CN103388602B - Cooperative type high-precision hydraulic pressure double-cylinder synchronizing system and control method thereof - Google Patents
Cooperative type high-precision hydraulic pressure double-cylinder synchronizing system and control method thereof Download PDFInfo
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Abstract
The invention relates to a closed-loop cooperative type high-precision hydraulic pressure double-cylinder synchronizing system and a control method thereof based on high-speed switch valves and a fuzzy control strategy. The system comprises two hydraulic cylinders provided with displacement sensors, two sets of parallel high-speed switch valve groups, and a fuzzy controller provided with a control strategy in a solidifying manner. The method is characterized in that the advantages of the controllability of figure signals of the high-speed switch valves of the system and average flow rate linear characteristics are utilized, the hydraulic cylinders are synchronously controlled by the fuzzy control strategy solidified in the fuzzy controller, and the duty cycle of digital pulse control signals of the high-speed switch valves is increased or reduced, so as to change the running speed of a fast cylinder. Compared with the prior art, the system and the method have the advantages that the number of the high-speed switch valves can be changed according to actual demands, the requirements of different conditions can be met, the flow regulation range is increased, and the application range is enlarged; adjustment is realized according to actual double-cylinder synchronization precision requirements, the application range is wider, and the double-cylinder synchronization precision is higher; and the organic combination of a computer-control system and a hydraulic system is effectively realized.
Description
Technical field：
The invention belongs to hydraulic drive and control technical field, is related to a kind of hydraulic cylinder two-tank method system and its controlling party
Method, more particularly to a kind of closed loop cooperating type high accuracy two-tank method system based on high-speed switch valve and fuzzy control strategy and its
Control method.
Background technology：
Research currently for the control of hydraulic system two-tank method is relatively more, and conventional controls valve for proportional reversing valve, control
System strategy is basic to be controlled using Proportional-Integral-Derivative (PID), and this control method actually should
, still there is larger synchronous error between twin-tub in the Synchronization Control effect on driving birds is not good with.And be based on high-speed switch valve and obscure
The cooperating type two-tank method control method of control strategy referred to using the discharge characteristic and fuzzy control strategy of high-speed switch valve,
The method that two-tank method is controlled is realized by the collaboration speed controlling to hydraulic cylinder, technique will greatly promote two-tank method control
The development of technical field processed.
In prior art before the present invention, with regard to the research to the two-tank method control method based on high-speed switch valve
Mainly the Liu Zhong of Hunan Normal University teaches and his student He Qian, and their achievement in research is mainly reflected in：What modest 2008
The master thesis in year《Hydraulic synchronous control system design and research based on high-speed switch valve》, January the 1st in 2009 phase
《Manufacturing technology and lathe》In《The hydraulic synchronous system design of high-speed switch valve》, July the 7th in 2010 phase《Manufacturing technology
With lathe》In《High-speed switch valve direct controlled type closed loop hydraulic synchronization system》, December the 12nd in 2010 phase《Manufacturing technology and machine
Bed》In《High precision synchronous control system design and the emulation of hydraulic lifting mechanism》, March the 3rd in 2009 phase《Building machine
Tool》In《Hydraulic synchronous system based on high-speed switch valve》, January the 1st in 2011 phase《Machinery and electronics》In《Single valve is straight
The foundation of control formula high-speed switch valve hydraulic synchronous system mathematical model》.It adopts high-speed switch valve to synchronize the principle of control
(as shown in Figure 1) is：High-speed switch valve is connected in series on the return line of hydraulic actuator, the position of two hydraulic actuators is gathered
Shifting signal, and with the difference signal of two displacements as base signal, Jing Fuzzy Self-adaptive PIDs generate pulse control signal,
High-speed switch valve is controlled after pulse signal is amplified.By the control realization to high-speed switch valve to hydraulic actuator
Control, and then realize Synchronization Control.
In above-mentioned synchronisation control means, due to high-speed switch valve is connected in series in hydraulic circuit, and high-speed switch valve
Through-flow limited flow, causes the running status on hydraulic actuator to produce impact, reduces the maximum operation speed of hydraulic actuator
Degree, i.e. the method have the shortcomings that the impact that the scope of application is little, synchronization accuracy is low and high-speed switch valve is to system mode is larger.
