CN102360177B - Electro-hydraulic linear speed servo system - Google Patents
Electro-hydraulic linear speed servo system Download PDFInfo
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- CN102360177B CN102360177B CN 201110272833 CN201110272833A CN102360177B CN 102360177 B CN102360177 B CN 102360177B CN 201110272833 CN201110272833 CN 201110272833 CN 201110272833 A CN201110272833 A CN 201110272833A CN 102360177 B CN102360177 B CN 102360177B
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Abstract
The invention discloses an electro-hydraulic linear speed servo system, which consists of a linear speed instruction signal generator, a servo controller, a power amplifier, a servo object, a linear speed detection sensor and a hydraulic source, wherein the servo controller consists of a comparator, an intelligent integrator, an integration factor ki multiplier, a subtracter and a feedback factor Kf multiplier, the comparator, the intelligent integrator, the integration factor ki multiplier and the subtracter are sequentially connected, the comparator is also connected with the linear speed instruction signal generator and the linear speed detection sensor, the subtracter is connected with the linear speed detection sensor through the feedback factor Kf multiplier and is also connected with the power amplifier, the servo object consists of an electro-hydraulic servo valve, a hydraulic cylinder and a mechanical load, the electro-hydraulic servo valve, the hydraulic cylinder and the mechanical load are sequentially connected, the electro-hydraulic servo valve is also connected with the power amplifier, the mechanical load is also connected with the linear speed detection sensor, and the electro-hydraulic servo valve and the hydraulic cylinder are also respectively connected with a hydraulic source.
Description
Technical field:
The present invention relates to a kind of electrohydraulic servo system, particularly a kind of valve control hydraulic cylinder linear velocity servo-drive system of being controlled by servo controller.
Background technology:
In electrohydraulic servo system, electric liquidus speed servo often runs in some mechanized equipments, flexible as mechanical arm, the feed motion of process equipment, the transmission of workpiece etc. in automatic production line.In electricity liquidus rate servo system, the variable of electro-hydraulic servo is the linear velocity of mechanical load motion.In order to obtain good linear velocity servo performance, electric liquidus rate servo system must adopt FEEDBACK CONTROL.That is to say, in mechanized equipment the linear velocity of moving component after testing sensor feedback to the electrohydraulic servo system input end, compare the generation error signal with the linear velocity command signal, and then by servo controller, error signal is carried out sending control signal after control algorithm, the linear velocity of moving component is implemented to proofread and correct.
Now widely used for the control algorithm of error is multiplication by constants, to its integration, and the combination of differential or several computings, i.e. proportional control (P), proportional-plus-integral is controlled (PI), and proportional-plus-integral adds differential and controls (PID).To a kind of computing of the every increase of error, in fact linear velocity command signal and feedback signal have been increased control algorithm simultaneously in the forward direction control loop.Each computing of linear velocity command signal just is equivalent to increase a forced term on the right of the differential equation of electrohydraulic servo system, makes control system a plurality of forced term occur.Like this, electrohydraulic servo system output just can not accurately reappear the linear velocity command signal.Therefore, the general dynamic tracking accuracy of PID feedback linear velocity is poor, and there is the hyperharmonic oscillatory occurences in its output of command signal that step is inputted.
Raising along with running precision, response speed and the automaticity of various plant equipment has proposed more and more higher requirement to electric liquidus rate servo system performance.Current widely used general feedback control method can not meet the demands, and adopting new electrohydraulic servo system and method for servo-controlling is further to improve electrohydraulic servo system performance problem to be solved place.
Summary of the invention:
The objective of the invention is the performance for the electric liquidus rate servo system of further raising, and for above-mentioned problems of the prior art, provide a kind of electric liquidus rate servo system of novelty.
To achieve these goals, the technical solution used in the present invention is:
A kind of electric liquidus rate servo system is comprised of linear velocity instruction signal generator, servo controller, power amplifier, target servo, linear velocity detecting sensor and hydraulic power source; Described servo controller is by comparer, Intelligent Integration device, integral coefficient K
iMultiplier, subtracter and feedback factor K
fMultiplier forms, described comparer, Intelligent Integration device, integral coefficient K
iMultiplier and subtracter are linked in sequence, and comparer also is connected with the linear velocity detecting sensor with the linear velocity instruction signal generator respectively, and described subtracter is by feedback factor K
fMultiplier is connected with the linear velocity detecting sensor, and subtracter also is connected with power amplifier; Described target servo is comprised of electrohydraulic servo valve, hydraulic cylinder and mechanical load, described electrohydraulic servo valve, hydraulic cylinder and mechanical load are linked in sequence, electrohydraulic servo valve also is connected with power amplifier, mechanical load also is connected with the linear velocity detecting sensor, and electrohydraulic servo valve and hydraulic cylinder also are connected with hydraulic power source respectively.
