CN103148041B - The controlling method of two electro-hydraulic servo valve control systems of the main passive load of a kind of energy-saving type - Google Patents
The controlling method of two electro-hydraulic servo valve control systems of the main passive load of a kind of energy-saving type Download PDFInfo
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- CN103148041B CN103148041B CN201310072566.0A CN201310072566A CN103148041B CN 103148041 B CN103148041 B CN 103148041B CN 201310072566 A CN201310072566 A CN 201310072566A CN 103148041 B CN103148041 B CN 103148041B
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Abstract
The invention discloses two electro-hydraulic servo valve control system and the controlling method thereof of the main passive load of a kind of energy-saving type, by the switching controls to valve control system oil circuit, this system not only can realize controlling the independence in oil hydraulic cylinder or oil hydraulic motor two chamber, and has the redundancy backup of electrohydraulic control, Double valve parallel control and oil hydraulic cylinder or oil hydraulic motor two-chamber locking control 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 again that it under any circumstance can provide low pressure oil to oil hydraulic cylinder or oil hydraulic motor.
Description
Technical field
The present invention relates to Fluid Transmission and Control technical field, particularly relate to the controlling method of two electro-hydraulic servo valve control systems of the main passive load of a kind of energy-saving type.
Background technique
Active load in electro-hydraulic servo valve-controlled cylinder or Servo Motor system, refer to that the load that oil hydraulic cylinder or oil hydraulic motor are subject in movement process hinders it to move according to the characteristics of motion of setting, passive load is then just contrary, and the load that oil hydraulic cylinder or oil hydraulic motor are subject to can be accelerated it and move by existing movement tendency.General under active load, need the resistance providing certain hydraulic energy source to arrive to overcome load to oil hydraulic cylinder or oil hydraulic motor, and under passive load, do not need to provide hydraulic energy source to oil hydraulic cylinder or oil hydraulic motor, but offset a part of load force by the throttle resistance effect of hydrovalve, only stay and maintenance medium cylinder pressure or oil hydraulic motor can carry out the part load force of moving by setting rule.
In existing electro-hydraulic servo valve control system, most employing electrohydraulic control controls oil hydraulic cylinder or oil hydraulic motor, there is certain defect in the control mode of single electrohydraulic control, its two load ports are that machinery connects firmly, independent control can not be carried out, still need the proper motion that high pressure energy ability maintenance medium cylinder pressure or oil hydraulic motor are provided to electrohydraulic control when oil hydraulic cylinder or oil hydraulic motor are subject to passive load, 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 cannot normally work,
For the problem of wasting hydraulic energy source under passive load, some schemes propose employing two servovalves and carry out independent control to two chambeies of oil hydraulic cylinder or oil hydraulic motor respectively, when oil hydraulic cylinder or oil hydraulic motor are operated under passive load, one of them servovalve is controlled by the movement locus of mode to oil hydraulic cylinder or oil hydraulic motor of meter out, and another servovalve only needs to provide low pressure oil to oil hydraulic cylinder or oil hydraulic motor.In existing bivalve separate control solution, when a certain chamber of oil hydraulic cylinder or oil hydraulic motor needs low pressure oil supply, that the negative pressure that formed by this chamber is from oil suction in hydraulic oil container, although this project plan comparison is 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, be just difficult to directly from oil suction in fuel tank.
Summary of the invention
In view of this, the invention provides the controlling method of the two electro-hydraulic servo valve control system of the main passive load of a kind of energy-saving type, by the switching of oil circuit, this system not only can realize controlling the independence in oil hydraulic cylinder or oil hydraulic motor two chamber, reach energy-conservation object, and there is the 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 the high pressure energy can be saved, 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
Two electro-hydraulic servo valve control systems of the main passive load of a kind of energy-saving type, 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 first 2/2-way solenoid valve and the B mouth of the 3rd 2/2-way solenoid valve are connected with a wherein chamber of actuator jointly, and connect entrance and second pressure transducer of the first pressure valve simultaneously; The B mouth of the second 2/2-way solenoid valve and the B mouth of the 4th 2/2-way solenoid valve are connected with an other chamber of actuator jointly, and connect entrance and the 3rd pressure transducer of the second pressure valve simultaneously; Fuel tank is accessed after the outlet of the first pressure valve and the outlet of the second pressure valve link together;
The hydraulic oil that oil hydraulic pump exports after fuel tank oil suction accesses the oil-feed port of the first electrohydraulic control and the second electrohydraulic control after one-way valve and filter, is connected with the entrance of the first pressure valve, the entrance of reduction valve and the first pressure transducer simultaneously; The outlet access fuel tank of proportional pressure control valve, the outlet of reduction valve is connected with the return opening of the second electrohydraulic control and the entrance of the 3rd pressure valve with the first electrohydraulic control; The outlet access fuel tank of the 3rd pressure valve; Oil hydraulic pump passes through AC servo machinery driving.
