CN102493968A - Method and device for energy-saving control of elastic load based on electrohydraulic servo drive - Google Patents
Method and device for energy-saving control of elastic load based on electrohydraulic servo drive Download PDFInfo
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- CN102493968A CN102493968A CN2011104572383A CN201110457238A CN102493968A CN 102493968 A CN102493968 A CN 102493968A CN 2011104572383 A CN2011104572383 A CN 2011104572383A CN 201110457238 A CN201110457238 A CN 201110457238A CN 102493968 A CN102493968 A CN 102493968A
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Abstract
The invention provides a method and a device for energy-saving control of an elastic load based on electrohydraulic servo drive. The device comprises a servo valve, a high-pressure oil source, a low-pressure oil source, an overflow valve and an actuating mechanism, wherein the actuating mechanism is a hydraulic cylinder or a hydraulic motor; an oil supply port of the servo valve is connected with the high-pressure oil source, an oil return port of the servo valve is connected with an oil tank, and a B port of the servo valve is blocked; an A port of the servo valve is connected with an A cavity of the actuating mechanism, the low-pressure oil source is connected with a B cavity of the actuating mechanism, the B cavity of the actuating mechanism is connected with an inlet of the overflow valve, and an outlet of the overflow valve is connected with the oil tank; and the actuating mechanism is connected with the elastic load. A setting principle of the pressure of the low-pressure oil source is that: the force generated by the low-pressure oil source in the B cavity of the actuating mechanism can offset the friction of the actuating mechanism. By the method and the device, the problem that the motion law is difficult to control accurately when the elastic load moves from maximum position to zero position, and energy sources can also be saved.
Description
Technical field
The present invention relates to a kind of elastic load energy-saving control method and device, belong to electro-hydraulic servo control and technical field of automation based on Servo Drive.
Background technique
Advantages such as electrohydraulic servo system is fast owing to its speed of response, ouput force is big, volume is little are used as driving mechanism and are widely used in the various load driving.General commonly used to electrohydraulic servo system comprise that servo valve-controlled cylinder system and servovalve horse-controlling reach system, wherein servo valve-controlled cylinder system is applicable to the driving of straight-line motion mechanism, the servovalve horse-controlling reaches the driving that then is applicable to rotational motion mechanism.Certainly, through certain mechanical switch, straight line motion also can be changed with rotatablely moving each other.
If driven load on receive external force as the time spent twist, elastic strain such as tension and compression; Then can produce and the opposite elastic force of institute's externally applied forces; After external force is cancelled, driven under the effect that loads on elastic force and recovered original geometrical shape again, such load is known as elastic load; As being used for the torsion shaft of vibration damping in the vehicle, just belong to elastic load.When electrohydraulic servo system driving elastic load carries out positioning control,, the existence of elastic force strengthens because causing controlling difficulty.
Can the movement process of elastic load be divided into stage, stage be elastic load under the driving of electrohydraulic servo system from the zero-bit setting in motion, the zero-bit here is meant the state of elastic load when not receiving external force; Second kind is that elastic load moves to zero-bit from other position under the driving of electrohydraulic servo system.
Reach with servo valve-controlled cylinder and servovalve horse-controlling respectively below and drive torsion shaft to carry out twist motion be that example describes:
The principle of servo valve-controlled cylinder driving torsion shaft is as shown in Figure 1.The piston rod of oil hydraulic cylinder 2 links to each other with an end of torsion shaft 4 through rocking arm 3, and oil hydraulic cylinder 2 is fixing through bearing 1, and the other end of torsion shaft 4 is fixed through bearing 5, and the A mouth of servovalve 6 links to each other with the A chamber and the B chamber of oil hydraulic cylinder 2 respectively with the B mouth.When piston rod stretches out or withdraws straight line motion, just can drive torsion shaft 4 and be rotated motion counterclockwise or clockwise.
It is as shown in Figure 2 that the servovalve horse-controlling reaches the principle that drives torsion shaft.The live axle of oil hydraulic motor 7 links to each other with an end of torsion shaft 4 through coupling 8, and the other end of torsion shaft 4 is fixed through bearing 9, and the A mouth of servovalve 6 links to each other with the A chamber and the B chamber of oil hydraulic motor 7 respectively with the B mouth.When oil hydraulic motor is rotated motion, just can drives torsion shaft 4 and be rotated motion.
The process that servo valve-controlled cylinder driving torsion shaft 4 is carried out twist motion is following:
When control torsion shaft 4 return back to zero-bit clockwise; Need make the piston rod withdrawal; This moment, the elastic force direction of torsion shaft 4 generations became consistent with the moving direction of piston rod, because this elastic force is uncontrollable, this brings certain difficulty with regard to the characteristics of motion of giving the control piston bar.
