CN104454697B - Big load quick insertion mechanism's high-speed driving and localization method - Google Patents
Big load quick insertion mechanism's high-speed driving and localization method Download PDFInfo
- Publication number
- CN104454697B CN104454697B CN201410555582.XA CN201410555582A CN104454697B CN 104454697 B CN104454697 B CN 104454697B CN 201410555582 A CN201410555582 A CN 201410555582A CN 104454697 B CN104454697 B CN 104454697B
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- servo
- cylinder
- insertion mechanism
- quick insertion
- big load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of big load quick insertion mechanism's high-speed driving and localization method, it includes for its servo-cylinder configured, hydraulic oil source, displacement transducer, servo valve, top level control device and upper layer software (applications)；When it needs high-speed driving, upper layer software (applications) sends the full opening of signal of passage of servo valve by top level control device, servo valve receive signal after in 20ms realize set passage fully open so that servo-cylinder with maximal rate move, servo-cylinder is at the servo-cylinder displacement of the feedback of motor process controller Real-time Collection displacement transducer at the middle and upper levels, when detecting that the big load quick insertion mechanism that is arranged on servo-cylinder is close to after desired value, the flow of servo valve is gradually adjusted to adjust the movement velocity of servo-cylinder by pid algorithm, make big load quick insertion mechanism kinematic to when specifying position, the movement velocity of servo-cylinder is zero.The present invention makes quick insertion mechanism stable specify position, it is ensured that the high speed location of quick insertion mechanism.
Description
Technical field
The invention belongs to device drives and control field, particularly relate to a kind of in hypersonic wind tunnel
Big load quick insertion mechanism's high-speed driving and localization method,
Background technology
Domestic hypersonic wind tunnel uses gas-liquid linked cylinder to realize the driving of quick insertion mechanism, this gas-liquid
The location of linkage controls to only rely on hydraulic proportion valve control, the method disclosure satisfy that driving force big,
The requirement that actuating speed is high, but owing to stroke can not be monitored during quick insertion mechanism kinematic in real time
And speed, cause that positioning precision is low, poor repeatability.
The driving that what external hypersonic wind tunnel quick insertion mechanism selected is 2 pneumatic linear actuators are used in parallel
Scheme, 2 pneumatic linear actuators are used in parallel to be solved the little problem of pneumatic linear actuator maneuvering load (general pneumatic linear actuator carries
Lotus is less than 200 kilograms), but 2 oil cylinders used in parallel there is synchronicity it is difficult to ensure that problem, if
Synchronicity it cannot be guaranteed that then can exist 2 cylinders check and balance lead and cause speed reduce；And due to gas
The compressibility of body and synchronicity problem, the positioning precision causing quick insertion mechanism is relatively low.
Additionally, the mode that some unmanned plane transmitting station is also adopted by common low speed oil cylinder and pulley combination realizes
High-speed motion, but the method is only applicable to the catapult-launching gear the highest to positioning requirements, is unsatisfactory for quick inserting
Enter the positioning accuracy request of mechanism.
Summary of the invention
In order to solve problem of the prior art, embodiments provide a kind of big load quick insertion
Mechanism's high-speed driving and localization method, comprising: be configured to drive for big load quick insertion mechanism
The servo-cylinder of described big load quick insertion mechanism, for the driving providing described servo-cylinder to work
The hydraulic oil source of power, for the displacement transducer of servo-cylinder displacement described in Real-time Feedback, be used for changing
Become described servo-cylinder movement velocity servo valve, for servo-cylinder displacement described in Real-time Collection and
Controlling top level control device and the upper layer software (applications) of described servo valve flow, described upper layer software (applications) has root
The described servo-cylinder displacement collected according to described top level control device regulates described servo valve flow in real time
To control the pid algorithm of described servo-cylinder movement velocity；When described big load quick insertion mechanism needs
When wanting rapid movement, described upper layer software (applications) sends the passage of described servo valve by described top level control device
Full opening of signal, after described signal received by described servo valve, realizes setting passage in 20ms
Fully opening, so that described servo-cylinder moves with maximal rate, described servo-cylinder is in motor process
In, the described servo-cylinder displacement of the feedback of described top level control device Real-time Collection institute displacement sensors
Amount, when detect the big load quick insertion mechanism that is arranged on described servo-cylinder close to after desired value,
The flow movement velocity with the described servo-cylinder of adjustment of described servo valve is gradually adjusted by pid algorithm,
Making described big load quick insertion mechanism kinematic to when specifying position, the motion of described servo-cylinder is fast
Degree is zero.
