CN103233937B - Digital controller of electrohydraulic servo valve - Google Patents
Digital controller of electrohydraulic servo valve Download PDFInfo
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- CN103233937B CN103233937B CN201310184264.2A CN201310184264A CN103233937B CN 103233937 B CN103233937 B CN 103233937B CN 201310184264 A CN201310184264 A CN 201310184264A CN 103233937 B CN103233937 B CN 103233937B
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Abstract
Digital controller of electrohydraulic servo valve, belongs to technical field of electrohydraulic servo valve control.The present invention is to solve existing servo valve control device owing to adopting simulation circuit structure, making the problem of poor anti jamming capability.The control signal transmission ends of its CAN interface circuit connects the control signal transmission ends of microcontroller, the control signal output terminal of microcontroller connects the digital signal input end of D/A converter, the analog signal output of D/A converter connects the driving signal input of driving circuit of servo valve, and the drive singal that driving circuit of servo valve exports is as the servovalve coil drive signal of electrohydraulic control; The drive singal that driving circuit of servo valve exports connects the collection signal input end 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.The present invention is for controlling electrohydraulic control.
Description
Technical field
The present invention relates to digital controller of electrohydraulic servo valve, belong to technical field of electrohydraulic servo valve control.
Background technique
Servo valve control device 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 flutter circuit is in order to improve the resolution of servovalve and to overcome the Coulomb friction power of spool.For the servovalve of a certain type, the adjustment of its controller parameter is all the changes being realized systematic parameter by elements such as the resistance in Circuit tuning or electric capacity, because electronic component parameter is aging and the impact such as warm drift, servo valve control device performance is made to there are time-varying characteristics, simultaneously, because controller forms by analog circut, cause that controller volume is comparatively large, antijamming capability is poor.
Summary of the invention
The present invention is to solve existing servo valve control device owing to adopting simulation circuit structure, making the problem of poor anti jamming capability, provide a kind of digital controller of electrohydraulic servo valve.
Digital controller of electrohydraulic servo valve of the present invention, it comprises CAN interface circuit, microcontroller, D/A converter, driving circuit of servo valve and over-current protection circuit,
CAN interface circuit is for receiving the command signal of remote transmission, the control signal transmission ends of CAN interface circuit connects the control signal transmission ends of microcontroller, the control signal output terminal of microcontroller connects the digital signal input end of D/A converter, the analog signal output of D/A converter connects the driving signal input of driving circuit of servo valve, and the drive singal that driving circuit of servo valve exports is as the servovalve coil drive signal of electrohydraulic control;
The drive singal that driving circuit of servo valve exports connects the collection signal input end 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 the zeroed signal of electrohydraulic control and vibrating signal according to the command signal received, and generates control signal after the command signal of described reception and zeroed signal and vibrating signal being integrated, and this control signal is transferred to D/A converter.
It also comprises 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 the first resistance, the 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 analogue enlargement switch, electric capacity, the first operational amplifier, the second operational amplifier and the 3rd operational amplifier
The normally-closed contact connecting end E of the first analogue enlargement switch is the driving signal input of driving circuit of servo valve, the normally-closed contact of the first analogue enlargement switch connects the movable contact of the first analogue enlargement switch, the normally opened contact of the first analogue enlargement switch connects one end of the first resistance, the other end ground connection of the first resistance, the amplifier signal input of the first analogue enlargement switch connects the alarm signal F end of over-current protection circuit, this alarm signal F holds the alarm signal output ends for over-current protection circuit, the amplifier control signal output terminal of the first analogue enlargement switch connects the contact control signal input end of the first analogue enlargement switch, the second resistance is connected between the movable contact of the first analogue enlargement switch and the positive input terminal of the first operational amplifier, movable contact and the one end being connected electric capacity between the second resistance of first analogue enlargement switch, the other end ground connection of electric capacity,
The negative input end of the first operational amplifier connects the output terminal of the first operational amplifier, the 3rd resistance is connected between the output terminal of the first operational amplifier and the negative input end of the second operational amplifier, the positive input terminal of the second operational amplifier connects one end of the 5th resistance, the other end ground connection of the 5th resistance, the 4th resistance is connected between the negative input end of the second operational amplifier and the output terminal of the second operational amplifier, the 6th resistance is connected between the output terminal of the second operational amplifier and the negative input end of the 3rd operational amplifier, the negative input end of the 3rd operational amplifier connects one end of the 7th resistance, the other end of the 7th resistance connects one end of the 9th resistance, the other end ground connection of the 9th resistance, connecting end between 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 one end of the 8th resistance, the other end ground connection of the 8th resistance, connecting end Q born by the servovalve coil of the output terminal connection electrohydraulic control of the 3rd operational amplifier.
