CN103148041A - Energy-saving active/passive load double electrohydraulic servo valve control system and control method thereof - Google Patents
Energy-saving active/passive load double electrohydraulic servo valve control system and control method thereof Download PDFInfo
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Abstract
The invention discloses an energy-saving active/passive load double electrohydraulic servo valve control system and a control method thereof. Through switching control of a valve control system oil circuit, the system not only can realize independent control of two cavities of a hydraulic cylinder or a hydraulic motor, but also has the functions of redundant backup, double-valve parallel control and hydraulic cylinder or hydraulic motor double-cavity lock-out control of electrohydraulic servo valves. Moreover, according to the invention, the oil supply modes of the electrohydraulic servo valves are specially designed, so as to save high-pressure energy and ensure that low-pressure oil can be provided for the hydraulic cylinder or the hydraulic motor under any circumstances.
Description
Technical field
The present invention relates to the Fluid Transmission and Control technical field, relate in particular to a kind of two electro-hydraulic servo valve control systems and controlling method thereof of energy-saving type master passive load.
Background technique
Active load in electro-hydraulic servo valve-controlled cylinder or Servo Motor system, refer to that load that oil hydraulic cylinder or oil hydraulic motor are subject to hinders it and moves according to characteristics of motion of setting in movement process, passive load is just opposite, and the load meeting that oil hydraulic cylinder or oil hydraulic motor are subject to is accelerated it and moved by existing movement tendency.Generally under the active load, the resistance that need to provide certain hydraulic energy source to be arrived to overcome load to oil hydraulic cylinder or oil hydraulic motor, and under passive load, not needing provides hydraulic energy source to oil hydraulic cylinder or oil hydraulic motor, but a part of load force is offset in the throttle resistance effect by hydrovalve, only stay can the maintenance medium cylinder pressure or oil hydraulic motor get final product by setting the part load force that rule moves.
In existing electro-hydraulic servo valve control system, mostly adopt an electrohydraulic control that oil hydraulic cylinder or oil hydraulic motor are controlled, there is certain defective in the control mode of single electrohydraulic control, its two load ports are that machinery connects firmly, can not carry out independent control, in the situation that oil hydraulic cylinder or oil hydraulic motor are subject to the proper motion that passive load still needs to provide to electrohydraulic control high pressure energy ability maintenance medium cylinder pressure or oil hydraulic motor, there is larger energy waste.In addition, the peak rate of flow of single electrohydraulic control often can not meet the demands and after electrohydraulic control breaks down, whole hydraulic system can't work,
Problem for waste hydraulic energy source under passive load, some schemes propose to adopt two servovalves respectively independent control to be carried out in two chambeies of oil hydraulic cylinder or oil hydraulic motor, when oil hydraulic cylinder or oil hydraulic motor are operated in passive load lower time, one of them servovalve is controlled the movement locus of oil hydraulic cylinder or oil hydraulic motor by the mode of meter out, and another servovalve only need to provide low pressure oil to get final product to oil hydraulic cylinder or oil hydraulic motor.In existing bivalve independence control program, when a certain chamber of oil hydraulic cylinder or oil hydraulic motor needs low pressure oil supply, the oil suction in the hydraulic oil container that is the negative pressure that forms by this chamber, although this scheme is fairly simple, if but the passive load that oil hydraulic cylinder or oil hydraulic motor are subject to is large not, be not enough to form larger negative pressure, just be difficult to directly oil suction in the fuel tank.
Summary of the invention
in view of this, the invention provides the two electro-hydraulic servo valve control systems of a kind of energy-saving type master passive load and controlling method, switching by oil circuit, this system not only can realize independently controlling oil hydraulic cylinder or oil hydraulic motor two chambeies, reach energy-conservation purpose, and has a redundant backup function of electrohydraulic control, Double valve parallel control function and oil hydraulic cylinder or oil hydraulic motor two-chamber blocking function, and the present invention has carried out particular design to the fuel system of electrohydraulic control, both can save the high pressure energy, can guarantee that again it under any circumstance can provide low pressure oil to oil hydraulic cylinder or oil hydraulic motor.
