CN104033432B - Numerical control oil cylinder closed-loop control system and method - Google Patents

Numerical control oil cylinder closed-loop control system and method Download PDF

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Publication number
CN104033432B
CN104033432B CN201410221874.XA CN201410221874A CN104033432B CN 104033432 B CN104033432 B CN 104033432B CN 201410221874 A CN201410221874 A CN 201410221874A CN 104033432 B CN104033432 B CN 104033432B
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oil cylinder
closed loop
loop work
cylinder closed
oil
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CN104033432A (en
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郝欣伟
刘懿敏
安晨亮
王真真
苏娟
李志超
杨学军
刘澍
顾银芳
郑国梁
顾长明
赵子剑
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Space Launch Technology
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Space Launch Technology
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Abstract

A kind of numerical control oil cylinder closed-loop control system, including host computer, step motor control unit, displacement transducer, stepper motor, numerical control oil cylinder, pressure switch, connected by CAN between host computer and step motor control unit, electrically connected between step motor control unit and stepper motor, mechanically connected between stepper motor and numerical control oil cylinder, displacement transducer is arranged on numerical control oil cylinder with pressure switch and signal output part is connected step motor control unit.Numerical control oil cylinder closed-loop control system of the invention and method high precision, safe, having stable behavior reliability.

Description

Numerical control oil cylinder closed-loop control system and method
Technical field
The present invention relates to Hydraulic Field, more particularly to a kind of cylinder control system and control method.
Background technology
It is known that oil cylinder is a very important part for hydraulic machinery, in whole hydraulic machinery Play the part of a role for executive component, oil cylinder is exactly that hydraulic energy is converted into mechanical energy in whole process, according to use pressure Oil cylinder can be divided into light pressure, middle pressure, the class of weight three to scope by we, the docking of large tube-like structural member, be assembled in aircraft, pipeline Docking, armament systems filling, airship space docking etc. field extensive use, some product neededs repeatedly realize separate with to taking over Journey.In the docking operation of large tube-like structural member, it is ensured that it is reliably connected, it is necessary first to solve its concentric problem, that is, lead to Cross its own attitude regulation and eliminate initial error, the concentricity of two tubular structure parts is met docking and require.Traditional posture adjustment pair , by the adjustment of hydraulic system using manual measurement, the system of adjustment, less efficient, error is high, to operating personnel for middle process Dependence is strong.The efficiency and precision of hydraulic system depends primarily on the high-precision high-reliability control to oil cylinder, therefore is badly in need of one Plant high reliability, high-precision cylinder control system.
The content of the invention
It is an object of the invention to provide a kind of numerical control oil cylinder closed-loop control system, the height for improving hydraulic work system can By property and high accuracy.
Numerical control oil cylinder closed-loop control system of the present invention includes host computer, step motor control unit, displacement transducer, stepping Motor, numerical control oil cylinder, pressure switch, are connected, stepper motor between host computer and step motor control unit by CAN Electrically connected between control unit and stepper motor, mechanical connection, displacement transducer and pressure between stepper motor and numerical control oil cylinder Relay is arranged on numerical control oil cylinder and signal output part connection step motor control unit.
Numerical control cylinder structure include pressure switch, oil inlet, oil-out, engaging lug, cylinder rod, displacement transducer, cylinder body, Mounting bracket, stepper motor, cylinder body are fixed in mounting bracket, and mounting bracket is located at the middle and lower part of cylinder body, and cylinder rod 5 is socketed In cylinder body, the top of cylinder rod is provided with engaging lug, and the bottom of cylinder rod is connected with stepper motor, and the bottom of cylinder body is located at installs Oil-out is provided with below support;The top of cylinder body is provided with oil inlet, and pressure switch, cylinder body are provided with the pipeline of oil inlet On displacement transducer is installed.
Institute displacement sensors use when model D8.6A1.0025 stay-supported type displacement sensor.
The pressure switch model 511.943603743.
The Master control chip that the step motor control unit is used is XC164.
