CN102563181A - Method for determining control parameters of servo controller for electro-hydraulic linear displacement servo system - Google Patents
Method for determining control parameters of servo controller for electro-hydraulic linear displacement servo system Download PDFInfo
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- CN102563181A CN102563181A CN2012100047032A CN201210004703A CN102563181A CN 102563181 A CN102563181 A CN 102563181A CN 2012100047032 A CN2012100047032 A CN 2012100047032A CN 201210004703 A CN201210004703 A CN 201210004703A CN 102563181 A CN102563181 A CN 102563181A
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Abstract
The invention discloses a method for determining control parameters of a servo controller for an electro-hydraulic linear displacement servo system. The servo system comprises a linear displacement command signal generator, the servo controller, a servo object and a linear displacement detection sensor. The servo controller comprises a comparator, an intelligent integrator, an integral coefficient multiplier, a subtractor and a feedback coefficient multiplier. According to the method for quantitatively determining the control parameters of the servo controller for the electro-hydraulic linear displacement servo system by adopting a step response method, the equivalent viscous damping coefficient and the equivalent mass of the servo object are identified according to the difference method of longitudinal coordinates of two straight lines, the maximum input voltage which corresponds to the maximum output flow rate is determined according to the maximum output flow rate of the selected electro-hydraulic servo valve, the maximum value of the linear displacement command signal is set according to the actual requirement of the linear displacement, and the integral coefficient, the feedback coefficient and the differential coefficient are obtained according to the equivalent viscous damping coefficient, the equivalent mass, the maximum input voltage and the maximum value of the linear displacement command signal.
Description
Technical field:
The present invention relates to a kind of electrohydraulic servo system, the Control Parameter of servocontroller is confirmed method in particularly a kind of valve control oil hydraulic cylinder linear displacement servo-system.
Background technique:
In the electrohydraulic servo system, electric liquidus displacement is servo often to be run in some mechanized equipments, flexible like mechanical arm, the feed movement of process equipment, the transmission of workpiece etc. in the automatic line.In the electricity liquidus displacement servo-system, the variable of electro-hydraulic servo is the linear displacement of mechanical load motion.In order to obtain good linear displacement servo performance, electric liquidus displacement servo-system must adopt closed loop control.That is to say; The linear displacement of moving element must feed back to the electrohydraulic servo system input end through detecting sensor in the mechanized equipment; Compare the generation error signal with the linear displacement command signal; And then send control signal after by servocontroller error signal being controlled computing, the linear displacement of moving element is implemented to proofread and correct.
At present widely used for the error Control computing is multiplication by constants, to its integration, and the combination of differential or several kinds of computings, i.e. proportional control (P), proportional-plus-integral control (PI), proportional-plus-integral adds differential control (PID).To a kind of computing of the every increase of error, in fact linear velocity command signal and feedback signal have been increased the control computing simultaneously in the forward direction control loop.Each computing to the linear velocity command signal just is equivalent to the forced term of the right increase at 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, general PID feedback linear velocity dynamic tracking low precision, there is the hyperharmonic oscillatory occurences in its output of command signal that step is imported.
Raising along with running precision, speed of response and the automaticity of various machinery has proposed increasingly high requirement to electric liquidus displacement servo performance.Current widely used PID feedback can not meet the demands, and adopting new electrohydraulic servo system and method for servo-controlling is further to improve one of electro-hydraulic servo performance problem to be solved.
At present, the servocontroller in the electric liquidus displacement servo-system known prior art, its Control Parameter is not to confirm according to the parameter of target servo, but directly adopts trial and error method or empirical method to confirm the Control Parameter of servocontroller.This just causes the Control Parameter of servocontroller to confirm that relatively blindly the debugging of electric liquidus displacement servo-system is wasted time and energy, and the linear displacement servo performance is difficult to engineering demands.Therefore, when electric liquidus displacement Servo System Design and debugging, how confirming the appropriate control parameter according to the special parameter of target servo, then is that another problem to be solved is arranged in the existing technology.
Summary of the invention:
The objective of the invention is to overcome the problem and the defective that exist in the above-mentioned existing technology, definite method of servocontroller Control Parameter in a kind of electric liquidus displacement servo-system of novelty is provided for further improving the performance of electrohydraulic servo system.
