CN104806441A - Inner closed-loop servo hydraulic motor and control method thereof - Google Patents
Inner closed-loop servo hydraulic motor and control method thereof Download PDFInfo
- Publication number
- CN104806441A CN104806441A CN201510172111.5A CN201510172111A CN104806441A CN 104806441 A CN104806441 A CN 104806441A CN 201510172111 A CN201510172111 A CN 201510172111A CN 104806441 A CN104806441 A CN 104806441A
- Authority
- CN
- China
- Prior art keywords
- oil
- mouth
- hydraulic motor
- motor
- oil hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
- F03C1/04—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinders in star or fan arrangement
- F03C1/0403—Details, component parts specially adapted of such engines
- F03C1/0435—Particularities relating to the distribution members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/08—Distributing valve-gear peculiar thereto
- F03C1/16—Speed controlling, equalising or cushioning
Abstract
The invention discloses an inner closed-loop servo hydraulic motor and a control method thereof. A rotating shaft of the hydraulic motor is connected with a cylindrical multiplex oil distribution shaft through a cross joint, and the multiplex oil distribution shaft is embedded in and sleeved with an oil distribution sleeve; a cylindrical valve core is arranged in the center of the multiplex oil distribution shaft, one end of the valve core is in threaded connection with the multiplex oil distribution shaft, the other end of the valve core is connected with an output rotating shaft of a control motor through a converter, and the valve core can axially slide in the multiplex oil distribution shaft to form a slide valve; a stepping motor controls axial opening movement of the valve core to enable the hydraulic motor to rotate, and the motor rotating angle enables the slide valve to conduct closing movement through feedback regulation of the multiplex oil distribution shaft, so that the hydraulic motor tracks the stepping motor. Complex position closed-loop and speed closed-loop regulation in the prior art can be finished without closed-loop control, speed, turning and position control can be realized, the hydraulic motor has the higher response speed and high reliability, the failure rate is very low, and meanwhile, development and debugging time and costs of a system are substantially reduced.
Description
Technical field
The present invention relates to hydraulic control technology, is a kind of servo-hydraulic motor and one oil hydraulic motor controlling method simply and easily of interior closed loop specifically.
Background technique
Oil hydraulic motor servo-system is servo-control system conventional in engineering, it has fast response time, power/weight ratio is large, loaded rigid is high and price performance high, highi degree of accuracy, high speed and powerful control can be realized, therefore obtain extensive employing at industrial fields such as Aero-Space, metallurgy, boats and ships, lathe, power equipment and coal mine machineries.
The fundamental type of oil hydraulic motor servo-system mainly contains pump control (volumetric void fraction) and valve control (throttling control) system two kinds at present.The former realizes the flow controlling to enter oil hydraulic motor by electrohydraulic control controlled variable pump swash plate stroking mechanism, realize speed and the positioning control of oil hydraulic motor; Latter adopts servovalve or Proportional valve directly to control the flow entering oil hydraulic motor, realizes the control of oil hydraulic motor.But no matter be pump control or valve control, its basic principle controls flow by the aperture of control valve, and the adjustment of control signal must be completed by controller.Namely controller receives command signal, and its signal with sensor feedback is carried out control algorithm, according to the input of the degree of closeness adjustment servovalve of feedback signal and instruction signal, thus the speed of hydraulic control motor, position and direction.
The link of oil hydraulic motor servo-control system most critical is controller, electrohydraulic control is controlled after command signal and feedback signal will being processed by certain control algorithm (PID or other algorithm), because control algorithm must be engaged in the personnel automatically controlled and could grasp, many technician being engaged in hydraulic pressure do not have the knowledge automatically controlled.The a set of automatic control system of component is also wanted while building hydraulic system, exploitation control program, therefore, a set of oil hydraulic motor servo-control system must by not only understanding hydraulic pressure but also understand that the professional workforce of control develops, general user is difficult to self-developing oil hydraulic motor servo-control system, make that the construction cycle of oil hydraulic motor servo-control system is long, cost is high, thus seriously constrain its application.
Summary of the invention
Technical problem to be solved by this invention solves this problem from another thinking, provides a kind of interior closed loop servo oil hydraulic motor that can omit electronic control system.
