CN104728193B - The Electrical hydrostatic actuator of load-sensitive - Google Patents
The Electrical hydrostatic actuator of load-sensitive Download PDFInfo
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- CN104728193B CN104728193B CN201510121165.9A CN201510121165A CN104728193B CN 104728193 B CN104728193 B CN 104728193B CN 201510121165 A CN201510121165 A CN 201510121165A CN 104728193 B CN104728193 B CN 104728193B
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- Prior art keywords
- load
- pressure
- actuator
- oil
- hydraulic pump
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Classifications
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B13/0402—Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/12—Special measures for increasing the sensitivity of the system
Abstract
The present invention relates to a kind of Electrical hydrostatic actuator of load-sensitive, including change displacement hydraulic pump, the first tandem tap group, asymmetrical cylinder, pressure follow-up type servovalve and actuator.Become displacement hydraulic pump and include oil-in and oil-out.First tandem tap group includes first switch valve and the second switch valve connected.Asymmetrical cylinder includes housing and the first asymmetry piston, and housing is divided into the first rod chamber and the first rodless cavity by the first asymmetry piston.Pressure follow-up type servovalve is connected between the first rod chamber of asymmetrical cylinder and the input of actuator.The input of actuator is connected with the outfan of pressure servo valve.Using the Electrical hydrostatic actuator of the load-sensitive of the present invention, by the output hydraulic pressure of control pressure follow-up type servovalve Lai the quantitative output flow adjusting and becoming displacement hydraulic pump, and then radiating and the power consumption of whole system can be reduced.
Description
Technical field
The present invention relates to a kind of Electrical hydrostatic actuator field, particularly a kind of Electrical hydrostatic actuator of load-sensitive.
Background technology
EHA (Electrical hydrostatic actuator, Electro-Hydrostatic Actuator) is a kind of highly integrated local
Hydraulic actuator, is the actuator of power-by-wire actuating system in many electricity aircrafts.EHA is compared with traditional hydraulic actuation system
There is small volume, lightweight, efficiency high, be the focus of current research.By way of using load-sensitive, can subtract
Few energy loss, reduces the heating of motor.
At present, what the international power-by-wire actuating system application boarded a plane was more is the electronic hydrostatic of fixed displacement variable speed type
Actuator, its advantage is that structure is simple, lighter in weight.But, due to the Integration Design of height, lead to system radiating more tired
Difficult；Under heavy load, electric efficiency is relatively low, and electric current is larger, and heating is serious, causes EHA cannot work long hours.
Current solution, it is considered to the heat dissipation problem of system at the beginning of one is system design；Two is to utilize variable-displacement pump,
Changing the gear ratio of system by the discharge capacity changing pump, thus improving the power match situation of motor, reducing the heating of system
Amount.And the variable actuator of variable pump is realized becoming row using the stroking mechanism that servo valve control hydraulic cylinder carrys out transfer tube mostly
Amount, or realize becoming discharge capacity using the stroking mechanism of electromechanical actuator (EMA) transfer tube；Both mode structures are more complicated,
Increased system failure rate.
Because the power attenuation of load sensitive control system is relatively low, efficiency is far above conventional hydraulic system；High efficiency, power
Lose the little saving meaning fuel and the caloric value that hydraulic system is relatively low；Thus Ye You research institution is by load-sensitive mode
It is introduced in EHA.But existing load-sensitive type EHA is mostly commutated using servo valve and controls, and servo valve is in work
During will produce amount of heat, be unfavorable for the heating of reduction system.
Content of the invention
Brief overview with regard to the present invention is given below, to provide the basic reason with regard to certain aspects of the invention
Solution.It should be appreciated that this general introduction is not the exhaustive general introduction with regard to the present invention.It is not intended to determine the key of the present invention
Or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides some concepts in simplified form, with
This is as the preamble in greater detail discussed after a while.
One main purpose of the present invention is to provide a kind of Electrical hydrostatic actuator of new load-sensitive, and it can reduce
The heating of whole system, minimizing energy loss, and then improve the work efficiency of whole system.
According to an aspect of the present invention, a kind of Electrical hydrostatic actuator of load-sensitive, including become displacement hydraulic pump, first
Tandem tap group, asymmetrical cylinder, pressure follow-up type servovalve and actuator；
Described change displacement hydraulic pump includes oil-in and oil-out；
First tandem tap group includes first switch valve and the second switch valve connected, the first end of described first switch valve
It is connected with described oil-out, the first end of described second switch valve is connected with described oil-in；
Described asymmetrical cylinder includes housing and the first asymmetry piston, and described housing is by described first asymmetry piston
Be divided into the first rod chamber and the first rodless cavity, described first rod chamber connect the second end to described first switch valve with described
Second end of second switch valve, described first rodless cavity connects to described oil-in；
Described pressure follow-up type servovalve is connected to the first rod chamber of described asymmetrical cylinder and described actuator
Between input, for adjusting the instantaneous delivery being input to described actuator input；
The input of described actuator is connected with the outfan of described pressure servo valve, for based on described pressure servo
The output hydraulic pressure of valve generates and changes the described signal becoming displacement hydraulic pump output discharge capacity.