The present invention based on electric liquidus displacement servo-system form by linear displacement instruction signal generator, servocontroller, power amplifier, target servo, linear displacement detecting sensor and hydraulic power; Said servocontroller is by comparator, Intelligent Integration device, integral coefficient K
iMultiplier, first subtractor, second subtractor, feedback factor K
fMultiplier, differential coefficient K
dMultiplier and derivative unit are formed, comparator, Intelligent Integration device, integral coefficient K
iMultiplier, first subtractor and second subtractor are linked in sequence, and comparator also is connected with the linear displacement detecting sensor with the linear displacement instruction signal generator respectively, and first subtractor is through feedback factor K
fMultiplier is connected with the linear displacement detecting sensor, and second subtractor is through differential coefficient K
dMultiplier and derivative unit are connected with the linear displacement detecting sensor; Said target servo comprises electrohydraulic control, oil hydraulic cylinder and mechanical load; Said electrohydraulic control, oil hydraulic cylinder and mechanical load are linked in sequence; Electrohydraulic control also is connected with power amplifier; Mechanical load also is connected with the linear displacement detecting sensor, and electrohydraulic control also is connected with hydraulic power respectively with oil hydraulic cylinder.
Because the distinguished structural type of above-mentioned servocontroller; In forward loop, error signal is implemented Intelligent Integration computing and multiplying; In feedback loop, not only realize the linear displacement feedback, and under the situation that does not need linear velocity detecting sensor and linear acceleration detecting sensor, realized the feedback of linear velocity and linear acceleration.That is to say, not only realized the feedback of servo variable displacement linear displacement signal, but also realized the feedback of other two status informations of servo variable displacement.
The performance of electricity liquidus displacement servo-system is not only closely related with the structural type of servocontroller, but also receives integral coefficient K in the servocontroller
i, feedback factor K
fWith differential coefficient K
dThe influence of these three Control Parameter sizes.Have only the size of confirming these three Control Parameter exactly, could obtain good linear displacement servo control performance.To confirm the size of these three Control Parameter exactly, at first will quantitatively discern the parameter of target servo." know yourself as well as the enemy, can be victorious in every battle ", only on target servo parameter quantitative base of recognition, could accurately confirm the Control Parameter of servocontroller.
In order to reach above-mentioned goal of the invention, the present invention realizes that the technological scheme that purpose adopts is:
Definite method of servocontroller Control Parameter in a kind of electric liquidus displacement servo-system may further comprise the steps:
(1) the parameter recognition device of target servo in the electric liquidus displacement servo-system of structure; This device comprises step voltage signal generator, target servo, linear displacement detecting sensor, recording apparatus and hydraulic power; Wherein said target servo also comprises electrohydraulic control, oil hydraulic cylinder and mechanical load, and said step voltage signal generator, electrohydraulic control, oil hydraulic cylinder, mechanical load, linear displacement detecting sensor and recording apparatus are linked in sequence; Said step voltage signal generator also is connected with said recording apparatus; Said hydraulic power is connected with said oil hydraulic cylinder with said electrohydraulic control respectively;
(2) amplitude is input to electrohydraulic control for the step voltage signal of certain certain value, drives oil hydraulic cylinder and the mechanical load of being with carries out linear motion through hydraulic power, by the linear displacement signal of its motion of linear displacement detecting sensor detection;
(3) with recording apparatus with described step voltage signal and linear displacement signal in time change procedure note, get into the straight line ascent stage until the linear displacement signal;
(4) the straight line ascent stage of displacement signal along the line is made article one straight line;
(5) slope of the said article one straight line of measurement;
(6), obtain the equivalent viscous damping coefficient of target servo in the electric liquidus displacement servo-system with the slope of said step voltage signal amplitude divided by said article one straight line;
(7) adopt the identical slope of article one straight line, cross true origin and make the second straight line;
(8) difference of reading the y coordinate of these two straight lines of the same time on abscissa;
(9) with said difference multiply by the equivalent viscous damping coefficient square, the gained product obtains target servo equivalent mass in the electric liquidus displacement servo-system again divided by the step current signal amplitude;
(10) confirm the maximum input voltage corresponding according to the maximum output flow of selected electrohydraulic control with it;
(11), set the maximum value of linear displacement command signal according to the actual requirement of linear displacement and the allowed band of linear displacement detecting sensor;
(12) with the maximum value of electrohydraulic control maximum input voltage divided by the linear displacement command signal, the merchant of gained multiply by the merchant's of gained square root, and the product of gained is with the reciprocal square root of equivalent mass and then multiply by two times, obtains the integral coefficient K of servocontroller
i
(13) with the maximum value of electrohydraulic control maximum input voltage divided by the linear displacement command signal, the merchant of gained multiply by three times, obtains the feedback factor K in the servocontroller
f
(14) the electrohydraulic control maximum input voltage multiply by equivalent mass again divided by the maximum value of linear displacement command signal, the merchant's of gained square root multiply by half as much again again, deducts the equivalent viscous damping coefficient again, obtains the differential coefficient K in the servocontroller
d
Wherein, the described amplitude of step (2) is the rating value of electrohydraulic control.