The content of the invention：
For above-mentioned prior art situation, it is an object of the invention to：Propose that a kind of control accuracy is high, applied widely,
Based on high-speed switch valve and the cooperating type two-tank method system and its control method of fuzzy control strategy.
Now the technology of the present invention solution is described below：
A kind of cooperating type high accuracy Synchronization Control of Bi-cylinder Systems of the present invention：It is characterized in that：(as shown in Figure 2) includes：Two
The individual hydraulic cylinder for being provided with displacement transducer, two groups of speed-sensitive switch valve groups in parallel, the fuzzy controller for being solidified with control strategy；
Described displacement transducer is fixedly connected with hydraulic cylinder, and measures the displacement information feeding fuzzy controller of hydraulic cylinder in real time；Institute
The two groups of high-speed switch valve groups in parallel stated are in parallel with hydraulic cylinder respectively, the quantity of every group of speed-sensitive switch valve group high speed switch valve
Change according to the actual requirements；Control strategy is solidified with described fuzzy controller；The digit pulse control of fuzzy controller output
Signal processed directly controls the valve port opening of speed-sensitive switch valve group high speed switch valve.
The present invention further provides a kind of cooperating type high accuracy Synchronization Control of Bi-cylinder Systems：It is characterized in that：Described height
There is strict linear relationship and high-speed switch valve work between the valve port opening of fast switch valve and the average discharge of high-speed switch valve
Make in linear operating region；The digit pulse control signal of input high-speed switch valve directly controls the valve port of high-speed switch valve and opens
Degree, indirectly by speed controlling of the control realization of average discharge to hydraulic cylinder.
The present invention also provides a kind of cooperating type high accuracy two-tank method control method：It is characterized in that：Described controlling party
Method is referred to and makes full use of the high-speed switch valve digital signal of system controllable and average discharge linear characteristic advantage, by fuzzy
The fuzzy control strategy solidified in controller realizes that the cooperating type high-precise synchronization to hydraulic cylinder is controlled；Specifically include following step
Suddenly：
Step 1：By two displacement transducers of port processing of system acquisition card displacement information and be compared；
Step 2：Ambiguity in definition control strategy：
Step 2.1：Left cylinder displacement subtract the different type displacement error signal of right cylinder displacement respectively it is negative it is big, negative in, it is negative it is little,
0th, just little, center, honest, negative value refers to that all errors are negative situation, on the occasion of referring to that all errors are positive situation；
Step 2.2：The different type displacement error variable quantity signal that left cylinder displacement subtracts right cylinder displacement is respectively negative big, negative
In, it is negative it is little, zero, just little, center, honest represent different types of displacement error trend term signal respectively；
Step 2.3：Remaining for fuzzy controller output, zero, just little, center, honest represent fuzzy controller respectively
The pulse control signal of the different duty type of generation.
Step 3：When left cylinder displacement is more than right cylinder displacement less than right cylinder displacement or left cylinder displacement, null class control signal is exported
The port of acquired card is to high-speed switch valve；
Step 4：When left cylinder displacement is equal to right cylinder displacement, left and right cylinder exports respectively null class, positive group, center class, honest
The port of the acquired card of class control signal is to high-speed switch valve；
Step 4.1：When the variation tendency that left cylinder displacement subtracts right cylinder displacement is that timing exports null class control signal；
Step 4.2：Null class control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is zero；
Step 4.3：When the variation tendency that left cylinder displacement subtracts right cylinder displacement is negative hour output null class control signal；
Step 4.4：Null class control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is other；
Step 5：When left cylinder displacement subtract right cylinder displacement for negative group signal when, left and right cylinder export respectively null class, positive group,
Center class, the port of the acquired card of positive big class control signal are to high-speed switch valve；
Step 5.1：Null class control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is honest or center；
Step 5.2：When the variation tendency that left cylinder displacement subtracts right cylinder displacement is that positive hour exports positive group control signal；
Step 5.3：The output center class control signal when the variation tendency that left cylinder displacement subtracts right cylinder displacement is zero；
Step 5.4：Positive big class control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is other；