Using the Electrical hydrostatic actuator of the load-sensitive of the present invention, the heating of system can be reduced, reduce energy loss.
Brief description
Below with reference to the accompanying drawings illustrate embodiments of the invention, can be more readily understood that the above of the present invention and its
Its objects, features and advantages.Part in accompanying drawing is intended merely to illustrate the principle of the present invention.In the accompanying drawings, identical or similar
Technical characteristic or part will be represented using same or similar reference.
Fig. 1 is a kind of structure chart of embodiment of the Electrical hydrostatic actuator of load-sensitive of the present invention；
Fig. 2 is a kind of structure chart of embodiment that the pressure follow-up type servovalve in Fig. 1 is sent out；
Fig. 3 is that the pressure follow-up type servovalve valve element of Fig. 2 is located at schematic diagram during left position；
Fig. 4 is that the pressure follow-up type servovalve valve element of Fig. 2 is located at schematic diagram during right position；
Fig. 5 is that the Electrical hydrostatic actuator of the load-sensitive of Fig. 1 is operated in liquid flow when first quartile and the second quadrant
To schematic diagram；
Fig. 6 is that the Electrical hydrostatic actuator of the load-sensitive of Fig. 1 is operated in liquid flow when third quadrant and fourth quadrant
To schematic diagram.
Specific embodiment
Embodiments of the invention to be described with reference to the accompanying drawings.An accompanying drawing or a kind of embodiment of the present invention are retouched
The element stated and feature can be combined with the element shown in one or more other accompanying drawings or embodiment and feature.Should
Work as attention, for purposes of clarity, eliminate in accompanying drawing and explanation known to unrelated to the invention, those of ordinary skill in the art
Part and process expression and description.
Shown in Figure 1, it is a kind of structure chart of embodiment of the Electrical hydrostatic actuator of the load-sensitive of the present invention.
In the present embodiment, the Electrical hydrostatic actuator of load-sensitive includes becoming displacement hydraulic pump 2, the first tandem tap
Group, asymmetrical cylinder 9, pressure follow-up type servovalve 10 and actuator 4.
Wherein, become displacement hydraulic pump 2 and include oil-in and oil-out.When specifically used, become the oil-feed of displacement hydraulic pump 2
Mouth and oil-out all can carry out oil suction and oil extraction according to the actual requirements.
First tandem tap group includes first switch valve 7 and the second switch valve 8 connected.The first end of first switch valve 7
It is connected with oil-out, the first end of second switch valve 8 is connected with oil-in.
Asymmetrical cylinder 9 includes housing and the first asymmetry piston.Housing is divided into first by the first asymmetry piston
Rod chamber and the first rodless cavity, the first rod chamber connects second end at the second end to first switch valve 7 and second switch valve 8,
First rodless cavity connects to oil-in.The post portion external load of the first asymmetry piston, for carrying dynamic load execution relevant action,
Or, move up and down under the drive of load.
Pressure follow-up type servovalve 10 be connected to the first rod chamber of asymmetrical cylinder 9 and actuator 4 input it
Between, for adjusting the instantaneous delivery being input to actuator 4 input.
The input of actuator is connected with the outfan of pressure servo valve, for the output hydraulic pressure based on pressure servo valve
Generate to change and become the signal that displacement hydraulic pump 2 exports discharge capacity.
The Electrical hydrostatic actuator of the load-sensitive of present embodiment, also includes the second tandem tap group and fuel tank 3.
Second tandem tap group is connected between the oil-in becoming displacement hydraulic pump 2 and oil-out, and is connected with fuel tank 3,
It is expelled in fuel tank 3 for by the oil input asymmetrical cylinder 9 in fuel tank 3 or by the oil in asymmetrical cylinder 9.
In one embodiment, the second tandem tap group can include the first hydraulic control one-way valve 5 and the second liquid connected
Control check valve 6.
First hydraulic control one-way valve 5 includes the first hydraulic control end, first input end and the first outfan.First hydraulic control end and oil-feed
Mouth connects, and first input end is connected with oil-out, and the first outfan is connected with fuel tank 3.Due to the first hydraulic control end with oil-in even
Connect, when oil-in is for high pressure, the first hydraulic control one-way valve 5 is opened.
Second hydraulic control one-way valve 6 includes the second hydraulic control end, the second input and the second outfan.Second hydraulic control end with fuel-displaced
Mouth connects, and the second input is connected with oil-in, and the second outfan is connected with fuel tank 3.Due to the second hydraulic control end with oil-out even
Connect, when oil-out is for high pressure, the second hydraulic control one-way valve 6 is opened.
First asymmetry piston can include the first piston part and be connected in the first piston part side and vertical with the first piston part
First post portion.
As a kind of preferred version, the cross-sectional area of the first piston part is two times that the first post cross section amasss.
In one embodiment, actuator 4 can be single-action hydraulic cylinder.