In order to solve the problems of the technologies described above, the present invention is achieved in that
A kind of two electro-hydraulic servo valve control systems of energy-saving type master passive load, a load port of the first servovalve is connected with the A mouth of the first 2/2-way solenoid valve, another load port is connected with the A mouth of the second 2/2-way solenoid valve, and a load port of the second servovalve is connected with the A mouth of the 3rd 2/2-way solenoid valve, another load port is connected with the A mouth of the 4th 2/2-way solenoid valve; The B mouth of the B mouth of the first 2/2-way solenoid valve and the 3rd 2/2-way solenoid valve is connected with a wherein chamber of actuator, and connect simultaneously entrance and second pressure transducer of the first pressure valve jointly; The B mouth of the B mouth of the second 2/2-way solenoid valve and the 4th 2/2-way solenoid valve is connected with an other chamber of actuator, and connect simultaneously entrance and the 3rd pressure transducer of the second pressure valve jointly; The outlet of the outlet of the first pressure valve and the second pressure valve rear access fuel tank that links together;
The hydraulic oil that oil hydraulic pump is exported after the fuel tank oil suction through one-way valve and filter after the oil-feed port of access the first electrohydraulic control and the second electrohydraulic control, be connected with the entrance of the first pressure valve, entrance and first pressure transducer of reduction valve simultaneously; The outlet access fuel tank of the first pressure valve, the outlet of reduction valve is connected with the return opening of the first electrohydraulic control and the second electrohydraulic control and the entrance of the second pressure valve; The outlet access fuel tank of the second pressure valve; Oil hydraulic pump passes through AC servo machinery driving.
The present invention also provides a kind of controlling method of two electro-hydraulic servo valve control systems of above-mentioned energy-saving type master passive load, and the actuator of the system of setting up departments is oil hydraulic cylinder or oil hydraulic motor; The B mouth of the B mouth of the first 2/2-way solenoid valve and the 3rd 2/2-way solenoid valve is common to be connected with the B chamber of actuator, and the B mouth of the B mouth of the second 2/2-way solenoid valve and the 4th 2/2-way solenoid valve is common to be connected with the A chamber of actuator;
The method comprises four kinds of control modes:
Pattern 1, bivalve independence control mode
Controlling the first 2/2-way solenoid valve and the 4th 2/2-way solenoid valve connects and the second 2/2-way solenoid valve and the 3rd 2/2-way closed electromagnetic valve, perhaps control the first 2/2-way solenoid valve and the 4th 2/2-way closed electromagnetic valve and the second 2/2-way solenoid valve and the 3rd 2/2-way solenoid valve and connect, this moment, system was in bivalve independence control mode;
When oil hydraulic cylinder stretches out or oil hydraulic motor turns clockwise when being subject to initiatively load in process, control the first electrohydraulic control and the second electrohydraulic control tiltedly logical;
When oil hydraulic cylinder stretches out or oil hydraulic motor turns clockwise when being subject to passive load in process, control the first electrohydraulic control tiltedly logical, the second electrohydraulic control is straight-through, and the second electrohydraulic control when straight-through its valve core opening all open to maximum;
Retract or oil hydraulic motor is rotated counterclockwise when being subject to initiatively load in process when oil hydraulic cylinder, control the first electrohydraulic control and the second electrohydraulic control straight-through;
Retract or oil hydraulic motor is rotated counterclockwise when being subject to passive load in process when oil hydraulic cylinder, control the first electrohydraulic control tiltedly logical, the second electrohydraulic control is straight-through, and the first electrohydraulic control when tiltedly logical its valve core opening all open to maximum;
Controlling the first 2/2-way solenoid valve and the second 2/2-way solenoid valve connects and the 3rd 2/2-way solenoid valve and the 4th 2/2-way closed electromagnetic valve, perhaps control the first 2/2-way solenoid valve and the second 2/2-way closed electromagnetic valve and the 3rd 2/2-way solenoid valve and the 4th 2/2-way solenoid valve and connect, this moment, system was in the redundancy of effort pattern;
After one of them electrohydraulic control breaks down, by the switching of 2/2-way solenoid valve, allow the work of another one electrohydraulic control;
Mode 3, parallel operation pattern
Control four 2/2-way solenoid valves and all connect, two electrohydraulic controls are all worked, and this moment, system was in the parallel operation pattern;
Pattern 4, locking mode of operation
Control four 2/2-way solenoid valve Close Alls, two electrohydraulic controls are all isolated, and the hydraulic oil in actuator's this moment two chambeies all is enclosed in cavity volume, and system is in the parallel operation pattern, and actuator does not produce motion.
When the characteristics of motion of known actuator, the kinematic parameter according to actuator calculates its needed flow, controls the hydraulic fluid flow rate that the rotating speed of AC servo motor makes oil hydraulic pump output satisfy the demands.
Preferably, the method further comprises: the current movement velocity and the acceleration of motion that gather actuator by the sensor that is arranged on actuator are estimated next movement velocity constantly; The movement velocity in next moment=current movement velocity+current acceleration of motion * sensor sample time lag; Calculate the needed flow of actuator according to next movement velocity constantly that calculates, the rotating speed of controlling AC servo motor makes oil hydraulic pump export the hydraulic fluid flow rate that satisfies the demands.