Described over-current protection circuit is by the tenth resistance, 11 resistance, 12 resistance, 13 resistance, 14 resistance, 15 resistance, 16 resistance, 17 resistance, 18 resistance, 19 resistance, 20 resistance, 21 resistance, 22 resistance, 23 resistance, 24 resistance, 27 resistance, 28 resistance, four-operational amplifier, 5th operational amplifier, 6th operational amplifier, 7th operational amplifier, 8th operational amplifier, 9th operational amplifier, tenth operational amplifier, 11 operational amplifier, differential amplifier, voltage comparator, first adjustable resistance, second adjustable resistance, 3rd adjustable resistance, second analogue enlargement switch and reset switch composition,
The positive input terminal of four-operational amplifier connects the positive connecting end P of servovalve coil of electrohydraulic control, the negative input end of four-operational amplifier connects the output terminal of four-operational amplifier, connecting end Q born by the servovalve coil of the positive input terminal connection electrohydraulic control of the 5th operational amplifier, and the negative input end of the 5th operational amplifier connects the output terminal of the 5th operational amplifier, the tenth resistance is connected between the output terminal of four-operational amplifier and the negative input end of differential amplifier, the 11 resistance is connected between the output terminal of the 5th operational amplifier and the positive input terminal of differential amplifier, the positive input terminal of differential amplifier connects one end of the 13 resistance, the other end ground connection of the 13 resistance, the 12 resistance is connected between the negative input end of differential amplifier and the output terminal of differential amplifier, the output terminal of differential amplifier connects the positive input terminal of the 6th operational amplifier, 6th operational amplifier negative input end connects the output terminal of the 6th operational amplifier,
The output terminal of the 6th operational amplifier is connected the 14 resistance with between the negative input end of the 7th operational amplifier, the negative input end of the 7th operational amplifier is connected the 20 resistance with between the output terminal of the 7th operational amplifier, the positive input terminal of the 7th operational amplifier is connected the 15 resistance and the 17 resistance successively with between the negative input end of the 8th operational amplifier, 15 resistance and the 16 resistor coupled in parallel, connecting end between 15 resistance and the 17 resistance connects the output terminal of the 8th operational amplifier, the output terminal of the 8th operational amplifier is connected the 21 resistance with between the negative input end of the 8th operational amplifier, the positive input terminal of the 8th operational amplifier is connected the 18 resistance with between the output terminal of the 6th operational amplifier, 18 resistance and the 19 resistor coupled in parallel,
The output terminal of the 7th operational amplifier is connected the first adjustable resistance with between the positive input terminal of the 9th operational amplifier, the output terminal of the 7th operational amplifier connects the adjustable side of the first adjustable resistance simultaneously, the positive input terminal of the 9th operational amplifier connects one 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 analogue enlargement switch, the movable contact of the second analogue enlargement switch is connected with its normally-closed contact, the normally-closed contact of the second analogue enlargement switch connects one end of the 22 resistance, the other end ground connection of the 22 resistance, the normally-closed contact of the second analogue enlargement switch connects one end of the second adjustable resistance, the other end of the second adjustable resistance connects+15V power supply, be somebody's turn to do the adjustable side that+15V power supply connects the second adjustable resistance, the normally opened contact of the second analogue enlargement switch connects one 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, the normally-closed contact of reset switch connects-5V power supply, the normally opened contact of reset switch connects+15V power supply, the movable contact of reset switch connects the adjustable side of the 3rd adjustable resistance, the normally opened contact of the second analogue enlargement switch connects one end of the 23 resistance, the other end ground connection of the 23 resistance, the amplifier signal input of the second analogue enlargement switch connects the alarm signal F end of over-current protection circuit, the amplifier control signal output terminal of the second analogue enlargement switch connects the contact control signal input end of the second analogue enlargement 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 one end of the 27 resistance; the other end of the 27 resistance connects one 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 is the alarm control signal output terminal of over-current protection circuit.
