CN103233937A - Digital controller of electrohydraulic servo valve - Google Patents
Digital controller of electrohydraulic servo valve Download PDFInfo
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- CN103233937A CN103233937A CN2013101842642A CN201310184264A CN103233937A CN 103233937 A CN103233937 A CN 103233937A CN 2013101842642 A CN2013101842642 A CN 2013101842642A CN 201310184264 A CN201310184264 A CN 201310184264A CN 103233937 A CN103233937 A CN 103233937A
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Abstract
The invention relates to a digital controller of an electrohydraulic servo valve, and belongs to the technical field of electrohydraulic servo valve control. The digital controller aiming at solving the problem that the existing servo valve controller is bad in anti-jamming capability since an analog circuit structure is adopted. A control signal transmission end of a CAN (Controller Area Network) bus interface circuit is connected with a control signal transmission end of a microcontroller, a control signal output end of the microcontroller is connected with a digital signal input end of a DA (Digital-Analog) converter, an analog signal output end of the DA converter is connected with a driving signal input end of a servo valve driving circuit, and a driving signal output by the servo valve driving circuit is used as a servo valve coil driving signal of the electrohydraulic servo valve; the driving signal output by the servo valve driving circuit is connected with an acquisition signal input end of an over current protection circuit, and an alarm signal output end of the over current protection circuit is connected with an alarm signal input end of the servo valve driving circuit; and an alarm control signal output end of the over current protection circuit is connected with an alarm control signal output end of the microcontroller. The digital controller is used for controlling the electrohydraulic servo valve.
Description
Technical field
The present invention relates to the electrohydraulic control digital controller, belong to electrohydraulic control control technique field.
Background technique
The servovalve controller should comprise zeroing circuit, vibrating signal circuit, current-limiting protection circuit and power amplification circuit etc., and zeroing circuit is in order to realize zero offset compensation, and the flutter circuit is in order to the resolution that improves servovalve and the Coulomb friction power that overcomes spool.Servovalve for a certain type, its controller parameter adjustment all is the changes that realize systematic parameter by elements such as the resistance in the adjustment circuit or electric capacity, because the electronic component parameter is aging and temperature such as floats at influence, make the servovalve controller performance have time-varying characteristics, simultaneously, because controller forms by analog circut, cause that the controller volume is big, antijamming capability is relatively poor.
Summary of the invention
The present invention is in order to solve existing servovalve controller owing to adopt simulation circuit structure, and making the problem of poor anti jamming capability provides a kind of electrohydraulic control digital controller.
Electrohydraulic control digital controller of the present invention, it comprises CAN bus interface circuit, microcontroller, DA transducer, driving circuit of servo valve and over-current protection circuit,
The CAN bus interface circuit is used for receiving the command signal of remote transmission, the control signal transmission ends of CAN bus interface circuit connects the control signal transmission ends of microcontroller, the control signal output terminal of microcontroller connects the digital signal input end of DA transducer, the analog signal output of DA transducer connects the driving signal input of driving circuit of servo valve, and the driving signal of driving circuit of servo valve output is as the servovalve coil drive signal of electrohydraulic control;
The driving signal of driving circuit of servo valve output connects the collection signal input part of over-current protection circuit, and the alarm signal output ends of over-current protection circuit connects the alarm signal input end of driving circuit of servo valve; The alarm control signal output terminal of over-current protection circuit connects the alarm control signal input end of microcontroller;
Microcontroller is used for generating according to the command signal of reception zeroing signal and the vibrating signal of electrohydraulic control, and the command signal of described reception is integrated back generation control signal with zeroing signal and vibrating signal, and this control signal is transferred to the DA transducer.
It also comprises the warning indicating circuit, and the alarm signal input end of warning indicating circuit connects the alarm signal output ends of over-current protection circuit.
Described driving circuit of servo valve is made up of first resistance, second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance, the first simulation control switch, electric capacity, first operational amplifier, second operational amplifier and the 3rd operational amplifier
The normally-closed contact connecting end E of the first simulation control switch is the driving signal input of driving circuit of servo valve, the normally-closed contact of the first simulation control switch connects the movable contact of the first simulation control switch, the normally opened contact of the first simulation control switch connects an end of first resistance, the other end ground connection of first resistance, the amplifier signal input end of the first simulation control switch connects the alarm signal F end of over-current protection circuit, this alarm signal F end is the alarm signal output ends of over-current protection circuit, the amplifier control signal output terminal of the first simulation control switch connects the contact control signal input end of the first simulation control switch, be connected second resistance between the positive input terminal of movable contact and first operational amplifier of the first simulation control switch, an end that is connected electric capacity between movable contact and second resistance of the first simulation control switch, the other end ground connection of electric capacity;
The negative input end of first operational amplifier connects the output terminal of first operational amplifier, be connected the 3rd resistance between the negative input end of the output terminal of first operational amplifier and second operational amplifier, the positive input terminal of second operational amplifier connects an end of the 5th resistance, the other end ground connection of the 5th resistance, be connected the 4th resistance between the output terminal of the negative input end of second operational amplifier and second operational amplifier, be connected the 6th resistance between the negative input end of the output terminal of second operational amplifier and the 3rd operational amplifier, the negative input end of the 3rd operational amplifier connects an end of the 7th resistance, the other end of the 7th resistance connects an end of the 9th resistance, the other end ground connection of the 9th resistance, connecting end between the 7th resistance and the 9th resistance connects the positive connecting end P of servovalve coil of electrohydraulic control, the positive input terminal of the 3rd operational amplifier connects an end of the 8th resistance, the other end ground connection of the 8th resistance, the output terminal of the 3rd operational amplifier connect the negative connecting end Q of servovalve coil of electrohydraulic control.