Preferably, the method further comprises: when the acceptor of actuator dynamic load, by detecting the force value of the second pressure transducer and the 3rd pressure transducer, and calculate the size of present load according to effective work area of actuator, then calculate the pressure of the high pressure oil of the required output of oil hydraulic pump; By the size of control ratio relief valve driving current, and detect by the pressure of the first pressure transducer to oil hydraulic pump output, thereby the pressure of the high pressure oil of control oil hydraulic pump output makes it to satisfy the demand that actuator drives load.
Beneficial effect:
Can find out; two electro-hydraulic servo valve control systems that the present invention proposes can realize that not only the bivalve of oil hydraulic cylinder or oil hydraulic motor independently controls; reach the purpose of saving the energy, also have the functions such as two-chamber pressure security protection of Redundant Control, Parallel Control, lock-in control, oil hydraulic cylinder or oil hydraulic motor.Its fuel supply flow rate of the hydraulic energy source that adopts and pressure can be controlled according to the actual demand of oil hydraulic cylinder or oil hydraulic motor, have also played the effect of saving the energy.
Description of drawings
Fig. 1 is the two electrohydraulic control control system oil-ways of energy-saving type master passive load
1 first electrohydraulic control, 2 second electrohydraulic controls, 3 first 2/2-way solenoid valves, 4 second 2/2-way solenoid valves, 5 the 3rd 2/2-way solenoid valves, 6 the 4th 2/2-way solenoid valves, 7 first pressure valve, 8 second pressure valve, 9 oil hydraulic pumps, 10 actuating motors, 11 one-way valves, 12 proportional pressure control valves, 13 reduction valve, 14 the 3rd pressure valve, 15 filters, 16 fuel tanks, 17 first pressure transducers, 18 second pressure transducers, 19 the 3rd pressure transducers, 20 oil hydraulic cylinders, 21 oil hydraulic motors
Embodiment
Below in conjunction with accompanying drawing 1 embodiment that develops simultaneously, describe the present invention.
Regulation makes the A chamber volume of oil hydraulic cylinder 20 increase gradually motion that B chamber volume reduces gradually for stretching out motion, otherwise is retraction movement.The motion that oil hydraulic motor 21 produces higher than the B cavity pressure due to the A cavity pressure is for clockwise rotating, otherwise for rotating counterclockwise.
Composition and the annexation of the two electro-hydraulic servo valve control systems of the energy-saving type master passive load that the present invention proposes are as follows:
One of them load port of the first servovalve 1 is connected with the A mouth of the first 2/2-way solenoid valve 3, another load port is connected with the A mouth of the second 2/2-way solenoid valve 4, and one of them load port of the second servovalve 2 is connected with the A mouth of the 3rd 2/2-way solenoid valve 5, another load port is connected with the A mouth of the 4th 2/2-way solenoid valve 6.The B mouth of the B mouth of the first 2/2-way solenoid valve 3 and the 3rd 2/2-way solenoid valve 5 jointly is connected with B chamber as the oil hydraulic cylinder 20 of actuator or oil hydraulic motor 21, and connects simultaneously entrance and second pressure transducer 18 of the first pressure valve 7.The B mouth of the B mouth of the second 2/2-way solenoid valve 4 and the 4th 2/2-way solenoid valve 6 jointly is connected with the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21, and connects simultaneously entrance and the 3rd pressure transducer 19 of the second pressure valve 8.The outlet of the first pressure valve 7 and the second pressure valve 8 rear access fuel tank 16 that links together.
The hydraulic oil that oil hydraulic pump 9 is exported after fuel tank 16 oil suctions through one-way valve 11 and filter 15 after the oil-feed port of access the first electrohydraulic control 1 and the second electrohydraulic control 2, be connected with the entrance of the first pressure valve 12, entrance and first pressure transducer 17 of reduction valve 13 simultaneously.The outlet access fuel tank 16 of the first pressure valve 12, the outlet of reduction valve 13 is connected with the return opening of the first electrohydraulic control 1, the second electrohydraulic control 2 and the entrance of the second pressure valve 14.The outlet access fuel tank 16 of the second pressure valve 14.Oil hydraulic pump 9 drives by AC servo motor 10.
The two working principles of electro-hydraulic servo valve control system under various patterns of the energy-saving type master passive load that the present invention proposes are as follows:
(1) bivalve independence control mode
When the first 2/2-way solenoid valve 3 and the 4th 2/2-way solenoid valve 6 are connected, and the second 2/2-way solenoid valve 4 and the 3rd 2/2-way solenoid valve 5 be when closing, and system is in bivalve independence control mode; Perhaps close when the first 2/2-way solenoid valve 3 and the 4th 2/2-way solenoid valve 6, and the second 2/2-way solenoid valve 4 and the 3rd 2/2-way solenoid valve 5 be when connecting, system also is in bivalve independence control mode.This moment, each electrohydraulic control was independently controlled a wherein chamber of oil hydraulic cylinder or oil hydraulic motor.