Described interior closed loop servo oil hydraulic motor, is characterized in that: comprise oil hydraulic motor (7), multiplexing oil distributing shaft (5), join oil jacket (4) and control motor (1);
The rotating shaft (8) of described oil hydraulic motor (7) is by the multiplexing oil distributing shaft (5) of cross shaped joint (6) connecting cylinder shape, and described multiplexing oil distributing shaft is nested in joins in oil jacket (4);
Described multiplexing oil distributing shaft (5) not only as oil hydraulic motor oil distributing shaft but also be the valve body of hydrovalve, its center offers the cavity of cylindricality, the inwall of cavity is perpendicular to axial direction offers circular groove, spool (3) is provided with in cavity, the convex edge width of described spool (3) and the width of described multiplexing oil distributing shaft (5) interior circular groove adapt, described circular groove and spool (3) form three-position four-way valve, describedly join in oil jacket (4) oil distribution casing offering and be made up of described circular groove and described multiplexing oil distributing shaft, and be communicated to the oil circuit of outer wall;
One end of described spool is threaded with described multiplexing oil distributing shaft (5), and the other end of spool is connected with the output revolving shaft controlling motor (1) by transducer (2).
Further, describedly join oil jacket (4) is respectively Bonding pressure oil circuit P mouth at the oil circuit opening of its outer wall, connect the T mouth of oil return circuit, connect A mouth and the B mouth of load oil circuit, the position of the corresponding described circular groove of oil circuit interface is assigned as: be provided with 5 road circular grooves, intermediate annular groove corresponding P mouth oil circuit, two ends circular groove correspondence is communicated with T mouth oil circuit, A mouth and circular groove a corresponding to B mouth and circular groove b is respectively between the circular groove t that T mouth is corresponding with P mouth and circular groove p, described spool is provided with twice convex edge, described spool and described multiplexing oil distributing shaft is made to form a three position four-way directional control valve.
Described oil hydraulic motor is crankshaft connecting rod type radial plunger type motor, also can be the oil hydraulic motors such as plunger hydraulic motor, vane motor, gear-type hydraulic motor, screw type oil hydraulic motor, cycloidal type oil hydraulic motor.
A kind of embodiment is, described oil hydraulic motor (7) uses crankshaft connecting rod type radial plunger type motor, described join oil jacket (4) A mouth or B mouth be provided be interconnected multiple, quantity matches with the forward oil cylinder interface of oil hydraulic motor and one_to_one corresponding is communicated with, join the B mouth of oil jacket (4) or A mouth and be provided be interconnected multiple, quantity matches with the reverse oil cylinder interface of oil hydraulic motor and one_to_one corresponding is communicated with, described join oil jacket A mouth and B mouth be communicated in the corresponding circular groove a of multiplexing oil distributing shaft of the inwall of joining oil jacket and the annular location of circular groove b and be uniformly distributed, the corresponding switching in rotary course of a mouth of described multiplexing oil distributing shaft and b mouth is made to join A mouth or the B mouth of oil jacket.。
Further, described control motor is stepper motor.
A kind of controlling method of interior closed loop servo oil hydraulic motor as above, under standby condition, the circular groove a of multiplexing oil distributing shaft (5) described in twice convex edge (11) the difference contraposition of described spool (3) and circular groove b, each mouth oil circuit is not all communicated with, and the A mouth of joining oil jacket (4) and B mouth are connected the oil circuit constrained input mouth of described oil hydraulic motor (7) respectively;
Operating described control motor (1) makes its output shaft drive described spool (3) to rotate according to command speed and direction by described transducer (2), described spool coordinates with described transducer and screw pair and produces just moving axially of predetermined direction, P mouth is made to start to be communicated with one of A mouth or B mouth, rotating shaft described in fluid motor-driven (8) rotates and drives described cross shaped joint (6) and described multiplexing oil distributing shaft (5) synchronous rotary, the connection of the A mouth of oil jacket and the input/output port of B mouth and oil hydraulic motor is joined in setting, the rotation of described cross shaped joint (6) is made to produce the negative Reverse Turning Control moved axially to described spool, negative-feedback regu-lation is realized to the oil circuit aperture of described P mouth,
The output speed setting described control motor (1) is V, only uses the multiplexing oil distributing shaft of this band and the oil hydraulic motor of joining oil jacket, makes the rotating shaft of described oil hydraulic motor (8) output speed follow as V, sense of rotation and direction initialization one_to_one corresponding.
