CN102385311B - Electrohydraulic linear-velocity digital servo system and control method thereof - Google Patents
Electrohydraulic linear-velocity digital servo system and control method thereof Download PDFInfo
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- CN102385311B CN102385311B CN 201110272814 CN201110272814A CN102385311B CN 102385311 B CN102385311 B CN 102385311B CN 201110272814 CN201110272814 CN 201110272814 CN 201110272814 A CN201110272814 A CN 201110272814A CN 102385311 B CN102385311 B CN 102385311B
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Abstract
本发明公开了一种电液线速度数字伺服系统及其控制方法，该系统由数字控制计算机、功率放大器、伺服对象、光电编码器和液压源组成；其中数字控制计算机包括数/模转换模块和高速计数模块；伺服对象由电液伺服阀、液压缸和机械负载组成，电液伺服阀、液压缸和机械负载按顺序连接，电液伺服阀与功率放大器连接，机械负载与光电编码器连接。控制方法步骤为：初始化积分器；读取线速度指令信号和反馈信号，将两者比较得到误差信号；将误差累加积分并乘以积分系数Ki得积分乘积；将线速度反馈信号乘以反馈系数Kf得反馈乘积；将积分乘积减去反馈乘积并将差值进行数/模转换，得到模拟量控制信号经功率放大器控制伺服对象。
The invention discloses an electro-hydraulic linear velocity digital servo system and its control method. The system is composed of a digital control computer, a power amplifier, a servo object, a photoelectric encoder and a hydraulic source; wherein the digital control computer includes a digital/analog conversion module and High-speed counting module; the servo object is composed of electro-hydraulic servo valve, hydraulic cylinder and mechanical load, the electro-hydraulic servo valve, hydraulic cylinder and mechanical load are connected in sequence, the electro-hydraulic servo valve is connected with the power amplifier, and the mechanical load is connected with the photoelectric encoder. The steps of the control method are: initializing the integrator; reading the line speed command signal and the feedback signal, and comparing the two to obtain an error signal; accumulating and integrating the error and multiplying the integral coefficient K i to obtain an integral product; multiplying the line speed feedback signal by the feedback signal The coefficient K f gets the feedback product; the integral product is subtracted from the feedback product and the difference is converted to digital/analog to obtain an analog control signal to control the servo object through the power amplifier.
Description
Technical field:
The present invention relates to a kind of electrohydraulic servo system, particularly a kind of valve control hydraulic cylinder linear velocity digital servosystem and control method thereof by digital machine control.
Background technology:
In the 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 the automatic production line.In the 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 closed-loop control.That is to say, in the mechanized equipment 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 send control signal after by servo controller error signal being controlled computing, the linear velocity of moving component is implemented to proofread and correct.
At present widely used for the error Control computing is that proportional-plus-integral adds differential control (PID), to a kind of computing of the every increase of error, just linear velocity command signal and feedback signal has been increased the control computing 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, and the PID feedback 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 imported.
Raising along with running precision, response speed and the automaticity of various plant equipment has proposed more and more higher requirement to electric liquidus speed servo performance.Known PID feedback can not meet the demands, and adopting new electrohydraulic servo system and feedback is further to improve one of electro-hydraulic servo performance problem to be solved.
At present, servo controller known in the electric liquidus rate servo system adopts special-purpose electron device, adopts digital control computer how to realize that the good digital control method of servo performance then is that two of problem to be solved is arranged in the prior art.
Summary of the invention:
The objective of the invention is to overcome above-mentioned problems of the prior art and defective in order further to improve the performance of electric liquidus rate servo system, a kind of electric liquidus speed digital servosystem and control method thereof are provided.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of electric liquidus speed digital servosystem is made up of digital control computer, power amplifier, target servo, photoelectric encoder and hydraulic power source; Described digital control computer not only has known computing function, and comprises D/A switch module and high speed counting module, and the output of D/A switch module is connected with power amplifier, and high speed counting module is connected with photoelectric encoder; Described target servo is made up 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 photoelectric encoder, and electrohydraulic servo valve also is connected with hydraulic power source respectively with hydraulic cylinder.
In order to achieve the above object, another technical scheme of the present invention is:
A kind of control method of electric liquidus speed digital servosystem comprises the following steps:
(1) beginning, the initialization integrator;
(2) read line speed digital command signal and by the linear velocity digital feedback signal that photoelectric encoder is gathered relatively obtains error signal with both;
(3) error signal is added up integration and multiply by integral coefficient K
iGet the integration product;
(4) the linear velocity digital feedback signal be multiply by feedback factor K
fMust feed back product;
(5) described integration product is deducted the feedback product and get difference; ,
(6) described difference is carried out D/A switch, obtain the analog quantity control signal and be input to power amplifier, the control target servo;
(7) turn back to step (2).