Advantage and beneficial effect that the present invention is compared with prior art had are:
(1) electro-hydraulic servo control device according to the invention in forward loop to error signal implement the Intelligent Integration computing and with the multiplying of integral coefficient.In feedback loop, not only realize the feedback of servo variable displacement linear displacement, and realized the variance ratio of servo variable displacement linear displacement---variance ratio of linear velocity and the linear velocity---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 other two status informations of servo variable displacement, has realized the feedback of three kinds of status informations of servo variable displacement altogether.And general electric liquidus displacement servo-system only can realize a kind of status information feedback of servo variable displacement.
(2) adopt the linear displacement detecting sensor to realize the feedback of linear displacement signal in this electricity liquidus displacement servo-system, still, do not adopt any linear velocity detecting sensor and linear acceleration detecting sensor, but realized the feedback of linear velocity and linear acceleration signal.That is to say, only adopted a kind of detecting sensor to realize the feedback of three kinds of status informations of servo variable displacement, not only convenient and easy in engineering construction, and save cost.
(3) adjustment of the Control Parameter of servocontroller is to be based upon on the target servo parameter quantitative base of recognition, and the Control Parameter design of electric liquidus displacement servo-system is shot the arrow at the target, and reduces the blindness of servo-system adjustment, increases work efficiency.
(4) because distinguished structural type of this servocontroller and Control Parameter are adjusted targetedly, improved the static state and the dynamic performance of electric liquidus displacement servo-system.Static accuracy can reach floating, in the time of dynamically for the step instantaneous mutation of linear displacement command signal, its response time shortening and non-overshoot and vibration, the dynamic tracking precision is high; For the interference of external environment and the variation of the parameter of mechanical load own, the servo performance of electric liquidus displacement servo-system changes insensitive.
Description of drawings
Fig. 1 is that the electric liquidus displacement servo-system of the embodiment of the invention constitutes skeleton diagram;
Fig. 2 is that the electric liquidus displacement target servo parameter recognition device of the embodiment of the invention constitutes skeleton diagram;
Linear displacement signal graph when importing for step signal when Fig. 3 is the target servo parameter recognition of the embodiment of the invention;
Fig. 4 is the adjusting method flow chart of servocontroller Control Parameter in the electric liquidus displacement servo-system of the embodiment of the invention.
Embodiment:
In order to deepen to understanding of the present invention, further be described in detail below in conjunction with Fig. 1,2,3 and 4 couples of the present invention, this embodiment only is used to explain the present invention, does not constitute the qualification to protection domain of the present invention.
Fig. 1 is that the electric liquidus displacement servo-system of the embodiment of the invention constitutes skeleton diagram.This electricity liquidus displacement servo-system is made up of linear displacement instruction signal generator 110, servocontroller 120, power amplifier 130, target servo 140, linear displacement detecting sensor 150 and hydraulic power 160; Said servocontroller 120 is by comparator 121, Intelligent Integration device 122, integral coefficient K
iMultiplier 123, first subtractor 124, second subtractor 125, feedback factor K
fMultiplier 126, differential coefficient K
dMultiplier 127 is formed with derivative unit 128, said comparator 121, Intelligent Integration device 122, integral coefficient K
iMultiplier 123, first subtractor 124 and second subtractor 125 are linked in sequence, and comparator 121 also is connected with linear displacement detecting sensor 150 with linear displacement instruction signal generator 110 respectively, and said first subtractor 124 is through feedback factor K
fMultiplier 126 is connected with linear displacement detecting sensor 150, and second subtractor 125 is through differential coefficient K
dMultiplier 127 is connected with linear displacement detecting sensor 150 with derivative unit 128, and second subtractor 125 also is connected with power amplifier 130; Said target servo 140 comprises electrohydraulic control 141, oil hydraulic cylinder 142 and mechanical load 143; Said electrohydraulic control 141, oil hydraulic cylinder 142 and mechanical load 143 are linked in sequence; Electrohydraulic control 141 also is connected with power amplifier 130, and mechanical load 143 also is connected with linear displacement detecting sensor 150, feeds back to input end after its line of motion displacement detecting; In addition, electrohydraulic control 141 also is connected with hydraulic power 160 respectively with oil hydraulic cylinder 142.