Described over-current protection circuit is by the tenth resistance; the 11 resistance; the 12 resistance; the 13 resistance; the 14 resistance; the 15 resistance; the 16 resistance; the 17 resistance; the 18 resistance; the 19 resistance; the 20 resistance; the 21 resistance; the 22 resistance; the 23 resistance; the 24 resistance; the 27 resistance; the 28 resistance; four-operational amplifier; the 5th operational amplifier; the 6th operational amplifier; the 7th operational amplifier; the 8th operational amplifier; the 9th operational amplifier; the tenth operational amplifier; the 11 operational amplifier; differential amplifier; voltage comparator; first adjustable resistance; second adjustable resistance; the 3rd adjustable resistance; the second simulation control switch and reset switch are formed
the positive input terminal of four-operational amplifier connects the positive link P of servo valve coil of electrohydraulic servo valve, the negative input end of four-operational amplifier connects the output of four-operational amplifier, the positive input terminal of the 5th operational amplifier connects the negative link Q of servo valve coil of electrohydraulic servo valve, and the negative input end of the 5th operational amplifier connects the output of the 5th operational amplifier, between the output of four-operational amplifier and the negative input end of differential amplifier, be connected the tenth resistance, between the output of the 5th operational amplifier and the positive input terminal of differential amplifier, be connected the 11 resistance, the positive input terminal of differential amplifier connects an end of the 13 resistance, the other end ground connection of the 13 resistance, between the negative input end of differential amplifier and the output of differential amplifier, be connected the 12 resistance, the output of differential amplifier connects the positive input terminal of the 6th operational amplifier, the 6th operational amplifier negative input end connects the output of the 6th operational amplifier,
Be connected the 14 resistance between the negative input end of the output terminal of the 6th operational amplifier and the 7th operational amplifier, be connected the 20 resistance between the output terminal of the negative input end of the 7th operational amplifier and the 7th operational amplifier, be connected the 15 resistance and the 17 resistance successively between the negative input end of the positive input terminal of the 7th operational amplifier and the 8th operational amplifier, the 15 resistance is in parallel with the 16 resistance, connecting end between the 15 resistance and the 17 resistance connects the output terminal of the 8th operational amplifier, be connected the 21 resistance between the negative input end of the output terminal of the 8th operational amplifier and the 8th operational amplifier, be connected the 18 resistance between the output terminal of the positive input terminal of the 8th operational amplifier and the 6th operational amplifier, the 18 resistance is in parallel with the 19 resistance
Be connected first adjustable resistance between the positive input terminal of the output terminal of the 7th operational amplifier and the 9th operational amplifier; the output terminal of the 7th operational amplifier connects the adjustable side of first adjustable resistance simultaneously; the positive input terminal of the 9th operational amplifier connects an end of the 24 resistance; the other end ground connection of the 24 resistance; the negative input end of the 9th operational amplifier connects the output terminal of the 9th operational amplifier; the output terminal of the 9th operational amplifier connects the positive input terminal of voltage comparator; the negative input end of voltage comparator connects the output terminal of the tenth operational amplifier; the output terminal of the tenth operational amplifier connects the negative input end of the tenth operational amplifier; the positive input terminal of the tenth operational amplifier connects the movable contact of the second simulation control switch; the movable contact of the second simulation control switch is connected with its normally-closed contact; the normally-closed contact of the second simulation control switch connects an end of the 22 resistance; the other end ground connection of the 22 resistance; the normally-closed contact of the second simulation control switch connects an end of second adjustable resistance; the other end connection+15V the power supply of second adjustable resistance; should+the 15V power supply connects the adjustable side of second adjustable resistance; the normally opened contact of the second simulation control switch connects an end of the 3rd adjustable resistance; the other end of the 3rd adjustable resistance connects the movable contact of reset switch; the movable contact of reset switch connects the normally-closed contact of reset switch; normally-closed contact connection-5V the power supply of reset switch; normally opened contact connection+15V the power supply of reset switch; the movable contact of reset switch connects the adjustable side of the 3rd adjustable resistance; the normally opened contact of the second simulation control switch connects an end of the 23 resistance; the other end ground connection of the 23 resistance; the amplifier signal input end of the second simulation control switch connects the alarm signal F end of over-current protection circuit; the amplifier control signal output terminal of the second simulation control switch connects the contact control signal input end of the second simulation control switch
The output terminal of voltage comparator connects the positive input terminal of the 11 operational amplifier, and the negative input end of the 11 operational amplifier connects the output terminal of the 11 operational amplifier, and the output terminal of the 11 operational amplifier is the alarm signal F end of over-current protection circuit;
The output terminal of the 11 operational amplifier connects an end of the 27 resistance; the other end of the 27 resistance connects an end of the 28 resistance; the other end ground connection of the 28 resistance, the connecting end between the 27 resistance and the 28 resistance are the alarm control signal output terminal of over-current protection circuit.