Control method using numerical control cylinder control system comprises the following steps:
When S1, oil cylinder closed loop work step number are 0, the oil pressure numerical value that host computer is gathered according to pressure switch judges operating oil pressure It is whether normal, oil cylinder closed loop work step number is put 1 if normal;If at this moment operating oil pressure is abnormal can artificial judgment oil Pressure failure cause, if because oil cylinder closed loop work step number is put 1 by the then artificial selection " continuation " that pressure switch failure is caused, If because oil cylinder closed loop work step number is put 13 by the oil circuit then artificial selection " stopping " that failure is caused in itself.
When S2, oil cylinder closed loop work step number are 1, host computer record oil cylinder initial position afterwards puts oil cylinder closed loop work step number 2。
When S3, oil cylinder closed loop work step number are 2, host computer is transported accordingly according to the length computation stepper motor of preset displacement X Dynamic step number, while judge whether accumulative compensation campaign is overproof, if it is determined that accumulative compensation campaign is overproof then by oil cylinder closed loop work step Number 10 are put, if it is determined that accumulative compensation campaign does not have overproof, then oil cylinder closed loop work step number is put 3.
When S4, oil cylinder closed loop work step number are 3, host computer sends motion control instruction to step motor control unit, then Oil cylinder closed loop work step number is put 4.
When S5, oil cylinder closed loop work step number are 4, host computer judges whether to compensate motion, if mended Repay motion and oil cylinder closed loop work step number is then put 12, if not compensating motion, oil cylinder closed loop work step number is put 5.
When S6, oil cylinder closed loop work step number are 5, whether host computer deterministic process error is overproof, if it is determined that overproof then to step Stepper motor control unit sends halt instruction and oil cylinder closed loop work step number is put into 7, if it is determined that not overproof then by oil cylinder closed loop Work step number puts 6.
When S7, oil cylinder closed loop work step number are 6, host computer judges that numerical control oil cylinder is by moving in place, if it is determined that having transported It is dynamic that oil cylinder closed loop work step number is then put 9 in place, if it is determined that motion is not in place, oil cylinder closed loop work step number is put 5.
When S8, oil cylinder closed loop work step number are 7, host computer preserves the step number that stepper motor has been moved, and then closes oil cylinder Ring work step number puts 8.
When S9, oil cylinder closed loop work step number are 8, host computer judges whether 10s internal procedures error eliminates, if the mistake in 10s Oil cylinder closed loop work step number is then put 2 by journey error concealment, if 10s internal procedure errors are not eliminated to step motor control list Unit sends halt instruction, and oil cylinder closed loop work step number is put into 13.
When S10, oil cylinder closed loop work step number are 9, PC control time delay 1s, whether judged result error is overproof afterwards, such as Fruit resultant error is overproof, starts compensating for motion, and oil cylinder closed loop work step number is put into 2, if resultant error do not have it is overproof if by oil Cylinder closed loop work step number puts 11.
When S11, oil cylinder closed loop work step number are 10, host computer sends halt instruction to step motor control unit, and by oil Cylinder closed loop work step number puts 13.
When S12, oil cylinder closed loop work step number are 11, oil cylinder closed loop work step number is put 13 by PC control time delay 1s afterwards.
When S13, oil cylinder closed loop work step number are 12, whether in place host computer judges compensation campaign, by oil cylinder if in place Closed loop work step number puts 9, and oil cylinder closed loop work step number is put into 12 if not in place.
When S14, oil cylinder closed loop work step number are 13, host computer resets procedure parameter, and closed loop work step number sets to 0, oil cylinder closed loop Control terminates.
Having the beneficial effect that for numerical control oil cylinder closed-loop control system of the present invention and method, realizes the closed-loop control of numerical control oil cylinder System, compensates to resultant error, and eliminating structure and installing gap, stepper motor and lose to walk influences, it is ensured that meeting system high accuracy will Ask;Real-time monitoring process error and accumulative offset during numerical control cylinder movement, it is to avoid de- cylinder failure occurs in numerical control oil cylinder, protects Card security.Monitoring oil pressure during numerical control cylinder movement, oil pressure can be automatically stopped action when not enough, it is ensured that security, Artificial selection is provided simultaneously and continues flow, it is to avoid sensor fault causes cylinder action to fail, and improves reliability.
