CN102591383A - Electro-hydraulic linear displacement digital servo system and control method thereof - Google Patents
Electro-hydraulic linear displacement digital servo system and control method thereof Download PDFInfo
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- CN102591383A CN102591383A CN201210005149XA CN201210005149A CN102591383A CN 102591383 A CN102591383 A CN 102591383A CN 201210005149X A CN201210005149X A CN 201210005149XA CN 201210005149 A CN201210005149 A CN 201210005149A CN 102591383 A CN102591383 A CN 102591383A
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Abstract
The invention discloses an electro-hydraulic linear displacement digital servo system and a control method thereof. The system comprises a digital control computer, a power amplifier, a servo object, a photoelectric encoder and a hydraulic source, wherein the digital control computer comprises a digital/analogue conversion module and a high-speed counting module; the servo object comprises an electro-hydraulic servo valve, a hydraulic cylinder and a mechanical load, which are sequentially connected; the electro-hydraulic servo valve is connected with the power amplifier; and the mechanical load is connected with the photoelectric encoder. The control method comprises the following steps of: initializing an integrator; reading a linear displacement instruction signal and a feedback signal, and comparing the linear displacement instruction signal with the feedback signal to obtain an error signal; accumulatively integrating an error, and multiplying the error by using an integral coefficient Ki to obtain an integral product; multiplying the linear displacement feedback signal by using a feedback coefficient Kf to obtain a feedback product; performing differentiation operation on the linear displacement feedback signal, and multiplying the linear displacement feedback signal by using a differential coefficient Kd to obtain a differential product; and subtracting the feedback product and the differential product from the integral product to obtain a difference, performing digital/analogue conversion on the difference, and controlling the servo object by using the power amplifier.
Description
Technical field:
The present invention relates to a kind of electrohydraulic servo system, more particularly, relate to a kind of electric liquidus displacement digital servosystem and control method thereof.
Background technology:
In the electrohydraulic servo system, electric liquidus displacement is servo often to be run in some mechanized equipments, flexible like mechanical arm, the feed motion of process equipment, the transmission of workpiece etc. in the automatic production line.In the electricity liquidus displacement servo-drive system, the variable of electro-hydraulic servo is the displacement of the lines of mechanical load motion.In order to obtain good displacement of the lines servo performance, electric liquidus displacement servo-drive system must adopt closed-loop control.That is to say; The displacement of the lines of moving component must feed back to the electrohydraulic servo system input end through detecting sensor in the mechanized equipment; Compare the generation error signal with the displacement of the lines command signal; And then send control signal after by servo controller error signal being controlled computing, the displacement of the lines of moving component is implemented to proofread and correct.
At present widely used for the error Control computing is that proportional-plus-integral adds differential control (PID).To a kind of computing of the every increase of error, 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, and the PID feedback makes control system a plurality of forced term occur.Like this, electrohydraulic servo system output just can not accurately reappear the linear velocity command signal.Therefore, general PID feedback displacement of the lines 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, response speed and the automaticity of various plant equipment has proposed increasingly high requirement to electric liquidus displacement servo performance.Known 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, servo controller known in the electric liquidus displacement servo-drive system adopts special-purpose electron device, adopts digital control computer how to realize that the good digital control method of servo performance then is that two of problem to be solved is arranged in the prior art.
Summary of the invention:
The objective of the invention is to solve the problem and the defective that exist in the above-mentioned prior art, a kind of electric liquidus displacement digital servosystem and control method thereof by digital control computer control of novelty is provided for further improving the performance of electrohydraulic servo system.
In order to achieve the above object, the present invention realizes that the technical scheme that purpose is taked is:
A kind of electric liquidus displacement digital servosystem is made up of digital control computer, power amplifier, target servo, photoelectric encoder and hydraulic power source; Wherein said digital control computer not only has known computing function, and comprises D/A switch module and high speed counting module, and the output of D/A switch module is connected with power amplifier, and high speed counting module is connected with photoelectric encoder; Said target servo is made up of electrohydraulic servo valve, hydraulic cylinder and mechanical load; Said electrohydraulic servo valve, hydraulic cylinder and mechanical load are linked in sequence; Said electrohydraulic servo valve also is connected with said power amplifier; Said mechanical load also is connected with said photoelectric encoder, and said electrohydraulic servo valve also is connected with said hydraulic power source respectively with said hydraulic cylinder.
In order to achieve the above object, another technical scheme of the present invention's employing is:
A kind of control method of electric liquidus displacement digital servosystem comprises the following steps:
(1) beginning, the initialization integrator;
(2) read line displacement digital command signal and by the displacement of the lines digital feedback signal that photoelectric encoder is gathered relatively obtains error signal with both;
(3) with add up integration and multiply by integral coefficient K of error signal
iGet the integration product;
(4) the displacement of the lines digital feedback signal multiply by feedback factor K
fMust feed back product;
(5) the displacement of the lines digital feedback signal is carried out calculus of differences and multiply by differential coefficient K
dGet the differential product;
(6) said integration product is deducted the feedback product and then deduct the differential product and get difference;
(7) said difference is carried out D/A switch, obtain the analog quantity control signal and be input to power amplifier, the control target servo;
(8) turn back to step (2).