Described warning indicating circuit is made up of the 3rd simulation control switch, the 25 resistance, the 26 resistance, first light emitting diode and second light emitting diode,
The movable contact ground connection of the 3rd simulation gauge tap, the movable contact of the 3rd simulation gauge tap connects the normally-closed contact of the 3rd simulation gauge tap, this normally-closed contact connects an end of the 26 resistance, the other end of the 26 resistance connects the negative pole of the second light emitting diode, positive pole connection+15V the power supply of the second light emitting diode, should+the 15V power supply connects the positive pole of the first light emitting diode, the negative pole of the first light emitting diode connects an end of the 25 resistance, the other end of the 25 resistance connects the normally opened contact of the 3rd simulation gauge tap
The amplifier signal input end of the 3rd simulation control switch connects the alarm signal F end of over-current protection circuit, and the amplifier control signal output terminal of the 3rd simulation control switch connects the contact control signal input end of the 3rd simulation control switch.
Advantage of the present invention: the present invention adopts bus mode to carry out the transmission of command signal, adopt microcontroller to realize the generation of the required zeroing signal of servovalve, vibrating signal, improve the antijamming capability of transfer rate and the system of signal, simplified the hardware configuration of controller.
Reasonable in design of the present invention, volume is little, and parameter is easy to adjust, and antijamming capability is strong, can significantly improve the performance of servovalve controller.
Description of drawings
Fig. 1 is the structured flowchart of electrohydraulic control digital controller of the present invention;
Fig. 2 is the circuit theory diagrams of driving circuit of servo valve;
Fig. 3 is the circuit theory diagrams of over-current protection circuit;
Fig. 4 is the circuit theory diagrams of warning indicating circuit.
Embodiment
Embodiment one: below in conjunction with Fig. 1 present embodiment is described, the described electrohydraulic control digital controller of present embodiment, it comprises CAN bus interface circuit 1, microcontroller 2, DA transducer 3, driving circuit of servo valve 4 and over-current protection circuit 5,
CAN bus interface circuit 1 is used for receiving the command signal of remote transmission, the control signal transmission ends of CAN bus interface circuit 1 connects the control signal transmission ends of microcontroller 2, the control signal output terminal of microcontroller 2 connects the digital signal input end of DA transducer 3, the analog signal output of DA transducer 3 connects the driving signal input of driving circuit of servo valve 4, and the driving signal of driving circuit of servo valve 4 outputs is as the servovalve coil drive signal of electrohydraulic control;
The driving signal of driving circuit of servo valve 4 outputs connects the collection signal input part of over-current protection circuit 5, and the alarm signal output ends of over-current protection circuit 5 connects the alarm signal input end of driving circuit of servo valve 4; The alarm control signal output terminal of over-current protection circuit 5 connects the alarm control signal input end of microcontroller 2;
In the present embodiment, driving circuit of servo valve 4 carries out power amplification in order to the voltage signal with 3 outputs of DA transducer, to satisfy the servovalve requirement.Over-current protection circuit 5 makes it avoid super-high-current harm in order to protect servovalve.Current signal after driving circuit of servo valve 4 will be changed is exported to the servovalve coil, finishes command signal to the transmission of servovalve.
Adopt bus mode to carry out the transmission of command signal between each unit of described controller.
Described microcontroller 2 is floating type DSP, and described DA transducer 3 is 16 precision.
Embodiment two: present embodiment is described below in conjunction with Fig. 1; present embodiment is described further mode of execution one; present embodiment also comprises warning indicating circuit 6, and the alarm signal input end of warning indicating circuit 6 connects the alarm signal output ends of over-current protection circuit 5.