Numerical control oil cylinder closed-loop control system of the invention and method are described further below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is numerical control oil cylinder closed-loop control system control principle drawing;
Fig. 2 is numerical control cylinder structure schematic diagram;
Fig. 3 is numerical control oil cylinder closed loop control method flow chart.
Specific embodiment
As shown in figure 1, numerical control oil cylinder closed-loop control system of the present invention includes host computer A, step motor control unit B, moves Level sensor 6, stepper motor C, numerical control oil cylinder D, pressure switch 1, pass through between host computer A and step motor control unit B CAN is connected, and is electrically connected between step motor control unit B and stepper motor C, machine between stepper motor C and numerical control oil cylinder D Tool is connected, and displacement transducer 6 is arranged on numerical control oil cylinder D with pressure switch 1 and signal output part is connected stepper motor control Unit B processed.
Host computer A is used for the control input value and oil cylinder actual displacement value of monitor in real time step motor control unit B feedback, Oil cylinder shift value is compared with control input value, and corresponding control instruction is sent according to comparing result;Step motor control Unit B is used for the data that real-time reception displacement transducer 6 and pressure switch 1 are gathered, and the data feedback that will be received to upper Machine A, while step motor control unit B receives the dependent instructions sent of host computer A and according to the corresponding control stepping electricity of instruction Machine C, numerical control oil cylinder D makes corresponding adjustment under the drive of stepper motor C;Stepper motor C is used to drive numerical control oil cylinder D to transport It is dynamic;Displacement transducer 6 is used for the length that Real-time Collection numerical control oil cylinder cylinder rod is stretched out, and collection result is conveyed into stepper motor control Unit B processed;Pressure switch 1 is used for the pressure value of Real-time Collection numerical control oil path in oil cylinder, and collection result is conveyed into stepping electricity Machine control unit B.
In above-described embodiment displacement transducer 6 use when model D8.6A1.0025 stay-supported type displacement sensor, pressure The model 511.943603743 of power relay 1, the Master control chip that step motor control unit B is used is XC164.
As shown in Fig. 2 numerical control cylinder structure of the present invention include pressure switch 1, oil inlet 2, oil-out 3, engaging lug 4, Cylinder rod 5, displacement transducer 6, cylinder body 7, mounting bracket 8, stepper motor 9, cylinder body 7 are fixed in mounting bracket 8, install branch Frame 8 is located at the middle and lower part of cylinder body 7, and in the socket of cylinder rod 5 and cylinder body 7, the top of cylinder rod 5 is provided with engaging lug, the bottom of cylinder rod 5 with Stepper motor 9 is connected, and the bottom of cylinder body is provided with oil-out 3 positioned at the lower section of mounting bracket 8;The top of cylinder body 7 is provided with oil-feed Mouth 2, is provided with pressure switch 1 (i.e. in the oil inlet oil circuit of numerical control oil cylinder), on cylinder body 7 on the pipeline of oil inlet 2 Be provided with displacement transducer 6 (displacement transducer 6 should be arranged between the lever 5 of numerical control oil cylinder and cylinder body 7, or in lever 5 or On the connected structural member of cylinder body 7, it is ensured that the sensitive direction of displacement transducer 6 and the diameter parallel of lever 5, so as to ensure accuracy of detection Meet and require).
Oil inlet 2 is the inlet port of hydraulic oil, and pressure switch 1 is used to measure the pressure of the hydraulic oil in in-line Value, engaging lug 4 is used to be connected with corresponding (or being applied) part that is adjusted, and displacement transducer 6 is used to measure numerical control oil cylinder (displacement transducer 6 uses stay-supported type displacement sensor to the length that cylinder rod 5 is stretched out, and its useful range is more than numerical control oil cylinder D's Stroke, accuracy of detection meets cylinder movement control accuracy requirement, and its output interface form optional 4~20mA moulds as needed Various output forms such as analog quantity output, the output of SSI gray encodings), stepper motor 9 provides driving force for whole numerical control oil cylinder.