Because the first electrohydraulic control 1 is symmetrical connections with being connected electrohydraulic control 2, therefore the working procedure of two kinds of above-mentioned connection modes is similar, the below connects with the first 2/2-way solenoid valve 3 and the 4th 2/2-way solenoid valve 6, and the second 2/2-way solenoid valve 4 and the 3rd 2/2-way solenoid valve 5 are closed the oil hydraulic cylinder 20 two electrohydraulic controls independently controlled for example or the movement process of oil hydraulic motor 21 describes:
When oil hydraulic cylinder 20 stretches out or oil hydraulic motor 21 turns clockwise when being subject to initiatively load in process, control first, second electrohydraulic control 1,2 tiltedly logical, the high pressure oil that oil hydraulic pump 9 provides enters by the second electrohydraulic control 2 and the 4th 2/2-way solenoid valve 6 in the A chamber of oil hydraulic cylinder 20 and stretches out to overcome it resistance that is subject in process, simultaneously the hydraulic oil in the B chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 is got back in fuel tank 16 by the first 2/2-way solenoid valve 3, the first electrohydraulic control 1 and the 3rd pressure valve 14, and its oil return resistance is the pressure of the 3rd pressure valve 14 settings.Just can control by regulating the valve core opening degree of the second electrohydraulic control 2 when tiltedly logical that oil hydraulic cylinder 20 stretches out or oil hydraulic motor 21 clockwise rotation processes.
When oil hydraulic cylinder 20 stretches out or oil hydraulic motor 21 turns clockwise when being subject to passive load in process, control the first electrohydraulic control 1 tiltedly logical, the second electrohydraulic control 2 is straight-through, and the second electrohydraulic control 2 when straight-through its valve core opening all open to maximum.Hydraulic oil in the B chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 flows out by the first 2/2-way solenoid valve 3, the first electrohydraulic control 1.Oil hydraulic cylinder 20 or oil hydraulic motor 21 under the effect of passive load, make A chamber formation negative pressure at this moment, and the A chamber can be through the 4th 2/2-way solenoid valve 6 and the second electrohydraulic control 2 oil suctions under the effect of negative pressure.By control the first electrohydraulic control 1 when tiltedly logical the opening degree of spool just can control that oil hydraulic cylinder 20 stretches out or oil hydraulic motor 21 clockwise rotation processes.The required hydraulic oil in the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 is from two-part, and a part is the part hydraulic oil that discharge through the first electrohydraulic control 1 in the B chamber, and another part is that the hydraulic oil of oil hydraulic pump 9 outputs is through the post-decompression hydraulic oil of reduction valve 13.Because reduction valve 13 back are connected with the 3rd pressure valve 14, the hydraulic oil of reduction valve 13 outputs has certain pressure, therefore the return opening at the second servovalve 2 goes out to have certain pressure, so just can guarantee that the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 can access the fuel feeding of abundance.The pressure size at the return opening place of the second electrohydraulic control 2 determines by the 3rd pressure valve 14, and its pressure is less than its oil-feed port place's high-pressure oil feed pressure.As seen oil hydraulic cylinder 20 or oil hydraulic motor 21 do not need the high pressure energy of oil hydraulic pump 9 outputs under this load condition, so have played energy-conservation effect.
when oil hydraulic cylinder 20 is retracted or oil hydraulic motor 21 is rotated counterclockwise when being subject to initiatively load in process, control first, the second electrohydraulic control 1, 2 is straight-through, the high pressure oil that oil hydraulic pump 9 provides enters by the first electrohydraulic control 1 and the first 2/2-way solenoid valve 3 in the B chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 to overcome the resistance that is subject in its retraction process, simultaneously the hydraulic oil in the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 passes through the 4th 2/2-way solenoid valve 6, the second electrohydraulic control 2 and the 3rd pressure valve 14 are got back in fuel tank 16, its oil return resistance is the pressure that the 3rd pressure valve 14 is set.Valve core opening degree when leading directly to by regulating the first electrohydraulic control 1 just can control oil hydraulic cylinder 20 retractions or oil hydraulic motor 21 is rotated counterclockwise movement process.