A kind of embodiment is, the stepper motor that use step angle is θ is as control motor (1), the continuous constant output rotating speed of described oil hydraulic motor is R, the pulse sequence that then continuous given stepper motor is constant meets following formula: P=360*R/ θ, wherein P represents the given pulse frequency of stepper motor, determines that output turns to by the pulse sequence of setting stepper motor different direction;
The stepper motor that use step angle is θ is as control motor (1), and the output corner of described oil hydraulic motor is φ, then the pulse number of given stepper motor is: [φ/θ], and operator " [] " expression rounds.
By changing pitch or the number of starts of described spool (3) and described multiplexing oil distributing shaft (5) screw pair, change the sensitivity of feedback regulation.
The structure that the present invention is ease in use, without the need to the electronic circuit of complexity, sensor and program control, position closed loop complicated in prior art and speed closed loop adjustment can be realized, after sending command pulse to the low power command motor of target hydraulic motor, oil hydraulic motor can be made to export powerful power, and speed can be realized, turn to and positioning control, there are speed of response and high reliability faster, while realizing extremely low rate of fault, significantly reduce the exploitation of system, debug time and expense.
Major advantage of the present invention embodies in the following areas:
1, reliability is high, response is fast
Owing to eliminating controller link, the level of integration of system is high, thus improves reliability and maintainability.Equally because link has been lacked, without the need to controlling through sensor response and electronics, the speed of response of system is improved.
2, hydraulics librarian use is convenient to, without the need to the exploitation of automatical control system
All automatic control link complete voluntarily in hydraulic servo motor, do not need control algorithm and adjustment, are convenient to the universal of hydraulic servo control system.
3, stable performance, debugging are conveniently
Use digital pulse signal, digital signal is because be low and high level, and antijamming capability is very strong, signal stabilization.Simultaneously due to the quantity of the position of oil hydraulic motor and speed and pulse and frequency corresponding, debug and got well and can not change corresponding relation, direct use can have been debugged, substantially without on-line debugging by off-line.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Fig. 2 is that oil circuit of the present invention connects and running schematic diagram.
In figure: 1-control motor, 2-transducer, 3-spool, 4-join oil jacket, 5-multiplexing oil distributing shaft, 6-cross shaped joint, 7-oil hydraulic motor, 8-rotating shaft, 9-cylinder ports, 10-circular groove, 11-convex edge.
Embodiment
Below in conjunction with accompanying drawing and five cylinder plug formula oil hydraulic motors, for example, the present invention is further described: as shown in Fig. 1,2, described interior closed loop servo oil hydraulic motor, comprises oil hydraulic motor 7, multiplexing oil distributing shaft 5, joins oil jacket 4 and as the stepper motor controlling motor 1.In fact, whole servo-system can realize complete negative feedback closed loop adjustment voluntarily without the need to sensor link and computing control system.
As Fig. 1, the multiplexing oil distributing shaft 5 of cross shaped joint 6 connecting cylinder shape is passed through in the rotating shaft 8 of described oil hydraulic motor 7, and described multiplexing oil distributing shaft is nested in joins in oil jacket 4, described cross shaped joint 6 is fastenedly connected with described rotating shaft 8, the center of described multiplexing oil distributing shaft 5 offers the cavity of cylindricality, the inwall of cavity is perpendicular to axial direction offers 5 road circular grooves 10, the spool 3 of cylindricality is provided with in described cavity, one end of described spool is threaded with multiplexing oil distributing shaft, the other end of spool is connected with the output revolving shaft controlling motor 1 by transducer 2, can axial slip between described spool and described transducer, the sidewall of described spool is provided with the convex edge 11 with 2 road annulars of the contact internal walls of described cavity, the width of described convex edge and the width of described circular groove adapt.
Describedly join oil jacket 4 is respectively Bonding pressure oil circuit P mouth at the oil circuit opening of its outer wall, connect the T mouth of oil return circuit, connect A mouth and the B mouth of load oil circuit, the position of the corresponding described circular groove of oil circuit interface is assigned as: be provided with 5 road circular grooves, intermediate annular groove corresponding P mouth oil circuit, two ends circular groove correspondence is communicated with T mouth oil circuit, A mouth and circular groove a corresponding to B mouth and circular groove b is respectively between the circular groove t that T mouth is corresponding with P mouth and circular groove p, described spool is provided with the convex edge of the contact internal walls of twice and described cavity, width and the width being not less than circular groove of convex edge, described spool and described multiplexing oil distributing shaft is made to form a 3-position 4-way guiding valve.In the reset state, the convex edge 11 corresponding circular groove a and circular groove b of 2 road annulars, makes each interface oil circuit all by shutoff.