As shown in figure 3, oil cylinder closed loop work step parameter 1 is provided with numerical control cylinder control system control flow of the present invention arriving 13, the different rate-determining steps of different work step correspondences:
When oil cylinder closed loop work step number is 0, host computer A judges operating oil pressure according to the oil pressure numerical value that pressure switch 1 is gathered It is whether normal, oil cylinder closed loop work step number is put 1 if normal;If at this moment operating oil pressure is abnormal can artificial judgment oil Pressure failure cause, if because oil cylinder closed loop work step number is put in the then artificial selection " continuation " that the failure of pressure switch 1 is caused 1, if because oil cylinder closed loop work step number is put 13 by the oil circuit then artificial selection " stopping " that failure is caused in itself.
When oil cylinder closed loop work step number is 1, oil cylinder closed loop work step number is put 2 by host computer A record oil cylinder initial positions afterwards.
When oil cylinder closed loop work step number is 2, host computer A is moved accordingly according to the length computation stepper motor C of preset displacement X Step number, while judge whether accumulative compensation campaign is overproof, if it is determined that accumulative compensation campaign is overproof then by oil cylinder closed loop work step number 10 are put, if it is determined that accumulative compensation campaign does not have overproof, then oil cylinder closed loop work step number 3 is put.
When oil cylinder closed loop work step number is 3, host computer A sends motion control instruction to step motor control unit B, then will Oil cylinder closed loop work step number puts 4.
When oil cylinder closed loop work step number is 4, host computer A judges whether to compensate motion, if compensated Oil cylinder closed loop work step number is then put 12 by motion, if not compensating motion, oil cylinder closed loop work step number is put into 5.
When oil cylinder closed loop work step number is 5, whether host computer A deterministic processes error is overproof, if it is determined that overproof then to stepping Motor control unit B sends halt instruction and oil cylinder closed loop work step number is put into 7, if it is determined that not overproof then by oil cylinder closed loop work Step number puts 6.
When oil cylinder closed loop work step number is 6, host computer A judges that numerical control oil cylinder D is by moving in place, if it is determined that having moved Oil cylinder closed loop work step number is then put 9 in place, if it is determined that motion is not in place, oil cylinder closed loop work step number 5 is put.
When oil cylinder closed loop work step number is 7, host computer A preserves the step number that stepper motor has been moved, then by oil cylinder closed loop Work step number puts 8.
When oil cylinder closed loop work step number is 8, host computer A judges whether 10s internal procedures error eliminates, if in 10s internal procedures Oil cylinder closed loop work step number is then put 2 by error concealment, if 10s internal procedure errors are not eliminated to step motor control unit B sends halt instruction, and oil cylinder closed loop work step number is put into 13.
When oil cylinder closed loop work step number is 9, host computer A control time delay 1s, whether judged result error is overproof afterwards, if knot Fruit error is overproof, starts compensating for motion, and oil cylinder closed loop work step number is put into 2, if resultant error do not have it is overproof if oil cylinder is closed Ring work step number puts 11.
When oil cylinder closed loop work step number is 10, host computer A sends halt instruction to step motor control unit B, and by oil cylinder Closed loop work step number puts 13.
When oil cylinder closed loop work step number is 11, oil cylinder closed loop work step number is put 13 by host computer A control time delay 1s afterwards.
When oil cylinder closed loop work step number is 12, whether in place host computer A judges compensation campaign, by oil cylinder closed loop if in place Work step number puts 9, and oil cylinder closed loop work step number is put into 12 if not in place.
When oil cylinder closed loop work step number is 13, host computer A resets procedure parameter, and closed loop work step number sets to 0, oil cylinder closed-loop control Terminate.