In big load quick insertion mechanism's high-speed driving as above and localization method, it is preferable that for
Load quick insertion mechanism greatly also configures that: be used for ensureing not produce ripple when the motion of described servo-cylinder stops
The check valve moved and the solenoid directional control valve being used for controlling the conducting of described check valve；Described check valve and institute
State solenoid directional control valve to be on and one-way conduction state in described servo-cylinder motor process, work as institute
State servo-cylinder move to specify position time, make described check valve and described electromagnetism by automatically controlled signal
Reversal valve is closed immediately so that described servo-cylinder inlet and outlet of fuel channel is all closed, thus realizes
Servo-cylinder cannot action.
In big load quick insertion mechanism's high-speed driving as above and localization method, it is preferable that institute
The maximum movement speed stating servo-cylinder is 10m/s.
What the embodiment of the present invention was brought has the beneficial effect that:
Driving force is big-and servo-cylinder driving force is big, and solve that quick insertion mechanism load is big, be difficult to drive
Problem；Up to a hundred kilograms can be realized until thousands of kilogram weight by selecting the oil cylinder of different size model
The driving of equipment.
Movement velocity height-high-speed servo oil cylinder configuration meets the servo valve of traffic demand, can realize the highest
The cylinder movement speed of 10m/s, meets the index that quick insertion mechanism speed requirement is high.
Positioning precision is high-by installation position displacement sensor make top level control system can real-time implementation quick
The real-time monitoring of interposer movement position, controls the flow of servo valve so that oil in conjunction with pid algorithm
The speed of cylinder can regulate in real time, it is ensured that quick insertion mechanism is precise and stable is specifying position.
Take up an area space little-only have oil cylinder and need to enter in test section together with quick insertion mechanism,
Other equipment all can be placed in test section for being operated so that this system takes up an area space in test section
Little, facilitate structure to design.
Wide-domestic and international algorithm knot realizing first being driven by high-speed oil cylinder with PID closed loop control of the suitability
Close, it is achieved the high-speed motion of big load quick insertion mechanism and being accurately positioned in hypersonic wind tunnel, this
Method is equally applicable to the multiple sports equipment having higher requirements speed and positioning precision.
Accompanying drawing explanation
Fig. 1 is that the one that the embodiment of the present invention provides is big load quick insertion mechanism's high-speed driving and determines
The structure of servo-cylinder, hydraulic oil source, servo valve, check valve and the solenoid directional control valve of method for position configuration
Schematic diagram.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this
Invention embodiment is described in further detail.
Embodiments provide a kind of big load quick insertion mechanism's high-speed driving and localization method,
Seeing Fig. 1, for big load quick insertion mechanism configuration fluid power system, this fluid power system includes:
Servo-cylinder 7, hydraulic oil source 1, displacement transducer, servo valve 4, top level control device and upper layer software (applications).
Servo-cylinder 7 is used for driving big load quick insertion mechanism, and hydraulic oil source 1 is used for providing servo-cylinder
The driving force of work, in reality, hydraulic oil source is preferably fuel tank, and its interior oil is by being driven by motor 3
Dynamic oil pump 2 provides the driving force that servo-cylinder works, and displacement transducer (is watched in being placed in servo-cylinder
Take oil cylinder inbuilt displacement sensor) for Real-time Feedback servo-cylinder displacement, servo valve 4 is used for changing
Becoming servo-cylinder movement velocity, top level control device is watched for Real-time Collection servo-cylinder displacement and control
Taking valve flow, upper layer software (applications) has the servo-cylinder displacement collected according to top level control device and adjusts in real time
Joint servo valve flow, to control the pid algorithm of servo-cylinder movement velocity, in reality, is watched by regulation
Take the size of valve 4 opening, i.e. aperture, the change of servo valve flow can be realized and then change servo-cylinder
Movement velocity.
