hydraulic pumps 13
outlet is connected with the second accumulator 17, three hydraulic fluid port oil hydraulic pumps 13
,
outlet by pipeline respectively with the second two four-way electromagnetic reversing valves 19
mouthful,
mouthful connect, the second two four-way electromagnetic reversing valves 19
mouthful,
mouth is connected with rodless cavity with the rod chamber of asymmetric servo cylinder 2 respectively, the first Pilot operated check valve 14
mouth and the second Pilot operated check valve 18
mouth is connected with rodless cavity with the rod chamber of asymmetric servo cylinder 2 respectively, the first Pilot operated check valve 14
mouth and the second Pilot operated check valve 18
mouth is connected with the second accumulator 17, the control port of the first Pilot operated check valve 14
and the control port of the second Pilot operated check valve 18
be connected with rod chamber with the rodless cavity of asymmetric servo cylinder 2 respectively, the import of the first relief valve 15 is connected with rodless cavity with the rod chamber of asymmetric servo cylinder 2 respectively with outlet, the import of the second relief valve 20 is connected with rod chamber with the rodless cavity of outlet difference asymmetric servo cylinder 2, the displacement signal of asymmetric servo cylinder 2 is detected by displacement transducer 3 and is connected with second controller 12, input instruction signal is connected with second controller 12, the second actuating motor 16 tach signals are connected with second controller 12, the output signal of second controller 12 is connected with the control end of the second actuating motor 16, control rotating speed and the direction of the second actuating motor 16.
Claims (4)
1. a two redundancy electro hydraulic servo actuator, it is characterized in that: comprise two outlet-rod hydraulic cylinders (1), asymmetric servo cylinder (2), cylinder body (21), piston rod (4), displacement transducer (3), hydraulic control system I and hydraulic control system II, wherein, two outlet-rod hydraulic cylinders (1) and asymmetric servo cylinder (2) serial connection, two outlet-rod hydraulic cylinders (1) and asymmetric servo cylinder (2) share same cylinder body (21) and piston rod (4), piston rod (4) is protruding from a side of two outlet-rod hydraulic cylinders (1), displacement transducer (3) is arranged on the rodless cavity of asymmetric servo cylinder (2), detect the displacement of piston rod (4),
Two outlet-rod hydraulic cylinders (1) are controlled by hydraulic control system I, hydraulic control system I is the Closed Hydraulic control system of hydraulic pump control, or the open hydraulic control system of servo valve control, when hydraulic control system I is the Closed Hydraulic control system of hydraulic pump control, comprise bidirectional hydraulic pump (8), the first two four-way electromagnetic reversing valves (11), the first one-way valve (7), the second one-way valve (10), the first accumulator (6), the first controller (5) and the first actuating motor (9), two hydraulic fluid ports of bidirectional hydraulic pump (8) are connected with two chambeies of two outlet-rod hydraulic cylinders (1) respectively by the first two four-way electromagnetic reversing valves (11), the running shaft of bidirectional hydraulic pump (8) is connected with the output shaft of the first actuating motor (9) through coupling, the output signal of the first controller (5) is connected to the control end of the first actuating motor (9), when hydraulic control system I is the open hydraulic control system of servo valve control, comprise electrohydraulic control (22), the first two four-way electromagnetic reversing valves (11) and the 3rd controllers (23), electrohydraulic control (22) is connected with two chambeies of two outlet-rod hydraulic cylinders (1) respectively by the first two four-way electromagnetic reversing valves (11), and the output signal of the 3rd controller (23) is connected with the control end of electrohydraulic control (22),
Asymmetric servo cylinder (2) is controlled by hydraulic control system II, it is Closed Hydraulic control system that hydraulic control system II controls, comprise three hydraulic fluid port oil hydraulic pumps (13), the second accumulator (17), the second two four-way electromagnetic reversing valves (19), the second actuating motor (16), second controller (12), the first Pilot operated check valve (14), the first relief valve (15), the second Pilot operated check valve (18) and the second relief valve (20), the inlet port of three hydraulic fluid port oil hydraulic pumps (13) is connected with the second accumulator (17), two other hydraulic fluid port is connected with two chambeies of asymmetric servo cylinder (2) respectively by the second two four-way electromagnetic reversing valves (19), the running shaft of three hydraulic fluid port oil hydraulic pumps (13) is connected with the output shaft of the second actuating motor (16) through coupling, the output signal of second controller (12) is connected to the control end of the second actuating motor (16).
2. a kind of pair of redundancy electro hydraulic servo actuator according to claim 1, is characterized in that: on the piston rod (4) of described pair of outlet-rod hydraulic cylinder (1) and asymmetric servo cylinder (2), be marked with scale.
3. a kind of pair of redundancy electro hydraulic servo actuator according to claim 1, is characterized in that: described bidirectional hydraulic pump (8) is the two-way change displacement hydraulic pump of quantitative hydraulic pump or proportional control.
4. a kind of pair of redundancy electro hydraulic servo actuator according to claim 1, is characterized in that: described three hydraulic fluid port oil hydraulic pumps (13) are the two-way change discharge capacity axial piston pumps of quantitative hydraulic pump or proportional control.
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| CN102226453B true CN102226453B (en) | 2014-04-30 |
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| CN102588382B (en) * | 2012-03-19 | 2014-11-26 | 北京航空航天大学 | Direct-drive electro-hydraulic actuator |
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| CN105443451B (en) * | 2015-12-07 | 2017-12-12 | 北京精密机电控制设备研究所 | A kind of multikilowatt waves output triple redundance electrohydraulic digital servo-drive system |
| CN106369004B (en) * | 2016-09-12 | 2018-03-13 | 天津大学 | Inbuilt displacement sensor integrated electric pump control list rod symmetrical hydraulic cylinder |
| CN107091253A (en) * | 2017-06-29 | 2017-08-25 | 杭州和利时自动化有限公司 | A kind of hydraulic pressure performs equipment |
| CN107989858B (en) * | 2017-11-24 | 2019-11-05 | 太原理工大学 | The double actuator electrohydraulic servo system positions pressure bonding control methods of series connection |
| CN109616001A (en) * | 2018-12-11 | 2019-04-12 | 上海应用技术大学 | Electro-hydraulic position servo system experimental bench |
| CN110397634B (en) * | 2019-07-17 | 2020-07-07 | 太原理工大学 | Low-energy-consumption high-dynamic pump valve combined position servo system and control method thereof |
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Application publication date: 20111026 Assignee: Shanxi Shiwopu Electrical Equipment Co. Ltd. Assignor: Taiyuan University of Technology Contract record no.: 2018140000010 Denomination of invention: Dual-redundancy electro hydraulic servo actuator Granted publication date: 20140430 License type: Common License Record date: 20181211 |