Retract or oil hydraulic motor 21 is rotated counterclockwise when being subject to passive load in process when oil hydraulic cylinder 20, control the first electrohydraulic control 1 tiltedly logical, the second electrohydraulic control 2 is straight-through, and the first electrohydraulic control 1 when tiltedly logical its valve core opening all open to maximum.Hydraulic oil in the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 flows out by the 4th 2/2-way solenoid valve 6, the second electrohydraulic control 2.Oil hydraulic cylinder 20 or oil hydraulic motor 21 under the effect of passive load, make B chamber formation negative pressure at this moment, and therefore the B chamber can be through the first 2/2-way solenoid valve 3 and the first electrohydraulic control 1 oil suction under the effect of negative pressure.By control the second electrohydraulic control 2 when straight-through the opening degree of spool just can control oil hydraulic cylinder 20 retractions or oil hydraulic motor 21 is rotated counterclockwise movement process.The required hydraulic oil in the B chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 is from two-part, and a part is the part hydraulic oil that discharge through the second electrohydraulic control 2 in the A chamber, and another part is that the hydraulic oil of oil hydraulic pump 9 outputs is through the post-decompression hydraulic oil of reduction valve 13.Oil hydraulic cylinder 20 or oil hydraulic motor 21 do not need the high pressure energy of oil hydraulic pump 9 outputs equally under this load condition, have played energy-conservation effect yet.
(2) redundancy of effort pattern
When the first 2/2-way solenoid valve 3 and the second 2/2-way solenoid valve 4 connections, when the 3rd 2/2-way solenoid valve 5 and the 4th 2/2-way solenoid valve 6 are closed, oil hydraulic cylinder or oil hydraulic motor only are subjected to the control of the first electrohydraulic control 1, and the second electrohydraulic control 2 is as the backup of the first electrohydraulic control 1 at this moment.Perhaps working as the first 2/2-way solenoid valve 3 and the second 2/2-way solenoid valve 4 closes, when the 3rd 2/2-way solenoid valve 5 and the 4th 2/2-way solenoid valve 6 are connected, 21 controls that are subjected to the second electrohydraulic control 2 of oil hydraulic cylinder 20 or oil hydraulic motor, the first electrohydraulic control 1 is as the backup of the second electrohydraulic control 2 at this moment.After one of them electrohydraulic control breaks down, just can pass through the switching of 2/2-way solenoid valve at once, allow the work of another one electrohydraulic control.Because four 2/2-way solenoid valves that adopt are without the leakage ball valve, therefore when an electrohydraulic control job, the another one electrohydraulic control can be kept apart by the 2/2-way solenoid valve fully, can not cause mutual interference.
(3) parallel operation pattern
When four 2/2-way solenoid valves were all connected, two electrohydraulic controls were all worked, and this moment, whole system was in the parallel operation pattern, can be doubled when the hydraulic oil peak rate of flow that oil hydraulic cylinder 20 or oil hydraulic motor 21 provide is worked than single valve.
(4) locking mode of operation
When four 2/2-way solenoid valve Close Alls, two electrohydraulic controls are all isolated.Hydraulic oil in this moment oil hydraulic cylinder 20 or oil hydraulic motor 21 liang of chambeies all is enclosed in cavity volume, so oil hydraulic cylinder 20 or oil hydraulic motor 21 can not produce motion.The first pressure valve 7 or the second pressure valve 8 play the effect of pressure protect in this oil circuit.When external loading is excessive; can cause the pressure rise in oil hydraulic cylinder 20 or oil hydraulic motor 21 cavity volumes; when pressure rise arrives the withstand voltage limit of cavity volume, will pass through the first pressure valve 7 or the second pressure valve 8 pressure releases, thereby play the protective action to oil hydraulic cylinder 20 or oil hydraulic motor 21.
Under four kinds of above-mentioned mode of operations, in order further to save the energy, oil hydraulic pump 9 adopts AC servo motor 10 to drive.General oil hydraulic pump is all to adopt AC induction motor to drive, and it is immutable that it drives rotating speed.But the rotating speed of AC servo motor 10 is controlled, and the flow of oil hydraulic pump 9 outputs and the rotating speed of AC servo motor 10 are proportional.
When the electro-hydraulic servo valve control system carries out work, if the characteristics of motion of oil hydraulic cylinder 20 or oil hydraulic motor 21 is known, can calculate according to the kinematic parameter of oil hydraulic cylinder 20 or oil hydraulic motor 21 its needed flow, thereby the rotating speed that can control AC servo motor 10 makes oil hydraulic pump 9 just export the hydraulic fluid flow rate that satisfies the demands.If the characteristics of motion of oil hydraulic cylinder 20 or oil hydraulic motor 21 is unknown, need to estimate next movement velocity constantly according to current movement velocity and the acceleration of motion of oil hydraulic cylinder 20 or oil hydraulic motor 21.Because current movement velocity and acceleration can be measured by the sensor that is arranged on oil hydraulic cylinder 20 or oil hydraulic motor 21, so have: next constantly movement velocity=current movement velocity+current acceleration of motion * sensor sample time lag.Therefore can calculate its needed flow according to the movement velocity of next moment oil hydraulic cylinder 20 or oil hydraulic motor 21 equally, thereby the rotating speed of AC servo motor 10 is controlled.
