CN105003495A - Asymmetric hydraulic cylinder real-time dynamic compensation loading device - Google Patents
Asymmetric hydraulic cylinder real-time dynamic compensation loading device Download PDFInfo
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- CN105003495A CN105003495A CN201510442312.2A CN201510442312A CN105003495A CN 105003495 A CN105003495 A CN 105003495A CN 201510442312 A CN201510442312 A CN 201510442312A CN 105003495 A CN105003495 A CN 105003495A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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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
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
Abstract
The invention provides an asymmetric hydraulic cylinder real-time dynamic compensation loading device and belongs to the field of hydraulic control. The loading device is composed of a loading control asymmetric hydraulic cylinder, a servo proportional valve and a loading controller. The loading controller is composed of a multi-channel sensor assembly, a loading force setting device, a force correcting device, a dynamic compensator and a power amplifier. The asymmetric hydraulic cylinder real-time dynamic compensation loading device has the best advantages that fusion compensation involving three parameters of position, flow and pressure is adopted to assist in force control, and real-time dynamic compensation loading of the asymmetric hydraulic cylinder can be achieved according to the non-linear characteristics of the pressure and flow of the servo valve in the moving process of the asymmetric hydraulic cylinder, the asymmetry of the areas of two cavities of the hydraulic cylinder and load parameter changes. The asymmetric hydraulic cylinder real-time dynamic compensation loading device is suitable for load simulation devices and others with a high requirement for force control accuracy.
Description
Technical field
The real-time dynamic compensation deceleration loading device of a kind of asymmetrical cylinder of the present invention, belong to field of hydraulic control, be specifically related to a kind of dynamic compensation deceleration loading device of eletro-hydraulic pressure control sysem, be intended to improve electro_hydraulics loading system control performance, be mainly used in the occasion that load simulating device etc. needs to consider accurately to load.
Background technique
Eletro-hydraulic pressure control sysem take masterpiece as controlled variable, detects and the closed loop control system of feedback force signal, is divided into force application system and loading system two class according to its application in engineering reality.Loading system is the load some component being imposed to certain rule, and added load is relevant with the amount of exercise of component.Loading system accurately follow the tracks of load instructions signal, and the motion carrying object certainly leads to agitation in loading system, and loading system is had a strong impact on while following carrying object motion.The size and Orientation of such disturbance is relevant with the motion state being loaded object, and even more serious when system starts and commutate, and the motion being loaded object has a strong impact on the loading accuracy of loading system.
Overcome such perturbation motion method and mainly divide two classes: one is structure compensation, as installed intercommunicating pore method, accumulator correction method, damping spring correction method etc., being the filter action by increasing hydraulic pressure or mechanical structure, reducing the influence degree of disturbance; Two is control and compensations, as Unchanged structure principle etc., being the change by predicting Forcing traffic, then relying on control strategy to realize Active Compensation to Forcing traffic.Analyze known, structure compensation method is anti-interference from hardware configuration angle, need to change from structure, and loading force control accuracy is low.Comparatively speaking, control compensation methods does not change original system structure, but there is loading system position disturbance, nonlinear characteristics and actuator two chamber flow is asymmetric causes the features such as to-and-fro motion hourly velocity property difference is large, therefore, rely on backoff algorithm to control performer to compensate, but in reality be all on the basis to Hydrauservo System parameter characteristic modeling and analysis, for the penalty coefficient that the featured configuration of asymmetrical cylinder is corresponding, realize static compensation, in the approximate processing of compensator and loading procedure, the invariance of compensation intensity makes system to accomplish the optimal compensation, the stability margin of system can be made to reduce, even cause system unstable.Also have the method adopting Advanced Control Strategies to compensate, but the general speed being loaded load that adopts carries out the method feedovered, and still needs to improve to the Parameters variation of whole system and the compensation performance of non-linear effects.Existing loading compensation device Problems existing:
1. structure compensation needs to change original system structure, and loading force control accuracy is low.