Described warning indicating circuit is made up of the 3rd analogue enlargement switch, the 25 resistance, the 26 resistance, the first light emitting diode and the second light emitting diode,
The movable contact ground connection of the 3rd analogue enlargement switch, the movable contact of the 3rd analogue enlargement switch connects the normally-closed contact of the 3rd analogue enlargement switch, this normally-closed contact connects one end of the 26 resistance, the other end of the 26 resistance connects the negative pole of the second light emitting diode, the positive pole of the second light emitting diode connects+15V power supply, be somebody's turn to do the positive pole that+15V power supply connects the first light emitting diode, the negative pole of the first light emitting diode connects one end of the 25 resistance, the other end of the 25 resistance connects the normally opened contact of the 3rd analogue enlargement switch
The amplifier signal input of the 3rd analogue enlargement switch connects the alarm signal F end of over-current protection circuit, and the amplifier control signal output terminal of the 3rd analogue enlargement switch connects the contact control signal input end of the 3rd analogue enlargement switch.
Advantage of the present invention: the present invention adopts bus mode to carry out the transmission of command signal, adopt the generation of zeroed signal, vibrating signal needed for microcontroller implementation servovalve, improve the transfer rate of signal and the antijamming capability of system, simplify 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 servo valve control device.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of digital controller of electrohydraulic servo valve 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: present embodiment is described below in conjunction with Fig. 1, digital controller of electrohydraulic servo valve described in present embodiment, it comprises CAN interface circuit 1, microcontroller 2, D/A converter 3, driving circuit of servo valve 4 and over-current protection circuit 5,
CAN interface circuit 1 is for receiving the command signal of remote transmission, the control signal transmission ends of CAN 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 D/A converter 3, the analog signal output of D/A converter 3 connects the driving signal input of driving circuit of servo valve 4, and the drive singal that driving circuit of servo valve 4 exports is as the servovalve coil drive signal of electrohydraulic control;
The drive singal that driving circuit of servo valve 4 exports connects the collection signal input end 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 for generating the zeroed signal of electrohydraulic control and vibrating signal according to the command signal received, and generates control signal after the command signal of described reception and zeroed signal and vibrating signal being integrated, and this control signal is transferred to D/A converter 3.
In present embodiment, driving circuit of servo valve 4 carries out power amplification in order to voltage signal D/A converter 3 exported, to meet servovalve requirement.Over-current protection circuit 5, in order to protect servovalve, makes it endanger from super-high-current.Current signal after conversion is exported to servovalve coil by driving circuit of servo valve 4, completes the transmission of command signal to servovalve.
Bus mode is adopted to carry out the transmission of command signal between each unit of described controller.