Embodiment three: present embodiment is described below in conjunction with Fig. 1 and Fig. 2, present embodiment is described further mode of execution one or two, the described driving circuit of servo valve 4 of present embodiment is by first resistance R 1, second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6, the 7th resistance R 7, the 8th resistance R 8, the 9th resistance R 9, the first simulation control switch MC, capacitor C 1, the first operational amplifier U1, the second operational amplifier U2 and the 3rd operational amplifier U3 form
The normally-closed contact connecting end E of the first simulation control switch MC is the driving signal input of driving circuit of servo valve 4, the normally-closed contact of the first simulation control switch MC connects the movable contact of the first simulation control switch MC, the normally opened contact of the first simulation control switch MC connects an end of first resistance R 1, the other end ground connection of first resistance R 1, the amplifier signal input end of the first simulation control switch MC connects the alarm signal F end of over-current protection circuit 5, this alarm signal F end is the alarm signal output ends of over-current protection circuit 5, the amplifier control signal output terminal of the first simulation control switch MC connects the contact control signal input end of the first simulation control switch MC, be connected second resistance R 2 between the movable contact of the first simulation control switch MC and the positive input terminal of the first operational amplifier U1, an end that is connected capacitor C 1 between the movable contact of the first simulation control switch MC and second resistance R 2, the other end ground connection of capacitor C 1;
The negative input end of the first operational amplifier U1 connects the output terminal of the first operational amplifier U1, be connected the 3rd resistance R 3 between the negative input end of the output terminal of the first operational amplifier U1 and the second operational amplifier U2, the positive input terminal of the second operational amplifier U2 connects an end of the 5th resistance R 5, the other end ground connection of the 5th resistance R 5, be connected the 4th resistance R 4 between the output terminal of the negative input end of the second operational amplifier U2 and the second operational amplifier U2, be connected the 6th resistance R 6 between the negative input end of the output terminal of the second operational amplifier U2 and the 3rd operational amplifier U3, the negative input end of the 3rd operational amplifier U3 connects an end of the 7th resistance R 7, the other end of the 7th resistance R 7 connects an end of the 9th resistance R 9, the other end ground connection of the 9th resistance R 9, connecting end between the 7th resistance R 7 and the 9th resistance R 9 connects the positive connecting end P of servovalve coil of electrohydraulic control, the positive input terminal of the 3rd operational amplifier U3 connects an end of the 8th resistance R 8, the other end ground connection of the 8th resistance R 8, the output terminal of the 3rd operational amplifier U3 connect the negative connecting end Q of servovalve coil of electrohydraulic control.
The described driving circuit of servo valve 4 of present embodiment is current negative feedback circuit, and it converts voltage signal to current signal.
Embodiment four: below in conjunction with Fig. 1; Fig. 2 and Fig. 3 illustrate present embodiment; present embodiment is described further mode of execution three; the described over-current protection circuit 5 of present embodiment is by the tenth resistance R 10; the 11 resistance R 11; the 12 resistance R 12; the 13 resistance R 13; the 14 resistance R 14; the 15 resistance R 15; the 16 resistance R 16; the 17 resistance R 17; the 18 resistance R 18; the 19 resistance R 19; the 20 resistance R 20; the 21 resistance R 21; the 22 resistance R 22; the 23 resistance R 23; the 24 resistance R 24; the 27 resistance R 27; the 28 resistance R 28; four-operational amplifier U4; the 5th operational amplifier U5; the 6th operational amplifier U6; the 7th operational amplifier U7; the 8th operational amplifier U8; the 9th operational amplifier U9; the tenth operational amplifier U10; the 11 operational amplifier U11; differential amplifier L; voltage comparator T; the first adjustable resistance R01; the second adjustable resistance R02; the 3rd adjustable resistance R03; the second simulation control switch MA and reset switch KEY form
The positive input terminal of four-operational amplifier U4 connects the positive connecting end P of servovalve coil of electrohydraulic control, the negative input end of four-operational amplifier U4 connects the output terminal of four-operational amplifier U4, the positive input terminal of the 5th operational amplifier U5 connects the negative connecting end Q of servovalve coil of electrohydraulic control, and the negative input end of the 5th operational amplifier U5 connects the output terminal of the 5th operational amplifier U5; Be connected the tenth resistance R 10 between the negative input end of the output terminal of four-operational amplifier U4 and differential amplifier L, be connected the 11 resistance R 11 between the positive input terminal of the output terminal of the 5th operational amplifier U5 and differential amplifier L, the positive input terminal of differential amplifier L connects an end of the 13 resistance R 13, the other end ground connection of the 13 resistance R 13, be connected the 12 resistance R 12 between the output terminal of the negative input end of differential amplifier L and differential amplifier L, the output terminal of differential amplifier L connects the positive input terminal of the 6th operational amplifier U6, the 6th operational amplifier U6 negative input end connects the output terminal of the 6th operational amplifier U6
Be connected the 14 resistance R 14 between the negative input end of the output terminal of the 6th operational amplifier U6 and the 7th operational amplifier U7, be connected the 20 resistance R 20 between the output terminal of the negative input end of the 7th operational amplifier U7 and the 7th operational amplifier U7, be connected the 15 resistance R 15 and the 17 resistance R 17 successively between the negative input end of the positive input terminal of the 7th operational amplifier U7 and the 8th operational amplifier U8, the 15 resistance R 15 is in parallel with the 16 resistance R 16, connecting end between the 15 resistance R 15 and the 17 resistance R 17 connects the output terminal of the 8th operational amplifier U8, be connected the 21 resistance R 21 between the negative input end of the output terminal of the 8th operational amplifier U8 and the 8th operational amplifier U8, be connected the 18 resistance R 18 between the output terminal of the positive input terminal of the 8th operational amplifier U8 and the 6th operational amplifier U6, the 18 resistance R 18 is in parallel with the 19 resistance R 19