The invention has the beneficial effects as follows:
(1) Electronic-hydraulic Servo Controller of the present invention in forward loop to error signal implement the Intelligent Integration computing and with integral coefficient K
iMultiplying.Not only realized the feedback of servo variable displacement linear velocity in backfeed loop, and by feedback factor K
fMultiplier has been realized the rate of change of servo variable displacement linear velocity---the feedback of linear acceleration.Therefore, electrohydraulic servo system of the present invention not only has the feedback of the status information of servo variable displacement own, and has the feedback of servo variable displacement variable condition information, has realized the feedback of servo variable displacement two states information.And general servo-drive system only can realize a kind of status information feedback of servo variable displacement.
(2) adopt the linear velocity detecting sensor to realize the feedback of linear velocity signal in this electricity liquidus rate servo system, still, do not adopt any linear acceleration detecting sensor, but realized the feedback of linear acceleration signal.That is to say, only adopted a kind of detecting sensor to realize the feedback of servo variable displacement two states information, not only convenient and easy in engineering construction, and save cost.
(3) due to the distinguished version of this servo controller, improved the Static and dynamic performance of electric liquidus rate servo system.Static accuracy can reach floating, in the time of dynamically for the step instantaneous mutation of linear velocity command signal, its response time shortening and non-overshoot and vibration, dynamically tracking accuracy is high; For the interference of external environment and the variation of the parameter of mechanical load own, the servo performance of electric liquidus rate servo system changes insensitive.
Description of drawings
Fig. 1 is that electric liquidus rate servo system of the present invention consists of block scheme.
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.
That electric liquidus rate servo system of the present invention consists of block scheme as shown in Figure 1.This electricity liquidus rate servo system is comprised of linear velocity instruction signal generator 110, servo controller 120, power amplifier 130, target servo 140, linear velocity detecting sensor 150 and hydraulic power source 160; Described servo controller 120 is by comparer 121, Intelligent Integration device 122, integral coefficient K
iMultiplier 123, subtracter 124 and feedback factor K
fMultiplier 125 forms, described comparer 121, Intelligent Integration device 122, integral coefficient K
iMultiplier 123 and subtracter 124 are linked in sequence, and comparer 121 also is connected with the linear velocity detecting sensor with linear velocity instruction signal generator 110 respectively and is connected, and described subtracter 124 is by feedback factor K
fMultiplier 125 is connected with linear velocity detecting sensor 150, and subtracter 124 also is connected with power amplifier 130; Target servo 140 is comprised of electrohydraulic servo valve 141, hydraulic cylinder 142 and mechanical load 143, described electrohydraulic servo valve 141, hydraulic cylinder 142 and mechanical load 143 are linked in sequence, electrohydraulic servo valve 141 also is connected with power amplifier 130, mechanical load 143 also is connected with linear velocity detecting sensor 150, its line of motion speed feeds back to input end after detecting, in addition, electrohydraulic servo valve 141 is connected with hydraulic cylinder and also is connected with hydraulic power source 160 respectively.
Electric liquidus rate servo system of the present invention, after linear velocity instruction signal generator 110 provides the linear velocity signal, comparer 121 compares the actual linear velocity signal of the mechanical load that itself and linear velocity detecting sensor 150 feed back, at first the error signal that produces carries out the Intelligent Integration computing by Intelligent Integration device 122, and then by integral coefficient K
iMultiplier 123 multiply by integral coefficient K
i, the signal that at this moment produces and linear velocity detecting sensor 150 are through feedback factor K
fIn fact signal subtraction after multiplier 125 computings has realized the rate of change of linear velocity signal---the feedback of linear acceleration signal at this.Therefore, electric liquidus rate servo system of the present invention realizes the feedback of more servo variable displacement status information than known feedback system, and servo performance can increase substantially.Another ingenious part is, has not both adopted linear acceleration transducer here, also the linear velocity signal is not differentiated, but controlling the feedback that has but realized the linear acceleration signal on function, for engineering construction, convenient and easy, tool is of great significance.The control signal of servo controller output is input to electrohydraulic servo valve 141 after power amplifier 130 amplifies, become the flow signal of hydraulic system through electric liquid conversion, control uninterrupted and the direction of hydraulic cylinder 142, carry out servo to the line of motion speed of mechanical load.Certainly, the performance of electrohydraulic servo system also with integral coefficient K
iWith feedback factor K
fThese two control parameters are closely related.As long as adjust exactly these two sizes of controlling parameter, just can make electrohydraulic servo system obtain good dynamic property and static properties.