The invention provides the controlling method of two electro-hydraulic servo valve control systems of the main passive load of a kind of above-mentioned energy-saving type, if the actuator of system is oil hydraulic cylinder or oil hydraulic motor; The B mouth of the first 2/2-way solenoid valve and the B mouth of the 3rd 2/2-way solenoid valve are connected with the B chamber of actuator jointly, and the B mouth of the second 2/2-way solenoid valve and the B mouth of the 4th 2/2-way solenoid valve are connected with the A chamber of actuator jointly;
The method comprises four kinds of control modes:
Pattern 1, bivalve independence control mode
Control the first 2/2-way solenoid valve and the 4th 2/2-way solenoid valve to connect and the second 2/2-way solenoid valve and the 3rd 2/2-way closed electromagnetic valve, or 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 are connected, now system is in bivalve independence control mode;
When oil hydraulic cylinder stretch out or oil hydraulic motor turn clockwise to be subject to initiatively load in process time, control the first electrohydraulic control and the second electrohydraulic control tiltedly leads to;
When oil hydraulic cylinder stretch out or oil hydraulic motor turn clockwise be subject to passive load in process time, control the first electrohydraulic control tiltedly logical, the second electrohydraulic control lead directly to, and when the second electrohydraulic control leads directly to, its valve core opening all opens to maximum;
When oil hydraulic cylinder retract or oil hydraulic motor be rotated counterclockwise in process be subject to initiatively load time, control the first electrohydraulic control and the second electrohydraulic control leads directly to;
When oil hydraulic cylinder retract or oil hydraulic motor be rotated counterclockwise in process be subject to passive load time, control the first electrohydraulic control tiltedly logical, the second electrohydraulic control lead directly to, and when the first electrohydraulic control is tiltedly logical, its valve core opening all opens to maximum;
Pattern 2, redundancy of effort pattern
Control the first 2/2-way solenoid valve and the second 2/2-way solenoid valve to connect and the 3rd 2/2-way solenoid valve and the 4th 2/2-way closed electromagnetic valve, or 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 are connected, now system is in 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 all to connect, two electrohydraulic controls all work, and now system is in 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 now in actuator two chamber is all enclosed in cavity volume, and system is in parallel operation pattern, and actuator does not produce motion.
When the characteristics of motion of known actuator, then according to the beginning parameter transform model of the actuator flow required for it, the rotating speed controlling AC servo motor makes oil hydraulic pump export the hydraulic fluid flow rate satisfied the demands.
Preferably, the method comprises further: the current kinetic speed and the movement velocity in acceleration of motion estimation next moment that are gathered actuator by the sensor being arranged on actuator; Movement velocity=current kinetic speed+current kinetic acceleration × sensor sample the time lag of subsequent time; Calculate the flow required for actuator according to the movement velocity of the subsequent time calculated, the rotating speed controlling AC servo motor makes oil hydraulic pump export the hydraulic fluid flow rate satisfied the demands.
Preferably, the method comprises further: when actuator's acceptor's dynamic load, by detecting the force value of the second pressure transducer and the 3rd pressure transducer, and the size of present load is calculated according to effective work area of actuator, then calculate the pressure of the required high pressure oil exported of oil hydraulic pump; By the size of control ratio relief valve driving current, and by the first pressure transducer, the pressure that oil hydraulic pump exports is detected, thus the pressure of the high pressure oil of hydraulic control pump output, make it to meet the demand that actuator drives load.
Beneficial effect:
Can find out; the controlling method of two electro-hydraulic servo valve control systems that the present invention proposes; the bivalve that not only can realize oil hydraulic cylinder or oil hydraulic motor independently controls; reach the object of saving the energy, also there is the functions such as the 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 adopted and pressure can control according to the actual demand of oil hydraulic cylinder or oil hydraulic motor, also serve the effect of saving the energy.
Accompanying drawing explanation
Fig. 1 is the two electro-hydraulic servo valve control system oil circuit of the main passive load of energy-saving type
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
To develop simultaneously embodiment below in conjunction with accompanying drawing 1, describe the present invention.