With numerical control oil cylinder D for integral type is connected, numerical control oil cylinder D is watching with internal feedback to stepper motor C in the present invention Executive component is taken, the accurate tune of numerical control oil cylinder cylinder rod extension elongation can be realized by the control of the angle position of stepper motor C It is whole.Displacement transducer 6 detects the extension elongation of cylinder rod 5 of numerical control oil cylinder, feeds back its absolute displacement, the detection work of pressure switch 1 Oil circuit pressure value, it is ensured that oil pressure in the course of work.
This kind of control strategy is closed loop control method, needs to carry out displacement transducer 6 and pressure switch 1 in running Monitor in real time, monitoring oil pressure, numerical control oil cylinder process error and resultant error, and resultant error is compensated, realize high Precision is reliably controlled.
Concrete mode is:Under monitor in real time mode, host computer A first calculates this stepping electricity according to preset displacement value X Machine moves step Numerical, and sends to step motor control unit B, and host computer A starts monitor in real time step motor control unit B The actual displacement value of control input value (from 0mm to Xmm) sum oil-control cylinder D of feedback (is the knot of current location-initial position Really), and by the shift value of numerical control oil cylinder D contrasted with preset displacement value X.It is required that the preset displacement value X and number of any time Oil-control cylinder shift value deviation is no more than ± Wmm (depending on the worst error value that numerical control oil cylinder bears, such as 2mm), once detect Feedback is overproof, then control stepper motor C to stop operating, and it is (final to require that error is not more than ± Emm in 10s (determining as needed) Control accuracy, it is adjustable according to the actual requirements, such as 0.3mm), otherwise shut down report an error, can continue such as error concealment if control stepping Motor C covers remainder stroke, continues real-time monitoring process error and is no more than ± Wmm, until an end of run.Time delay 1s (roots According to it needs to be determined that) testing result error whether meet error be not more than ± Emm requirement, be unsatisfactory for require then compensate, compensate Testing result error again, meets and requires that then time delay 3s (determining as needed) waits mechanism stable to terminate this closed loop control afterwards System, is still unsatisfactory for requiring then to proceed compensation, and accumulative compensation summation is then shut down more than Wmm and reported an error.
Simultaneously in the numerical control oil cylinder D courses of work, complete monitoring working oil path pressure switch 1 is needed, if pressure is discontented Foot requires then numerical control oil cylinder D stoppings action, and artificial selection " continuation " and " stopping " operation of prompting, determines by after artificial judgement Operating oil pressure is normal, and pressure switch fault misdescription is wrong, selects " continuation ", can continue current action, and oil cylinder continues to move directly Required to resultant error is met;If artificially determining operating oil pressure failure, select " stopping ", today's numerical control oil cylinder can be terminated and moved Make.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to model of the invention Enclose and be defined, on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to technical side of the invention Various modifications and improvement that case is made, all should fall into the protection domain of claims of the present invention determination.

Claims (1)

1. a kind of numerical control oil cylinder closed-loop control system, it is characterised in that including host computer (A), step motor control unit (B), Displacement transducer (6), stepper motor (C), numerical control oil cylinder (D), pressure switch (1), host computer (A) and step motor control list Connected by CAN between first (B), electrically connected between step motor control unit (B) and stepper motor (C), stepper motor (C) mechanically connected and numerical control oil cylinder (D) between, displacement transducer (6) is with pressure switch (1) on numerical control oil cylinder (D) And signal output part connects step motor control unit (B);
Numerical control cylinder structure includes pressure switch (1), oil inlet (2), oil-out (3), engaging lug (4), cylinder rod (5), displacement Sensor (6), cylinder body (7), mounting bracket (8), stepper motor (9), cylinder body (7) are fixed in mounting bracket (8), are installed , positioned at the middle and lower part of cylinder body (7), cylinder rod (5) socket is interior with cylinder body (7), and the top of cylinder rod (5) is provided with engaging lug for support (8), The bottom of cylinder rod (5) is connected with stepper motor (9), and the bottom of cylinder body is located at below mounting bracket (8) and is provided with oil-out (3);The top of cylinder body (7) is provided with oil inlet (2), pressure switch (1) is provided with the pipeline of oil inlet (2), on cylinder body (7) Displacement transducer (6) is installed;