Step 6：When left cylinder displacement subtract right cylinder displacement for class signal in negative when, left and right cylinder export respectively null class, positive group,
Center class, the port of the acquired card of positive big class control signal are to high-speed switch valve；
Step 6.1：Null class control signal is exported when left cylinder displacement subtracts the variation tendency of right cylinder displacement to bear big；
Step 6.2：Positive group control signal is exported when left cylinder displacement subtracts the variation tendency of right cylinder displacement in bearing；
Step 6.3：When the variation tendency that left cylinder displacement subtracts right cylinder displacement is negative hour output center class control signal；
Step 6.4：Positive big class control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is other；
Step 7：When left cylinder displacement subtract right cylinder displacement for negative big class signal when, left and right cylinder export respectively null class, positive group,
Center class, the port of the acquired card of positive big class control signal are to high-speed switch valve；
Step 7.1：Positive group control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is honest；
Step 7.2：The output center class control signal when left cylinder displacement subtracts the variation tendency of right cylinder displacement to hit exactly；
Step 7.3：Positive big class control signal is exported when the variation tendency that left cylinder displacement subtracts right cylinder displacement is other；
Step 8：When twin-tub displacement difference is larger, raising controls accounting for for the digit pulse control signal of fast cylinder high-speed switch valve
Sky ratio, makes the fast cylinder speed of service slack-off, while the dutycycle of the digit pulse control signal of the slow cylinder high-speed switch valve of control is reduced,
The fast cylinder speed of service is set to accelerate；
Step 9：When twin-tub displacement difference is less, reduce control two speed-sensitive switch valve groups digit pulse control signal it
Between dutycycle difference, and make two digit pulse control signal dutycycles be held in relatively low level.
The concrete control strategy of said method is as shown in table 1,2.
The fuzzy control rule that the left cylinder system of table 1 is adopted
The fuzzy control rule that the right cylinder system of table 2 is adopted
Column heading is displacement error (left cylinder displacement subtracts right cylinder displacement) in table 1,2, bear it is big, negative in, it is negative it is little, zero, it is just little, just
In, it is honest represent different types of displacement error signal respectively, negative value refers to that all errors are negative situation, on the occasion of referring to all errors
For positive situation；The entitled displacement error variable quantity signal of rower, bear it is big, negative in, it is negative it is little, zero, just little, center, honest table respectively
Show different types of displacement error trend term signal；Remaining for fuzzy controller output, zero, it is just little, center, honest difference
Represent the pulse control signal of the different duty type that fuzzy controller is produced.
The present invention is compared with the existing technology advantageous in that：
(1) two groups of high-speed switch valve groups are in parallel with hydraulic cylinder respectively in cooperating type Synchronization Control of Bi-cylinder Systems loop, at a high speed
The quantity of switch valve group high speed switch valve can make a thorough investigation of actual demand change, can adapt to the needs of different situations, increase
Flow adjustment range, expands range of application.
(2) control strategy in fuzzy controller can be adjusted according to actual two-tank method required precision, range of application
It is wider.Test shows that method proposed by the present invention is than existing method two-tank method high precision.
(3) compared with traditional method, the present invention makes full use of the controllable characteristic of high-speed switch valve digital signal, effectively realizes
The combination of computer control system and hydraulic system.
Description of the drawings：
Single valve direct controlled type synchronization loop structure principle chart in Fig. 1 prior arts
Wherein：1st, 2 is that speed-sensitive switch 3,4 is displacement transducer
Fig. 2 cooperating type Synchronization Control of Bi-cylinder Systems of the present invention
Fig. 3 left cylinder control strategy flow charts
Fig. 4 right cylinder control strategy flow charts
Fig. 5 cooperating type twin-tub journey error curves of the present invention
Fig. 6 cooperating type two-tank method system experimentation curve of error of the present invention
Specific embodiment
The specific embodiment of the present invention is described further in conjunction with accompanying drawing：
Embodiment：
In order to verify that the present invention is a kind of based on high-speed switch valve and the cooperating type high accuracy two-tank method of fuzzy control strategy
The practical feasibility of control method, is verified using emulation with test two ways.If every group of speed-sensitive switch valve group includes two
The characterisitic parameter of individual two usual enclosed high-speed switch valve, valve and fluid is as shown in Table 3, 4.