The regulation A chamber volume of oil hydraulic cylinder 20 is increased gradually motion that B chamber volume reduces gradually for stretching out motion, otherwise is then retraction movement.The motion that oil hydraulic motor 21 produces higher than B cavity pressure due to A cavity pressure for rotating clockwise, otherwise for rotating counterclockwise.
Composition and the annexation of the two electro-hydraulic servo valve control system of the main passive load of energy-saving type that the present invention proposes are as follows:
One of them load port of 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 first 2/2-way solenoid valve 3 and the B mouth of the 3rd 2/2-way solenoid valve 5 are connected with as the oil hydraulic cylinder 20 of actuator or the B chamber of oil hydraulic motor 21 jointly, and connect entrance and second pressure transducer 18 of the first pressure valve 7 simultaneously.The B mouth of the second 2/2-way solenoid valve 4 and the B mouth of the 4th 2/2-way solenoid valve 6 are connected with the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 jointly, and connect entrance and the 3rd pressure transducer 19 of the second pressure valve 8 simultaneously.Fuel tank 16 is accessed after the outlet of the first pressure valve 7 and the second pressure valve 8 links together.
The hydraulic oil that oil hydraulic pump 9 exports after fuel tank 16 oil suction accesses the oil-feed port of the first electrohydraulic control 1 and the second electrohydraulic control 2 after one-way valve 11 and filter 15, is connected with the entrance of the first pressure valve 12, the entrance of reduction valve 13 and the first pressure transducer 17 simultaneously.In relief valve 12 outlet access fuel tank 16, the outlet of reduction valve 13 is connected with the return opening of the first electrohydraulic control 1, second electrohydraulic control 2 and the entrance of the 3rd pressure valve 14.The outlet access fuel tank 16 of the 3rd pressure valve 14.Oil hydraulic pump 9 is driven by AC servo motor 10.
The controlling method working principle in each mode of the two electro-hydraulic servo valve control system of the main passive load of energy-saving type that the present invention proposes is 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 when the second 2/2-way solenoid valve 4 and the 3rd 2/2-way solenoid valve 5 are closed, system is in bivalve independence control mode; Or when the first 2/2-way solenoid valve 3 and the 4th 2/2-way solenoid valve 6 are closed, and when the second 2/2-way solenoid valve 4 and the 3rd 2/2-way solenoid valve 5 are connected, system is also in bivalve independence control mode.A now wherein chamber of each electrohydraulic control independence hydraulic control cylinder or oil hydraulic motor.
Because the first electrohydraulic control 1 is connected with the second electrohydraulic control 2 symmetry, the working procedure of two kinds of therefore above-mentioned connection modes is similar, connect with the first 2/2-way solenoid valve 3 and the 4th 2/2-way solenoid valve 6 below, and the movement process that the second 2/2-way solenoid valve 4 and the 3rd 2/2-way solenoid valve 5 close oil hydraulic cylinder 20 for example independently controls two electrohydraulic control or oil hydraulic motor 21 is described:
When oil hydraulic cylinder 20 stretch out or oil hydraulic motor 21 turn clockwise to be subject to initiatively load in process time, control first, second electrohydraulic control 1,2 tiltedly to lead to, the high pressure oil that oil hydraulic pump 9 provides is entered in the A chamber of oil hydraulic cylinder 20 by the second electrohydraulic control 2 and the 4th 2/2-way solenoid valve 6 and stretches out to overcome it resistance be subject in process, hydraulic oil in the B chamber of simultaneously 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, first electrohydraulic control 1 and the 3rd pressure valve 14, and its oil return resistance is the pressure that the 3rd pressure valve 14 sets.Valve core opening degree when tiltedly leading to by regulating the second electrohydraulic control 2 just can stretch out or oil hydraulic motor 21 clockwise rotation process by hydraulic control cylinder 20.
