CN102588649B - Servo valve and zero compensation method for same - Google Patents
Servo valve and zero compensation method for same Download PDFInfo
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- CN102588649B CN102588649B CN201110458354.7A CN201110458354A CN102588649B CN 102588649 B CN102588649 B CN 102588649B CN 201110458354 A CN201110458354 A CN 201110458354A CN 102588649 B CN102588649 B CN 102588649B
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Abstract
The invention relates to a fluid control device, in particular to a directly-driven servo valve and a zero compensation method for the same. The directly-driven servo valve comprises a driving motor, a sealing ring, a valve spool, a casing and a controller, the casing is of a hollow structure and is internally provided with a hollow cavity for holding the valve spool, a plurality of oil ducts are arranged on the hollow cavity, the valve spool is arranged in the casing, a motor spindle eccentric joint of the driving motor is arranged in the center of the valve spool, the sealing ring is arranged on the driving motor, the controller is connected with the driving motor and comprises a signal conditioning module with a zero compensation function, and the signal conditioning module is connected with a position sensor on the driving motor so as to form a position closed loop. The directly-driven servo valve with the zero compensation function realizes online zero compensation by integrating zero adjustment signals with feedback signals of the angular displacement sensor, and is convenient in adjustment without detaching servo valve hardware, and cost is reduced.
Description
Technical field
The present invention relates to a kind of fluid control device, be specifically related to a kind of servovalve and zero compensation method thereof.
Background technique
Rotation direct drive servovalve valve is a kind of novel high-performance direct drive servovalve valve, its working principle is that input instruction signal passes through electric machine controller output pwm signal control drive motor, the eccentric stiffener of motor shaft end is converted into rotatablely moving of motor the to-and-fro motion of spool, realizes convection cell direction and big or small closed loop control.When general servovalve uses in servo-system, impact due to load, its performance can change during with respect to independent test, the situation that discontented pedal system is used may be there is, or in order to reach better systematic function, the adjustment of local parameter need to be carried out to servovalve, it is mainly the adjustment of zero-bit performance, yet the adjustment that the adjustment of servovalve zero-bit performance is related to mechanical structure needs more appraisal method, and debugging cycle is longer, and cost is higher.
Summary of the invention
Object of the present invention: the zero-bit adjustment inconvenience existing in order to solve prior art, the problem that cost is higher, the invention provides a kind of zero compensation type servovalve, can meet the usability of system and requirement cheaply.
In addition, the present invention also provides the zero compensation method of this servovalve.
Technological scheme of the present invention is: a kind of direct drive servovalve valve, it comprises drive motor, seal ring, spool, housing, controller, described housing is hollow structure, inside has for placing the cavity of spool, on this cavity, offer some oil ducts, described spool is arranged in housing, the motor shaft eccentric joint of drive motor is arranged on center spool, seal ring is arranged on drive motor, controller is connected with drive motor, and controller comprises the signal condition module with zero compensation function, this signal condition module is connected with the position transducer on drive motor, form position closed loop.
Described signal condition module comprises amplifier Q1, feedback adjustment resistance R _ f, zero position circuit, zero compensation input circlult, feed back input circuit, the inverting input of this amplifier Q1 is connected with feedback adjustment circuit, zero compensation input circlult and zero position circuit respectively, the positive input end grounding of amplifier Q1, the output termination controller of this amplifier Q1.
Between the inverting input of amplifier Q1 and output terminal, be provided with feedback adjustment circuit Rf.
A zero compensation method for servovalve, it comprises the steps:
Step 1: when drive motor is at-θ
1and θ
2between while rotating, the output area of Hall transducer be U1 to linear change between U2, the adjusting of R4 and R5 by zero position circuit, arranges the initial zero-bit of angular displacement sensor;
Step 2: computer export command signal enters the controller of servovalve, controller sends driving signal, controls servovalve motor;
Step 3: the angle position signal of the built-in angular displacement sensor feedback motor of drive motor enters controller after to signal condition module, form the position closed loop of drive motor, the eccentric stiffener of motor shaft end is converted into rotatablely moving of motor the to-and-fro motion of spool, realizes the control to the size and Orientation of load;
Step 4: system load signal feed back is to computer, and according to the size of signal, output zero-bit is adjusted signal to signal condition module;
Step 5: zero-bit is adjusted the feedback signal of signal and angular displacement sensor and entered controller, the online zero compensation function of realization to servovalve after comprehensive.
Described angular displacement sensor is Hall transducer.
Beneficial effect of the present invention: the direct drive servovalve valve with zero compensation that the present invention proposes, the feedback signal of adjusting signal and angular displacement sensor by zero-bit is comprehensive, the online zero compensation of realization to servovalve, it is easy to adjust, can avoid the dismounting to servovalve hardware, debugging cost and the manufacture cycle of liquid control system can be reduced, system usage requirement can be met preferably.