The high-speed switch valve simulation parameters list of table 3
| Sequence number | Parameter | Code name | Unit | Size |
| 1 | Fluid density | ρ | kg/m3 | 850 |
| 2 | Discharge coefficient | Cd | - | 0.67 |
| 3 | Ball valve diameter | D | m | 0.002 |
| 4 | Ball valve seat half-angle | θ | deg | 20 |
| 5 | Valve element maximum displacement | xvm | m | 0.0013 |
The high-speed switch valve switching characteristic parameter of table 4
With reference to oil cylinder concrete size by the materialization in table 1,2, as shown in table 5,6,7.
Vertical coordinate displacement error refinement table in the fuzzy control rule of table 5
Abscissa error change trend refinement table in the fuzzy control rule of table 6
| It is negative big | In negative | It is negative little | Zero | It is just little | Center | It is honest |
| Less than -2mm/s | - 2~-1mm/s | - 1mm/s~0 | 0 | 0~1mm/s | 1~2mm/s | More than 2mm/s |
Output correspondence signal dutyfactor refinement table in the fuzzy control rule of table 7
| Zero | It is just little | Center | It is honest |
| Less than 20% | 35% | 50% | 70% |
The fuzzy control strategy write fuzzy controller for embodying, emulation are drawn into journey error curve such as Fig. 5 of twin-tub
It is shown.From journey error curve, in cooperating type two-tank method system, high-speed switch valve can effectively reduce the synchronization of twin-tub
Error.
Cooperating type Synchronization Control of Bi-cylinder Systems has been built on hydraulic test platform, twin-tub journey error curve has been obtained as schemed
Shown in 6.From the experimental result of Synchronization Control, high-speed switch valve can effectively eliminate the asynchronous of twin-tub.Be given from Fig. 6
Synchronous error curve understand, twin-tub travel synchronization error is less, major part error control within 0.001m, better than existing side
Method, only initial position synchronous error more greatly 0.0026m, this is unanimously cause because original state external environment to be difficult to ensure that
's.
Claims (1)
1. a kind of cooperating type high-precision hydraulic two-tank method system, it is characterised in that：Including：Two are provided with displacement transducer
Hydraulic cylinder, two groups of speed-sensitive switch valve groups in parallel, the fuzzy controller for being solidified with control strategy；Described displacement transducer and liquid
Cylinder pressure is fixedly connected, and measures the displacement information feeding fuzzy controller of hydraulic cylinder in real time；The high speed in parallel of described two groups is opened
Close valve group in parallel with hydraulic cylinder respectively, each hydraulic cylinder one group of speed-sensitive switch valve group of parallel connection, every group of speed-sensitive switch valve group high speed
The quantity of switch valve changes according to the actual requirements, and the high-speed switch valve in every group of speed-sensitive switch valve group is connected in parallel；Described mould
Control strategy is solidified with fuzzy controllers；The digit pulse control signal of fuzzy controller output directly controls speed-sensitive switch valve group
The valve port opening of high speed switch valve；Deposit between the valve port opening of described high-speed switch valve and the average discharge of high-speed switch valve
In strict linear relationship and high-speed switch valve is operated in linear operating region；The digit pulse control letter of input high-speed switch valve
The valve port opening of high-speed switch valve number is directly controlled, indirectly by speed controlling of the control realization of average discharge to hydraulic cylinder.
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| CN105890971B (en) * | 2014-10-09 | 2019-08-23 | 中国科学院地质与地球物理研究所 | The continuous servo liquid feed device of rock fracture seepage flow |
| CN104912860A (en) * | 2014-12-30 | 2015-09-16 | 北京理工大学 | Digital hydraulic control valve and control method thereof |
| CN107830016B (en) * | 2017-11-28 | 2019-11-29 | 马鞍山钢铁股份有限公司 | A kind of synchronisation control means of continuous casting production lifting hydraulic cylinder synchronous control system |
| CN111102257B (en) * | 2018-10-29 | 2021-04-27 | 株洲中车时代电气股份有限公司 | Hydraulic cylinder synchronous control method and system for controlling synchronous action of multiple hydraulic cylinders |
| CN110259771A (en) * | 2019-07-04 | 2019-09-20 | 桂林航天工业学院 | A kind of mechanical arm hydraulic synchronous compensating device and control method |
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| CN201739246U (en) * | 2010-08-24 | 2011-02-09 | 北京机械设备研究所 | Mechanical locking type double-cylinder synchronous erecting support hydraulic circuit |
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