When oil hydraulic cylinder 20 or oil hydraulic motor 21 acceptor's dynamic load, by detecting the force value of the second pressure transducer 18 and the 3rd pressure transducer 19, and just can calculate the size of present load according to effective work area of oil hydraulic cylinder 20 or oil hydraulic motor 21, thereby just can calculate the pressure of the high pressure oil of oil hydraulic pump 9 required outputs.And the pressure of this high pressure oil is determined by proportional pressure control valve 12, size by control ratio relief valve 12 driving currents, and detect by the pressure of 17 pairs of oil hydraulic pumps of the first pressure transducer, 9 outputs, just can control the pressure of the high pressure oil of oil hydraulic pump 9 outputs, make it just to satisfy the demand of oil hydraulic cylinder 20 or oil hydraulic motor 21 driving loads.
By above-mentioned adjusting, just can make the output flow of oil hydraulic pump 9 and pressure just satisfy oil hydraulic cylinder 20 or oil hydraulic motor 21 motions are required, save hydraulic energy source.Because the speed responsive of AC servo motor 10 is very fast, even the characteristics of motion generation flip-flop of oil hydraulic cylinder 20 or oil hydraulic motor 21, AC servo motor 10 also can make an immediate response, and the output flow of oil hydraulic pump 9 is regulated.
In sum, these are only preferred embodiment of the present invention, is not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. two electro-hydraulic servo valve control systems of an energy-saving type master passive load, it is characterized in that, a load port of the first servovalve (1) is connected with the A mouth of the first 2/2-way solenoid valve (3), another load port is connected with the A mouth of the second 2/2-way solenoid valve (4), and a load port of the second servovalve (2) is connected with the A mouth of the 3rd 2/2-way solenoid valve (5), another load port is connected with the A mouth of the 4th 2/2-way solenoid valve (6); The B mouth of the B mouth of the first 2/2-way solenoid valve (3) and the 3rd 2/2-way solenoid valve (5) is connected with a wherein chamber of actuator jointly, and connects simultaneously entrance and second pressure transducer (18) of the first pressure valve (7); The B mouth of the B mouth of the second 2/2-way solenoid valve (4) and the 4th 2/2-way solenoid valve (6) is connected with an other chamber of actuator jointly, and connects simultaneously entrance and the 3rd pressure transducer (19) of the second pressure valve (8); The outlet of the outlet of the first pressure valve (7) and the second pressure valve (8) the rear access fuel tank (16) that links together;
The hydraulic oil that oil hydraulic pump (9) is exported after fuel tank (16) oil suction through one-way valve (11) and filter (15) after the oil-feed port of access the first electrohydraulic control (1) and the second electrohydraulic control (2), the while is connected with the entrance of the first pressure valve (12), entrance and first pressure transducer (17) of reduction valve (13); The outlet access fuel tank (16) of the first pressure valve (12), the outlet of reduction valve (13) is connected with the return opening of the first electrohydraulic control (1) and the second electrohydraulic control (2) and the entrance of the second pressure valve (14); The outlet access fuel tank (16) of the second pressure valve (14); Oil hydraulic pump (9) drives by AC servo motor (10).