When big load quick insertion mechanism needs high-speed driving, upper layer software (applications) is sent out by top level control device
Go out the full opening of signal of passage of servo valve, after signal received by servo valve, realize setting in 20ms
Fully opening of passage, so that servo-cylinder moves with maximal rate, the largest motion speed of servo-cylinder
Degree be preferably 10m/s, servo-cylinder in motor process, top level control device Real-time Collection displacement transducer
The servo-cylinder displacement of feedback, when the big load quick insertion being arranged on servo-cylinder being detected
Mechanism, close to after desired value, gradually adjusts the flow (aperture) of servo valve to adjust by pid algorithm
The movement velocity of servo-cylinder so that during big load quick insertion mechanism kinematic to appointment position, servo
The movement velocity of oil cylinder is zero.
In order to ensure in whole process of the test, big load quick insertion mechanism all-the-time stable is in specific bit
Putting (or specify position), the fluid power system for the configuration of big load quick insertion mechanism also includes: single
To valve 5 and solenoid directional control valve 6.Check valve is used for ensureing not produce fluctuation when servo-cylinder 7 motion stops,
Solenoid directional control valve is used for controlling check valve 5 and turns on.
Check valve and solenoid directional control valve are on and one-way conduction shape in servo-cylinder motor process
State, by regulation and the location of the control realization cylinder movement speed of servo valve, when servo-cylinder moves
Put in place i.e. moving component, and the biggest load quick insertion mechanism, positioning precision meets when requiring or motion
To when specifying position, check valve and solenoid directional control valve can be made to be in closedown shape immediately by automatically controlled signal
State so that servo-cylinder inlet and outlet of fuel channel is all closed, now servo-cylinder cannot action.So, servo
The moving component of hydraulic oil cylinder driving also cannot be moved by servo-cylinder during external force.Top level control signal is by upper
Layer software is sent by top level control device.
In sum, the having the beneficial effect that of the embodiment of the present invention:
Driving force is big-and servo-cylinder driving force is big, and solve that quick insertion mechanism load is big, be difficult to drive
Problem；Up to a hundred kilograms can be realized until thousands of kilogram weight by selecting the oil cylinder of different size model
The driving of equipment.
Movement velocity height-high-speed servo oil cylinder configuration meets the servo valve of traffic demand, can realize the highest
The cylinder movement speed of 10m/s, meets the index that quick insertion mechanism speed requirement is high.
Positioning precision is high-by installation position displacement sensor make top level control system can real-time implementation quick
The real-time monitoring of interposer movement position, controls the flow of servo valve so that oil in conjunction with pid algorithm
The speed of cylinder can regulate in real time, it is ensured that quick insertion mechanism is precise and stable is specifying position to ensure big load
Lotus quick insertion mechanism is accurately positioned.
Take up an area space little-only have oil cylinder and need to enter in test section together with quick insertion mechanism,
Other equipment all can be placed in outside test section and are operated so that this system takes up an area space in test section
Little, facilitate structure to design.
Wide-domestic and international algorithm knot realizing first being driven by high-speed oil cylinder with PID closed loop control of the suitability
Close, it is achieved the high-speed motion of quick insertion mechanism and being accurately positioned in hypersonic wind tunnel, the method with
Sample is applicable to the multiple sports equipment having higher requirements speed and positioning precision.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (3)
1. big load quick insertion mechanism's high-speed driving and localization method, it is characterised in that described
Big load quick insertion mechanism's high-speed driving and localization method include:
The servo of described big load quick insertion mechanism it is configured to drive for big load quick insertion mechanism
Oil cylinder, for providing the hydraulic oil source of driving force that described servo-cylinder works, for Real-time Feedback institute
State the displacement transducer of servo-cylinder displacement, for changing the servo of described servo-cylinder movement velocity
Valve, for servo-cylinder displacement described in Real-time Collection and the top level control that controls described servo valve flow
Device and upper layer software (applications), described in described upper layer software (applications) has and collects according to described top level control device
Servo-cylinder displacement regulates described servo valve flow in real time to control described servo-cylinder movement velocity
Pid algorithm；
When described big load quick insertion mechanism needs high-speed driving, described upper layer software (applications) is by described
Top level control device sends the full opening of signal of passage of described servo valve, and described servo valve is received described
After signal, realize setting fully opening of passage in 20ms, so that described servo-cylinder is with maximum speed
Degree motion, described servo-cylinder in motor process, displacement described in described top level control device Real-time Collection
The described servo-cylinder displacement of the feedback of sensor, is arranged on described servo-cylinder when detecting
Big load quick insertion mechanism, close to after desired value, gradually adjusts described servo valve by pid algorithm
Flow is to adjust the movement velocity of described servo-cylinder so that described big load quick insertion mechanism kinematic
To when specifying position, the movement velocity of described servo-cylinder is zero.
