CN102588358B - High-performance energy saving type electro-hydraulic servo control oil line - Google Patents
High-performance energy saving type electro-hydraulic servo control oil line Download PDFInfo
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- CN102588358B CN102588358B CN201210040329.1A CN201210040329A CN102588358B CN 102588358 B CN102588358 B CN 102588358B CN 201210040329 A CN201210040329 A CN 201210040329A CN 102588358 B CN102588358 B CN 102588358B
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Abstract
The invention provides a high-performance energy saving type electro-hydraulic servo control oil line. The high-performance energy saving type electro-hydraulic servo control oil line not only has the characteristic of high efficiency energy saving of positive displacement type control, but also has the characteristic of high accuracy and fast response of throttling type control. In the oil line, two servo motors are respectively connected with a mechanical variable displacement mechanism and a rotating shaft of a mechanical servo variable displacement pump; ports A of two one-way valves and B ports of two safety valves are connected with an airtight pressure oil tank; ports B of two one-way valves are respectively connected with ports A and B of the mechanical servo variable displacement pump; ports A of the two safety valves are respectively connected with the ports A and B of the mechanical servo variable displacement pump; ports A and B of an electro-hydraulic servo valve are connected with oil ports of a hydraulic executive component; ports P and T of the electro-hydraulic servo valve are respectively connected with ports B of switching valves (1) and (2); the switching valve (1), a switching valve (3) and the port A of the mechanical servo variable displacement pump are interconnected; the port B of the switching valve (3) is connected with the port A of the electro-hydraulic servo valve; the switching valve (2), a switching valve (4) and the port B of the mechanical servo variable displacement pump are interconnected; and a port B of the switching valve (4) is connected with the port B of the electro-hydraulic servo valve.
Description
Technical field
The present invention relates to a kind of electro-hydraulic servo control oil of high performance and energy-saving, particularly a kind of electro-hydraulic servo control oil adopting servo variable pump and electrohydraulic control collaborative work, belongs to technical field of hydraulic.
Background technique
Electrohydraulic servo system can be divided into valve-regulated and pump control type two kinds of modes by control principle.Valve-regulated system take electrohydraulic control as control core, adopt throttle type working method, the pressure versus flow of hydraulic energy source is regulated by control orifice size and direction, it has the advantages such as control accuracy is high, response is fast, rigidity is large, but energy utilization rate low (in theory higher than 67%), heating value are large, and very responsive to oil contamination, rate of fault is high.Pump control type system adopts positive displacement working method, by size and the direction of controlled variable POF, directly controls the motion of actuator.Although restrict by variable displacement pump stroking mechanism, control accuracy lower (especially near zero-bit), the response of pump control type are comparatively slow, but, owing to there is not restriction loss, pump control type energy utilization rate very high (theory can reach more than 95%), and heating value is little, failure rate is low.
In recent years, along with hydraulics merges mutually with electric, electronic technology, Direct Drive Electro-hydraulic Servo System becomes the main flow direction of hydraulic control technology research, and its adopts adjustable varying-speed motor to drive the metering pump of double rotational directions, metering pump Direct driver executive component.Forward and reverse, the speed of executive component, position and active force (or torque) is controlled by changing the clockwise and anticlockwise of motor, the speed of motor, running time and limiting motor torque.
Direct drive type electrohydraulic servo techniques is based on positive displacement control mode in essence, although it has obtained larger achievement in energy-saving application, still in control accuracy, dynamic response, working efficiency, low speed and commutation stationarity etc., there is certain problem.Be difficult to the control accuracy and the dynamic characteristic that reach valve control system.
Direct Drive Electro-hydraulic Servo System Problems existing is still the advantage of conventional valve control type electrohydraulic servo techniques, therefore, in order to promote continuation development and the popularization of direct drive type electrohydraulic servo techniques, must consider to incorporate traditional valve-regulated electro-hydraulic servo technology, seek the optimal balance point of energy-saving effect and control effects.
Summary of the invention
The present invention proposes a kind of electro-hydraulic servo control oil adopting servo variable pump and servovalve Collaborative Control, not only possesses positive displacement and controls energy-efficient feature, also possesses the feature that throttle type controls highi degree of accuracy and fast-response simultaneously.
The electro-hydraulic servo control oil that pump control combines with valve control, for hydraulic control executive component; Comprise the first actuating motor for becoming discharge capacity, the second actuating motor for variable speed, mechnical servo variable displacement pump, the first one-way valve, the second one-way valve, the first safety valve, the second safety valve, seal-off pressure fuel tank, the first switch valve, second switch valve, the 3rd switch valve, the 4th switch valve and electrohydraulic control.This system, based on typical Direct Drive Electro-hydraulic Servo System, functionally can be divided into pump control loop, feed circuit and valve control loop three parts, achieve the hybrid systems structure that pump control combines with valve control.