2. the static compensation process that Traditional control compensates can not realize the optimal compensation.
3. Traditional control compensates and can not realize real-time dynamic compensation according to load bearing mechanism motion change and loading cylinder two chamber changes in flow rate.
Summary of the invention
The real-time dynamic compensation deceleration loading device of a kind of asymmetrical cylinder of the present invention, its object is to the drawback solving the existence of existing compensation device, thus the change of a kind of nonlinear characteristics according to servovalve pressure and flow in asymmetrical cylinder movement process, the asymmetry of oil hydraulic cylinder two cavity area and load parameter is disclosed, disturbance is carried out to the add load control of real-time dynamic compensation.Be applicable to require the occasions such as high load simulating device to power control accuracy.
The real-time dynamic compensation deceleration loading device of a kind of asymmetrical cylinder of the present invention is a kind of eletro-hydraulic pressure control sysem, by Loading Control asymmetrical cylinder 15, No. I servo proportion 19 and loading control composition, is characterized in that loading control is gathered by multiple sensor, loading force given 7, power correcting device 8, dynamic compensator 10, power amplifier 11 forms, and wherein said multiple sensor collection is by power analog-digital converter 1, displacement and speed A/D converter 2, No. II pressure modulus transducer 3, No. II hydromodulus transducer 4, No. I pressure modulus transducer 5, No. I hydromodulus transducer 6, system charge oil pressure analog-digital converter 9, No. I flow transducer 12, No. I pressure transducer 13, No. I position and speed sensor 14, force snesor 16, No. II pressure transducer 17, No. II flow transducer 18 and system charge oil pressure sensor 20 form, and wherein said loading force given 7 can be constant value also can be the value changed, and loading force given 7 exports the given input as power correcting device 8, force snesor 16 outputs signal and exports feed back input as power correcting device 8 through power analog-digital converter 1, power correcting device 8 is proportional integral corrector, realizes the deviation signal regulable control that loading force given 7 exports with power analog-digital converter 1, and the output of power correcting device 8 inputs as the signal of dynamic compensator 10, No. I position and speed sensor 14, No. II pressure transducer 17, No. II flow transducer 18, No. I pressure transducer 13, No. I flow transducer 12 and system charge oil pressure sensor 20 are respectively through the output signal of displacement and speed A/D converter 2, No. II pressure modulus transducer 3, No. II hydromodulus transducer 4, No. I pressure modulus transducer 5, No. I hydromodulus transducer 6 and system charge oil pressure analog-digital converter 9, and the signal also as dynamic compensator 10 inputs, described dynamic compensator 10 carries out position, flow and pressure three Parameter fusion by dynamic compensation function and compensates, and carries out loading force control according to the output of power correcting device 8 is auxiliary, realizes real-time dynamic load, dynamic compensator 10 signal exports the spool travel controlling No. I servo proportion 19 through power amplifier 11, drives No. I servo proportion 19 to produce corresponding motion, and the loading force highi degree of accuracy realizing Loading Control asymmetrical cylinder 15 controls,
Wherein said dynamic compensation function expression G
dfor:
F (x, t) is the position curve of Loading Control asymmetrical cylinder 15 within a cycle of motion; G
svs () is the transfer function of No. I servo proportion 19; x
vit is the spool travel of No. I servo proportion 19; V is the rate signal of the Loading Control asymmetrical cylinder 15 that No. I position and speed sensor 14 Real-time Collection exports through displacement and speed A/D converter 2; q
1it is the signal that the flow of No. I flow transducer 12 Real-time Collection Loading Control asymmetrical cylinder 15 rodless cavity exports through No. I hydromodulus transducer 6; q
2it is the signal that the flow of No. II flow transducer 18 Real-time Collection Loading Control asymmetrical cylinder 15 rod chamber exports through No. II hydromodulus transducer 4; K
1and K
2no. I servo proportion 19 spool travel x respectively
v>0 and x
vcompensation intensity during <0; K
q1and K
q2no. I servo proportion 19 spool travel x respectively
v>0 and x
vflow gain during <0; p
1it is the signal that the pressure of No. I pressure transducer 13 Real-time Collection Loading Control asymmetrical cylinder 15 rodless cavity exports through No. I pressure modulus transducer 5; p
2it is the signal that the pressure of No. II pressure transducer 17 Real-time Collection Loading Control asymmetrical cylinder 15 rod chamber exports through No. II pressure modulus transducer 3; p
s1it is the signal that system charge oil pressure sensor 20 exports through system charge oil pressure analog-digital converter 9.