Described A mouth of joining oil jacket 4 is as shown in the state in Fig. 2, be provided with 3 that are interconnected, B mouth is provided with 2, be communicated to the corresponding oil cylinder interface of oil hydraulic motor respectively, described join oil jacket A mouth and B mouth be communicated in the corresponding circular groove a of multiplexing oil distributing shaft of the inwall of joining oil jacket and the annular location of circular groove b and be uniformly distributed, make that a mouth of described multiplexing oil distributing shaft and b mouth are corresponding in the rotary course of multiplexing oil distributing shaft 5 switches A mouth or the B mouth of joining oil jacket.
When controlling motor 1 and rotating, band movable valve plug 3 rotates, spool 3 produces and moves axially under the screw pair effect of multiplexing oil distributing shaft, thus make P mouth oil circuit start to be communicated with A mouth or B mouth, because A mouth and B mouth are all communicated to the oil cylinder of oil hydraulic motor 7, make the mobile position of spool 3 determine the aperture of oil circuit and corresponding therefore also determine the rotating speed of oil hydraulic motor to the fuel supply flow rate of oil hydraulic motor, the output shaft that the movement direction of spool 3 determines oil hydraulic motor turns to.In addition, the closed loop control of oil hydraulic motor is embodied in, the cross shaped joint 6 be connected with rotating shaft 8 that rotates through of oil hydraulic motor feeds back on spool 3, by the setting to A mouth or B mouth corresponding oil hydraulic motor oil cylinder body opening, make spool produce the trend of oppositely movement, form the reverse feedback of rotating speed to oil hydraulic motor and positioning control.
The flap of spool is provided with symmetrical four, a kind of transient position is: the circular groove position of middle a pair flap respective channel A, B, the center of spool is corresponding with P channel position, completely open a pair T passage between a pair flap in outside and a pair flap of centre, make the center of spool when moving to A channel side, P, A channel are by gradually to communicating completely, and B, T passage is also simultaneously by gradually to communicating completely; The center of spool is when moving to channel B side, and P, channel B are by gradually to communicating completely, and A, T passage is also simultaneously by gradually to communicating completely.The action handoff procedure of the three position four-way directional control valve of standard is completed with a kind of very simple structure.
As shown in Figure 2, the oil of A, channel B communicates with entering on multiplexing oil distributing shaft 5, back to the fluid chamber respectively by joining the circular groove in oil jacket and passage a, the b on multiplexing oil distributing shaft 5, enters, is sealed by partition wall between back to the fluid chamber.Join radial hole on oil jacket 4 1.-5. corresponding with the position of entering on multiplexing oil distributing shaft 5, back to the fluid chamber.And with cylinder bore 1.-5. correspondingly to communicate.
In as above, the controlling method of closed loop servo oil hydraulic motor is, under standby condition, the circular groove a of multiplexing oil distributing shaft 5 described in the twice convex edge 11 difference contraposition of described spool 3 and circular groove b, each mouth oil circuit is not all communicated with, join radial hole in the A mouth corresponding diagram of oil jacket 4 1.-3., the radial hole in B mouth corresponding diagram 4., 5. connect respectively the oil circuit cylinder bore of described oil hydraulic motor 7 1.-3. with cylinder bore 4., 5..
Operate the stepper motor as described control motor 1, its output shaft is made to drive described spool 3 to rotate according to command speed and direction by described transducer 2, described spool 3 coordinates with described multiplexing oil distributing shaft 5 and produces just moving axially of predetermined direction, P mouth is made to start to be communicated with A mouth and increase the trend being communicated with aperture, rotating shaft 8 described in fluid motor-driven rotates and drives described cross shaped joint 6 and described multiplexing oil distributing shaft 5 synchronous rotary, the rotation of described cross shaped joint 6 produces the negative Reverse Turning Control moved axially to described spool, spool oppositely movement makes the oil circuit aperture of P mouth reduce, or the reverse mobile trend of spool has slowed down the forward travelling speed of spool, negative-feedback regu-lation is realized to the oil circuit aperture of described P mouth, until stable.
When carrying out positioning control, when rotating shaft is close to desired location, spool is oppositely movement gradually, turns down the aperture of P mouth oil circuit, and when rotating shaft arrives desired location, spool gets back to home position, and P mouth oil circuit is again by shutoff, and rotating shaft position is locked.