Because the bright electric liquidus displacement servo-drive system of this milk adopts distinguished computer control method; In forward loop, error signal is implemented integral operation and multiplying; In backfeed loop, not only realize the feedback of displacement of the lines digital signal, 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 digital signal.That is to say, not only realized the feedback of servo variable displacement displacement information, but also realized the feedback of other two status informations of servo variable displacement.
Characteristics of the present invention and beneficial effect are:
(1) electric liquidus displacement digital servosystem of the present invention not only has the feedback of servo variable displacement displacement of the lines, and has the rate of change of servo variable displacement displacement of the lines---the feedback of linear velocity, and the rate of change of linear velocity---the feedback of linear acceleration.Therefore, electrohydraulic digital servo-drive system of the present invention not only has the feedback of the status information of servo variable displacement own, and has the feedback of servo variable displacement variable condition information, has realized the feedback of three kinds of status informations of servo variable displacement.And general electric liquidus displacement servo-drive system only can realize a kind of status information feedback of servo variable displacement.
(2) electric liquidus displacement digital servosystem of the present invention has realized the feedback of displacement of the lines, linear velocity and three kinds of status signals of linear acceleration; But only used a photoelectric encoder; Need not other detecting sensor, not only convenient and easy in engineering construction, and save cost.
(3), improved the static state and the dynamic property of electric liquidus displacement servo-drive system owing to electric distinguished version of liquidus displacement digital servosystem of the present invention and computer control method.Static accuracy can reach floating, in the time of dynamically for the step instantaneous mutation of displacement of the lines 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-drive system changes insensitive.
Description of drawings
Fig. 1 is that electric liquidus displacement digital servosystem of the present invention constitutes block scheme;
Fig. 2 is an electric liquidus displacement digital servosystem control method process flow diagram of the present invention.
Embodiment:
In order to deepen that understanding of the present invention further is described in detail specific embodiment of the present invention below in conjunction with Fig. 1 and 2, 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 digital servosystem of the embodiment of the invention constitutes block scheme.This electricity liquidus displacement digital servosystem is by digital control computer 120, power amplifier 130, target servo 140, photoelectric encoder 150 and hydraulic power source 160; Said digital control computer 120 not only comprises known computing function, and comprises D/A switch module and high speed counting module, and the output of D/A switch function is connected with power amplifier 130, and the input of high-speed counting function is connected with photoelectric encoder; Said target servo 140 is made up of electrohydraulic servo valve 141, hydraulic cylinder 142 and mechanical load 143; Said electrohydraulic servo valve 141, hydraulic cylinder 142 and mechanical load 143 are linked in sequence; Electrohydraulic servo valve 141 also is connected with power amplifier 130; Mechanical load 143 also is connected with photoelectric encoder 150, feeds back to the input end of the high speed counting module of digital control computer after its line of motion displacement detecting; In addition, electrohydraulic servo valve 141 also is connected with hydraulic power source 160 respectively with hydraulic cylinder 142.
Fig. 2 is the electric liquidus displacement digital servosystem control method process flow diagram of the embodiment of the invention, and said digital control method step is following:
(1) step 110 is moved for beginning,
(2) step 120 pair integrator carries out initialization process, to integrator zero clearing, i.e. INT=0;
(3) step 130 read line displacement digital command signal yR;
(4) step 140 is gathered the displacement of the lines digital feedback signal yF that is sent here by photoelectric encoder;
(5) step 150 compares displacement of the lines digital command signal and displacement of the lines digital quantity feedback signal and obtains error signal, i.e. ER=yR-yF;
(6) add up integration, i.e. INT=INT+ER of step 160 pair error signal;
(7) step 170 integration that pair adds up multiply by integral coefficient K
iGet integration product P1=INT*Ki;
(8) step 180 pair displacement of the lines digital feedback signal multiply by feedback factor K
fMust feed back product P2=yF*Kf;
(9) step 190 deducts feedback product P2 with integration product P1 and obtains difference M=P1-P2;
(10) step 200 displacement of the lines digital feedback signal YF that photoelectric encoder is sent here carries out calculus of differences P3=Δ yF/ Δ T;
(11) step 210 multiply by differential coefficient K with the calculus of differences result
dGet differential product P3=P3*Kd;
(12) step 220 is carried out the subtraction M=M-P3 second time;
(13) step 230 converts digital quantity difference signal M to analog signals; By step 240 this analog signals is input to power amplifier as control signal on the one hand; Workflow turns back to step 130 again on the other hand, so constantly electric liquidus displacement servo-drive system is carried out computer numerical control (CNC) and operation.