Described microcontroller 2 is floating type DSP, and described D/A converter 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, driving circuit of servo valve 4 described in present embodiment is made up of the first resistance R1, the 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 analogue enlargement switch MC, electric capacity C1, the first operational amplifier U1, the second operational amplifier U2 and the 3rd operational amplifier U3
The normally-closed contact connecting end E of the first analogue enlargement switch MC is the driving signal input of driving circuit of servo valve 4, the normally-closed contact of the first analogue enlargement switch MC connects the movable contact of the first analogue enlargement switch MC, the normally opened contact of the first analogue enlargement switch MC connects one end of the first resistance R1, the other end ground connection of the first resistance R1, the amplifier signal input of the first analogue enlargement switch MC connects the alarm signal F end of over-current protection circuit 5, this alarm signal F holds the alarm signal output ends for over-current protection circuit 5, the amplifier control signal output terminal of the first analogue enlargement switch MC connects the contact control signal input end of the first analogue enlargement switch MC, the second resistance R2 is connected between the movable contact of the first analogue enlargement switch MC and the positive input terminal of the first operational amplifier U1, movable contact and the one end being connected electric capacity C1 between the second resistance R2 of first analogue enlargement switch MC, the other end ground connection of electric capacity C1,
The negative input end of the first operational amplifier U1 connects the output terminal of the first operational amplifier U1, the 3rd resistance R3 is connected between the output terminal of the first operational amplifier U1 and the negative input end of the second operational amplifier U2, the positive input terminal of the second operational amplifier U2 connects one end of the 5th resistance R5, the other end ground connection of the 5th resistance R5, the 4th resistance R4 is connected between the negative input end of the second operational amplifier U2 and the output terminal of the second operational amplifier U2, the 6th resistance R6 is connected between the output terminal of the 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 one end of the 7th resistance R7, the other end of the 7th resistance R7 connects one end of the 9th resistance R9, the other end ground connection of the 9th resistance R9, connecting end between 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 one end of the 8th resistance R8, the other end ground connection of the 8th resistance R8, connecting end Q born by the servovalve coil of the output terminal connection electrohydraulic control of the 3rd operational amplifier U3.
Described in present embodiment, driving circuit of servo valve 4 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 illustrates present embodiment, and present embodiment is described further mode of execution three, and over-current protection circuit 5 described in present embodiment is by the tenth resistance R10, 11 resistance R11, 12 resistance R12, 13 resistance R13, 14 resistance R14, 15 resistance R15, 16 resistance R16, 17 resistance R17, 18 resistance R18, 19 resistance R19, 20 resistance R20, 21 resistance R21, 22 resistance R22, 23 resistance R23, 24 resistance R24, 27 resistance R27, 28 resistance R28, four-operational amplifier U4, 5th operational amplifier U5, 6th operational amplifier U6, 7th operational amplifier U7, 8th operational amplifier U8, 9th operational amplifier U9, tenth operational amplifier U10, 11 operational amplifier U11, differential amplifier L, voltage comparator T, first adjustable resistance R01, second adjustable resistance R02, 3rd adjustable resistance R03, second analogue enlargement switch MA and reset switch KEY forms,
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, connecting end Q born by the servovalve coil of the positive input terminal connection electrohydraulic control of the 5th operational amplifier U5, and the negative input end of the 5th operational amplifier U5 connects the output terminal of the 5th operational amplifier U5, the tenth resistance R10 is connected between the output terminal of four-operational amplifier U4 and the negative input end of differential amplifier L, the 11 resistance R11 is connected 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 one end of the 13 resistance R13, the other end ground connection of the 13 resistance R13, the 12 resistance R12 is connected 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, 6th operational amplifier U6 negative input end connects the output terminal of the 6th operational amplifier U6,
The output terminal of the 6th operational amplifier U6 is connected the 14 resistance R14 with between the negative input end of the 7th operational amplifier U7, the negative input end of the 7th operational amplifier U7 is connected the 20 resistance R20 with between the output terminal of the 7th operational amplifier U7, the positive input terminal of the 7th operational amplifier U7 is connected the 15 resistance R15 and the 17 resistance R17 successively with between the negative input end of the 8th operational amplifier U8, 15 resistance R15 is in parallel with the 16 resistance R16, connecting end between 15 resistance R15 and the 17 resistance R17 connects the output terminal of the 8th operational amplifier U8, the output terminal of the 8th operational amplifier U8 is connected the 21 resistance R21 with between the negative input end of the 8th operational amplifier U8, the positive input terminal of the 8th operational amplifier U8 is connected the 18 resistance R18 with between the output terminal of the 6th operational amplifier U6, 18 resistance R18 is in parallel with the 19 resistance R19,
The first adjustable resistance R01 is connected 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 the first adjustable resistance R01 simultaneously, the positive input terminal of the 9th operational amplifier U9 connects one 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 analogue enlargement switch MA, the movable contact of the second analogue enlargement switch MA is connected with its normally-closed contact, the normally-closed contact of the second analogue enlargement switch MA connects one end of the 22 resistance R22, the other end ground connection of the 22 resistance R22, the normally-closed contact of the second analogue enlargement switch MA connects one end of the second adjustable resistance R02, the other end of the second adjustable resistance R02 connects+15V power supply, be somebody's turn to do the adjustable side that+15V power supply connects the second adjustable resistance R02, the normally opened contact of the second analogue enlargement switch MA connects one 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, the normally-closed contact of reset switch KEY connects-5V power supply, the normally opened contact of reset switch KEY connects+15V power supply, the movable contact of reset switch KEY connects the adjustable side of the 3rd adjustable resistance R03, the normally opened contact of the second analogue enlargement switch MA connects one end of the 23 resistance R23, the other end ground connection of the 23 resistance R23, the amplifier signal input of the second analogue enlargement switch MA connects the alarm signal F end of over-current protection circuit 5, the amplifier control signal output terminal of the second analogue enlargement switch MA connects the contact control signal input end of the second analogue enlargement 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 one end of the 27 resistance R27; the other end of the 27 resistance R27 connects one 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.