In order to let the piston rod withdrawal of oil hydraulic cylinder 2, should control servovalve 6, the A chamber that makes oil hydraulic cylinder 2 links to each other with oil return through the A mouth of servovalve 6; Piston rod is when withdrawal like this; Hydraulic oil in the oil hydraulic cylinder A chamber just can be discharged in the oil return, but meanwhile, high pressure oil also can get into the B chamber of oil hydraulic cylinder 2 from the B mouth of servovalve 6; Under the effect of high pressure oil; Can produce a hydraulic coupling identical, so just further strengthen the power that acts on the piston rod, cause the control difficulty of piston rod movement process is further strengthened with the piston rod retracted orientation.
Horse-controlling reaches system for servovalve, has the problems referred to above too, and just one rotatablely moves for straight line motion converts into, and another directly is exactly to rotatablely move.
Summary of the invention
In order to address the above problem; The present invention proposes a kind of new elastic load controlling method based on Servo Drive; This method has designed a kind of new control oil channel, only electrohydraulic servo system is carried out the control of single chamber, with solve when elastic load from maximum position when zero-bit is moved; The characteristics of motion is difficult to the accurately problem of control, can also save the energy.
This scheme is achieved in that
A kind of elastic load energy-saving control device based on Servo Drive, this device comprises: servovalve, high pressure fuel source, low pressure oil sources, relief valve, actuator, this actuator are oil hydraulic cylinder or oil hydraulic motor;
The oil-feed port of servovalve links to each other with high pressure fuel source, and the return opening of servovalve links to each other with fuel tank, and the B mouth of servovalve blocks need not; The A mouth of servovalve links to each other with the A chamber of actuator, and the low pressure oil sources links to each other with the B chamber of actuator, and the B chamber of actuator links to each other with the inlet of a relief valve, and the outlet of this relief valve links to each other with fuel tank; Actuator is connected with elastic load; The setting principle of said low pressure oil supply pressure is: the low pressure oil sources can be offset the frictional force of actuator in the power that actuator B chamber produces.
When adopting the control oil channel of the present invention's proposition, its control procedure is following:
(1) when needs control elastic load when zero-bit begins to move according to the rule of setting; Apply control signal to servovalve; High pressure oil with control servovalve oil-feed port gets in the actuator A chamber through the A mouth, and the hydraulic oil in actuator B chamber flow back in the fuel tank through relief valve; Control the speed of the high pressure fuel source of servovalve oil-feed port through the size of regulating control signal, thereby control elastic load movement locus as expected moves through A mouth entering actuator A chamber;
(2) when needs control elastic load from a position when setting rule and get back to zero-bit, apply control signal to servovalve, flow back in the fuel tank through servovalve with the hydraulic oil in control executing mechanism A chamber; The speed of the hydraulic oil flow oil sump tank in the big or small control executing mechanism A chamber through regulating control signal, thus control elastic load movement locus is as expected got back to zero-bit;
(3) repeat step (1) and (2), thereby the control elastic load moves back and forth according to the characteristics of motion of setting.
Beneficial effect
1, because adopts the control of single chamber; When elastic load from other positions when zero-bit is moved; High-pressure oil feed does not get into the B chamber of actuator; Can reduce greatly to act in the actuator, with the identical hydraulic coupling of actuator's moving direction, thereby reduced control difficulty to actuator's movement locus.
2, single chamber control oil channel of the present invention's employing can also be saved the energy, and the power of electrohydraulic servo system consumption is the product of pressure and flow.When needs control elastic load when zero-bit begins to move according to certain rules; High-pressure oil feed gets into the B chamber of oil hydraulic cylinder or oil hydraulic motor from the A mouth of servovalve; Low pressure oil supply is through the relief valve oil return; This moment, the energy of electrohydraulic servo system consumption was P1 * Q1+P2 * Q2, and wherein P1 and Q1 are respectively the pressure and required flow this moment of high-pressure oil feed, and P2 and Q2 are respectively the pressure and required flow this moment of low pressure oil supply.When needs control elastic load when zero-bit is got back to according to certain rules in other position; The high pressure oil of servovalve oil-feed port communicates with the B mouth; And the B mouth is blocked and stubbornly refuses usefulness, so high-pressure oil feed has only pressure, do not have flow; Low pressure oil supply then gets into the B chamber of oil hydraulic cylinder or oil hydraulic motor, and the energy that the hydraulic servo valve system is consumed is P2 * Q2.Can get the energy that the elastic load to-and-fro motion once consumed is P1 * Q1+2 * P2 * Q2.If according to described control oil channel in the background technique, the energy that is consumed is P1 * Q1+P1 * Q2.Because P1 will be much larger than P2, general P1 is more than ten times of P2, and the single chamber control oil channel that therefore adopts with the present invention has remarkable energy saving effect.