Because this electricity liquidus displacement servo-control system adopts distinguished computer control method, under the situation that does not need linear velocity detecting sensor and linear acceleration detecting sensor, has realized the feedback of linear velocity and linear acceleration digital signal.That is to say, not only realized the feedback of servo variable displacement displacement information, but also realized the feedback of other two status informations of servo variable displacement.
Control method of the present invention is not only controlled real-time, and has improved the static state and the dynamic property of electric liquidus displacement digital servosystem; For the instantaneous mutation of displacement of the lines command signal, dynamic response time reduces and the non-overshoot dead-beat; For the interference of external environment and the variation of mechanical load itself, still can keep the servo performance of electric liquidus displacement servo-drive system.
Claims (2)
1. electric liquidus displacement digital servosystem; Comprise digital control computer, power amplifier, target servo, photoelectric encoder and hydraulic power source; It is characterized in that: said digital control computer also comprises D/A switch module and high speed counting module; Said D/A switch module is connected with said power amplifier, and said high speed counting module is connected with said photoelectric encoder; Said target servo is made up of electrohydraulic servo valve, hydraulic cylinder and mechanical load; Said electrohydraulic servo valve, hydraulic cylinder and mechanical load are linked in sequence; Said electrohydraulic servo valve also is connected with said power amplifier; Said mechanical load also is connected with said photoelectric encoder, and said electrohydraulic servo valve is connected with said hydraulic power source respectively with said hydraulic cylinder.
2. the control method of an electric liquidus displacement digital servosystem as claimed in claim 1 is characterized in that: comprise the steps:
(1) beginning, the initialization integrator;
(2) read line displacement digital command signal and by the displacement of the lines digital feedback signal that photoelectric encoder is gathered relatively obtains error signal with both;
(3) with add up integration and multiply by integral coefficient K of error signal
iGet the integration product;
(4) the displacement of the lines digital feedback signal multiply by feedback factor K
fMust feed back product;
(5) the displacement of the lines digital feedback signal is carried out calculus of differences and multiply by differential coefficient K
dGet the differential product;
(6) said integration product is deducted the feedback product and then deduct the differential product and get difference;
(7) said difference is carried out D/A switch, obtain the analog quantity control signal and be input to power amplifier, the control target servo;
(8) turn back to step (2).
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Cited By (5)
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| CN103647488A (en) * | 2013-12-06 | 2014-03-19 | 江苏科技大学 | Hydraulic-motor angular-displacement digital servo control system and method thereof |
| CN103684147A (en) * | 2013-12-06 | 2014-03-26 | 江苏科技大学 | Continuous current dynamo speed derivative feedback control device and method |
| CN105785908A (en) * | 2016-03-24 | 2016-07-20 | 江苏科技大学 | DC motor angular displacement digital servo control system and control method |
| CN106154981A (en) * | 2016-07-18 | 2016-11-23 | 江苏科技大学 | A kind of hydraulic cylinder displacement digital servo control system and control method |
| CN111697883A (en) * | 2020-06-12 | 2020-09-22 | 江苏科技大学 | DC speed regulation digital control system with optimal time response and implementation method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103647488A (en) * | 2013-12-06 | 2014-03-19 | 江苏科技大学 | Hydraulic-motor angular-displacement digital servo control system and method thereof |
| CN103684147A (en) * | 2013-12-06 | 2014-03-26 | 江苏科技大学 | Continuous current dynamo speed derivative feedback control device and method |
| CN103647488B (en) * | 2013-12-06 | 2016-01-20 | 江苏科技大学 | A kind of controlling method of Hydraulic-motor angular-displacementdigital digital servo |
| CN103684147B (en) * | 2013-12-06 | 2016-06-22 | 江苏科技大学 | DC generator speed Derivative Feedback controls apparatus and method |
| CN105785908A (en) * | 2016-03-24 | 2016-07-20 | 江苏科技大学 | DC motor angular displacement digital servo control system and control method |
| CN105785908B (en) * | 2016-03-24 | 2018-10-12 | 江苏科技大学 | A kind of DC generator angular displacement digital servo control system and control method |
| CN106154981A (en) * | 2016-07-18 | 2016-11-23 | 江苏科技大学 | A kind of hydraulic cylinder displacement digital servo control system and control method |
| CN111697883A (en) * | 2020-06-12 | 2020-09-22 | 江苏科技大学 | DC speed regulation digital control system with optimal time response and implementation method |
| CN111697883B (en) * | 2020-06-12 | 2023-05-30 | 江苏科技大学 | Direct-current speed regulation digital control system with optimal time response and implementation method |
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Application publication date: 20120718 |