Single-action hydraulic cylinder can include cylinder body, the second asymmetry piston and the first spring being located in cylinder body.Second is non-
Symmetrical piston includes orthogonal second post portion and the second piston part.The inwall of the second piston part and cylinder body cooperatively forms one and comprises even
It is connected to the second cavity of the entrance of the first rod chamber.
First spring is arranged in the 3rd cavity comprising the second post portion of single-action hydraulic cylinder, the elastic force side of the first spring
To the dead in line with the second post portion, and the first spring works are in unstretched condition.
The one end in the second post portion is connected with the second piston part, and the other end in the second post portion connects to becoming displacement hydraulic pump, is used for
According to enter liquid in the second cavity to the pressure of the second piston part and the first spring to the pressure of the second piston part make a concerted effort to change
Become displacement hydraulic pump output discharge capacity.
In the present embodiment, become displacement hydraulic pump 2 and include swash plate, become output flow and the swash plate of displacement hydraulic pump 2
Angle of inclination positive correlation.In other words, swash plate angle of inclination is bigger, and the output flow becoming displacement hydraulic pump 2 is bigger.
Second post portion of single-action hydraulic cylinder is connected with the swash plate becoming displacement hydraulic pump, for the inclination by changing swash plate
Angle becomes the output flow of displacement hydraulic pump 2 to change.
Because single-action hydraulic cylinder is connected with the first rod chamber of asymmetrical cylinder 9, it sensitive can work as the first rod chamber
Hydraulic pressure, and promote the second asymmetry piston of single-action hydraulic cylinder to the left, and then change the inclining of swash plate becoming displacement hydraulic pump 2
Rake angle.
Additionally, the Electrical hydrostatic actuator of load-sensitive also includes buncher 1.Buncher 1 and change displacement hydraulic pump 2
Connect, become displacement hydraulic pump 2 for driving.
For example, become the swash plate of displacement hydraulic pump 2 so as to angle of inclination reduces when single-action hydraulic cylinder promotes, if thinking simultaneously
Ensure that output is constant to the power holding of the load being connected with asymmetrical cylinder 9, it is possible to increase the rotating speed of buncher 1.Can lead to
The rotating speed crossing increase motor 1 keeps constant come the power to ensure to export to load.So, the output torque of motor subtracts
Little, therefore its electric current reduces, and then reduces copper loss and the caloric value of motor.
Shown in Figure 2, be the present invention the Electrical hydrostatic actuator of load-sensitive in pressure follow-up type servovalve one kind
The structure chart of embodiment.
In the present embodiment, pressure follow-up type servovalve includes housing 150, the valve element and first being located in housing 150
Decompression half-bridge 130.
Wherein, valve element is asymmetric plunger, including the third post portion 151 stretched out outside housing 150 with third post portion 151 admittedly
Connect and be located at the 3rd piston part in housing 150.
3rd piston part has circumferential slot, and the 3rd piston part is divided into the first cock body 152 and the second cock body 153 by circumferential slot.First
Cock body 152 and the second cock body 153 form gap cooperation with housing 150.
Housing 150 is divided into the 3rd rod chamber comprising third post portion 151 by valve element, positioned at the first cock body 152 and second
Intermediate cavity between cock body 153, and the 3rd rodless cavity.
First entrance 154, second entrance 155 and the 3rd entrance 156 are provided with housing 15.
First entrance 154 connects to the first rod chamber of asymmetrical cylinder 9, and the hydraulic pressure for receiving the first rod chamber is defeated
Enter, second entrance 155 is connected with external fuel tank T.So, the pressure follow-up type servovalve of the present invention can pass through second entrance
355 to external fuel tank T discharge unnecessary oil.
First entrance 154 is also connected with the first end of the first decompression half-bridge 130, and second entrance 155 is also with the first decompression partly
Second end of bridge 130 connects, and the 3rd entrance 156 is connected with the intermediate ends of the first decompression half-bridge 130, for inputting external hydraulic
Input to the 3rd rodless cavity after (being derived from the hydraulic pressure of the first rod chamber) partial pressure.
Outlet 157 and feedback port 158 are additionally provided with housing 150, outlet 157 is connected with the input of actuator 4, instead
Feedback mouth 158 is used for export 157 hydraulic feedbacks to the 3rd rod chamber.
In one embodiment, the first decompression half-bridge 130 can include the first segment discharge orifice 13 connected and the second throttling
Hole 14.First entrance 154 can connect to the first end of first segment discharge orifice 13, and the 3rd entrance 156 can connect to first throttle
Second end in hole 13 and the first end of the second throttle orifice 14.Second entrance 155 connects to the second end of the second throttle orifice 14.Namely
It is to say, because second entrance 155 and the second throttle orifice 14 are connected with external fuel tank T simultaneously, second entrance 155 and the second throttle orifice
The oil pressure at 14 the second end is zero.
In another embodiment, pressure follow-up type servovalve 10 can also include the second decompression half-bridge 170.