In present embodiment, over-current protection circuit 5 is made up of Detecting element, absolute value circuit, warning circuit and reset circuit.It is detected servovalve coil both end voltage by the voltage follower be made up of four-operational amplifier U4 and the 5th operational amplifier U5, the potential difference of servovalve coil is obtained by differential amplifier L, it has both positive and negative may, compare for convenience, by this potential difference signal through the process of absolute value operational amplifier, signal after process is compared by voltage comparator T and load voltage value, makes voltage comparator T export the control signal of high and low level.Second analogue enlargement switch MA, receiving control signal moment, makes voltage comparator T one end signal constant be negative value, to realize the stable output of control signal, avoids the appearance repeatedly of control signal low and high level, realize reliably protecting; First analogue enlargement switch MC is for cutting off the connection between D/A converter 3 and driving circuit of servo valve 4, when not occurring to report to the police, D/A converter 3 is connected with driving circuit of servo valve 4, when occurring to report to the police, D/A converter 3 and driving circuit of servo valve 4 disconnect, driving circuit of servo valve 4 is inputted connecting to neutral simultaneously, and then ensure that output signal is zero.Reset switch KEY is used for circuit to return to normal operating condition by state of alarm.
When the 11 operational amplifier U11 output alarm signal, microcontroller 2 receives alarm control signal by CAN.
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 analogue enlargement switch MB, the 25 resistance R25, the 26 resistance R26, the first light emitting diode D1 and the second light emitting diode D2
The movable contact ground connection of the 3rd analogue enlargement switch MB, the movable contact of the 3rd analogue enlargement switch MB connects the normally-closed contact of the 3rd analogue enlargement switch MB, this normally-closed contact connects one end of the 26 resistance R26, the other end of the 26 resistance R26 connects the negative pole of the second light emitting diode D2, the positive pole of the second light emitting diode D2 connects+15V power supply, be somebody's turn to do the positive pole that+15V power supply connects the first light emitting diode D1, the negative pole of the first light emitting diode D1 connects one end of the 25 resistance R25, the other end of the 25 resistance R25 connects the normally opened contact of the 3rd analogue enlargement switch MB,
The amplifier signal input of the 3rd analogue enlargement switch MB connects the alarm signal F end of over-current protection circuit 5, and the amplifier control signal output terminal of the 3rd analogue enlargement switch MB connects the contact control signal input end of the 3rd analogue enlargement switch MB.
In present embodiment, the 3rd analogue enlargement switch MB controls the normal operation of normal run indicator second light emitting diode D2 and lighting and extinguishing of alarm indicator lamp first light emitting diode D1.
Operation of the present invention comprises following three kinds of operating modes:
Operating mode one: when the signal that over-current protection circuit 5 gathers is less than reference signal; namely when servovalve electric current is less than rated current; the normally-closed contact of the first analogue enlargement switch MC, the second analogue enlargement switch MA and the 3rd analogue enlargement switch MB is connected, and each circuit operation is as follows:
Over-current protection circuit 5: servovalve coil Real-time Feedback signal and reference signal compare, and do not produce alarm signal.