2. the controlling method of two electro-hydraulic servo valve control systems of the described energy-saving type master of claim 1 passive load, is characterized in that, the actuator of the system of setting up departments is oil hydraulic cylinder (20) or oil hydraulic motor (21); The B mouth of the B mouth of the first 2/2-way solenoid valve (3) and the 3rd 2/2-way solenoid valve (5) is common to be connected with the B chamber of actuator, and the B mouth of the B mouth of the second 2/2-way solenoid valve (4) and the 4th 2/2-way solenoid valve (6) is common to be connected with the A chamber of actuator;
The method comprises four kinds of control modes:
Pattern 1, bivalve independence control mode
Controlling the connection of the first 2/2-way solenoid valve (3) and the 4th 2/2-way solenoid valve (6) and the second 2/2-way solenoid valve (4) and the 3rd 2/2-way solenoid valve (5) closes, control perhaps that the first 2/2-way solenoid valve (3) and the 4th 2/2-way solenoid valve (6) are closed and the second 2/2-way solenoid valve (4) and the 3rd 2/2-way solenoid valve (5) are connected, this moment, system was in bivalve independence control mode;
When oil hydraulic cylinder (20) stretches out or oil hydraulic motor (21) turns clockwise when being subject to initiatively load in process, control the first electrohydraulic control (1) and the second electrohydraulic control (2) and tiltedly leads to;
When oil hydraulic cylinder (20) stretches out or oil hydraulic motor (21) turns clockwise when being subject to passive load in process, control the first electrohydraulic control (1) tiltedly logical, the second electrohydraulic control (2) is straight-through, and the second electrohydraulic control (2) when straight-through its valve core opening all open to maximum;
Retract or oil hydraulic motor (21) is rotated counterclockwise when being subject to initiatively load in process when oil hydraulic cylinder (20), control the first electrohydraulic control (1) and the second electrohydraulic control (2) and lead directly to;
When oil hydraulic cylinder (20) is retracted or oil hydraulic motor (21) is rotated counterclockwise when being subject to passive load in process, control the first electrohydraulic control (1) tiltedly logical, the second electrohydraulic control (2) is straight-through, and the first electrohydraulic control (1) when tiltedly logical its valve core opening all open to maximum;
Pattern 2, redundancy of effort pattern
Controlling the connection of the first 2/2-way solenoid valve (3) and the second 2/2-way solenoid valve (4) and the 3rd 2/2-way solenoid valve (5) and the 4th 2/2-way solenoid valve (6) closes, control perhaps that the first 2/2-way solenoid valve (3) and the second 2/2-way solenoid valve (4) are closed and the 3rd 2/2-way solenoid valve (5) and the 4th 2/2-way solenoid valve (6) are connected, this moment, system was in the redundancy of effort pattern;
After one of them electrohydraulic control breaks down, by the switching of 2/2-way solenoid valve, allow the work of another one electrohydraulic control;
Mode 3, parallel operation pattern
Control four 2/2-way solenoid valves and all connect, two electrohydraulic controls are all worked, and this moment, system was in the parallel operation pattern;
Pattern 4, locking mode of operation
Control four 2/2-way solenoid valve Close Alls, two electrohydraulic controls are all isolated, and the hydraulic oil in actuator's this moment two chambeies all is enclosed in cavity volume, and system is in the parallel operation pattern, and actuator does not produce motion.
3. method as claimed in claim 2, it is characterized in that, the characteristics of motion of known actuator, the kinematic parameter according to actuator calculates its needed flow, and the rotating speed of controlling AC servo motor (10) makes oil hydraulic pump (9) export the hydraulic fluid flow rate that satisfies the demands.
4. method as claimed in claim 2, is characterized in that, the method further comprises: the current movement velocity and the acceleration of motion that gather actuator by the sensor that is arranged on actuator are estimated next movement velocity constantly; The movement velocity in next moment=current movement velocity+current acceleration of motion * sensor sample time lag; Calculate the needed flow of actuator according to next movement velocity constantly that calculates, the rotating speed of controlling AC servo motor (10) makes oil hydraulic pump (9) export the hydraulic fluid flow rate that satisfies the demands.