Be connected the first adjustable resistance R01 between the positive input terminal of the output terminal of the 7th operational amplifier U7 and the 9th operational amplifier U9; the output terminal of the 7th operational amplifier U7 connects the adjustable side of the first adjustable resistance R01 simultaneously; the positive input terminal of the 9th operational amplifier U9 connects an end of the 24 resistance R 24; the other end ground connection of the 24 resistance R 24; the negative input end of the 9th operational amplifier U9 connects the output terminal of the 9th operational amplifier U9; the output terminal of the 9th operational amplifier U9 connects the positive input terminal of voltage comparator T; the negative input end of voltage comparator T connects the output terminal of the tenth operational amplifier U10; the output terminal of the tenth operational amplifier U10 connects the negative input end of the tenth operational amplifier U10; the positive input terminal of the tenth operational amplifier U10 connects the movable contact of the second simulation control switch MA; the movable contact of the second simulation control switch MA is connected with its normally-closed contact; the normally-closed contact of the second simulation control switch MA connects an end of the 22 resistance R 22; the other end ground connection of the 22 resistance R 22; the normally-closed contact of the second simulation control switch MA connects the end of the second adjustable resistance R02; the other end connection+15V the power supply of the second adjustable resistance R02; should+the 15V power supply connects the adjustable side of the second adjustable resistance R02; the normally opened contact of the second simulation control switch MA connects the end of the 3rd adjustable resistance R03; the other end of the 3rd adjustable resistance R03 connects the movable contact of reset switch KEY; the movable contact of reset switch KEY connects the normally-closed contact of reset switch KEY; normally-closed contact connection-5V the power supply of reset switch KEY; normally opened contact connection+15V the power supply of reset switch KEY; the movable contact of reset switch KEY connects the adjustable side of the 3rd adjustable resistance R03; the normally opened contact of the second simulation control switch MA connects an end of the 23 resistance R 23; the other end ground connection of the 23 resistance R 23; the amplifier signal input end of the second simulation control switch MA connects the alarm signal F end of over-current protection circuit 5; the amplifier control signal output terminal of the second simulation control switch MA connects the contact control signal input end of the second simulation control switch MA
The output terminal of voltage comparator T connects the positive input terminal of the 11 operational amplifier U11, the negative input end of the 11 operational amplifier U11 connects the output terminal of the 11 operational amplifier U11, and the output terminal of the 11 operational amplifier U11 is the alarm signal F end of over-current protection circuit 5;
The output terminal of the 11 operational amplifier U11 connects an end of the 27 resistance R 27; the other end of the 27 resistance R 27 connects an end of the 28 resistance R 28; the other end ground connection of the 28 resistance R 28, the connecting end between the 27 resistance R 27 and the 28 resistance R 28 is the alarm control signal output terminal of over-current protection circuit 5.
In the present embodiment, over-current protection circuit 5 is made up of Detecting element, absolute value circuit, warning circuit and reset circuit.It detects servovalve coil both end voltage by the voltage follower of being made up of four-operational amplifier U4 and the 5th operational amplifier U5, obtain the potential difference of servovalve coil by differential amplifier L, it has both positive and negative may, for relatively convenient, this potential difference signal is handled through the absolute value operational amplifier, signal after the processing compares by voltage comparator T and load voltage value, makes voltage comparator T export the control signal of high and low level.The second simulation control switch MA is receiving control signal moment, makes that voltage comparator T one end signal is permanent to be negative value, to realize the stable output of control signal, avoids the appearance repeatedly of control signal high-low level, realizes reliably protecting; The first simulation control switch MC is used for cutting off being connected between DA transducer 3 and the driving circuit of servo valve 4, when not taking place to report to the police, DA transducer 3 is connected with driving circuit of servo valve 4, when taking place to report to the police, DA transducer 3 disconnects with driving circuit of servo valve 4, simultaneously driving circuit of servo valve 4 is imported connecting to neutral, and then guarantee that output signal is zero.Reset switch KEY is used for circuit is returned to normal operating condition by state of alarm.
When the 11 operational amplifier U11 output alarm signal, microcontroller 2 is by the alert control signal of CAN bus interface receiving.
Embodiment five: present embodiment is described below in conjunction with Fig. 1, Fig. 2, Fig. 3 and Fig. 4, present embodiment is described further mode of execution four, described warning indicating circuit 6 is made up of the 3rd simulation control switch MB, the 25 resistance R 25, the 26 resistance R 26, the first light emitting diode D1 and the second light emitting diode D2
The movable contact ground connection of the 3rd simulation control switch MB, the movable contact of the 3rd simulation control switch MB connects the normally-closed contact of the 3rd simulation control switch MB, this normally-closed contact connects an end of the 26 resistance R 26, the other end of the 26 resistance R 26 connects the negative pole of the second light emitting diode D2, positive pole connection+15V the power supply of the second light emitting diode D2, should+the 15V power supply connects the positive pole of the first light emitting diode D1, the negative pole of the first light emitting diode D1 connects an end of the 25 resistance R 25, the other end of the 25 resistance R 25 connects the normally opened contact of the 3rd simulation control switch MB
The amplifier signal input end of the 3rd simulation control switch MB connects the alarm signal F end of over-current protection circuit 5, and the amplifier control signal output terminal of the 3rd simulation control switch MB connects the contact control signal input end of the 3rd simulation control switch MB.
In the present embodiment, the 3rd simulation control switch MB controls lighting of the normal operation of the normal run indicator second light emitting diode D2 and the alarm indicator lamp first light emitting diode D1 and extinguishes.