Accompanying drawing explanation
Fig. 1 is the structural representation of servovalve of the present invention;
Fig. 2 is the control principle block diagram of servovalve of the present invention;
Fig. 3 is the circuit diagram of signal condition module;
Fig. 4 is the output schematic diagram of angular displacement sensor,
Wherein, 1-drive motor, 2-screw, 3-pressing plate, 4-seal ring, 5-spool, 6-housing, 7-fuel feeding oil duct, 8-the first load oil duct, 9-oil return oil duct, 10-the second load oil duct, 12-controller, 31-signal condition, 32-Hall transducer, 33-load signal, 34-motor, 35-command signal, 36-zero-bit adjustment signal, 37-feedback signal, 38-drive signal.
Embodiment
Below by embodiment, the present invention is described in further detail.
Refer to Fig. 1, it is the structural representation of invention servovalve.Described direct drive servovalve valve comprises drive motor 1, screw 2, pressing plate 3, seal ring 4, spool 5, housing 6 and controller 12.Described housing 6 is hollow structure, and inside has for placing the cavity of spool 5, offers fuel feeding oil duct 7, oil return oil duct 9, the first load oil duct 8 and the second load oil duct 10 on this cavity.Described spool 5 is arranged in housing 6, and some boss that this spool is arranged on valve core rod form, and this boss can be isolated the oil duct in housing cavity by the straight line motion of spool.Described center spool has the connection mouth that the motor shaft with drive motor matches.The motor shaft of described drive motor 1 inserts center spool connection mouth, and is fixed on housing by pressing plate 3 and screw 2, then is sealed by seal ring 4.In addition, controller 12 is arranged on drive motor 1, and for controlling the motor motion of drive motor, and described drive motor 1 can be limited angle torque motor, actuating motor or the stepper motor of built-in angular displacement sensor, in present embodiment, this angular displacement sensor is Hall transducer.
Refer to Fig. 2, it is the control principle block diagram of servovalve of the present invention.During direct drive servovalve valve real work of the present invention, first carry out the initial zero position of angular displacement sensor 32, then by computer export command signal, entered the controller 12 of servovalve, controller sends driving signal, controls servovalve motor 34.The angle position signal of the built-in angular displacement sensor feedback motor of drive motor enters controller after to signal condition module, form the position closed loop of motor, the eccentric stiffener of motor shaft end is converted into rotatablely moving of motor the to-and-fro motion of spool, realizes the control to the size and Orientation of load.Meanwhile, system load signal feed back is to computer, and according to the size of feedback signal, output zero-bit is adjusted signal to signal condition module, enters controller after comprehensive with the feedback signal of angular displacement sensor, realizes the online zero compensation function to servovalve.
Refer to Fig. 3, it is the circuit diagram of described signal condition module.This signal condition module integration is in controller, and it comprises amplifier Q1, feedback adjustment resistance R _ f, zero position circuit, zero compensation input circlult, feed back input circuit.The inverting input of this amplifier Q1 is respectively through resistance R 1 and feedback adjustment circuit, through resistance R 2 and zero compensation input circlult, and be connected with zero position circuit through resistance R 3, the positive input end grounding of amplifier Q1, the output termination controller of this amplifier Q1.Meanwhile, feedback adjustment circuit Rf is arranged on inverting input and the output terminal of amplifier Q1.
Refer to Fig. 4, it is the output characteristic curve figure of feedback signal.When drive motor is at-θ
1and θ
2between while rotating, the output area of Hall transducer be U1 to linear change between U2, the adjusting of R4 and R5 by zero position circuit, arranges the initial zero-bit of angular displacement sensor.The zero position signal of zero compensating signal and angular displacement sensor is carried out comprehensively, and (this zero value is generally at-θ to determine the real work zero value of angular displacement sensor
3and θ
4between region in fluctuation), realize easily the online adjustment to servovalve zero-bit.In present embodiment ,-θ
1for-30 °, θ
2be 30 ° ,-θ
3for-10 °, θ
4be 10 °, U1 is to U2, for 1V is to 9V.
The direct drive servovalve valve with zero compensation that the present invention proposes, the feedback signal of adjusting signal and angular displacement sensor by zero-bit is comprehensive, the online zero compensation of realization to servovalve, it is easy to adjust, can avoid the dismounting to servovalve hardware, debugging cost and the manufacture cycle of liquid control system can be reduced, system usage requirement can be met preferably.