5. method as claimed in claim 2, it is characterized in that, the method further comprises: when the acceptor of actuator dynamic load, by detecting the force value of the second pressure transducer (18) and the 3rd pressure transducer (19), and calculate the size of present load according to effective work area of actuator, then calculate the pressure of the high pressure oil of the required output of oil hydraulic pump (9); Size by control ratio relief valve (12) driving current, and detect by the pressure of the first pressure transducer (17) to oil hydraulic pump (9) output, thereby control the pressure of the high pressure oil of oil hydraulic pump (9) output, make it to satisfy the demand that actuator drives load.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310072566.0A CN103148041B (en) | 2013-03-07 | 2013-03-07 | The controlling method of two electro-hydraulic servo valve control systems of the main passive load of a kind of energy-saving type |
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| CN103953614A (en) * | 2014-04-21 | 2014-07-30 | 天津航天瑞莱科技有限公司 | Protection module device for hydraulic servo system |
| CN105443248A (en) * | 2015-11-03 | 2016-03-30 | 北京航科发动机控制系统科技有限公司 | Standby system with electro-hydraulic conversion components of different structures |
| CN108317117A (en) * | 2018-04-02 | 2018-07-24 | 中国船舶重工集团公司第七〇九研究所 | A kind of double nargin SERVO CONTROL valve groups of low throttling noise |
| CN108679018A (en) * | 2018-08-17 | 2018-10-19 | 燕山大学 | A kind of swinging electro-hydraulic driver and control method |
| CN108716492A (en) * | 2018-07-26 | 2018-10-30 | 徐工集团工程机械有限公司 | Multifunctional vehicle accessory control system and multifunctional vehicle |
| CN109372832A (en) * | 2018-12-21 | 2019-02-22 | 合肥工业大学 | A kind of bivariate hydraulic system energy consumption optimization method under operating condition variation |
| CN110173475A (en) * | 2019-05-24 | 2019-08-27 | 徽瑞智能装备（黄山）有限责任公司 | A kind of servo-hydraulic motor actuators of wide range speed control |
| CN110242635A (en) * | 2019-07-19 | 2019-09-17 | 湖北万测试验设备有限公司 | A kind of oil cylinder minute movement control system |
| CN110671373A (en) * | 2019-10-16 | 2020-01-10 | 哈尔滨理工大学 | Electric hydraulic control system of double-valve parallel control hydraulic cylinder |
| CN110873083A (en) * | 2018-09-03 | 2020-03-10 | 江苏科技大学 | Double-valve parallel electro-hydraulic servo system and control method thereof |
| CN112277375A (en) * | 2020-08-27 | 2021-01-29 | 天津市天锻压力机有限公司 | Process forming method of powder forming hydraulic press |
| CN113280021A (en) * | 2021-05-11 | 2021-08-20 | 成都正山机械制造有限公司 | Integrated proportional valve control method |
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| CN103953614A (en) * | 2014-04-21 | 2014-07-30 | 天津航天瑞莱科技有限公司 | Protection module device for hydraulic servo system |
| CN103953614B (en) * | 2014-04-21 | 2016-08-17 | 天津航天瑞莱科技有限公司 | A kind of Hydrauservo System protection modular device |
| CN105443248A (en) * | 2015-11-03 | 2016-03-30 | 北京航科发动机控制系统科技有限公司 | Standby system with electro-hydraulic conversion components of different structures |
| CN108317117A (en) * | 2018-04-02 | 2018-07-24 | 中国船舶重工集团公司第七〇九研究所 | A kind of double nargin SERVO CONTROL valve groups of low throttling noise |
| CN108317117B (en) * | 2018-04-02 | 2024-01-05 | 中国船舶重工集团公司第七一九研究所 | Double-margin servo control valve group with low throttle noise |
| CN108716492A (en) * | 2018-07-26 | 2018-10-30 | 徐工集团工程机械有限公司 | Multifunctional vehicle accessory control system and multifunctional vehicle |
| CN108679018A (en) * | 2018-08-17 | 2018-10-19 | 燕山大学 | A kind of swinging electro-hydraulic driver and control method |
| CN108679018B (en) * | 2018-08-17 | 2023-08-18 | 燕山大学 | Rotary electrohydraulic driver and control method |
| CN110873083A (en) * | 2018-09-03 | 2020-03-10 | 江苏科技大学 | Double-valve parallel electro-hydraulic servo system and control method thereof |
| CN109372832A (en) * | 2018-12-21 | 2019-02-22 | 合肥工业大学 | A kind of bivariate hydraulic system energy consumption optimization method under operating condition variation |
| CN109372832B (en) * | 2018-12-21 | 2020-01-03 | 合肥工业大学 | Energy consumption optimization method for bivariate hydraulic system under working condition change |
| CN110173475A (en) * | 2019-05-24 | 2019-08-27 | 徽瑞智能装备（黄山）有限责任公司 | A kind of servo-hydraulic motor actuators of wide range speed control |
| CN110242635A (en) * | 2019-07-19 | 2019-09-17 | 湖北万测试验设备有限公司 | A kind of oil cylinder minute movement control system |
| CN110242635B (en) * | 2019-07-19 | 2024-05-24 | 湖北万测试验设备有限公司 | Micro-movement control system for oil cylinder |
| CN110671373A (en) * | 2019-10-16 | 2020-01-10 | 哈尔滨理工大学 | Electric hydraulic control system of double-valve parallel control hydraulic cylinder |
| CN112277375A (en) * | 2020-08-27 | 2021-01-29 | 天津市天锻压力机有限公司 | Process forming method of powder forming hydraulic press |
| CN113280021A (en) * | 2021-05-11 | 2021-08-20 | 成都正山机械制造有限公司 | Integrated proportional valve control method |
| CN113653709A (en) * | 2021-07-01 | 2021-11-16 | 武汉船用机械有限责任公司 | Hydraulic control driving system |
| CN113864256A (en) * | 2021-09-28 | 2021-12-31 | 东方电气自动控制工程有限公司 | Hydraulic variable pitch control system for wind driven generator unit |
| CN113864256B (en) * | 2021-09-28 | 2024-07-02 | 东方电气自动控制工程有限公司 | Hydraulic variable pitch control system for wind driven generator unit |
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