When oil hydraulic cylinder 20 stretch out or oil hydraulic motor 21 turn clockwise be subject to passive load in process time, control the first electrohydraulic control 1 and tiltedly lead to, the second electrohydraulic control 2 leads directly to, and when the second electrohydraulic control 2 leads directly to, its valve core opening all opens to maximum.Hydraulic oil in the B chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 is flowed out by the first 2/2-way solenoid valve 3, first electrohydraulic control 1.Now oil hydraulic cylinder 20 or oil hydraulic motor 21 are under the effect of passive load, and make A chamber form negative pressure, under the effect of negative pressure, A chamber can through the 4th 2/2-way solenoid valve 6 and the second electrohydraulic control 2 oil suction.When tiltedly leading to by controlling the first electrohydraulic control 1, the opening degree of spool just can stretch out or oil hydraulic motor 21 clockwise rotation process by hydraulic control cylinder 20.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 B chamber is discharged through the first electrohydraulic control 1, and another part is that the hydraulic oil of oil hydraulic pump 9 output is through the post-decompression hydraulic oil of reduction valve 13.Because reduction valve 13 is connected with the 3rd pressure valve 14 below, the hydraulic oil that reduction valve 13 exports has certain pressure, therefore go out there is certain pressure at the return opening of the second servovalve 2, so just can guarantee that the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 can obtain sufficient fuel feeding.The pressure size at the return opening place of the second electrohydraulic control 2 is determined by the 3rd pressure valve 14, and its pressure is less than its oil-feed port place high-pressure oil feed pressure.The visible high pressure energy that oil hydraulic cylinder 20 or oil hydraulic motor 21 do not need oil hydraulic pump 9 to export under this load condition, therefore serves energy-conservation effect.
When oil hydraulic cylinder 20 retract or oil hydraulic motor 21 be rotated counterclockwise in process be subject to initiatively load time, control first, second electrohydraulic control 1, 2 lead directly to, the high pressure oil that oil hydraulic pump 9 provides is entered in the B chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 by the first electrohydraulic control 1 and the first 2/2-way solenoid valve 3 to overcome the resistance be subject in its retraction process, hydraulic oil in the A chamber of simultaneously oil hydraulic cylinder 20 or oil hydraulic motor 21 is by the 4th 2/2-way solenoid valve 6, 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 sets.Valve core opening degree when leading directly to by regulating the first electrohydraulic control 1 just can be retracted or oil hydraulic motor 21 counter-clockwise rotary motion process by hydraulic control cylinder 20.
When oil hydraulic cylinder 20 retract or oil hydraulic motor 21 be rotated counterclockwise in process be subject to passive load time, control the first electrohydraulic control 1 and tiltedly lead to, the second electrohydraulic control 2 leads directly to, and when the first electrohydraulic control 1 is tiltedly logical, its valve core opening all opens to maximum.Hydraulic oil in the A chamber of oil hydraulic cylinder 20 or oil hydraulic motor 21 is flowed out by the 4th 2/2-way solenoid valve 6, second electrohydraulic control 2.Now oil hydraulic cylinder 20 or oil hydraulic motor 21 are under the effect of passive load, and make B chamber form negative pressure, therefore under the effect of negative pressure, B chamber can through the first 2/2-way solenoid valve 3 and the first electrohydraulic control 1 oil suction.When leading directly to by controlling the second electrohydraulic control 2, the opening degree of spool just can be retracted or oil hydraulic motor 21 counter-clockwise rotary motion process by hydraulic control cylinder 20.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 A chamber is discharged through the second electrohydraulic control 2, and another part is that the hydraulic oil of oil hydraulic pump 9 output is through the post-decompression hydraulic oil of reduction valve 13.Under this load condition, oil hydraulic cylinder 20 or oil hydraulic motor 21 do not need the high pressure energy that oil hydraulic pump 9 exports equally, serve 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 are connected, when 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 are only by the control of the first electrohydraulic control 1, and now the second electrohydraulic control 2 is as the backup of the first electrohydraulic control 1.Or when the first 2/2-way solenoid valve 3 and the second 2/2-way solenoid valve 4 are closed, when 3rd 2/2-way solenoid valve 5 and the 4th 2/2-way solenoid valve 6 are connected, oil hydraulic cylinder 20 or oil hydraulic motor 21 are subject to the control of the second electrohydraulic control 2, and now the first electrohydraulic control 1 is as the backup of the second electrohydraulic control 2.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 adopted four 2/2-way solenoid valves are leakage-free ball valve, therefore when an electrohydraulic control job, another one electrohydraulic control can be kept apart by 2/2-way solenoid valve completely, can not cause mutual interference.