Second decompression half-bridge 170 can include the 3rd throttle orifice 17 and the 4th throttle orifice 18 connected.3rd throttle orifice 17
First end 157 can be connected with outlet.Second end of the 3rd throttle orifice 17 and the first end of the 4th throttle orifice 18 and feedback port 158
Connect.Second end of the 4th throttle orifice 18 is connected with external fuel tank T so that the oil pressure at the second end of the 4th throttle orifice 18 is zero.
Pressure follow-up type servovalve 10 also includes power set 11.Power set 11 are used for applying along valve to third post portion 151
Mandrel to axial force, based on axial force adjust outlet output hydraulic pressure.
In one embodiment, power set 11 can be for example proportion electro-magnet or voice coil motor.
As a kind of preferred version, pressure follow-up type servovalve 10 can also include the second bullet being arranged in the 3rd rod chamber
Spring 12 and be arranged at the 3rd spring 16 in the 3rd rodless cavity.The elastic force direction of second spring 12 and the 3rd spring 16 and valve element
Dead in line, and second spring 12 and the 3rd spring 16 work in unstretched condition.
If the thrust of power set 11 is FM, making a concerted effort of second spring 12 and the 3rd spring 16 is FK.Ignoring hydraulic power
In the case of, have during homeostasises：
FM-FK=Ps’S1-PA’S2=PsS1/K1-PAS2/K2,
Wherein, S1And S2It is respectively PS' and PA' active area, that is, S1 be in the 3rd rodless cavity the second cock body 153 cut
Area, S2Sectional area for the first cock body 152 in the 3rd rod chamber and the difference of third post portion 151 sectional area；K1For the first half-bridge
130 decompression ratio, K2Decompression ratio for the second half-bridge 170.
Due to spool displacement very little, therefore spring force is also negligible, if there being S1/K1=S2/K2Then have during homeostasises：
FM=PsS1/K1-PAS2/K2=(Ps-PA)S1/K1=(Ps-PA)S2/K2
Thrust F when power set 1MSo that it may approximation control inlet outlet pressure differential P after settingS-PA, and then control valve outlet port
Oil pressure PA.
As a kind of preferred version, because the active area at valve element two ends is asymmetric, lead to inlet outlet pressure differential PS-PAWith dynamic
Thrust F of power apparatus 11MDisproportionate, increase and control difficulty.For making up this asymmetric power, can be by setting the first decompression
The difference of the decompression ratio of half-bridge 130 and the second decompression half-bridge 170 is so that PSAnd PAWhen equal, there is PS’S1-PA’S2=0.
Because the first decompression half-bridge 130 reduces the oil pressure to housing for the input, can make power set 11 only with one less
Power output i.e. can control outlet 157 oil pressure PAFor a preset value.Therefore, the body of whole pressure follow-up type servovalve 10 can be reduced
Long-pending
The pressure follow-up type servovalve valve element for Fig. 2 for the Fig. 3 is located at schematic diagram during left position, and Fig. 4 is the servo-actuated servo of pressure of Fig. 2
Valve core is located at schematic diagram during right position.
With reference to Fig. 2-4, the working condition of the pressure follow-up type servovalve of present embodiment is described.
When pressure follow-up type servovalve is just started working, its valve element is in middle position, the spool position in such as Fig. 2.
When needing output oil pressure PADuring for a predetermined value, can be reached predetermined by the thrust output of regulation power set 11
PAValue.
Assume in thrust FMThe F that makes a concerted effort with second spring 12 and the 3rd spring 16KUnder effect, the mobile extremely left position of valve element is (as schemed
Shown in 3), now outlet 157 and external fuel tank T-phase are led to, the oil pressure P of outlet 157ATo reduce, meanwhile, the oil pressure of feedback port 158
PA' also reduce, lead to act on power reduction to the right on the first cock body 152 in the 3rd rod chamber, valve element moves right.
When valve element is pushed to right position as shown in Figure 4, outlet 157 is communicated with first entrance 154, exports 157 oil pressure PA
To increase, meanwhile, the oil pressure P of feedback port 158A' also increase, lead to act on the first cock body 152 in the 3rd rod chamber to the left
Power increase, valve element is moved to the left.
By above-mentioned regulation process, final valve element will stabilise at so that outlet oil pressure PAPosition equal to preset value.
By above description as can be seen that passing through to set the thrust of power set 11 so that it may control the oil pressure importing and exporting 157
PA.If the oil pressure P of outlet 157AHigher than setting value, valve element moves right, the oil pressure P of outlet 157AReduce, until keeping balance.
Similarly, if the oil pressure P of outlet 157ALess than setting value, valve element is moved to the left, the oil pressure P of outlet 157AIncrease, until keeping flat
Weighing apparatus.
So, just can quantitative adjustment actuating mechanism 11 power output, and then quantitative adjusting becomes the 2 of displacement hydraulic pump
Swashplate angle.
Fig. 5 is that the Electrical hydrostatic actuator of the load-sensitive of Fig. 1 is operated in liquid flow when first quartile and the second quadrant
To schematic diagram.The Electrical hydrostatic actuator that filled arrows in Fig. 5 represent load-sensitive is operated in liquid flow during first quartile
Dynamic direction；The Electrical hydrostatic actuator that hollow arrow in Fig. 5 represents load-sensitive is operated in liquid flowing during the second quadrant
Direction.