When carrying out speeds control, stepper motor continuous reception is to command pulse, when rotating shaft rotating speed does not reach instruction setting speed, valve element position by cross shaped joint carry out motor speed and rotating shaft rotating speed mutually low disappear after difference determine, pressure oil enters corresponding oil hydraulic motor radial hole by the oil circuit do not closed, there is provided the acceleration Driving force to bent axle, until instruction rotating speed is equal with the rotating speed of rotating shaft.When instruction rotating speed reduces, spool is promoted oppositely mobile by cross shaped joint, oil circuit to closed fuel feeding, may transfer reverse fuel feeding to reduce spindle speed by forward fuel feeding.Make the output speed of rotating shaft adjusted thus.
By changing pitch or the number of starts of described spool and described multiplexing oil distributing shaft screw pair, change the sensitivity of feedback regulation.
Shown position in fig. 2, highly pressurised liquid is inputted by the P mouth of joining on oil jacket, and when stepper motor rotates forward, spool 3 is opened, and chamber, A mouth place is pressure chamber, and by duct on solid of rotation with to join on oil jacket 1., 2., 3. 1., 2. hole enters accordingly, the 3. top of number cylinder holes.So all effect has hydraulic coupling on the piston in these three cylinder holes.By connecting rod effect to the periphery of bent axle, and point to the geometrical center O of bent axle
1, produce moment of torsion to the gyration center O of bent axle, make bent axle overcome load and be rotated counterclockwise, crank rotation is followed in rotating shaft 8.During crankshaft rotating, cylinder holes volume 1., 2., 3. increases, continuous feed liquor; Simultaneously cylinder holes 4., 5. in piston retract under the effect of bent axle, connecting rod. volume reduces also 4., 5. to return liquid through the hole of joining on oil jacket.After solid of rotation turns over an angle with bent axle, 3. the hole of joining on oil jacket is just closed by the partition wall of solid of rotation, at this moment cylinder holes 3. in piston and connecting rod shaft axis and OO
1line coincident.Cylinder holes volume 3. reaches maximum, so 3. cylinder holes asks neither feed liquor in this wink, does not also return liquid.But bent axle 1., 2. number cylinder holes piston promote under still continue rotate, after turning over very little angle, 3. cylinder holes is just connected with back to the fluid chamber and is started back liquid, then 5. cylinder holes becomes feed liquor operating mode from returning liquid operating mode, so ceaselessly circulation is gone down, and motor is rotated, and output torque.
The screw pair that rotates through of multiplexing oil distributing shaft 5 makes spool 3 produce pass valve motion, and when the distance of closing valve motion is identical with valve opening move distance, valve port is closed, and oil hydraulic motor stops operating, thus achieves positioning control.If stepper motor continues to rotate, oil hydraulic motor is just followed stepper motor and is not stopped to rotate, thus realizes the speeds control of oil hydraulic motor.
If stepper motor 1 counterrotating, then B chamber is pressure chamber, by duct on solid of rotation and to join on oil jacket 4., 5. hole enter corresponding 4., the top of 5. number cylinder holes, oil hydraulic motor turns clockwise, and movement process is same as described above.
As can be seen here, the output speed setting described stepper motor is V, makes rotating shaft 8 output speed of described oil hydraulic motor follow as V, sense of rotation and direction initialization one_to_one corresponding.
In rotating speed control procedure, following relation can be had: the stepper motor that use step angle is θ is as control motor 1, the continuous constant output rotating speed of described oil hydraulic motor is R, the pulse sequence that then continuous given stepper motor is constant meets following formula: P=360*R/ θ, wherein P represents the given pulse frequency of stepper motor, determines that output turns to by the pulse sequence of setting stepper motor different direction;
The thread pitch * (setting speed-rotating shaft rotating speed) moving axially distance=cross shaped joint of spool;
Use the stepper motor that step angle is θ, the output corner of described oil hydraulic motor is φ, then the pulse number of given stepper motor is: [φ/θ], and operator " [] " expression rounds.Corner comparatively accurately can be obtained when φ/θ is aliquot.