In the present invention each element function and correlation as follows:
Pump control loop comprises the first actuating motor, the second actuating motor, mechnical servo variable displacement pump, and it is a bivariant pump control system of discharge capacity rotating speed.First actuating motor is connected with the mechanical variables mechanism of mechnical servo variable displacement pump, and for changing mechnical servo variable pump delivery, the second actuating motor is connected with the rotatingshaft of mechnical servo variable displacement pump, for controlling its rotational velocity.
Between the inlet port that feed circuit is connected in parallel on mechnical servo variable displacement pump and delivery outlet, for whole system replenisher force feed, complete the function that safety pressure regulates, it comprises the first one-way valve and the second one-way valve, the first safety valve and the second safety valve, seal-off pressure fuel tank simultaneously.First one-way valve and the second one-way valve control the two-way oil compensation of mechanical servo variable pump, and their A mouth links together, and is connected with seal-off pressure fuel tank.The B mouth of the first one-way valve is connected with the A mouth of mechnical servo variable displacement pump, and the B mouth of the second one-way valve is connected with the B mouth of mechnical servo variable displacement pump, ensures that the inlet port of mechnical servo variable displacement pump is connected with seal-off pressure fuel tank all the time.The bidirectional safe pressure that first safety valve and the second safety valve export for regulating mechanical servo variable pump, their B mouth links together, and is connected with seal-off pressure fuel tank, makes the overflow fluid of safety valve be filled with seal-off pressure fuel tank.The A mouth of the first safety valve is connected with the A mouth of mechnical servo variable displacement pump, and the A mouth of the second safety valve is connected with the B mouth of mechnical servo variable displacement pump.
Valve control loop is then connected between pump control loop and hydraulic actuator, and it comprises electrohydraulic control and switch valve group, comprises the first switch valve, second switch valve, the 3rd switch valve and the 4th switch valve.The control A mouth of electrohydraulic control is connected with the hydraulic fluid port of actuator respectively with B mouth, and its high pressure P mouth is connected with the B mouth of the first switch valve and second switch valve respectively with oil return T mouth; Switch valve group is used for the working state of switchable pump control and valve control: the A mouth of the first switch valve and the 3rd switch valve links together, and is connected with the A mouth of mechnical servo variable displacement pump, and the B mouth of the 3rd switch valve is connected with the A mouth of electrohydraulic control; The A mouth of second switch valve and the 4th switch valve links together, and is connected with the B mouth of mechnical servo variable displacement pump, and the B mouth of the 4th switch valve is connected with the B mouth of electrohydraulic control.
Hydraulic actuator can be linear type servo-cylinder or rotary servomotor, by built-in manner or external mode installation position displacement sensor, and the signal of displacement transducer introducing controller can be formed closed loop control system.
Working principle of the present invention is as follows: mechnical servo variable displacement pump passes through the combination of the first one-way valve and the second one-way valve, inhalant liquid force feed from seal-off pressure fuel tank, export the hydraulic oil with certain pressure and flow, its rotating speed and discharge capacity are controlled by the second actuating motor and the first actuating motor respectively, thus realize the servocontrol of output flow size and Orientation, first safety valve and the second safety valve limit the most high output pressure of mechnical servo variable displacement pump, play safety protection effect; Switch valve group can under control system be operated in different states: when the first switch valve and second switch valve are connected, when 3rd switch valve and the 4th switch valve are closed, the high pressure oil that mechnical servo variable displacement pump exports enters electrohydraulic control, and now system has very high control accuracy and speed of response; When the first switch valve and second switch valve are closed, when the 3rd switch valve and the 4th switch valve are connected, the high pressure oil that mechnical servo variable displacement pump exports directly enters hydraulic actuator, and system has very high working efficiency and energy saving.
Beneficial effect: the present invention organically blends valveless directly driving type system and valve-regulated system, define a kind of Combined type electric fluid servo system, it has not only possessed positive displacement and has controlled energy-efficient feature, also possessed the feature that throttle type controls highi degree of accuracy and fast-response simultaneously, be expected to solve the intrinsic contradictions existed between technical field of hydraulic pressure control effects and energy-saving effect, therefore, this combined type electrohydraulic servo-controlling system has important researching value and application prospect.