(3) parallel operation pattern
When four 2/2-way solenoid valves are all connected, two electrohydraulic controls all work, and now whole system is in parallel operation pattern, are doubled when the hydraulic oil peak rate of flow that can provide to oil hydraulic cylinder 20 or oil hydraulic motor 21 works 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 now in oil hydraulic cylinder 20 or oil hydraulic motor 21 liang of chambeies is all enclosed in cavity volume, and therefore oil hydraulic cylinder 20 or oil hydraulic motor 21 can not produce motion.In this oil circuit, the first pressure valve 7 or the second pressure valve 8 play the effect of pressure protect.When external loading is excessive; the pressure increase in oil hydraulic cylinder 20 or oil hydraulic motor 21 cavity volume can be caused; when pressure increase is to the withstand voltage limit of cavity volume, will the first pressure valve 7 or the second pressure valve 8 pressure release be passed through, thus play the protective action to oil hydraulic cylinder 20 or oil hydraulic motor 21.
Under above-mentioned four kinds of mode of operations, in order to save the energy further, oil hydraulic pump 9 adopts AC servo motor 10 to drive.General oil hydraulic pump is all adopt AC induction motor to drive, and it drives rotating speed immutable.But the rotating speed of AC servo motor 10 is controlled, the rotating speed of the flow that oil hydraulic pump 9 exports and AC servo motor 10 is proportional.
When 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 according to the flow of the beginning parameter transform model of oil hydraulic cylinder 20 or oil hydraulic motor 21 required for it, thus the rotating speed that can control AC servo motor 10 makes oil hydraulic pump 9 just export the hydraulic fluid flow rate satisfied the demands.If the characteristics of motion of oil hydraulic cylinder 20 or oil hydraulic motor 21 is unknown, then need the movement velocity estimating the next moment according to the current kinetic speed of oil hydraulic cylinder 20 or oil hydraulic motor 21 and acceleration of motion.Because current movement velocity and acceleration can be measured by the sensor be arranged on oil hydraulic cylinder 20 or oil hydraulic motor 21, so have: the movement velocity=current kinetic speed+current kinetic acceleration × sensor sample time lag of subsequent time.Therefore can calculate flow required for it according to the movement velocity of subsequent time oil hydraulic cylinder 20 or oil hydraulic motor 21 equally, thus 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, thus just can calculate the pressure of the required high pressure oil exported of oil hydraulic pump 9.And the pressure of this high pressure oil is determined by proportional pressure control valve 12, by the size of control ratio relief valve 12 driving current, and detected by the pressure that the first pressure transducer 17 pairs of oil hydraulic pumps 9 export, just can the pressure of high pressure oil that exports of hydraulic control pump 9, make it just to meet the demand that oil hydraulic cylinder 20 or oil hydraulic motor 21 drive load.
By above-mentioned adjustment, the output flow of oil hydraulic pump 9 and pressure just can be made just to meet needed for oil hydraulic cylinder 20 or oil hydraulic motor 21 move, save hydraulic energy source.Due to AC servo motor 10 speed responsive quickly, even if 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 regulates the output flow of oil hydraulic pump 9.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. the controlling method of two electro-hydraulic servo valve control systems of the main passive load of energy-saving type, it is characterized in that, a load port of the first electrohydraulic control (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 electrohydraulic control (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 first 2/2-way solenoid valve (3) and the B mouth of the 3rd 2/2-way solenoid valve (5) are connected with a wherein chamber of actuator jointly, and connect entrance and second pressure transducer (18) of the first pressure valve (7) simultaneously; The B mouth of the second 2/2-way solenoid valve (4) and the B mouth of the 4th 2/2-way solenoid valve (6) are connected with an other chamber of actuator jointly, and connect entrance and the 3rd pressure transducer (19) of the second pressure valve (8) simultaneously; Fuel tank (16) is accessed after the outlet of the first pressure valve (7) and the outlet of the second pressure valve (8) link together; The hydraulic oil that oil hydraulic pump (9) exports after fuel tank (16) oil suction accesses the oil-feed port of the first electrohydraulic control (1) and the second electrohydraulic control (2) after one-way valve (11) and filter (15), is connected with the entrance of proportional pressure control valve (12), the entrance of reduction valve (13) and the first pressure transducer (17) simultaneously; Outlet access fuel tank (16) of proportional pressure control valve (12), the outlet of reduction valve (13) is connected with the return opening of the second electrohydraulic control (2) and the entrance of the 3rd pressure valve (14) with the first electrohydraulic control (1); Outlet access fuel tank (16) of the 3rd pressure valve (14); Oil hydraulic pump (9) is driven by AC servo motor (10); If the actuator of system is oil hydraulic cylinder (20) or oil hydraulic motor (21); The B mouth of the first 2/2-way solenoid valve (3) and the B mouth of the 3rd 2/2-way solenoid valve (5) are connected with the B chamber of actuator jointly, and the B mouth of the second 2/2-way solenoid valve (4) and the B mouth of the 4th 2/2-way solenoid valve (6) are connected with the A chamber of actuator jointly;