Operation of the present invention comprises following three kinds of operating modes:
Operating mode one: the signal of gathering when overcurrent protective circuit 5 is during less than reference signal; be that the servovalve electric current is during less than rated current; the normally-closed contact of the first simulation control switch MC, the second simulation control switch MA and the 3rd simulation control switch MB is connected, and each circuit operation is as follows:
Over-current protection circuit 5: the real-time feedback signal of servovalve coil and reference signal compare, and do not produce alarm signal.
Driving circuit of servo valve 4: control signal is through the first simulation control switch MC, the required electric current of the first operational amplifier U1, second operational amplifier U2 output servovalve, and then the control system proper functioning.
Warning indicating circuit 6: reference potential+15V constitutes closed loop through the normally-closed contact of the second light emitting diode D2, the 26 resistance R 26 and the 3rd simulation control switch MB, and the second light emitting diode D2 lights, and indicating circuit is working properly.
Operating mode two: the signal of gathering when overcurrent protective circuit 5 is during greater than reference signal; be that the servovalve electric current is during greater than rated current; the normally opened contact of the first simulation control switch MC, the second simulation control switch MA and the 3rd simulation control switch MB is connected, and each circuit operation is as follows:
Over-current protection circuit 5: the real-time feedback signal of servovalve coil and reference signal compare, and produce alarm signal.The normally-closed contact of voltage-5V, the 3rd adjustable resistance R03, the 23 resistance R 23 and the second simulation control switch MA produces negative voltage at voltage comparator T pin, is positive voltage in real time owing to gather signal, thereby has guaranteed reliable, the stable output of control signal.
Driving circuit of servo valve simulation in 4: the first control switch MC normally opened contact is connected, and cuts off the control signal path, power amplifier no-output electric current.
Warning indicating circuit 6: reference potential+15V constitutes closed loop through the normally opened contact of the first light emitting diode D1, the 25 resistance R 25 and the 3rd simulation control switch MB, and the first light emitting diode D1 lights, and indicating circuit is in over-current state.
Microcontroller 2: after microcontroller 2 receives the alarm control signal of over-current protection circuits 5, send fault message by CAN bus interface circuit 1 to remote control terminal.
Operating mode three: after fault is got rid of, press reset switch KEY, the normally-closed contact of reference potential+15V, the 3rd adjustable resistance R03, the 23 resistance R 23 and the second simulation control switch MA is being higher than servovalve voltage rating threshold voltage in the generation of voltage comparator T pin, voltage comparator T does not have control signal output, both the alarm free signal produced, and all circuit return to operating mode one.
Claims (5)
1. an electrohydraulic control digital controller is characterized in that, it comprises CAN bus interface circuit (1), microcontroller (2), DA transducer (3), driving circuit of servo valve (4) and over-current protection circuit (5),
CAN bus interface circuit (1) is used for receiving the command signal of remote transmission, the control signal transmission ends of CAN bus interface circuit (1) connects the control signal transmission ends of microcontroller (2), the control signal output terminal of microcontroller (2) connects the digital signal input end of DA transducer (3), the analog signal output of DA transducer (3) connects the driving signal input of driving circuit of servo valve (4), and the driving signal of driving circuit of servo valve (4) output is as the servovalve coil drive signal of electrohydraulic control;
The driving signal of driving circuit of servo valve (4) output connects the collection signal input part of over-current protection circuit (5), and the alarm signal output ends of over-current protection circuit (5) connects the alarm signal input end of driving circuit of servo valve (4); The alarm control signal output terminal of over-current protection circuit (5) connects the alarm control signal input end of microcontroller (2);
Microcontroller (2) is used for generating according to the command signal that receives zeroing signal and the vibrating signal of electrohydraulic control, and the command signal of described reception is integrated the back with zeroing signal and vibrating signal generate control signal, this control signal is transferred to DA transducer (3).
2. electrohydraulic control digital controller according to claim 1 is characterized in that, it also comprises warning indicating circuit (6), and the alarm signal input end of warning indicating circuit (6) connects the alarm signal output ends of over-current protection circuit (5).