Accompanying drawing explanation
Fig. 1 is a kind of electro-hydraulic servo control oil schematic diagram of high performance and energy-saving;
Wherein: 1-first actuating motor, 2-second actuating motor, 3-mechnical servo variable displacement pump, 4-first one-way valve, 5-second one-way valve, 6-first safety valve, 7-second safety valve, 8-seal-off pressure fuel tank, 9-first switch valve, 10-second switch valve, 11-the 3rd switch valve, 12-the 4th switch valve, 13-electrohydraulic control, 14-displacement transducer, 15-hydraulic actuator;
Fig. 2 is for adopting the electro-hydraulic servo control method flow diagram of a kind of high performance and energy-saving of oil circuit shown in Fig. 1.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
The electro-hydraulic servo control oil that pump control combines with valve control, comprises the first actuating motor 1, second actuating motor 2, mechnical servo variable displacement pump 3, first one-way valve 4, second one-way valve 5, first safety valve 6, second safety valve 7, seal-off pressure fuel tank 8, first switch valve 9, second switch valve 10, the 3rd switch valve 11, the 4th switch valve 12 and electrohydraulic control 13.Hydraulic actuator 15 is control objects of this electro-hydraulic servo control oil.This system, based on typical Direct Drive Electro-hydraulic Servo System, functionally can be divided into pump control loop, feed circuit and valve control loop three parts, achieve the hybrid systems structure that pump control combines with valve control.
In the present invention each element function and correlation as follows:
Pump control loop comprises the first actuating motor 1, second actuating motor 2, mechnical servo variable displacement pump 3, constitutes a bivariant pump control system of discharge capacity rotating speed.First actuating motor 1 is connected with the mechanical variables mechanism S of mechnical servo variable displacement pump 3, and for changing the discharge capacity of mechnical servo variable displacement pump 3, the second actuating motor 2 is connected with the rotatingshaft of mechnical servo variable displacement pump 3, for controlling its rotational velocity.
Between the inlet port that feed circuit is connected in parallel on mechnical servo variable displacement pump 3 and delivery outlet, for whole system replenisher force feed, complete the function that safety pressure regulates, it comprises the first one-way valve 4 and the second one-way valve 5, first safety valve 6 and the second safety valve 7, seal-off pressure fuel tank 8 simultaneously.First one-way valve 4 and the second one-way valve 5 control the two-way oil compensation of mechanical servo variable pump 3, and their A mouth links together, and is connected with seal-off pressure fuel tank 8, ensure that the inlet port of mechnical servo variable displacement pump 3 is connected with seal-off pressure fuel tank 8 all the time.The B mouth of the first one-way valve 4 is connected with the A mouth of mechnical servo variable displacement pump 3, and the B mouth of the second one-way valve 5 is connected with the B mouth of mechnical servo variable displacement pump 3.The bidirectional safe pressure that first safety valve 6 and the second safety valve 7 export for regulating mechanical servo variable pump 3, their B mouth links together, and is connected with seal-off pressure fuel tank 8, makes the overflow fluid of these two safety valves be filled with seal-off pressure fuel tank.The A mouth of the first safety valve 6 is connected with the A mouth of mechnical servo variable displacement pump 3, and the A mouth of the second safety valve 7 is connected with the B mouth of mechnical servo variable displacement pump 3.
Valve control loop is then connected between pump control loop and hydraulic actuator, and it comprises electrohydraulic control 13 and switch valve group, comprises the first switch valve 9, second switch valve 10, the 3rd switch valve 11 and the 4th switch valve 12.The control A mouth of electrohydraulic control 13 is connected with the hydraulic fluid port of actuator 15 respectively with B mouth, and its high pressure P mouth and oil return T mouth are connected with the B mouth of the first switch valve 9 and second switch valve 10 respectively; Switch valve group is used for the working state of switchable pump control and valve control: the A mouth of the first switch valve 9 and the 3rd switch valve 11 links together, and is connected with the A mouth of mechnical servo variable displacement pump 3, and the B mouth of the 3rd switch valve 11 is connected with the A mouth of electrohydraulic control 13; The A mouth of second switch valve 10 and the 4th switch valve 12 links together, and is connected with the B mouth of mechnical servo variable displacement pump 3, and the B mouth of the 4th switch valve 12 is connected with the B mouth of electrohydraulic control 13.
Hydraulic actuator 15 can be linear type servo-cylinder or rotary servomotor, by built-in manner or external mode sensor installation 14, gather the displacement of linear type servo-cylinder or the angle of swing of rotary servomotor, and the signal of sensor 14 introducing controller can be formed closed loop control system.