After linear displacement instruction signal generator 110 provides the linear displacement signal; Comparator 121 compares the actual line displacement signal of the mechanical load that itself and linear displacement detecting sensor 150 feed back; The error signal that produces is at first carried out the Intelligent Integration computing by Intelligent Integration device 122, and then by integral coefficient K
iMultiplier 123 multiply by integral coefficient K
i, signal that at this moment produces and linear displacement detecting sensor 150 are through feedback factor K
fIn fact signal subtraction after multiplier 126 computings has realized the variance ratio of linear displacement signal---the feedback of linear velocity signal at this, and difference that produces then and linear displacement detecting sensor 150 are through differential coefficient K
dSignal after multiplier 127 and derivative unit 128 computings subtracts each other once more, has in fact realized the variance ratio of linear velocity signal---the feedback of linear acceleration signal at this.Therefore; Electric liquidus displacement servo-system of the present invention realizes the feedback of more servo variable displacement status information than known reponse system; Not only have the feedback of linear displacement signal, and have the feedback of linear velocity and linear acceleration signal, servo performance can increase substantially.Another ingenious part is, has not both adopted the linear velocity detecting sensor here, does not also adopt the linear acceleration detecting sensor; But on the control function, but realized the feedback of linear velocity and linear acceleration signal; For engineering construction, convenient and easy, have crucial meaning.
The control signal of servocontroller output is input to electrohydraulic control 141 after power amplifier 130 amplifies; Become the flux signal of hydraulic system through electric liquid conversion; The flow size and Orientation of control oil hydraulic cylinder 142 carries out servo to the line of motion displacement of mechanical load.
Certainly, the performance of electric liquidus displacement servo-system also with integral coefficient K
i, feedback factor K
fWith differential coefficient K
dThis three Control Parameter big or small closely related.As long as confirm the size of these three Control Parameter exactly, just can make electric liquidus displacement servo-system obtain good dynamic performance and static properties.To confirm the size of these three Control Parameter exactly, at first will quantitatively discern the parameter of target servo." know yourself as well as the enemy, can be victorious in every battle ", only on target servo parameter quantitative base of recognition, could accurately confirm the Control Parameter of servocontroller.
Definite method of servocontroller Control Parameter in the electric liquidus displacement servo-system of the present invention may further comprise the steps:
(1) makes up the parameter recognition device of target servo in the electric liquidus displacement servo-system as shown in Figure 2; This device is made up of step voltage signal generator 170, target servo 140, linear displacement detecting sensor 150, recording apparatus 180 and hydraulic power 160; Said target servo 140 comprises electrohydraulic control 141, oil hydraulic cylinder 142 and mechanical load 143, and said step voltage signal generator 170, electrohydraulic control 141, oil hydraulic cylinder 142, mechanical load 143, linear displacement detecting sensor 150 and recording apparatus 180 are linked in sequence; Said step voltage signal generator 170 also is connected with recording apparatus 180; Said hydraulic power 160 is connected with oil hydraulic cylinder 142 with electrohydraulic control 141 respectively;
(2) be V by step voltage signal generator 170 with amplitude
MThe step voltage signal V (t) of (the amplitude size is decided according to the specification of electrohydraulic control) is input to electrohydraulic control 141; Drive oil hydraulic cylinder 142 and institute's mechanical load of being with 143 carries out straight line motion through hydraulic power, by linear displacement detecting sensor 150 detection oil hydraulic cylinders 142 and with the linear displacement signal y (t) of mechanical load 143;
(3) with recording apparatus with the linear displacement signal y (t) of the step voltage signal V (t) of input and output in time change procedure note, see accompanying drawing 3, said linear displacement signal comprises the curved portion 1 and the follow-up straight line rising part 2 of The initial segment;
(4) make article one straight line No.1 along the straight line rising part 2 of said linear displacement signal;
(5) slope K of the said article one straight line of measurement;
(6) with said step voltage signal amplitude V
MDivided by the slope K of said article one straight line, obtain the equivalent viscous damping coefficient B of electric liquidus displacement target servo
d
(7) adopt the identical slope K of article one straight line, cross true origin and make second straight line No.2;
(8) the same time on abscissa is read the difference L of the y coordinate of these two straight lines;
(9) said difference L multiply by the equivalent viscous damping coefficient B
dSquare, the gained product is again divided by step voltage signal amplitude V
M, obtain the equivalent mass m of target servo
d
(10) confirm the maximum input voltage M corresponding according to the maximum output flow of selected electrohydraulic control with it
Max
(11), set the maximum value R of linear displacement command signal according to the actual requirement of linear displacement and the allowed band of linear displacement detecting sensor
Ml
(12) with electrohydraulic control maximum input voltage M
MaxMaximum value R divided by the linear displacement command signal