A kind of asymmetrical cylinder of the present invention real-time dynamic compensation deceleration loading device compares with traditional deceleration loading device, and advantage is:
1. adopt position, flow and the real-time calculation compensation of pressure three Parameter fusion, energy real-time judge hydraulic cylinder direction, the switching realizing asymmetrical cylinder rod chamber and rodless cavity compensates, and reduces or eliminates non-linear factor to the impact of loading performance, effectively improving Loading Control precision.
2. adopt position, flow and pressure three Parameter fusion to compensate, the real-time dynamic compensation of asymmetrical cylinder can be realized with loading cylinder two chamber changes in flow rate and load according to load bearing mechanism motion change, servo proportion Flow characteristics.
Accompanying drawing explanation
Fig. 1 asymmetrical cylinder real-time dynamic compensation loading principle figure
1. power analog-digital converter 2. displacement and speed A/D converter 3. No. II pressure modulus transducers 4. No. II hydromodulus transducers 5. No. I pressure modulus transducers 6. No. I hydromodulus transducer 7. loading forces given 8. power correcting device 9. system charge oil pressure analog-digital converter 10. dynamic compensator 11. power amplifier 12. No. I flow transducers 13. No. I pressure transducers 14. No. I position and speed sensor 15. Loading Control asymmetrical cylinder 16. force snesor 17. No. II pressure transducers 18. No. II flow transducers 19. No. I servo proportion 20. system charge oil pressure sensor 21. mass block 22. No. III pressure transducer 23. positioning control asymmetrical cylinder, 24. No. II position and speed sensors, 25. No. IV pressure transducer 26. position controllers 27. No. II servo proportions
Specific embodiments
Be further described in detail below in conjunction with the characteristic sum principle of drawings and Examples to the real-time dynamic compensation deceleration loading device of a kind of asymmetrical cylinder of the present invention, the present embodiment is detailed description of the invention, does not make any restriction to the present invention.
Mode of execution 1:
According to accompanying drawing 1, No. I flow transducer 12 and No. I pressure transducer 13 are installed in the oil circuit of Loading Control asymmetrical cylinder 15 rodless cavity, No. II pressure transducer 17 and No. II flow transducer 18 are installed in the oil circuit of Loading Control asymmetrical cylinder 15 rod chamber, system charge oil pressure sensor 20 is installed in Loading Control System fuel feeding input oil circuit, No. I position and speed sensor 14 is installed in Loading Control asymmetrical cylinder 15 rodless cavity side, and force snesor 16 is installed in the joint of Loading Control asymmetrical cylinder 15 and mass block 21.According to accompanying drawing 1 power analog-digital converter 1, displacement and speed A/D converter 2, No. II pressure modulus transducer 3, No. II hydromodulus transducer 4, No. I pressure modulus transducer 5, No. I hydromodulus transducer 6, loading force given 7, power correcting device 8, system charge oil pressure analog-digital converter 9, dynamic compensator 10, power amplifier 11, No. I flow transducer 12, No. I pressure transducer 13, No. I position and speed sensor 14, Loading Control asymmetrical cylinder 15, force snesor 16, No. II pressure transducer 17, No. II flow transducer 18, No. I servo proportion 19 and system charge oil pressure sensor 20 form Loading Control System.