Claims (3)
1. a servovalve, it is characterized in that: comprise drive motor [1], seal ring [4], spool [5], housing [6], controller [12], described housing [6] is hollow structure, inside has for placing the cavity of spool, on this cavity, offer some oil ducts, described spool [5] is arranged in housing [6], the motor shaft eccentric joint of drive motor is arranged on center spool, seal ring is arranged on drive motor, controller [12] is connected with drive motor [1], and controller [12] comprises the signal condition module [31] with zero compensation function, this signal condition module is connected with the position transducer on drive motor, form position closed loop, described signal condition module comprises amplifier Q1, feedback adjustment resistance R _ f, zero position circuit, zero compensation input circlult, feed back input circuit, the inverting input of this amplifier Q1 respectively with feedback adjustment circuit, zero compensation input circlult, and zero position circuit is connected, the positive input end grounding of amplifier Q1, the output termination controller of this amplifier Q1, feedback adjustment resistance R _ f is arranged between the inverting input and output terminal of amplifier Q1.
2. a servovalve zero compensation method, is characterized in that, comprises the steps:
Step 1: when drive motor is at-θ
1and θ
2between while rotating, the output area of Hall transducer be U1 to linear change between U2, the adjusting of resistance R 4 and resistance R 5 by zero position circuit, arranges the initial zero-bit of angular displacement sensor;
Step 2: computer export command signal enters servo valve control device, controller sends driving signal, controls the motor of servovalve drive motor;
Step 3: the angle position signal of the built-in angular displacement sensor feedback motor of drive motor enters controller after to signal condition module, form the position closed loop of motor, the eccentric stiffener of motor shaft end is converted into rotatablely moving of motor the to-and-fro motion of spool, realizes the control to the size and Orientation of load;
Step 4: system load signal feed back is to computer, and according to the size of feedback signal, output zero-bit is adjusted signal to signal condition module;
Step 5: zero-bit is adjusted the feedback signal of signal and angular displacement sensor and entered controller, the zero compensation function of realization to servovalve after comprehensive.
3. servovalve zero compensation method according to claim 2, is characterized in that: described angular displacement sensor is Hall transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110458354.7A CN102588649B (en) | 2011-12-27 | 2011-12-27 | Servo valve and zero compensation method for same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110458354.7A CN102588649B (en) | 2011-12-27 | 2011-12-27 | Servo valve and zero compensation method for same |
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| CN102588649A CN102588649A (en) | 2012-07-18 |
| CN102588649B true CN102588649B (en) | 2014-09-17 |
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| CN201110458354.7A Active CN102588649B (en) | 2011-12-27 | 2011-12-27 | Servo valve and zero compensation method for same |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105546175B (en) * | 2015-12-21 | 2017-12-05 | 中国航空工业集团公司金城南京机电液压工程研究中心 | The attachment structure and zero-bit adjusting method of a kind of four redundancy sensor and servo valve body |
| CN108050116B (en) * | 2017-11-13 | 2019-07-26 | 哈尔滨理工大学 | Double asymmetrical cylinder cooperative motion position synchronization control devices in parallel and compensation method |
| CN108825817A (en) * | 2018-07-27 | 2018-11-16 | 江苏金陵智造研究院有限公司 | A kind of novel pressure flow control valve |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3910314A (en) * | 1973-08-16 | 1975-10-07 | Koehring Co | High-speed shutoff and dump valve |
| CN201660124U (en) * | 2009-12-11 | 2010-12-01 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Aircraft fuel system compensator |
| CN102084138A (en) * | 2008-05-06 | 2011-06-01 | 伍德沃德Hrt公司 | Method and apparatus for controlling fluid flow rate characteristics of a valve assembly |
| CN102128586A (en) * | 2010-12-16 | 2011-07-20 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Angular displacement sensor |
-
2011
- 2011-12-27 CN CN201110458354.7A patent/CN102588649B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3910314A (en) * | 1973-08-16 | 1975-10-07 | Koehring Co | High-speed shutoff and dump valve |
| CN102084138A (en) * | 2008-05-06 | 2011-06-01 | 伍德沃德Hrt公司 | Method and apparatus for controlling fluid flow rate characteristics of a valve assembly |
| CN201660124U (en) * | 2009-12-11 | 2010-12-01 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Aircraft fuel system compensator |
| CN102128586A (en) * | 2010-12-16 | 2011-07-20 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Angular displacement sensor |
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|---|---|
| CN102588649A (en) | 2012-07-18 |
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Effective date of registration: 20180620 Address after: 211102 Jiangning Development Zone, Nanjing, Nanjing, Jiangsu Province, 19 mailbox Patentee after: CAC Nanjing Servo Control System Co., Ltd. Address before: 211102 Jiangning Development Zone, Nanjing, Nanjing, Jiangsu Province, 19 mailbox Patentee before: AVIC Jincheng Nanjing Engineering Institute of Aircraft Systems |