Ml, the merchant of gained multiply by the merchant's of gained square root, and the product of gained is with the reciprocal square root of equivalent mass and then multiply by two times, obtains the integral coefficient K of servocontroller
i
(13) with electrohydraulic control maximum input voltage M
MaxMaximum value R divided by the linear displacement command signal
Ml, the merchant of gained multiply by three times, obtains the feedback factor K in the servocontroller
f
(14) with electrohydraulic control maximum input voltage M
MaxMultiply by equivalent mass m
dAgain divided by the maximum value R of linear displacement command signal
Ml, the merchant's of gained square root multiply by half as much again again, deducts the equivalent viscous damping coefficient B again
d, obtain the differential coefficient K in the servocontroller
d
The adjusting method flow chart of servocontroller Control Parameter is seen Fig. 4 in the electricity liquidus displacement servo-system, and is visible by above-mentioned steps, during electric liquidus displacement Servo System Design, at first with the equivalent viscous damping coefficient B of target servo
dWith equivalent mass m
dIdentify, then just can be according to the maximum input voltage M of selected electrohydraulic control
MaxMaximum value R with the linear displacement command signal
MlThese two limited conditions confirm that the Control Parameter in the servocontroller is integral coefficient K
i, feedback factor K
fWith differential coefficient K
dThis three Control Parameter and the quantitative relationship between them, definite slightly again during practical implementation.Facts have proved that the method for the invention not only can be sparing of one's energy and the time in electric liquidus displacement Servo System Design and debugging, and can make servo-system obtain good static properties and dynamic performance.For the instantaneous mutation of linear displacement command signal, dynamic response time minimizing and non-overshoot and vibration; Strengthened the ability that opposing external interference and mechanical load itself change.
Claims (2)
1. definite method of servocontroller Control Parameter in the electric liquidus displacement servo-system is characterized in that comprising the steps:
(1) the parameter recognition device of target servo in the electric liquidus displacement servo-system of structure; This device comprises step voltage signal generator, target servo, linear displacement detecting sensor, recording apparatus and hydraulic power; Wherein said target servo also comprises electrohydraulic control, oil hydraulic cylinder and mechanical load, and said step voltage signal generator, electrohydraulic control, oil hydraulic cylinder, mechanical load, linear displacement detecting sensor and recording apparatus are linked in sequence; Said step voltage signal generator also is connected with said recording apparatus; Said hydraulic power is connected with said oil hydraulic cylinder with said electrohydraulic control respectively;
(2) amplitude is input to electrohydraulic control for the step voltage signal of certain certain value, drives oil hydraulic cylinder and the mechanical load of being with carries out linear motion through hydraulic power, by the linear displacement signal of its motion of linear displacement detecting sensor detection;
(3) with recording apparatus with described step voltage signal and linear displacement signal in time change procedure note, get into the straight line ascent stage until the linear displacement signal;
(4) the straight line ascent stage of displacement signal along the line is made article one straight line;
(5) slope of the said article one straight line of measurement;
(6), obtain the equivalent viscous damping coefficient of target servo in the electric liquidus displacement servo-system with the slope of said step voltage signal amplitude divided by said article one straight line;
(7) adopt the identical slope of article one straight line, cross true origin and make the second straight line;
(8) difference of reading the y coordinate of these two straight lines of the same time on abscissa;
(9) with said difference multiply by the equivalent viscous damping coefficient square, the gained product obtains target servo equivalent mass in the electric liquidus displacement servo-system again divided by the step current signal amplitude;
(10) confirm the maximum input voltage corresponding according to the maximum output flow of selected electrohydraulic control with it;
(11), set the maximum value of linear displacement command signal according to the actual requirement of linear displacement and the allowed band of linear displacement detecting sensor;
(12) with the maximum value of electrohydraulic control maximum input voltage divided by the linear displacement command signal, the merchant of gained multiply by the merchant's of gained square root, and the product of gained is with the reciprocal square root of equivalent mass and then multiply by two times, obtains the integral coefficient K of servocontroller
i
(13) with the maximum value of electrohydraulic control maximum input voltage divided by the linear displacement command signal, the merchant of gained multiply by three times, obtains the feedback factor K in the servocontroller
f
(14) the electrohydraulic control maximum input voltage multiply by equivalent mass again divided by the maximum value of linear displacement command signal, the merchant's of gained square root multiply by half as much again again, deducts the equivalent viscous damping coefficient again, obtains the differential coefficient K in the servocontroller
d
2. definite method of servocontroller Control Parameter is characterized in that in the electric liquidus displacement servo-system according to claim 1, and the described amplitude of step (2) is the rating value of electrohydraulic control.
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Application publication date: 20120711 |