The method comprises four kinds of control modes:
Pattern 1, bivalve independence control mode
Control the first 2/2-way solenoid valve (3) and the 4th 2/2-way solenoid valve (6) to connect and the second 2/2-way solenoid valve (4) and the closedown of the 3rd 2/2-way solenoid valve (5), or control 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, and now system is in bivalve independence control mode;
When oil hydraulic cylinder (20) stretch out or oil hydraulic motor (21) turn clockwise to be subject to initiatively load in process time, control the first electrohydraulic control (1) and the second electrohydraulic control (2) tiltedly leads to;
When oil hydraulic cylinder (20) stretch out or oil hydraulic motor (21) turn clockwise be subject to passive load in process time, control the first electrohydraulic control (1) tiltedly logical, the second electrohydraulic control (2) lead directly to, and when the second electrohydraulic control (2) is straight-through, its valve core opening all opens to maximum;
When oil hydraulic cylinder (20) retract or oil hydraulic motor (21) be rotated counterclockwise in process be subject to initiatively load time, control the first electrohydraulic control (1) and the second electrohydraulic control (2) is straight-through;
When oil hydraulic cylinder (20) retract or oil hydraulic motor (21) be rotated counterclockwise in process be subject to passive load time, control the first electrohydraulic control (1) tiltedly logical, the second electrohydraulic control (2) lead directly to, and when the first electrohydraulic control (1) is tiltedly logical, its valve core opening all opens to maximum;
Pattern 2, redundancy of effort pattern
Control the first 2/2-way solenoid valve (3) and the second 2/2-way solenoid valve (4) to connect and the 3rd 2/2-way solenoid valve (5) and the closedown of the 4th 2/2-way solenoid valve (6), or control 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, and now system is in 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 all to connect, two electrohydraulic controls all work, and now system is in 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 now in actuator two chamber is all enclosed in cavity volume, and system is in locking mode of operation, and actuator does not produce motion.
2. the method for claim 1, it is characterized in that, the characteristics of motion of known actuator, then according to the beginning parameter transform model of the actuator flow required for it, the rotating speed controlling AC servo motor (10) makes oil hydraulic pump (9) export the hydraulic fluid flow rate satisfied the demands.
3. the method for claim 1, is characterized in that, the method comprises further: the current kinetic speed and the movement velocity in acceleration of motion estimation next moment that are gathered actuator by the sensor being arranged on actuator; Movement velocity=current kinetic speed+current kinetic acceleration × sensor sample the time lag of subsequent time; Calculate the flow required for actuator according to the movement velocity of the subsequent time calculated, the rotating speed controlling AC servo motor (10) makes oil hydraulic pump (9) export the hydraulic fluid flow rate satisfied the demands.
4. the method for claim 1, it is characterized in that, the method comprises further: when actuator's acceptor's dynamic load, by detecting the force value of the second pressure transducer (18) and the 3rd pressure transducer (19), and the size of present load is calculated according to effective work area of actuator, then calculate the pressure of the required high pressure oil exported of oil hydraulic pump (9); By the size of control ratio relief valve (12) driving current, and by the first pressure transducer (17), the pressure that oil hydraulic pump (9) exports is detected, thus the pressure of high pressure oil that hydraulic control pump (9) exports, make it to meet the demand that actuator drives load.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
|---|---|
| CN103148041A CN103148041A (en) | 2013-06-12 |
| CN103148041B true CN103148041B (en) | 2015-11-18 |
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| 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 |
| 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 |
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| CN108679018B (en) * | 2018-08-17 | 2023-08-18 | 燕山大学 | Rotary electrohydraulic driver and control method |
| CN110873083B (en) * | 2018-09-03 | 2021-07-27 | 江苏科技大学 | Double-valve parallel electro-hydraulic servo system and control method thereof |
| 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 |
| CN112277375B (en) * | 2020-08-27 | 2022-11-22 | 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 |
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Effective date of registration: 20160107 Address after: 100036 Beijing city Haidian District Cuiwei Road No. 12 10 Floor 3 Unit No. 1002 Patentee after: BEIJING CISTI ENGINEERING CO., LTD. Address before: 100081 No. 5, Zhongguancun South Street, Haidian District, Beijing Patentee before: BEIJING INSTITUTE OF TECHNOLOGY |