Institute's displacement sensors (6) uses the stay-supported type displacement sensor of model D8.6A1.0025;
Pressure switch (1) model 511.943603743;
The Master control chip that the step motor control unit (B) uses is XC164;
The control method of numerical control oil cylinder closed-loop control system comprises the following steps:
When S1, oil cylinder closed loop work step number are 0, host computer (A) judges working oil according to the oil pressure numerical value that pressure switch (1) is gathered Whether pressure is normal, and oil cylinder closed loop work step number is put into 1 if normal;If at this moment operating oil pressure is abnormal artificial judgment oil pressure Failure cause, if because oil cylinder closed loop work step number is put in the then artificial selection " continuation " that pressure switch (1) failure is caused 1, if because oil cylinder closed loop work step number is put 13 by the oil circuit then artificial selection " stopping " that failure is caused in itself;
When S2, oil cylinder closed loop work step number are 1, oil cylinder closed loop work step number is put 2 by host computer (A) record oil cylinder initial position afterwards;
When S3, oil cylinder closed loop work step number are 2, host computer (A) is corresponding according to the length computation stepper motor (C) of preset displacement X Motion step number, while judge whether accumulative compensation campaign is overproof, if it is determined that accumulative compensation campaign is overproof then by oil cylinder closed loop work Step number puts 10, if it is determined that accumulative compensation campaign does not have overproof, then oil cylinder closed loop work step number is put into 3;
When S4, oil cylinder closed loop work step number are 3, host computer (A) sends motion control instruction to step motor control unit (B), so Oil cylinder closed loop work step number is put 4 afterwards;
When S5, oil cylinder closed loop work step number are 4, host computer (A) judges whether to compensate motion, if compensated Oil cylinder closed loop work step number is then put 12 by motion, if not compensating motion, oil cylinder closed loop work step number is put into 5;
When S6, oil cylinder closed loop work step number are 5, whether host computer (A) deterministic process error is overproof, if it is determined that overproof then to stepping Motor control unit (B) sends halt instruction and oil cylinder closed loop work step number is put into 7, if it is determined that not overproof then by oil cylinder closed loop Work step number puts 6;
When S7, oil cylinder closed loop work step number are 6, host computer (A) judges whether numerical control oil cylinder (D) moves in place, if it is determined that Oil cylinder closed loop work step number is then put 9 by motion in place, if it is determined that motion is not in place, oil cylinder closed loop work step number is put into 5;
When S8, oil cylinder closed loop work step number are 7, host computer (A) preserves the step number that stepper motor has been moved, then by oil cylinder closed loop Work step number puts 8;
When S9, oil cylinder closed loop work step number are 8, host computer (A) judges whether 10s internal procedures error eliminates, if in 10s internal procedures Oil cylinder closed loop work step number is then put 2 by error concealment, if 10s internal procedure errors are not eliminated to step motor control unit (B) halt instruction is sent, and oil cylinder closed loop work step number is put 13;
When S10, oil cylinder closed loop work step number are 9, host computer (A) control time delay 1s, whether judged result error is overproof afterwards, if Resultant error is overproof, starts compensating for motion, and oil cylinder closed loop work step number is put into 2, if resultant error do not have it is overproof if by oil cylinder Closed loop work step number puts 11;
When S11, oil cylinder closed loop work step number are 10, host computer (A) sends halt instruction to step motor control unit (B), and will Oil cylinder closed loop work step number puts 13;
When S12, oil cylinder closed loop work step number are 11, oil cylinder closed loop work step number is put 13 by host computer (A) control time delay 1s afterwards;
When S13, oil cylinder closed loop work step number are 12, host computer (A) judges that whether in place compensation campaign, closes oil cylinder if in place Ring work step number puts 9, and oil cylinder closed loop work step number is put into 12 if not in place;
When S14, oil cylinder closed loop work step number are 13, host computer (A) resets procedure parameter, and closed loop work step number sets to 0, oil cylinder closed loop control System terminates.
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