Fig. 6 is that the Electrical hydrostatic actuator of the load-sensitive of Fig. 1 is operated in liquid flow when third quadrant and fourth quadrant
To schematic diagram.The Electrical hydrostatic actuator that filled arrows in Fig. 6 represent load-sensitive is operated in liquid flow during third quadrant
Dynamic direction；The Electrical hydrostatic actuator that hollow arrow in Fig. 6 represents load-sensitive is operated in liquid flowing during fourth quadrant
Direction.
When the Electrical hydrostatic actuator of the load-sensitive of the present invention is operated in first quartile, buncher 1 drives and becomes row
Amount hydraulic pump 2 rotates, and hydraulic oil is exported by the upper end (i.e. oil-out) becoming displacement hydraulic pump 2, and first switch valve 7 works in connection
State, second switch valve 8 works in cut-off state, the first asymmetry piston power output of asymmetrical cylinder 9 and movement velocity
All downward, the second hydraulic control one-way valve 6 because the high pressure of upper end oil circuit is in open mode, enter by a fluid part for the first rodless cavity
Enter to become the oil-in of displacement hydraulic pump 2, and a part returns to fuel tank 3.
When the Electrical hydrostatic actuator of the load-sensitive of the present invention is operated in the second quadrant, asymmetrical cylinder 9 is subject to suitable
Load acts on, and the power output of the first asymmetry piston is downward, and movement velocity is upwards, becomes displacement hydraulic pump 2 and works in motor operating conditions.
Buncher 1 works in electromotor operating mode, and first switch valve 7 works in on-state, and second switch valve 8 works in cut-off shape
State.Second hydraulic control one-way valve 6 is in open mode, and the fluid part entering the first rodless cavity is flowed by becoming displacement hydraulic pump 2
Enter, a part passes through fuel tank 3 repairing.
When the Electrical hydrostatic actuator of the load-sensitive of the present invention is operated in third quadrant, that is, buncher 1 drives and becomes
Amount pump rotates backward, and hydraulic oil is exported by the lower end (i.e. oil-in) of pump, and first switch valve 7 works in cut-off state, and second opens
Close valve 8 and work in on-state, the power output of the first asymmetry piston of asymmetrical cylinder 9 and movement velocity all upwards, the
One hydraulic control one-way valve 5 is because the high pressure of lower end oil circuit is in open mode.The fluid of the first rod chamber enters first by oil circuit
Rodless cavity, remaining fluid is drawn from fuel tank 3 by change displacement hydraulic pump 2 and is input to the first rodless cavity.
When the Electrical hydrostatic actuator of the load-sensitive of the present invention is operated in fourth quadrant, asymmetrical cylinder 9 is subject to suitable
Load acts on, and upwards, and movement velocity is downwards for the first asymmetry piston power output, and becoming displacement hydraulic pump 2 works in motor operating conditions, adjusts
Speed motor 1 works in electromotor operating mode, and first switch valve 7 works in cut-off state, and second switch valve 8 works in connection shape
State, the first hydraulic control one-way valve 5 is in open mode, and a part of fluid of the first rodless cavity flows into the first rod chamber, unnecessary oil
Liquid passes through change displacement hydraulic pump 2 and returns to fuel tank 3.
Because the first rod chamber of asymmetrical cylinder 9 and effective work area of the first rodless cavity are 1：2, and asymmetric hydraulic pressure
Cylinder 9 actuator is operated in during three four-quadrants and adopts Differential Driving, and in other words, hydraulic oil connects asymmetrical cylinder 9 simultaneously
First rod chamber and the first rodless cavity, because the first rod chamber and the first rodless cavity have difference in areas, at the same pressure, first
The active force of rodless cavity is more than the first rod chamber, promotes the piston rod movement of asymmetrical cylinder 9, and in other words, hydraulic oil is same
First rod chamber of Shi Liantong asymmetrical cylinder 9 and the first rodless cavity are therefore constant in the output pressure becoming displacement hydraulic pump 2
In the case of, actuator is equal in one or three quadrant power outputs, in opposite direction.The control asymmetry of such asymmetrical cylinder 9
It is overcome, obtain controlling and output characteristics with symmetrical hydraulic cylinder identical.
Additionally, the selection of buncher 1 power is no longer determined by the maximum stream flow of the first rodless cavity of asymmetrical cylinder.