Claims (9)
1. a closed loop servo oil hydraulic motor in, is characterized in that: comprise oil hydraulic motor (7), multiplexing oil distributing shaft (5), join oil jacket (4) and control motor (1);
The rotating shaft (8) of described oil hydraulic motor (7) is by the multiplexing oil distributing shaft (5) of cross shaped joint (6) connecting cylinder shape, and described multiplexing oil distributing shaft is nested in joins in oil jacket (4);
Described multiplexing oil distributing shaft (5) not only as oil hydraulic motor oil distributing shaft but also be the valve body of hydrovalve, its center offers the cavity of cylindricality, the inwall of cavity is perpendicular to axial direction offers circular groove, spool (3) is provided with in cavity, the convex edge width of described spool (3) and the width of described multiplexing oil distributing shaft (5) interior circular groove adapt, described circular groove and spool (3) form three-position four-way valve, describedly join in oil jacket (4) oil distribution casing offering and be made up of described circular groove and described multiplexing oil distributing shaft, and be communicated to the oil circuit of outer wall;
One end of described spool is threaded with described multiplexing oil distributing shaft (5), and the other end of spool is connected with the output revolving shaft controlling motor (1) by transducer (2).
2. interior closed loop servo oil hydraulic motor according to claim 1, it is characterized in that: described in join oil jacket (4) is respectively Bonding pressure oil circuit P mouth at the oil circuit opening of its outer wall, connect the T mouth of oil return circuit, connect A mouth and the B mouth of load oil circuit, the position of the corresponding described circular groove of oil circuit interface is assigned as: be provided with 5 road circular grooves, intermediate annular groove corresponding P mouth oil circuit, two ends circular groove correspondence is communicated with T mouth oil circuit, A mouth and circular groove a corresponding to B mouth and circular groove b is respectively between the circular groove t that T mouth is corresponding with P mouth and circular groove p, described spool is provided with twice convex edge, described spool and described multiplexing oil distributing shaft is made to form a three position four-way directional control valve.
3. interior closed loop servo oil hydraulic motor according to claim 1, it is characterized in that: described oil hydraulic motor is crankshaft connecting rod type radial plunger type motor, also can be plunger hydraulic motor, vane motor, gear-type hydraulic motor, screw type oil hydraulic motor, cycloidal type oil hydraulic motor.
4. interior closed loop servo oil hydraulic motor according to claim 2, it is characterized in that: described oil hydraulic motor (7) uses crankshaft connecting rod type radial plunger type motor, described join oil jacket (4) A mouth or B mouth be provided be interconnected multiple, quantity matches with the forward oil cylinder interface of oil hydraulic motor and one_to_one corresponding is communicated with, join the B mouth of oil jacket (4) or A mouth and be provided be interconnected multiple, quantity matches with the reverse oil cylinder interface of oil hydraulic motor and one_to_one corresponding is communicated with, described join oil jacket A mouth and B mouth be communicated in the corresponding circular groove a of multiplexing oil distributing shaft of the inwall of joining oil jacket and the annular location of circular groove b and be uniformly distributed, the corresponding switching in rotary course of a mouth of described multiplexing oil distributing shaft and b mouth is made to join A mouth or the B mouth of oil jacket.
5. interior closed loop servo oil hydraulic motor according to claim 1, is characterized in that: described control motor is stepper motor.
6. one kind as described in claim 2 or 4 in the controlling method of closed loop servo oil hydraulic motor, it is characterized in that: under standby condition, the circular groove a of multiplexing oil distributing shaft (5) described in twice convex edge (11) the difference contraposition of described spool (3) and circular groove b, each mouth oil circuit is not all communicated with, and the A mouth of joining oil jacket (4) and B mouth are connected the oil circuit constrained input mouth of described oil hydraulic motor (7) respectively;
Operating described control motor (1) makes its output shaft drive described spool (3) to rotate according to command speed and direction by described transducer (2), described spool coordinates with described transducer and screw pair and produces just moving axially of predetermined direction, P mouth is made to start to be communicated with one of A mouth or B mouth, rotating shaft described in fluid motor-driven (8) rotates and drives described cross shaped joint (6) and described multiplexing oil distributing shaft (5) synchronous rotary, the connection of the A mouth of oil jacket and the input/output port of B mouth and oil hydraulic motor is joined in setting, the rotation of described cross shaped joint (6) is made to produce the negative Reverse Turning Control moved axially to described spool, negative-feedback regu-lation is realized to the oil circuit aperture of described P mouth,
The output speed setting described control motor (1) is V, only uses the multiplexing oil distributing shaft of this band and the oil hydraulic motor of joining oil jacket, makes the rotating shaft of described oil hydraulic motor (8) output speed follow as V, sense of rotation and direction initialization one_to_one corresponding.