Driving circuit of servo valve 4: control signal is through the electric current needed for the first analogue enlargement switch MC, the first operational amplifier U1, the second operational amplifier U2 output servovalve, and then control system normally works.
Warning indicating circuit 6: reference potential+15V forms closed loop through the normally-closed contact of the second light emitting diode D2, the 26 resistance R26 and the 3rd analogue enlargement switch MB, and the second light emitting diode D2 lights, and indicating circuit is working properly.
Operating mode two: when the signal that over-current protection circuit 5 gathers is greater than reference signal; namely when servovalve electric current is greater than rated current; the normally opened contact of the first analogue enlargement switch MC, the second analogue enlargement switch MA and the 3rd analogue enlargement switch MB is connected, and each circuit operation is as follows:
Over-current protection circuit 5: servovalve coil Real-time Feedback signal and reference signal compare, produces alarm signal.The normally-closed contact of voltage-5V, the 3rd adjustable resistance R03, the 23 resistance R23 and the second analogue enlargement switch MA produces negative voltage at voltage comparator T pin, because collection signal be positive voltage in real time, thus ensure that reliable, the stable output of control signal.
Driving circuit of servo valve 4: the first analogue enlargement switch MC normally opened contact is connected, cutting-off controlling signal path, power amplifier no-output electric current.
Warning indicating circuit 6: reference potential+15V forms closed loop through the normally opened contact of the first light emitting diode D1, the 25 resistance R25 and the 3rd analogue enlargement 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 circuit 5, sends fault message by CAN interface circuit 1 to remote control terminal.
Operating mode three: after failture evacuation, press reset switch KEY, the normally-closed contact of reference potential+15V, the 3rd adjustable resistance R03, the 23 resistance R23 and the second analogue enlargement switch MA is producing higher than servovalve voltage rating threshold voltage at voltage comparator T pin, voltage comparator T exports without control signal, both alarm free signal produced, and all circuit return to operating mode one.
Claims (5)
1. a digital controller of electrohydraulic servo valve; it comprises CAN interface circuit (1), microcontroller (2), D/A converter (3) and driving circuit of servo valve (4); it is characterized in that, it also comprises over-current protection circuit (5)
CAN interface circuit (1) is for receiving the command signal of remote transmission, the control signal transmission ends of CAN 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 D/A converter (3), the analog signal output of D/A converter (3) connects the driving signal input of driving circuit of servo valve (4), and the drive singal that driving circuit of servo valve (4) exports is as the servovalve coil drive signal of electrohydraulic control;
The drive singal that driving circuit of servo valve (4) exports connects the collection signal input end 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 for generating zeroed signal and the vibrating signal of electrohydraulic control according to the command signal received, and generating control signal after the command signal of described reception and zeroed signal and vibrating signal being integrated, this control signal is transferred to D/A converter (3).
2. digital controller of electrohydraulic servo valve according to claim 1; it 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. digital controller of electrohydraulic servo valve according to claim 2, it is characterized in that, described driving circuit of servo valve (4) is by the first resistance (R1), second resistance (R2), 3rd resistance (R3), 4th resistance (R4), 5th resistance (R5), 6th resistance (R6), 7th resistance (R7), 8th resistance (R8), 9th resistance (R9), first analogue enlargement switch (MC), electric capacity (C1), first operational amplifier (U1), second operational amplifier (U2) and the 3rd operational amplifier (U3) composition,
The normally-closed contact connecting end E of the first analogue enlargement switch (MC) is the driving signal input of driving circuit of servo valve (4), the normally-closed contact of the first analogue enlargement switch (MC) connects the movable contact of the first analogue enlargement switch (MC), the normally opened contact of the first analogue enlargement switch (MC) connects one end of the first resistance (R1), the other end ground connection of the first resistance (R1), the amplifier signal input of the first analogue enlargement switch (MC) connects the alarm signal F end of over-current protection circuit (5), this alarm signal F holds the alarm signal output ends for over-current protection circuit (5), the amplifier control signal output terminal of the first analogue enlargement switch (MC) connects the contact control signal input end of the first analogue enlargement switch (MC), the second resistance (R2) is connected between the movable contact of the first analogue enlargement switch (MC) and the positive input terminal of the first operational amplifier (U1), movable contact and the one end being connected electric capacity (C1) between the second resistance (R2) of first analogue enlargement switch (MC), the other end ground connection of electric capacity (C1),
The negative input end of the first operational amplifier (U1) connects the output terminal of the first operational amplifier (U1), the 3rd resistance (R3) is connected between the output terminal of the first operational amplifier (U1) and the negative input end of the second operational amplifier (U2), the positive input terminal of the second operational amplifier (U2) connects one end of the 5th resistance (R5), the other end ground connection of the 5th resistance (R5), the 4th resistance (R4) is connected between the negative input end of the second operational amplifier (U2) and the output terminal of the second operational amplifier (U2), the 6th resistance (R6) is connected between the output terminal of the 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 one end of the 7th resistance (R7), the other end of the 7th resistance (R7) connects one end of the 9th resistance (R9), the other end ground connection of the 9th resistance (R9), connecting end between 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 one end of the 8th resistance (R8), the other end ground connection of the 8th resistance (R8), connecting end Q born by the servovalve coil of the output terminal connection electrohydraulic control of the 3rd operational amplifier (U3).