Claims (1)
1. electric liquidus rate servo system, it is characterized in that: this servo-drive system is comprised of linear velocity instruction signal generator, servo controller, power amplifier, target servo, linear velocity detecting sensor and hydraulic power source; Wherein said servo controller is by comparer, Intelligent Integration device, integral coefficient K
iMultiplier, subtracter and feedback factor K
fMultiplier forms, described comparer, Intelligent Integration device, integral coefficient K
iMultiplier and subtracter are linked in sequence, and comparer also is connected with the linear velocity detecting sensor with the linear velocity instruction signal generator respectively, and subtracter is by feedback factor K
fMultiplier is connected with the linear velocity detecting sensor, and subtracter also is connected with power amplifier; Described target servo is comprised of electrohydraulic servo valve, hydraulic cylinder and mechanical load, described electrohydraulic servo valve, hydraulic cylinder and mechanical load are linked in sequence, electrohydraulic servo valve also is connected with power amplifier, mechanical load also is connected with the linear velocity detecting sensor, and electrohydraulic servo valve and hydraulic cylinder also are connected with hydraulic power source respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110272833 CN102360177B (en) | 2011-09-15 | 2011-09-15 | Electro-hydraulic linear speed servo system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110272833 CN102360177B (en) | 2011-09-15 | 2011-09-15 | Electro-hydraulic linear speed servo system |
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| Publication Number | Publication Date |
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| CN102360177A CN102360177A (en) | 2012-02-22 |
| CN102360177B true CN102360177B (en) | 2013-05-15 |
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| CN 201110272833 Expired - Fee Related CN102360177B (en) | 2011-09-15 | 2011-09-15 | Electro-hydraulic linear speed servo system |
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| CN103676666B (en) * | 2013-12-04 | 2016-05-18 | 兰州飞行控制有限责任公司 | A kind of electro-hydraulic servo steering wheel position feed back signal analog circuit |
| CN106257354B (en) * | 2015-06-17 | 2020-09-25 | 中国联合重型燃气轮机技术有限公司 | Gas turbine control method and system |
| CN110639851B (en) * | 2019-09-19 | 2021-07-13 | 山东联创高科自动化有限公司 | Electro-hydraulic servo system for conveying equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2312390Y (en) * | 1997-07-18 | 1999-03-31 | 广东工业大学 | Microcomputer control device for electrolytic solution proportional valve |
| CN2581696Y (en) * | 2002-02-22 | 2003-10-22 | 北京和利时系统工程股份有限公司 | Electrohydraulic servo-controlling system |
| CN2635922Y (en) * | 2003-07-09 | 2004-08-25 | 上海汽轮机有限公司 | Low pressure turbine oil digital electricity-liquid controller for steam turbine |
| CN2871853Y (en) * | 2005-11-11 | 2007-02-21 | 南京科远控制工程有限公司 | Valve-level controller |
| CN101464681A (en) * | 2007-12-20 | 2009-06-24 | 比亚迪股份有限公司 | Servo controller and electrohydraulic servo system |
| CN102128303A (en) * | 2011-03-01 | 2011-07-20 | 江苏科技大学 | Recognition device and method for parameters of execution mechanism in electro-hydraulic linear velocity servo system |
-
2011
- 2011-09-15 CN CN 201110272833 patent/CN102360177B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2312390Y (en) * | 1997-07-18 | 1999-03-31 | 广东工业大学 | Microcomputer control device for electrolytic solution proportional valve |
| CN2581696Y (en) * | 2002-02-22 | 2003-10-22 | 北京和利时系统工程股份有限公司 | Electrohydraulic servo-controlling system |
| CN2635922Y (en) * | 2003-07-09 | 2004-08-25 | 上海汽轮机有限公司 | Low pressure turbine oil digital electricity-liquid controller for steam turbine |
| CN2871853Y (en) * | 2005-11-11 | 2007-02-21 | 南京科远控制工程有限公司 | Valve-level controller |
| CN101464681A (en) * | 2007-12-20 | 2009-06-24 | 比亚迪股份有限公司 | Servo controller and electrohydraulic servo system |
| CN102128303A (en) * | 2011-03-01 | 2011-07-20 | 江苏科技大学 | Recognition device and method for parameters of execution mechanism in electro-hydraulic linear velocity servo system |
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