7. the controlling method of interior closed loop servo oil hydraulic motor according to claim 6, it is characterized in that: the stepper motor that use step angle is θ is as control motor (1), the continuous constant output rotating speed of described oil hydraulic motor is R, the pulse sequence that then continuous given stepper motor is constant meets following formula: P=360*R/ θ, wherein P represents the given pulse frequency of stepper motor, determines that output turns to by the pulse sequence of setting stepper motor different direction.
8. the controlling method of interior closed loop servo oil hydraulic motor according to claim 6, it is characterized in that: the stepper motor that use step angle is θ is as control motor (1), the output corner of described oil hydraulic motor is φ, then the pulse number of given stepper motor is: [φ/θ], and operator " [] " expression rounds.
9. the controlling method of interior closed loop servo oil hydraulic motor according to claim 6, it is characterized in that: by changing pitch or the number of starts of described spool (3) and described multiplexing oil distributing shaft (5) screw pair, change the sensitivity of feedback regulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510172111.5A CN104806441A (en) | 2015-04-13 | 2015-04-13 | Inner closed-loop servo hydraulic motor and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510172111.5A CN104806441A (en) | 2015-04-13 | 2015-04-13 | Inner closed-loop servo hydraulic motor and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104806441A true CN104806441A (en) | 2015-07-29 |
Family
ID=53691571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510172111.5A Pending CN104806441A (en) | 2015-04-13 | 2015-04-13 | Inner closed-loop servo hydraulic motor and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104806441A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106089396A (en) * | 2016-08-17 | 2016-11-09 | 曲阜天博汽车零部件制造有限公司 | A kind of automobile, electromotor and the automatically controlled thermoregulator of coolant |
| CN108591152A (en) * | 2018-04-13 | 2018-09-28 | 浙江大学 | A kind of hydraulic motor rotary valve all-in-one machine independently coupled |
| RU2722928C1 (en) * | 2019-10-07 | 2020-06-08 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Вологодский государственный университет" | Radial-piston hydraulic motor with valve distribution |
| CN111502904A (en) * | 2020-05-18 | 2020-08-07 | 何作勇 | Oil distribution mechanism of radial plunger hydraulic motor |
| CN112727670A (en) * | 2021-01-10 | 2021-04-30 | 刘汝玲 | Low-noise multi-cavity oil distribution disc structure for hydraulic motor |
| CN113719402A (en) * | 2021-11-04 | 2021-11-30 | 宁波中意液压马达有限公司 | Electro-hydraulic dual-drive motor |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3457836A (en) * | 1967-05-29 | 1969-07-29 | Superior Electric Co | Digitally operated electrohydraulic power system |
| US3530764A (en) * | 1967-12-27 | 1970-09-29 | Toyoda Machine Works Ltd | Electro-hydraulic servomotor |
| GB1326394A (en) * | 1969-11-19 | 1973-08-08 | Fujitsu Ltd | Rotary fluid control valve |
| GB1369244A (en) * | 1970-12-26 | 1974-10-02 | Fujitsu Ltd | Electrohydraulic pulse motor |
| US3899956A (en) * | 1973-11-05 | 1975-08-19 | Olsen Controls Inc | Linear electrohydraulic pulse drive actuator |
| CN2497087Y (en) * | 2001-09-23 | 2002-06-26 | 袁名衡 | Digital-controlled hydraulic servo valve |
| CN103148035A (en) * | 2013-03-13 | 2013-06-12 | 武汉海力威机电科技有限公司 | Directly-fed digital hydraulic valve |
| CN103216478A (en) * | 2012-01-20 | 2013-07-24 | 杨世祥 | Digital hydraulic motor |
| CN204591579U (en) * | 2015-04-13 | 2015-08-26 | 武汉海力威机电科技有限公司 | Closed loop servo oil hydraulic motor in a kind of |
-
2015
- 2015-04-13 CN CN201510172111.5A patent/CN104806441A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3457836A (en) * | 1967-05-29 | 1969-07-29 | Superior Electric Co | Digitally operated electrohydraulic power system |
| US3530764A (en) * | 1967-12-27 | 1970-09-29 | Toyoda Machine Works Ltd | Electro-hydraulic servomotor |