4. digital controller of electrohydraulic servo valve according to claim 3, is characterized in that, described over-current protection circuit (5) is by the tenth resistance (R10), 11 resistance (R11), 12 resistance (R12), 13 resistance (R13), 14 resistance (R14), 15 resistance (R15), 16 resistance (R16), 17 resistance (R17), 18 resistance (R18), 19 resistance (R19), 20 resistance (R20), 21 resistance (R21), 22 resistance (R22), 23 resistance (R23), 24 resistance (R24), 27 resistance (R27), 28 resistance (R28), four-operational amplifier (U4), 5th operational amplifier (U5), 6th operational amplifier (U6), 7th operational amplifier (U7), 8th operational amplifier (U8), 9th operational amplifier (U9), tenth operational amplifier (U10), 11 operational amplifier (U11), differential amplifier (L), voltage comparator (T), first adjustable resistance (R01), second adjustable resistance (R02), 3rd adjustable resistance (R03), second analogue enlargement switch (MA) and reset switch (KEY) composition,
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), connecting end Q born by the servovalve coil of the positive input terminal connection electrohydraulic control of the 5th operational amplifier (U5), and the negative input end of the 5th operational amplifier (U5) connects the output terminal of the 5th operational amplifier (U5), the tenth resistance (R10) is connected between the output terminal of four-operational amplifier (U4) and the negative input end of differential amplifier (L), the 11 resistance (R11) is connected 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 one end of the 13 resistance (R13), the other end ground connection of the 13 resistance (R13), the 12 resistance (R12) is connected 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), 6th operational amplifier (U6) negative input end connects the output terminal of the 6th operational amplifier (U6),
The output terminal of the 6th operational amplifier (U6) is connected the 14 resistance (R14) with between the negative input end of the 7th operational amplifier (U7), the negative input end of the 7th operational amplifier (U7) is connected the 20 resistance (R20) with between the output terminal of the 7th operational amplifier (U7), the positive input terminal of the 7th operational amplifier (U7) is connected the 15 resistance (R15) and the 17 resistance (R17) successively with between the negative input end of the 8th operational amplifier (U8), 15 resistance (R15) is in parallel with the 16 resistance (R16), connecting end between 15 resistance (R15) and the 17 resistance (R17) connects the output terminal of the 8th operational amplifier (U8), the output terminal of the 8th operational amplifier (U8) is connected the 21 resistance (R21) with between the negative input end of the 8th operational amplifier (U8), the positive input terminal of the 8th operational amplifier (U8) is connected the 18 resistance (R18) with between the output terminal of the 6th operational amplifier (U6), 18 resistance (R18) is in parallel with the 19 resistance (R19)
The output terminal of the 7th operational amplifier (U7) is connected the first adjustable resistance (R01) with between the positive input terminal of 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 one 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 analogue enlargement switch (MA), the movable contact of the second analogue enlargement switch (MA) is connected with its normally-closed contact, the normally-closed contact of the second analogue enlargement switch (MA) connects one end of the 22 resistance (R22), the other end ground connection of the 22 resistance (R22), the normally-closed contact of the second analogue enlargement switch (MA) connects one end of the second adjustable resistance (R02), the other end of the second adjustable resistance (R02) connects+15V power supply, be somebody's turn to do the adjustable side that+15V power supply connects the second adjustable resistance (R02), the normally opened contact of the second analogue enlargement switch (MA) connects one 