Working principle of the present invention is as follows: mechnical servo variable displacement pump 3 is controlled by the combination of the first one-way valve 4 and the second Pilot operated check valve 5, inhalant liquid force feed from seal-off pressure fuel tank 8, detailed process is: when the B mouth of mechnical servo variable displacement pump 3 is inlet port, first one-way valve 4 is closed, second one-way valve 5 is opened, and the oil sources of seal-off pressure fuel tank 8 flows into the B mouth of servo variable pump 3 by the second one-way valve 5; When the A mouth of mechnical servo variable displacement pump 3 is inlet port, the first one-way valve 4 is opened, and the second one-way valve 5 is closed, and the oil sources of seal-off pressure fuel tank 8 flows into the A mouth of servo variable pump 3 by the first one-way valve 4.
Mechnical servo variable displacement pump 3 exports the hydraulic oil with certain pressure and flow, and its rotating speed and discharge capacity are controlled by the second actuating motor 2 and the first actuating motor 1 respectively, thus realize the servocontrol of output flow size and Orientation.First safety valve 6 and the second safety valve 7 limit the A mouth of mechnical servo variable displacement pump 3 and the most high output pressure of B mouth, play safety protection effect;
Switch valve group can under control system be operated in different states: when the first switch valve 9 and second switch valve 10 are connected, when 3rd switch valve 11 and the 4th switch valve 12 are closed, the high pressure oil that mechnical servo variable displacement pump 3 exports is by electrohydraulic control 13 hydraulic control executive component 15, there is very high control accuracy and speed of response, and control (making its standard-sized sheet) by the opening of hydraulic actuator 15 system works can also be made in pump prosecutor formula, and the switch speed of valve control and pump short side formula is fast; When the first switch valve 9 and second switch valve 10 are closed, when the 3rd switch valve 11 and the 4th switch valve 12 are connected, the high pressure oil that mechnical servo variable displacement pump 3 exports directly enters hydraulic actuator 15, has very high working efficiency and energy saving.
Based on above-mentioned oil circuit control, present invention also offers a kind of electro-hydraulic servo control method that pump control combines with valve control, its concrete implementation step is as follows:
1st step: start initialization: directly by the to-and-fro motion of electrohydraulic control 13 hydraulic control executive component 15, kinematic relation according to electro-hydraulic servo valve control signal and executive component checks that whether electrohydraulic control 13 is working properly, if such as hydraulic actuator is not controlled by the control signal of electrohydraulic control, then think dyskinesia; If electrohydraulic control breaks down, then control the first switch valve 9 and second switch valve 10 power-off, control the 3rd switch valve 11 and the 4th switch valve 12 are energized, cut-off valve prosecutor formula, and system directly carries out servo variable pump control, and adopts this control mode always;
If servovalve is working properly, then control the first switch valve 9 and second switch valve 10 is energized, control the 3rd switch valve 11 and the 4th switch valve 12 power-off, the connection of now pump control loop and actuator disconnects, the connection of pump control loop and electrohydraulic control is connected, valve control loop and pump control loop form series relationship, hydraulic control actuator; Then step 2 is performed;
2nd step: step-up error threshold value is E, as control mode switching foundation: when departure e is less than error threshold E, system works is under valve prosecutor formula, and when departure e is greater than error threshold E, system works is under pump prosecutor formula;
3rd step: the kinematic parameter being detected hydraulic actuator by displacement or velocity transducer, and and instruction signal compares, and obtains departure e, and compare with error threshold E;
4th step: when departure e is greater than error threshold E, illustrate that now control accuracy can not meet setting requirement, need system works under valve prosecutor formula, ensure that highi degree of accuracy and the fast-response of actuator control, now control under mechanical servo variable pump is operated in metering pump mode, and controlled the motion state of executive component by the size and Orientation controlling servovalve opening, and return the 3rd step;
5th step: when departure e is less than or equal to error threshold E, illustrate that now control accuracy has met setting requirement, it can be made to be operated in pump prosecutor formula under, thus under the prerequisite ensureing precision, the efficiency of energy utilization of raising system under large discharge, now by the output flow for becoming the first actuating motor of discharge capacity and the second servomotor controller tool servo variable pump for variable speed, and to control electro-hydraulic servo valve control signal be maximum, ensure that its restriction is opened completely, valve control system enters state of dormancy, the direct hydraulic control actuator in pump control loop, return the 3rd step.
So far, this flow process terminates.
Above-described embodiment adopts the change of electrohydraulic control Setting signal that oil circuit is switched in pump control and valve prosecutor formula, and does not need the action of switch valve group, and such switch speed is fast, and it is convenient to control.In actual use, control mode switching can certainly be realized by the switching of switch valve group.