| GB1326394A (en) * | 1969-11-19 | 1973-08-08 | Fujitsu Ltd | Rotary fluid control valve |
| GB1369244A (en) * | 1970-12-26 | 1974-10-02 | Fujitsu Ltd | Electrohydraulic pulse motor |
| US3899956A (en) * | 1973-11-05 | 1975-08-19 | Olsen Controls Inc | Linear electrohydraulic pulse drive actuator |
| CN2497087Y (en) * | 2001-09-23 | 2002-06-26 | 袁名衡 | Digital-controlled hydraulic servo valve |
| CN103216478A (en) * | 2012-01-20 | 2013-07-24 | 杨世祥 | Digital hydraulic motor |
| CN103148035A (en) * | 2013-03-13 | 2013-06-12 | 武汉海力威机电科技有限公司 | Directly-fed digital hydraulic valve |
| CN204591579U (en) * | 2015-04-13 | 2015-08-26 | 武汉海力威机电科技有限公司 | Closed loop servo oil hydraulic motor in a kind of |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106089396A (en) * | 2016-08-17 | 2016-11-09 | 曲阜天博汽车零部件制造有限公司 | A kind of automobile, electromotor and the automatically controlled thermoregulator of coolant |
| CN108591152A (en) * | 2018-04-13 | 2018-09-28 | 浙江大学 | A kind of hydraulic motor rotary valve all-in-one machine independently coupled |
| RU2722928C1 (en) * | 2019-10-07 | 2020-06-08 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Вологодский государственный университет" | Radial-piston hydraulic motor with valve distribution |
| CN111502904A (en) * | 2020-05-18 | 2020-08-07 | 何作勇 | Oil distribution mechanism of radial plunger hydraulic motor |
| CN112727670A (en) * | 2021-01-10 | 2021-04-30 | 刘汝玲 | Low-noise multi-cavity oil distribution disc structure for hydraulic motor |
| CN113719402A (en) * | 2021-11-04 | 2021-11-30 | 宁波中意液压马达有限公司 | Electro-hydraulic dual-drive motor |
| CN113719402B (en) * | 2021-11-04 | 2022-04-01 | 宁波中意液压马达有限公司 | Electro-hydraulic dual-drive motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104806441A (en) | Inner closed-loop servo hydraulic motor and control method thereof | |
| CN103148035B (en) | A kind of directly-fed Digital Hydraulic Valve position control system | |
| CN102829010B (en) | Direct acting type large discharge directional flow servovalve and apply the control system of this servovalve | |
| US3457836A (en) | Digitally operated electrohydraulic power system | |
| CN105971962B (en) | A kind of motor-driven single spool rotary type hydraulic valve of list | |
| CN103899791A (en) | Proportional flow rotary valve for alternating-current servo motor direct drive type unloading | |
| CN202707658U (en) | Directly operated type high-flow direction flow servo valve and control system using same | |
| CN204591579U (en) | Closed loop servo oil hydraulic motor in a kind of | |
| CN204591825U (en) | Valve closed loop tuning for Controllable Pitch Propeller Hydrauservo System | |
| CN211344103U (en) | Reversing throttle valve | |
| CN213117673U (en) | Digital reversing throttle valve with displacement feedback | |
| CN208764023U (en) | A kind of hydraulic cylinder and hydraulic system | |
| CN105630002A (en) | Variable-thrust regulating electromechanical servo mechanism of liquid rocket engine | |
| US4202247A (en) | Closed loop electro-fluidic control system | |
| CN106958554B (en) | Direct feedback digital wobble hydraulic cylinder is driven in a kind of | |
| CN201723520U (en) | Swing type hydraulic proportioning and servo valve | |
| US4132152A (en) | Closed loop electro-fluidic control system | |
| CN203130648U (en) | Directly-fed digital hydraulic valve | |
| US3543645A (en) | Control equipment for hydrostatic drive of a vehicle | |
| CN208997060U (en) | A kind of numerical scale hydraulicdirectional control valve | |
| JP2001090704A (en) | Driving gear | |
| US4363211A (en) | Quasi-open loop hydraulic ram incremental actuator with power conserving properties | |
| CN105545864A (en) | Novel electro-hydraulic servo oscillating motor | |
| CN101532516A (en) | Device for simulating servo system load by electrohydraulic servo | |
| CN111559424A (en) | Digital line control steering system and control method and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150729 |
|
| WD01 | Invention patent application deemed withdrawn after publication |