I.e. power of motor reduces half than before, alleviates the weight of system, improves capacity usage ratio.Specifically, due to non-
There is difference in areas in the first rod chamber of symmetrical hydraulic cylinder 9 and the first rodless cavity, when hydraulic oil be respectively acting on the first rod chamber and
When first rodless cavity, under same traffic, hydraulic oil act on be compared to during the first rod chamber used in the first rodless cavity when,
The movement velocity of one asymmetry piston is big.During in order to allow hydraulic oil be applied to the first rodless cavity, the fortune of the first asymmetry piston
Dynamic speed reaches the maximum movement speed of this Electrical hydrostatic actuator, then need the maximum movement speed meter according to the first rodless cavity
The maximum stream flow of calculation system is thus choosing the power of buncher.According to the feature of this system, the first rod chamber and first is no
The area of rod cavity is than for 1:2, if not adopting Differential Driving, the power of buncher, rotating speed and rated current will be adopted
Twice with Differential Driving.Additionally, using after Differential Driving, the weight of buncher and the volume of motor also have and substantially subtract
Few.
In the four-quadrant operation of the Electrical hydrostatic actuator of the load-sensitive of the present invention, can according to the operating characteristic of oil circuit
Know, the first rod chamber is constantly in high pressure operating mode, and because effective work area of the first rod chamber and the first rodless cavity is 1：
2, the power output of the pressure direct reaction actuator of the first rod chamber, therefore the pressure of this first rod chamber directly as nonoculture
Input with hydraulic cylinder.When load pressure raises, the pressure of the first rod chamber increases, then the of single-action hydraulic cylinder
Two asymmetry pistons are moved to the left, and the swashplate angle becoming displacement hydraulic pump 2 diminishes, and discharge capacity reduces.Meanwhile, in order to keep loading institute
Needing flow, can increasing, by improving buncher 1 rotating speed, the output flow becoming displacement hydraulic pump 2, thus increasing output extremely
The flow of load.So, its work efficiency can be improved thus reducing the heating of buncher 1.
Furthermore, it is possible to by the power output of the power set of regulation pressure follow-up type servovalve 10 come the servo-actuated servo of control pressure
The outlet pressure Pa of valve, and then swashplate angle and its output flow of displacement hydraulic pump 2 can be become with fixing quantity.
The Electrical hydrostatic actuator of the load-sensitive of the present invention, it is possible to achieve to the power output of actuator, displacement or speed
Control.Specifically, the parameter such as the exportable power of the Electrical hydrostatic actuator of the present invention, displacement and speed, this electronic hydrostatic is made
Dynamic device can realize the power exporting, displacement and speed are controlled respectively respectively.In other words, when the output of Electrical hydrostatic actuator
When being power, it can accurately control size and the outbound course of power output；Similar control can also be realized for displacement with speed.
Using the Electrical hydrostatic actuator of the load-sensitive of the present invention, the output liquid of control pressure follow-up type servovalve can be passed through
Pressure carrys out the quantitative output flow adjusting and becoming displacement hydraulic pump, and then reduces radiating and the power consumption of whole system.
Above some embodiments of the present invention are described in detail.As those of ordinary skill in the art institute energy
Understand, whole or any steps of methods and apparatus of the present invention or part, can be in any computing device (at inclusion
Reason device, storage medium etc.) or the network of computing device in, realized with hardware, firmware, software or combinations thereof,
This is that those of ordinary skill in the art just can be real with their basic programming skill in the case of understanding present disclosure
Existing, therefore it is not required to here and illustrate.
It is further clear that, when being related to possible peripheral operation in superincumbent explanation, undoubtedly to use
Any display device being connected with any computing device and any input equipment, corresponding interface and control program.Sum it up,
Each in related hardware in computer, computer system or computer network, software and the preceding method realizing the present invention
Plant hardware, firmware, software or the combinations thereof of operation, that is, constitute the equipment of the present invention and its each building block.
Therefore, based on above-mentioned understanding, the purpose of the present invention can also be by running one on any messaging device
Program or batch processing are realizing.Described information processing equipment can be known common apparatus.Therefore, the purpose of the present invention
The program product that can also comprise, only by offer, the program code realizing methods described or equipment to be realized.Namely
Say, such program product also constitutes the present invention, and store or transmit the medium of such program product and also constitute this
Bright.Obviously, described storage or transmission medium can be well known by persons skilled in the art, or appointing of being developed in the future
Various storages or transmission medium are enumerated at this by the storage of what type or transmission medium so also without necessity.
In the equipment of the present invention and method it is clear that each part or each step be can decompose, combine and/or decompose after
Reconfigure.These decompose and/or reconfigure the equivalents that should be regarded as the present invention.It may also be noted that in execution
The step stating series of processes can order naturally following the instructions execute in chronological order, but do not need certain according to when
Between sequentially execute.Some steps can execute parallel or independently of one another.Meanwhile, above, the specific embodiment of the invention is retouched
In stating, the feature describing for a kind of embodiment and/or illustrating can be in same or similar mode one or more
Use in other embodiment, combined with the feature in other embodiment, or substitute the feature in other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, key element, step or assembly herein when using, but simultaneously
It is not excluded for the presence of one or more further features, key element, step or assembly or additional.
Although the present invention and its advantage have been described in detail it should be appreciated that without departing from by appended claim
Various changes, replacement and conversion can be carried out in the case of the spirit and scope of the present invention being limited.And, the model of the application
Enclose the process described by description of being not limited only to, equipment, means, the specific embodiment of method and steps.In the art is common
Technical staff will readily appreciate that from the disclosure, can be using execution and corresponding reality described herein according to the present invention
Apply the essentially identical function of example or obtain process essentially identical with it result, existing and that future is to be developed, equipment,
Means, method or step.Therefore, appended claim is directed in the range of them including such process, equipment, handss
Section, method or step.