According to accompanying drawing 1, No. II position and speed sensor 24 is installed in positioning control asymmetrical cylinder 23 rodless cavity side, No. IV pressure transducer 25 is installed in the oil circuit of positioning control asymmetrical cylinder 23 rodless cavity, and No. III pressure transducer 22 is installed in the oil circuit of positioning control asymmetrical cylinder 23 rod chamber.Positioning control asymmetrical cylinder 23, No. II position and speed sensor 24, No. III pressure transducer 22, No. IV pressure transducer 25, position controller 26 and No. II servo proportion 27 form electro-hydraulic position servo control system, this system realizes the positioning control of positioning control asymmetrical cylinder 23 by No. II position and speed sensor 24, No. III pressure transducer 22, No. IV pressure transducer 25 and position controller 26, and completes the positioning control under force-disturbance by Loading Control System.
In electro-hydraulic position servo control system, the displacement of No. II position and speed sensor 24, No. III pressure transducer 22, No. IV pressure transducer 25 difference Real-time Collection positioning control asymmetrical cylinder 23 and speed, rod chamber pressure and rodless cavity pressure, position controller 26 processes the signal gathered, and compare with the position signal that position controller 26 sets, thus control position controls the position signal operation that asymmetrical cylinder 23 sets according to position controller 26.In positioning control asymmetrical cylinder 23 running, loaded to electro-hydraulic position servo control System Implementation by Loading Control System.First the setting of power is carried out by loading force given 7, by force snesor 16 through the feedback of the real-time detect force signal of power analog-digital converter 1 as power, regulated by the deviation of power correcting device 8 pairs of power setting values and value of feedback, and exported the input signal as dynamic compensator 10.Then by the position information of No. I position and speed sensor 14 through displacement and speed A/D converter 2 Real-time Collection Loading Control asymmetrical cylinder 15, by the rodless cavity pressure of No. I pressure transducer 13 through No. I pressure modulus transducer 5 Real-time Collection Loading Control asymmetrical cylinder 15, by the rod chamber pressure of No. II pressure transducer 17 through No. II pressure modulus transducer 3 Real-time Collection Loading Control asymmetrical cylinder 15, by the charge oil pressure of system charge oil pressure sensor 20 through system charge oil pressure analog-digital converter 9 Real-time Collection Loading Control System, by the rodless cavity flow of No. I flow transducer 12 through No. I hydromodulus transducer 6 Real-time Collection Loading Control asymmetrical cylinder 15, by the rod chamber flow of No. II flow transducer 18 through No. II hydromodulus transducer 4 Real-time Collection Loading Control asymmetrical cylinder 15, the data gathered are respectively as the input signal of dynamic compensator 10.Dynamic compensator 10 carries out position, flow and pressure three Parameter fusion by the output signal of dynamic compensation function to displacement and speed A/D converter 2, No. II pressure modulus transducer 3, No. II hydromodulus transducer 4, No. I pressure modulus transducer 5, No. I hydromodulus transducer 6, system charge oil pressure analog-digital converter 9 and compensates, and carry out loading force control according to the output of power correcting device 8 is auxiliary, realize real-time dynamic load.The signal of dynamic compensator 10 exports the spool travel controlling No. I servo proportion 19 through power amplifier 11, drives No. I servo proportion 19 to produce corresponding motion, and the loading force highi degree of accuracy realizing Loading Control asymmetrical cylinder 15 controls.