Big load quick insertion mechanism's high-speed driving the most according to claim 1 and localization method,
It is characterized in that, also configure that for big load quick insertion mechanism: be used for ensureing that described servo-cylinder moves
The check valve of fluctuation is not produced and for controlling the solenoid directional control valve of described check valve conducting during stopping；
Described check valve and described solenoid directional control valve be in described servo-cylinder motor process and
One-way conduction state, when described servo-cylinder moves to specify position, makes institute by automatically controlled signal
State check valve and described solenoid directional control valve is closed immediately so that described servo-cylinder turnover oil
Road is all closed, thus realize servo-cylinder cannot action.
Big load quick insertion mechanism's high-speed driving the most according to claim 1 and localization method,
It is characterized in that, the maximum movement speed of described servo-cylinder is 10m/s.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410555582.XA CN104454697B (en) | 2014-10-17 | 2014-10-17 | Big load quick insertion mechanism's high-speed driving and localization method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410555582.XA CN104454697B (en) | 2014-10-17 | 2014-10-17 | Big load quick insertion mechanism's high-speed driving and localization method |
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| CN104454697A CN104454697A (en) | 2015-03-25 |
| CN104454697B true CN104454697B (en) | 2016-08-24 |
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| CN201410555582.XA Expired - Fee Related CN104454697B (en) | 2014-10-17 | 2014-10-17 | Big load quick insertion mechanism's high-speed driving and localization method |
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| CN110989649B (en) * | 2019-12-26 | 2023-07-25 | 中国航空工业集团公司沈阳飞机设计研究所 | Flight action control device for high-maneuver fixed-wing unmanned aerial vehicle and training method |
| CN114562453B (en) * | 2022-02-09 | 2024-01-30 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960059A (en) * | 1974-12-09 | 1976-06-01 | Caterpillar Tractor Co. | Fast exhaust circuit for hydraulic jacks |
| US4132152A (en) * | 1976-10-29 | 1979-01-02 | Hunkar Laboratories, Inc. | Closed loop electro-fluidic control system |
| US5431086A (en) * | 1992-11-25 | 1995-07-11 | Canon Kabushiki Kaisha | Method of controlling cylinder apparatus |
| CN1782443A (en) * | 2004-11-30 | 2006-06-07 | 卡特彼勒公司 | Configurable hydraulic control system |
| CN1993557A (en) * | 2005-02-03 | 2007-07-04 | 大金工业株式会社 | Fluid pressure unit and control method for the same |
| CN103982476A (en) * | 2014-05-27 | 2014-08-13 | 湖南联智桥隧技术有限公司 | Hydraulic control loop |
-
2014
- 2014-10-17 CN CN201410555582.XA patent/CN104454697B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960059A (en) * | 1974-12-09 | 1976-06-01 | Caterpillar Tractor Co. | Fast exhaust circuit for hydraulic jacks |
| US4132152A (en) * | 1976-10-29 | 1979-01-02 | Hunkar Laboratories, Inc. | Closed loop electro-fluidic control system |
| US5431086A (en) * | 1992-11-25 | 1995-07-11 | Canon Kabushiki Kaisha | Method of controlling cylinder apparatus |
| CN1782443A (en) * | 2004-11-30 | 2006-06-07 | 卡特彼勒公司 | Configurable hydraulic control system |
| CN1993557A (en) * | 2005-02-03 | 2007-07-04 | 大金工业株式会社 | Fluid pressure unit and control method for the same |
| CN103982476A (en) * | 2014-05-27 | 2014-08-13 | 湖南联智桥隧技术有限公司 | Hydraulic control loop |
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| CN104454697A (en) | 2015-03-25 |
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