Claims (14)
1. a kind of Electrical hydrostatic actuator of load-sensitive is it is characterised in that include becoming displacement hydraulic pump, the first tandem tap
Group, asymmetrical cylinder, pressure follow-up type servovalve and actuator；
Described change displacement hydraulic pump includes oil-in and oil-out；
First tandem tap group includes first switch valve and second switch valve, the first end of described first switch valve and the institute connected
State oil-out to connect, the first end of described second switch valve is connected with described oil-in；
Described asymmetrical cylinder includes housing and the first asymmetry piston, and described housing is separated by described first asymmetry piston
For the first rod chamber and the first rodless cavity, described first rod chamber connects to second end and described second of described first switch valve
Second end of switch valve, described first rodless cavity connects to described oil-in；
Described pressure follow-up type servovalve is connected to the first rod chamber of described asymmetrical cylinder and the input of described actuator
Between end, for adjusting the instantaneous delivery being input to described actuator input；
The input of described actuator is connected with the outfan of described pressure servo valve, for the output based on pressure servo valve
Hydraulic pressure generates and changes the described signal becoming displacement hydraulic pump output discharge capacity.
2. the Electrical hydrostatic actuator of load-sensitive according to claim 1 is opened it is characterised in that also including the second series connection
Pass group and fuel tank；
Described second tandem tap group be connected to described become between the oil-in of displacement hydraulic pump and oil-out, and with described fuel tank
It is connected, be expelled to for by the oil described asymmetrical cylinder of input in described fuel tank or by the oil in described asymmetrical cylinder
In described fuel tank.
3. load-sensitive according to claim 2 Electrical hydrostatic actuator it is characterised in that：
Described second tandem tap group includes the first hydraulic control one-way valve and the second hydraulic control one-way valve connected；
Described first hydraulic control one-way valve includes the first hydraulic control end, first input end and the first outfan, described first hydraulic control end with
Described oil-in connects, and described first input end is connected with described oil-out, and described first outfan is connected with described fuel tank；
Described second hydraulic control one-way valve includes the second hydraulic control end, the second input and the second outfan, described second hydraulic control end with
Described oil-out connects, and described second input is connected with described oil-in, and described second outfan is connected with described fuel tank.
4. load-sensitive according to claim 3 Electrical hydrostatic actuator it is characterised in that：
Described first asymmetry piston is included the first piston part and is connected in described first piston part side and is hung down with described first piston part
The first straight post portion；
The cross-sectional area of described first piston part is two times that described first post cross section amasss.
5. load-sensitive according to claim 4 Electrical hydrostatic actuator it is characterised in that：
Described actuator is single-action hydraulic cylinder.
6. load-sensitive according to claim 5 Electrical hydrostatic actuator it is characterised in that：
Described single-action hydraulic cylinder includes cylinder body, the second asymmetry piston and the first spring being located in described cylinder body；
Described second asymmetry piston includes orthogonal second post portion and the second piston part；
Described second piston part and the inwall of described cylinder body cooperatively form one comprise to be connected the entrance to described first rod chamber
Two cavitys；
Described first spring is arranged in the 3rd cavity comprising the second post portion of described single-action hydraulic cylinder, described first spring
Elastic force direction and described second post portion dead in line, and described first spring works are in unstretched condition；
The one end in described second post portion is connected with described second piston part, and the other end in described second post portion connects to described change discharge capacity
Hydraulic pump, for according to entering in described second cavity liquid to the pressure of described second piston part and described first spring to described
To change the pressure of the second piston part with joint efforts described change displacement hydraulic pump output discharge capacity.
7. load-sensitive according to claim 6 Electrical hydrostatic actuator it is characterised in that：
Described change displacement hydraulic pump includes swash plate, and the angle of inclination of described swash plate is with the described output flow becoming displacement hydraulic pump just
Related；
The post portion of described single-action hydraulic cylinder is connected with the described swash plate becoming displacement hydraulic pump, for by changing described swash plate
Angle of inclination come to change described become displacement hydraulic pump output flow.
8. load-sensitive according to claim 7 Electrical hydrostatic actuator it is characterised in that：
Also include buncher；
Described buncher is connected with described change displacement hydraulic pump, for driving described change displacement hydraulic pump.