3. electrohydraulic control digital controller according to claim 1 and 2, it is characterized in that, described driving circuit of servo valve (4) is by first resistance (R1), second resistance (R2), the 3rd resistance (R3), the 4th resistance (R4), the 5th resistance (R5), the 6th resistance (R6), the 7th resistance (R7), the 8th resistance (R8), the 9th resistance (R9), the first simulation control switch (MC), electric capacity (C1), first operational amplifier (U1), second operational amplifier (U2) and the 3rd operational amplifier (U3) are formed
The normally-closed contact connecting end E of the first simulation control switch (MC) is the driving signal input of driving circuit of servo valve (4), the normally-closed contact of the first simulation control switch (MC) connects the movable contact of the first simulation control switch (MC), the normally opened contact of the first simulation control switch (MC) connects an end of first resistance (R1), the other end ground connection of first resistance (R1), the amplifier signal input end of the first simulation control switch (MC) connects the alarm signal F end of over-current protection circuit (5), this alarm signal F end is the alarm signal output ends of over-current protection circuit (5), the amplifier control signal output terminal of the first simulation control switch (MC) connects the contact control signal input end of the first simulation control switch (MC), be connected second resistance (R2) between the positive input terminal of movable contact and first operational amplifier (U1) of the first simulation control switch (MC), an end that is connected electric capacity (C1) between movable contact and second resistance (R2) of the first simulation control switch (MC), the other end ground connection of electric capacity (C1);
The negative input end of first operational amplifier (U1) connects the output terminal of first operational amplifier (U1), be connected the 3rd resistance (R3) between the output terminal of first operational amplifier (U1) and the negative input end of second operational amplifier (U2), the positive input terminal of second operational amplifier (U2) connects an end of the 5th resistance (R5), the other end ground connection of the 5th resistance (R5), be connected the 4th resistance (R4) between the negative input end of second operational amplifier (U2) and the output terminal of second operational amplifier (U2), be connected the 6th resistance (R6) between the output terminal of second operational amplifier (U2) and the negative input end of the 3rd operational amplifier (U3), the negative input end of the 3rd operational amplifier (U3) connects an end of the 7th resistance (R7), the other end of the 7th resistance (R7) connects an end of the 9th resistance (R9), the other end ground connection of the 9th resistance (R9), connecting end between the 7th resistance (R7) and the 9th resistance (R9) connects the positive connecting end P of servovalve coil of electrohydraulic control, the positive input terminal of the 3rd operational amplifier (U3) connects an end of the 8th resistance (R8), the other end ground connection of the 8th resistance (R8), the output terminal of the 3rd operational amplifier (U3) connect the negative connecting end Q of servovalve coil of electrohydraulic control.
4. electrohydraulic control digital controller according to claim 3; it is characterized in that; described over-current protection circuit (5) is by the tenth resistance (R10); the 11 resistance (R11); the 12 resistance (R12); the 13 resistance (R13); the 14 resistance (R14); the 15 resistance (R15); the 16 resistance (R16); the 17 resistance (R17); the 18 resistance (R18); the 19 resistance (R19); the 20 resistance (R20); the 21 resistance (R21); the 22 resistance (R22); the 23 resistance (R23); the 24 resistance (R24); the 27 resistance (R27); the 28 resistance (R28); four-operational amplifier (U4); the 5th operational amplifier (U5); the 6th operational amplifier (U6); the 7th operational amplifier (U7); the 8th operational amplifier (U8); the 9th operational amplifier (U9); the tenth operational amplifier (U10); the 11 operational amplifier (U11); differential amplifier (L); voltage comparator (T); first adjustable resistance (R01); second adjustable resistance (R02); the 3rd adjustable resistance (R03); the second simulation control switch (MA) and reset switch (KEY) are formed
The positive input terminal of four-operational amplifier (U4) connects the positive connecting end P of servovalve coil of electrohydraulic control, the negative input end of four-operational amplifier (U4) connects the output terminal of four-operational amplifier (U4), the positive input terminal of the 5th operational amplifier (U5) connects the negative connecting end Q of servovalve coil of electrohydraulic control, and the negative input end of the 5th operational amplifier (U5) connects the output terminal of the 5th operational amplifier (U5); Be connected the tenth resistance (R10) between the output terminal of four-operational amplifier (U4) and the negative input end of differential amplifier (L), be connected the 11 resistance (R11) between the output terminal of the 5th operational amplifier (U5) and the positive input terminal of differential amplifier (L), the positive input terminal of differential amplifier (L) connects an end of the 13 resistance (R13), the other end ground connection of the 13 resistance (R13), be connected the 12 resistance (R12) between the negative input end of differential amplifier (L) and the output terminal of differential amplifier (L), the output terminal of differential amplifier (L) connects the positive input terminal of the 6th operational amplifier (U6), the 6th operational amplifier (U6) negative input end connects the output terminal of the 6th operational amplifier (U6)
Be connected the 14 resistance (R14) between the output terminal of the 6th operational amplifier (U6) and the negative input end of the 7th operational amplifier (U7), be connected the 20 resistance (R20) between the negative input end of the 7th operational amplifier (U7) and the output terminal of the 7th operational amplifier (U7), be connected the 15 resistance (R15) and the 17 resistance (R17) successively between the positive input terminal of the 7th operational amplifier (U7) and the negative input end of the 8th operational amplifier (U8), the 15 resistance (R15) is in parallel with the 16 resistance (R16), connecting end between the 15 resistance (R15) and the 17 resistance (R17) connects the output terminal of the 8th operational amplifier (U8), be connected the 21 resistance (R21) between the output terminal of the 8th operational amplifier (U8) and the negative input end of the 8th operational amplifier (U8), be connected the 18 resistance (R18) between the positive input terminal of the 8th operational amplifier (U8) and the output terminal of the 6th operational amplifier (U6), the 18 resistance (R18) is in parallel with the 19 resistance (R19)