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), the normally-closed contact of reset switch (KEY) connects-5V power supply, the normally opened contact of reset switch (KEY) connects+15V power supply, the movable contact of reset switch (KEY) connects the adjustable side of the 3rd adjustable resistance (R03), the normally opened contact of the second analogue enlargement switch (MA) connects one end of the 23 resistance (R23), the other end ground connection of the 23 resistance (R23), the amplifier signal input of the second analogue enlargement switch (MA) connects the alarm signal F end of over-current protection circuit (5), the amplifier control signal output terminal of the second analogue enlargement switch (MA) connects the contact control signal input end of the second analogue enlargement 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 one end of the 27 resistance (R27); the other end of the 27 resistance (R27) connects one 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. digital controller of electrohydraulic servo valve according to claim 4, it is characterized in that, described warning indicating circuit (6) is made up of the 3rd analogue enlargement switch (MB), the 25 resistance (R25), the 26 resistance (R26), the first light emitting diode (D1) and the second light emitting diode (D2)
The movable contact ground connection of the 3rd analogue enlargement switch (MB), the movable contact of the 3rd analogue enlargement switch (MB) connects the normally-closed contact of the 3rd analogue enlargement switch (MB), this normally-closed contact connects one end of the 26 resistance (R26), the other end of the 26 resistance (R26) connects the negative pole of the second light emitting diode (D2), the positive pole of the second light emitting diode (D2) connects+15V power supply, be somebody's turn to do the positive pole that+15V power supply connects the first light emitting diode (D1), the negative pole of the first light emitting diode (D1) connects one end of the 25 resistance (R25), the other end of the 25 resistance (R25) connects the normally opened contact of the 3rd analogue enlargement switch (MB),
The amplifier signal input of the 3rd analogue enlargement switch (MB) connects the alarm signal F end of over-current protection circuit (5), and the amplifier control signal output terminal of the 3rd analogue enlargement switch (MB) connects the contact control signal input end of the 3rd analogue enlargement 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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| CN103233937B true 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 |
| CN105156737B (en) * | 2015-09-18 | 2018-02-13 | 南京工程学院 | A kind of the pilot type servo valve control system and its control method of voice coil motor driving |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5285715A (en) * | 1992-08-06 | 1994-02-15 | Hr Textron, Inc. | Electrohydraulic servovalve with flow gain compensation |
| CN201170223Y (en) * | 2008-03-27 | 2008-12-24 | 新华威尔液压系统(上海)有限公司 | Control module of servo valve |
| CN201749325U (en) * | 2010-04-30 | 2011-02-16 | 苏州大方特种车股份有限公司 | Servo valve control module |
| CN202521031U (en) * | 2012-03-29 | 2012-11-07 | 宁波华液机器制造有限公司 | Single-channel digital proportional valve amplifier |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3309441A1 (en) * | 1983-03-16 | 1984-09-27 | Kraftwerk Union AG, 4330 Mülheim | Turbine regulating and control system |
| JPS61208506A (en) * | 1985-03-13 | 1986-09-16 | Kobe Steel Ltd | Control method for servo valve or the like |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5285715A (en) * | 1992-08-06 | 1994-02-15 | Hr Textron, Inc. | Electrohydraulic servovalve with flow gain compensation |
| CN201170223Y (en) * | 2008-03-27 | 2008-12-24 | 新华威尔液压系统(上海)有限公司 | Control module of servo valve |
| CN201749325U (en) * | 2010-04-30 | 2011-02-16 | 苏州大方特种车股份有限公司 | Servo valve control module |
| CN202521031U (en) * | 2012-03-29 | 2012-11-07 | 宁波华液机器制造有限公司 | Single-channel digital proportional valve amplifier |
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