Below by reference to the accompanying drawings the specific embodiment of the present invention is described; but these explanations can not be understood to limit scope of the present invention; protection scope of the present invention is limited by the claims of enclosing, and any change on the claims in the present invention basis is all protection scope of the present invention.
Claims (1)
1. an electro-hydraulic servo control oil for high performance and energy-saving, for hydraulic control executive component (15), is characterized in that, comprises pump control loop, feed circuit and valve control loop;
Described pump control loop comprises the first actuating motor (1), the second actuating motor (2), mechnical servo variable displacement pump (3); First actuating motor (1) is connected with the mechanical variables mechanism of mechnical servo variable displacement pump (3), and the second actuating motor (2) is connected with the rotatingshaft of mechnical servo variable displacement pump (3);
Between the inlet port that described feed circuit is connected in parallel on mechnical servo variable displacement pump (3) and delivery outlet, feed circuit comprises the first one-way valve (4), the second one-way valve (5), the first safety valve (6), the second safety valve (7) and seal-off pressure fuel tank (8); The A mouth of the first one-way valve (4) and the A mouth of the second one-way valve (5) link together, and are connected with seal-off pressure fuel tank (8); The B mouth of the first one-way valve (4) is connected with the A mouth of mechnical servo variable displacement pump (3), and the B mouth of the second one-way valve (5) is connected with the B mouth of mechnical servo variable displacement pump (3); The B mouth of the first safety valve (6) and the B mouth of the second safety valve (7) link together, and are connected with seal-off pressure fuel tank (8); The A mouth of the first safety valve (6) is connected with the A mouth of mechnical servo variable displacement pump (3), and the A mouth of the second safety valve (7) is connected with the B mouth of mechnical servo variable displacement pump (3);
Valve control circuit in series is between pump control loop and hydraulic actuator (15), and valve control loop comprises the first switch valve (9), second switch valve (10), the 3rd switch valve (11), the 4th switch valve (12), electrohydraulic control (13), hydraulic actuator (15) and displacement transducer (14); The control A mouth of electrohydraulic control (13) is connected with the hydraulic fluid port of hydraulic actuator (15) respectively with B mouth, and the high pressure P mouth of electrohydraulic control (13) is connected with the B mouth of the first switch valve (9) and second switch valve (10) respectively with oil return T mouth; The A mouth of the first switch valve (9) and the A mouth of the 3rd switch valve (11) link together, and be connected with the A mouth of mechnical servo variable displacement pump (3), the B mouth of the 3rd switch valve (11) is connected with the A mouth of electrohydraulic control (13); The A mouth of second switch valve (10) and the A mouth of the 4th switch valve (12) link together, and be connected with the B mouth of mechnical servo variable displacement pump (3), the B mouth of the 4th switch valve (12) is connected with the B mouth of electrohydraulic control (13);
Electro-hydraulic servo control oil is when initialization, directly by electrohydraulic control (13) hydraulic control executive component (15) to-and-fro motion, the kinematic relation according to electro-hydraulic servo valve control signal and hydraulic actuator checks that whether electrohydraulic control (13) is working properly; If electrohydraulic control (13) breaks down, then control the first switch valve (9) and second switch valve (10) power-off, control the 3rd switch valve (11) and the energising of the 4th switch valve (12), cut-off valve prosecutor formula, and adopt this control mode always;
If electrohydraulic control (13) is working properly, then control the first switch valve (9) and second switch valve (10) energising, control the 3rd switch valve (11) and the 4th switch valve (12) power-off, the connection of pump control loop and electrohydraulic control (13) is connected, valve control loop and pump control loop form series relationship, hydraulic control executive component (15);
Detected the kinematic parameter of hydraulic actuator by displacement or velocity transducer, and and instruction signal compares, and obtains departure e, and compare with error threshold E;
When departure e is greater than error threshold E, now controls under mechanical servo variable pump (3) is operated in metering pump mode, and carried out the motion state of hydraulic control executive component (15) by the size and Orientation controlling electrohydraulic control opening;
When departure e is less than or equal to error threshold E, now by the output flow for becoming the first actuating motor of discharge capacity and the second servomotor controller tool servo variable pump for variable speed, and to control electro-hydraulic servo valve control signal be maximum, the direct hydraulic control executive component in pump control loop.
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| CN201210040329.1A CN102588358B (en) | 2012-02-20 | 2012-02-20 | High-performance energy saving type electro-hydraulic servo control oil line |
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| CN201210040329.1A CN102588358B (en) | 2012-02-20 | 2012-02-20 | High-performance energy saving type electro-hydraulic servo control oil line |
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| CN102588358A (en) | 2012-07-18 |
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