Because this electricity liquidus speed servo control system adopts distinguished computer control method, in forward loop, error signal is implemented integral operation and multiplying, in backfeed loop, not only realize the feedback of linear velocity digital signal, and under the situation that does not need the linear acceleration detecting sensor, realized the feedback of linear acceleration digital signal.That is to say, not only realized the feedback of servo variable displacement digital signal, but also realized the feedback of servo variable displacement digital signal change rate.
The invention has the beneficial effects as follows:
(1) electric liquidus speed digital servosystem of the present invention not only has the feedback of servo variable displacement linear velocity, and has the rate of change of servo variable displacement linear velocity---the feedback of linear acceleration.Therefore, electrohydraulic digital servo-drive 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) this electricity liquidus speed digital servosystem has realized the feedback of linear velocity and linear acceleration two states signal, but has only used a photoelectric encoder, need not other detecting sensor, and is not only convenient and easy in engineering construction, and saves cost.
(3) owing to the distinguished version of this digital electro-hydraulic servo-drive system and computer control method, improved static state and the dynamic property 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 height; 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 speed digital servosystem of the present invention constitutes block scheme;
Fig. 2 is electric liquidus speed numeral servo system control method process flow diagram of the present invention.
Embodiment:
In order to deepen the understanding of the present invention, further be described in detail below in conjunction with the specific embodiments of the invention of attached Fig. 1 and 2, this embodiment only is used for explaining the present invention, does not constitute the restriction to protection domain of the present invention.
Accompanying drawing 1 is that the electric liquidus speed digital servosystem of the embodiment of the invention constitutes block scheme.This electricity liquidus speed digital servosystem is by digital control computer 120, power amplifier 130, target servo 140, photoelectric encoder 150 and hydraulic power source 160; Described digital control computer 120 not only comprises known computing function, and comprises D/A switch module and high speed counting module, and the output of D/A switch module is connected with power amplifier 130, and the input of high speed counting module is connected with photoelectric encoder; Described target servo 140 is made up 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 photoelectric encoder 150, feeds back to the input end of the high speed counting module of digital control computer after its line of motion speed detects; In addition, electrohydraulic servo valve 141 also is connected with hydraulic power source 160 respectively with hydraulic cylinder 142.
Fig. 2 is electric liquidus speed numeral servo system control method process flow diagram of the present invention, and described control method step is as follows:
(1) step 110 is moved for beginning,
(2) step 120 pair integrator carries out initialization process, to integrator zero clearing, i.e. INT=0;
(3) step 130 reads angular velocity digital command signal vR;
(4) step 140 is gathered the angular velocity digital feedback signal vF that is sent here by photoelectric encoder;
(5) step 150 compares angular velocity digital command signal and angular velocity digital quantity feedback signal and obtains error signal, i.e. ER=vR-vF;
(6) add up integration, i.e. INT=INT+ER of step 160 pair error signal;
(7) step 170 integration that pair adds up multiply by integral coefficient K
iGet integration product P1=INT*Ki;
(8) step 180 pair linear velocity digital feedback signal multiply by feedback factor K
fMust feed back product P2=vf*Kf;
(9) step 190 deducts feedback product P2 with integration product P1 and obtains difference M=P1-P2;
(10) step 200 converts digital quantity difference signal M to analog signals, on the one hand this analog signals is input to power amplifier as control signal, workflow turns back to step 130 again on the other hand, so constantly electrohydraulic servo system is controlled operation.
Electric liquidus speed digital servosystem provided by the present invention has realized the feedback of servo variable displacement two states information, has good static properties and dynamic property.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 height; 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.
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| CN102929293B (en) * | 2012-11-02 | 2015-09-23 | 江苏科技大学 | A kind of digital servo system device for mechanized equipment and control method |
| CN103647488B (en) * | 2013-12-06 | 2016-01-20 | 江苏科技大学 | A kind of controlling method of Hydraulic-motor angular-displacementdigital digital servo |
| 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 |
| CN105785908B (en) * | 2016-03-24 | 2018-10-12 | 江苏科技大学 | A kind of DC generator angular displacement digital servo control system and control method |
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