Description of drawings
Fig. 1 is that servo valve-controlled cylinder drives the torsion shaft schematic diagram.
Fig. 2 drives the torsion shaft schematic diagram for the servovalve horse-controlling reaches.
Fig. 3 is servo valve-controlled cylinder list chamber control principle figure.
Embodiment
Driving torsion shaft with servo valve-controlled cylinder below is embodiment, in conjunction with accompanying drawing the inventive method is explained in further detail.
Shown in accompanying drawing 3, this device comprises: servovalve 6, high pressure fuel source, low pressure oil sources, relief valve 10 and oil hydraulic cylinder 2.The oil-feed port of servovalve 6 links to each other with the high-pressure oil feed and the oil return of high hydraulic oil source respectively with return opening.The B mouth of servovalve block need not, the A mouth links to each other with the A chamber of oil hydraulic cylinder 2.The low pressure oil sources has one tunnel low pressure oil to link to each other with the B chamber of oil hydraulic cylinder 2 in addition, and the B chamber of oil hydraulic cylinder 2 is linked to each other with the inlet of relief valve 10, and the outlet of relief valve 10 links to each other with the return opening of fuel tank.The piston rod of oil hydraulic cylinder links to each other with an end of torsion shaft 4 through rocking arm 3.
When adopting the control oil channel of the present invention's proposition, its control procedure is following:
(1) when needs control torsion shaft 4 when zero-bit begins to move according to certain rules, need control to get into the flow of high pressure oil in the A chamber of oil hydraulic cylinder 2.Apply certain control signal at first for servovalve 6, make the A chamber of the high pressure fuel source of servovalve 6 oil-feed ports through A mouth entering oil hydraulic cylinder 2, the hydraulic oil in the B chamber of oil hydraulic cylinder 2 then flow back in the fuel tank through relief valve 10.Can control servo 6 oil-feed port and the aperture between the A mouth through the size of regulating control signal, thereby control flows into the flow size of the high pressure oil of oil hydraulic cylinder 2, and then control torsion shaft movement locus as expected moves.
The generation of the control signal of servovalve 6 can be adopted the PID closed loop control algorithm; Promptly gather the windup-degree signal of sensor of torsion shaft 4; Obtain the position signal of torsion shaft 4; And compare with the position signal of setting, draw positional error, calculate the control signal of servovalve 6 again according to the PID closed loop control algorithm.
(2) when needs control torsion shaft 4 when zero-bit is got back to according to certain rules in a position, what need control is the speed that the hydraulic oil in the A chamber of oil hydraulic cylinder 2 outwards flows out, torsion shaft is moved to zero-bit under the effect of self elastic force at this moment.Therefore this step applies control signal to servovalve, flows back in the fuel tank through servovalve with the hydraulic oil in the A chamber of control oil hydraulic cylinder 2.
Elastic force be along with torsion shaft can diminish to the zero-bit convergence gradually, elastic force vanishing when arriving zero-bit.But because the existence of various mechanical frictions can be offset a part of elastic force, promptly be reduced to big or smallly identical the time with mechanical friction power when elastic force, torsion shaft will stop motion.If therefore only rely on the elastic force of self, torsion shaft can not got back to zero-bit fully.And the low pressure oil supply that is connected on the B chamber of oil hydraulic cylinder 2 can produce certain power, to guarantee torsion shaft ability overcome friction, moves to zero-bit fully.Therefore, the setting principle of said low pressure oil supply pressure is: the power that the low pressure oil sources produces in the B chamber of oil hydraulic cylinder 2 can be offset in the oil hydraulic cylinder frictional force between the piston rod and piston wall in the piston rod movement process.For oil hydraulic motor, the required frictional force that overcomes is the frictional force between plunger and the chamber wall.As a rule, the pressure of low pressure oil sources gets final product between 1 to 3MPa.
Control the speed that the hydraulic oil in the A chamber of oil hydraulic cylinder 2 outwards flows out; Just need the oil-feed port of control servovalve 6 and the aperture between the A mouth; So; Control the speed of the hydraulic oil flow oil sump tank in control executing mechanism A chamber through the size of regulating control signal, move thereby control elastic load movement locus as expected.Can adopt the described PID closed loop control algorithm of step (1) to obtain control signal equally.
(3) like this, repeat step (1) and (2), just can control torsion shaft and move back and forth according to the characteristics of motion of setting.