Be connected first adjustable resistance (R01) between the output terminal of the 7th operational amplifier (U7) and the positive input terminal of the 9th operational amplifier (U9); the output terminal of the 7th operational amplifier (U7) connects the adjustable side of first adjustable resistance (R01) simultaneously; the positive input terminal of the 9th operational amplifier (U9) connects an end of the 24 resistance (R24); the other end ground connection of the 24 resistance (R24); the negative input end of the 9th operational amplifier (U9) connects the output terminal of the 9th operational amplifier (U9); the output terminal of the 9th operational amplifier (U9) connects the positive input terminal of voltage comparator (T); the negative input end of voltage comparator (T) connects the output terminal of the tenth operational amplifier (U10); the output terminal of the tenth operational amplifier (U10) connects the negative input end of the tenth operational amplifier (U10); the positive input terminal of the tenth operational amplifier (U10) connects the movable contact of the second simulation control switch (MA); the movable contact of the second simulation control switch (MA) is connected with its normally-closed contact; the normally-closed contact of the second simulation control switch (MA) connects an end of the 22 resistance (R22); the other end ground connection of the 22 resistance (R22); the normally-closed contact of the second simulation control switch (MA) connects an end of second adjustable resistance (R02); the other end connection+15V the power supply of second adjustable resistance (R02); should+the 15V power supply connects the adjustable side of second adjustable resistance (R02); the normally opened contact of the second simulation control switch (MA) connects an end of the 3rd adjustable resistance (R03); the other end of the 3rd adjustable resistance (R03) connects the movable contact of reset switch (KEY); the movable contact of reset switch (KEY) connects the normally-closed contact of reset switch (KEY); normally-closed contact connection-5V the power supply of reset switch (KEY); normally opened contact connection+15V the power supply of reset switch (KEY); the movable contact of reset switch (KEY) connects the adjustable side of the 3rd adjustable resistance (R03); the normally opened contact of the second simulation control switch (MA) connects an end of the 23 resistance (R23); the other end ground connection of the 23 resistance (R23); the amplifier signal input end of the second simulation control switch (MA) connects the alarm signal F end of over-current protection circuit (5); the amplifier control signal output terminal of the second simulation control switch (MA) connects the contact control signal input end of the second simulation control switch (MA)
The output terminal of voltage comparator (T) connects the positive input terminal of the 11 operational amplifier (U11), the negative input end of the 11 operational amplifier (U11) connects the output terminal of the 11 operational amplifier (U11), and the output terminal of the 11 operational amplifier (U11) is the alarm signal F end of over-current protection circuit (5);
The output terminal of the 11 operational amplifier (U11) connects an end of the 27 resistance (R27); the other end of the 27 resistance (R27) connects an end of the 28 resistance (R28); the other end ground connection of the 28 resistance (R28), the connecting end between the 27 resistance (R27) and the 28 resistance (R28) is the alarm control signal output terminal of over-current protection circuit (5).
5. electrohydraulic control digital controller according to claim 4, it is characterized in that, described warning indicating circuit (6) is made up of the 3rd simulation control switch (MB), the 25 resistance (R25), the 26 resistance (R26), first light emitting diode (D1) and second light emitting diode (D2)
The movable contact ground connection of the 3rd simulation control switch (MB), the movable contact of the 3rd simulation control switch (MB) connects the normally-closed contact of the 3rd simulation control switch (MB), this normally-closed contact connects an end of the 26 resistance (R26), the other end of the 26 resistance (R26) connects the negative pole of second light emitting diode (D2), positive pole connection+15V the power supply of second light emitting diode (D2), should+the 15V power supply connects the positive pole of first light emitting diode (D1), the negative pole of first light emitting diode (D1) connects an end of the 25 resistance (R25), the other end of the 25 resistance (R25) connects the normally opened contact of the 3rd simulation control switch (MB)
The amplifier signal input end of the 3rd simulation control switch (MB) connects the alarm signal F end of over-current protection circuit (5), and the amplifier control signal output terminal of the 3rd simulation control switch (MB) connects the contact control signal input end of the 3rd simulation control switch (MB).
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| CN201310184264.2A CN103233937B (en) | 2013-05-17 | 2013-05-17 | Digital controller of electrohydraulic servo valve |
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| CN201310184264.2A CN103233937B (en) | 2013-05-17 | 2013-05-17 | Digital controller of electrohydraulic servo valve |
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| CN103233937B CN103233937B (en) | 2015-11-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103838138A (en) * | 2014-03-21 | 2014-06-04 | 哈尔滨电气股份有限公司 | Triple-redundancy servo control card |
| CN105156737A (en) * | 2015-09-18 | 2015-12-16 | 南京工程学院 | Voice-coil-motor-driven pilot servo valve control system and control method |
| CN109709865A (en) * | 2019-01-07 | 2019-05-03 | 上海自动化仪表有限公司 | Servo output loading wire breakage detector and detection method |
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| JPS59196907A (en) * | 1983-03-16 | 1984-11-08 | シーメンス、アクチエンゲゼルシヤフト | Turbine adjusting and control system |
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| CN103838138A (en) * | 2014-03-21 | 2014-06-04 | 哈尔滨电气股份有限公司 | Triple-redundancy servo control card |
| CN105156737A (en) * | 2015-09-18 | 2015-12-16 | 南京工程学院 | Voice-coil-motor-driven pilot servo valve control system and control method |
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| CN109709865A (en) * | 2019-01-07 | 2019-05-03 | 上海自动化仪表有限公司 | Servo output loading wire breakage detector and detection method |
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|---|---|
| CN103233937B (en) | 2015-11-04 |
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