9. the Electrical hydrostatic actuator of the load-sensitive according to claim 1-8 any one is it is characterised in that described pressure
Power follow-up type servovalve includes housing, the valve element being located in housing, also includes the first decompression half-bridge；
Wherein,
Described valve element is asymmetric plunger, is connected and position including the third post portion stretched out outside described housing with described third post portion
The 3rd piston part in described housing, described 3rd piston part has circumferential slot, and described 3rd piston part is divided into by described circumferential slot
One cock body and the second cock body, described first cock body forms gap cooperation with described second cock body and described housing；
Described housing is divided into the 3rd rod chamber including described third post portion by described valve element, positioned at described first cock body and
Intermediate cavity between described second cock body, and the 3rd rodless cavity；
First entrance, second entrance and the 3rd entrance are provided with described housing；
Described first entrance is connected with the first rod chamber of described asymmetrical cylinder, and described second entrance is connected with external fuel tank；
Described first entrance is also connected with the first end of the described first decompression half-bridge, and described second entrance also reduces pressure with described first
Second end of half-bridge connects, and described 3rd entrance is connected with the intermediate ends of the described first decompression half-bridge, for having first by described
Input to described 3rd rodless cavity after the hydraulic pressure partial pressure of rod chamber；
Outlet and feedback port are additionally provided with described housing, described outlet is connected with the input of described actuator, described anti-
Feedback mouth is used for for described outlet hydraulic feeding back to described 3rd rod chamber.
10. load-sensitive according to claim 9 Electrical hydrostatic actuator it is characterised in that：
Described first decompression half-bridge includes first segment discharge orifice and the second throttle orifice connected；
Described first entrance connects to the first end of described first segment discharge orifice；
Described 3rd entrance connects the first end of the second end to described first segment discharge orifice and described second throttle orifice；
Described second entrance connects to the second end of described second throttle orifice.
The Electrical hydrostatic actuator of 11. load-sensitives according to claim 10 it is characterised in that：
Described pressure follow-up type servovalve also includes the second decompression half-bridge；
Described second decompression half-bridge includes the 3rd throttle orifice and the 4th throttle orifice connected；
The first end of described 3rd throttle orifice is connected with described outlet；
Second end of described 3rd throttle orifice is connected with described feedback port with the first end of described 4th throttle orifice；
Second end of described 4th throttle orifice is connected with described external fuel tank.
The Electrical hydrostatic actuator of 12. load-sensitives according to claim 11 is it is characterised in that described pressure is servo-actuated watches
Take valve and also include power set；
Described power set are used for applying, along the axial axial force of described valve element, to adjust based on described axial force to described third post portion
Save the output hydraulic pressure of described outlet.
The Electrical hydrostatic actuator of 13. load-sensitives according to claim 12 it is characterised in that：
Described power set are proportion electro-magnet or voice coil motor.
The Electrical hydrostatic actuator of 14. load-sensitives according to claim 13 is it is characterised in that described pressure is servo-actuated watches
Take valve also to include：
The second spring that is arranged in described 3rd rod chamber and be arranged at the 3rd spring in described 3rd rodless cavity；
The elastic force direction of described second spring and described 3rd spring and the dead in line of described valve element, and described second spring with
Described 3rd spring works are in unstretched condition.
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| CN201510121165.9A CN104728193B (en) | 2015-03-18 | 2015-03-18 | The Electrical hydrostatic actuator of load-sensitive |
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| CN201510121165.9A CN104728193B (en) | 2015-03-18 | 2015-03-18 | The Electrical hydrostatic actuator of load-sensitive |
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| CN104728193B true CN104728193B (en) | 2017-03-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108351045B (en) * | 2015-09-10 | 2021-02-09 | 费斯托股份两合公司 | Fluid system and process valve |
| CN105502212B (en) * | 2015-12-31 | 2017-09-19 | 长安大学 | A kind of tunnel-liner detection geological radar antenna plunger hydraulic bracket |
| CN108266413B (en) * | 2017-12-15 | 2021-02-12 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Asymmetric electro-hydrostatic actuator based on pressure selection valve |
| CN109441906B (en) * | 2018-12-27 | 2020-05-08 | 上海航天控制技术研究所 | Electro-hydraulic proportional load sensitive pump and pump valve combined control servo system |
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| US5575150A (en) * | 1995-04-12 | 1996-11-19 | Northrop Grumman Corporation | Stiffness enhanced electrohydrostatic actuator |
| CN101550921A (en) * | 2009-05-05 | 2009-10-07 | 上海电气液压气动有限公司 | Variable control system of plunger variable pump |
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| CN103362492A (en) * | 2013-06-26 | 2013-10-23 | 北京市三一重机有限公司 | Method and system for controlling seating of rotary drilling rig mast |
| CN104265708A (en) * | 2014-09-04 | 2015-01-07 | 北京航空航天大学 | Self-adaption decoupling control method based on motion state synchronization |
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| JP4365870B2 (en) * | 2007-03-30 | 2009-11-18 | 三菱重工業株式会社 | Fluid pressure actuator |
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| US5575150A (en) * | 1995-04-12 | 1996-11-19 | Northrop Grumman Corporation | Stiffness enhanced electrohydrostatic actuator |
| CN101550921A (en) * | 2009-05-05 | 2009-10-07 | 上海电气液压气动有限公司 | Variable control system of plunger variable pump |
| CN201461362U (en) * | 2009-05-05 | 2010-05-12 | 上海电气液压气动有限公司 | Variable control mechanism of plunger piston variable pump |
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