Single chamber control oil channel that the present invention adopts can also be saved the energy, and the power of electrohydraulic servo system consumption is the product of pressure and flow.When needs control elastic load when zero-bit begins to move according to certain rules; High-pressure oil feed gets into the B chamber of oil hydraulic cylinder 2 from the A mouth of servovalve 6; Low pressure oil supply is through relief valve 10 oil returns; This moment, the energy of electrohydraulic servo system consumption was P1 * Q1+P2 * Q2, and wherein P1 and Q1 are respectively the pressure and required flow this moment of high-pressure oil feed, and P2 and Q2 are respectively the pressure and required flow this moment of low pressure oil supply.When needs control torsion shaft when zero-bit is got back to according to certain rules in other position; The high pressure oil of the oil-feed port of servovalve 6 communicates with the B mouth; And the B mouth is blocked and stubbornly refuses usefulness, so high-pressure oil feed has only pressure, do not have flow; Low pressure oil supply then gets into the B chamber of oil hydraulic cylinder 2, and the energy that the hydraulic servo valve system is consumed is P2 * Q2.Can get the energy that the torsion shaft to-and-fro motion once consumed is P1 * Q1+2 * P2 * Q2.If according to described control oil channel in the background technique, the energy that is consumed is P1 * Q1+P1 * Q2.Because P1 will be much larger than P2, general P1 is more than ten times of P2, and the single chamber control oil channel that therefore adopts with the present invention has remarkable energy saving effect.
In sum, more than being merely preferred implementation of the present invention, is not to be used to limit protection scope of the present invention.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. elastic load energy-saving control device based on Servo Drive, it is characterized in that this device comprises: servovalve, high pressure fuel source, low pressure oil sources, relief valve and actuator, this actuator are oil hydraulic cylinder or oil hydraulic motor;
The oil-feed port of servovalve links to each other with high pressure fuel source, and the return opening of servovalve links to each other with fuel tank, and the B mouth of servovalve blocks need not; The A mouth of servovalve links to each other with the A chamber of actuator, and the low pressure oil sources links to each other with the B chamber of actuator, and the B chamber of actuator links to each other with the inlet of a relief valve, and the outlet of this relief valve links to each other with fuel tank; Actuator is connected with elastic load; The setting principle of said low pressure oil supply pressure is: the low pressure oil sources can be offset the frictional force of actuator in the power that actuator B chamber produces.
2. the elastic load energy-saving control method based on Servo Drive is characterized in that this method adopts control gear as claimed in claim 1, and this method comprises:
(1) when needs control elastic load when zero-bit begins to move according to the rule of setting; Apply control signal to servovalve; High pressure fuel source with control servovalve oil-feed port gets in the actuator A chamber through the A mouth, and the hydraulic oil in actuator B chamber flow back in the fuel tank through relief valve; The speed that the high pressure fuel source of the size control servovalve oil-feed port through regulating control signal gets into actuator A chamber, thus control elastic load movement locus as expected moves;
(2) when needs control elastic load from a position when setting rule and get back to zero-bit, apply control signal to servovalve, flow back in the fuel tank through servovalve with the hydraulic oil in control executing mechanism A chamber; The speed of the hydraulic oil flow oil sump tank in the big or small control executing mechanism A chamber through regulating control signal, thus control elastic load movement locus is as expected got back to zero-bit;
(3) repeat step (1) and (2), thereby the control elastic load moves back and forth according to the characteristics of motion of setting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110457238.3A CN102493968B (en) | 2011-12-30 | 2011-12-30 | Method for energy-saving control of elastic load based on electrohydraulic servo drive |
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| CN201110457238.3A CN102493968B (en) | 2011-12-30 | 2011-12-30 | Method for energy-saving control of elastic load based on electrohydraulic servo drive |
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| CN102493968B CN102493968B (en) | 2014-10-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108757593A (en) * | 2018-06-12 | 2018-11-06 | 北京理工大学 | A kind of torsion shaft tooth root finish rolling hardening lathe hydraulic oil supply system |
| CN114151394A (en) * | 2020-09-07 | 2022-03-08 | 北京机械设备研究所 | Asymmetric oil cylinder hydraulic servo mechanism based on servo valve symmetric control |
| CN114483692A (en) * | 2022-01-18 | 2022-05-13 | 同济大学 | Rotary direct drive type electro-hydraulic servo valve |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108757593A (en) * | 2018-06-12 | 2018-11-06 | 北京理工大学 | A kind of torsion shaft tooth root finish rolling hardening lathe hydraulic oil supply system |
| CN108757593B (en) * | 2018-06-12 | 2020-11-10 | 北京理工大学 | Hydraulic oil supply system of machine tool for rolling and strengthening torsion shaft tooth root |
| CN114151394A (en) * | 2020-09-07 | 2022-03-08 | 北京机械设备研究所 | Asymmetric oil cylinder hydraulic servo mechanism based on servo valve symmetric control |
| CN114483692A (en) * | 2022-01-18 | 2022-05-13 | 同济大学 | Rotary direct drive type electro-hydraulic servo valve |
| CN114483692B (en) * | 2022-01-18 | 2022-12-16 | 同济大学 | Rotary direct drive type electro-hydraulic servo valve |
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