Wherein said dynamic compensation function expression is:
In formula (1), Gd is dynamic compensation function; F (x, t) is the position curve of Loading Control asymmetrical cylinder 15 within a cycle of motion; Gsv (s) is the transfer function of No. I servo proportion 19; Xv is the spool travel of No. I servo proportion 19; V is the rate signal of the Loading Control asymmetrical cylinder 15 that No. I position and speed sensor 14 Real-time Collection exports through displacement and speed A/D converter 2; Q1 is the signal that the flow of No. I flow transducer 12 Real-time Collection Loading Control asymmetrical cylinder 15 rodless cavity exports through No. I hydromodulus transducer 6; Q2 is the signal that the flow of No. II flow transducer 18 Real-time Collection Loading Control asymmetrical cylinder 15 rod chamber exports through No. II hydromodulus transducer 4; Compensation intensity when K1 and K2 is No. I servo proportion 19 spool travel xv>0 and xv<0 respectively; Flow gain when Kq1 and Kq2 is No. I servo proportion 19 spool travel xv>0 and xv<0 respectively; P1 is the signal that the pressure of No. I pressure transducer 13 Real-time Collection Loading Control asymmetrical cylinder 15 rodless cavity exports through No. I pressure modulus transducer 5; P2 is the signal that the pressure of No. II pressure transducer 17 Real-time Collection Loading Control asymmetrical cylinder 15 rod chamber exports through No. II pressure modulus transducer 3; Ps1 is the signal that system charge oil pressure sensor 20 exports through system charge oil pressure analog-digital converter 9.
Claims (1)
1. the real-time dynamic compensation deceleration loading device of a kind of asymmetrical cylinder of the present invention, is a kind of eletro-hydraulic pressure control sysem, by Loading Control asymmetrical cylinder (15), No. I servo proportion (19) and loading control composition, is characterized in that loading control is gathered by multiple sensor, loading force given (7), power correcting device (8), dynamic compensator (10), power amplifier (11) forms, and wherein said multiple sensor collection is by power analog-digital converter (1), displacement and speed A/D converter (2), No. II pressure modulus transducer (3), No. II hydromodulus transducer (4), No. I pressure modulus transducer (5), No. I hydromodulus transducer (6), system charge oil pressure analog-digital converter (9), No. I flow transducer (12), No. I pressure transducer (13), No. I position and speed sensor (14), force snesor (16), No. II pressure transducer (17), No. II flow transducer (18) and system charge oil pressure sensor (20) composition, wherein said loading force given (7) can be constant value also can be the value changed, and loading force given (7) exports the given input as power correcting device (8), force snesor (16) output signal exports the feed back input as power correcting device (8) through power analog-digital converter (1), power correcting device (8) is proportional integral corrector, realize the deviation signal regulable control that loading force given (7) and power analog-digital converter (1) export, the output of power correcting device (8) inputs as the signal of dynamic compensator (10), No. I position and speed sensor (14), No. II pressure transducer (17), No. II flow transducer (18), No. I pressure transducer (13), No. I flow transducer (12) and system charge oil pressure sensor (20) are respectively through displacement and speed A/D converter (2), No. II pressure modulus transducer (3), No. II hydromodulus transducer (4), No. I pressure modulus transducer (5), the output signal of No. I hydromodulus transducer (6) and system charge oil pressure analog-digital converter (9), also the signal as dynamic compensator (10) inputs, described dynamic compensator (10) carries out position, flow and pressure three Parameter fusion by dynamic compensation function and compensates, and carries out loading force control according to the output of power correcting device (8) is auxiliary, realizes real-time dynamic load, dynamic compensator (10) signal exports the spool travel controlling No. I servo proportion (19) through power amplifier (11), the generation of No. I servo proportion (19) is driven to move accordingly, the loading force highi degree of accuracy realizing Loading Control asymmetrical cylinder (15) controls, wherein said dynamic compensation function expression G
dfor:
F (x, t) is the position curve of Loading Control asymmetrical cylinder (15) within a cycle of motion; G
svs () is the transfer function of No. I servo proportion (19); x
vit is the spool travel of No. I servo proportion (19); V is the rate signal of the Loading Control asymmetrical cylinder (15) that No. I position and speed sensor (14) Real-time Collection exports through displacement and speed A/D converter (2); q
1it is the signal that the flow of No. I flow transducer (12) Real-time Collection Loading Control asymmetrical cylinder (15) rodless cavity exports through No. I hydromodulus transducer (6); q
2it is the signal that the flow of No. II flow transducer (18) Real-time Collection Loading Control asymmetrical cylinder (15) rod chamber exports through No. II hydromodulus transducer (4); K
1and K
2no. I servo proportion (19) spool travel x respectively
v>0 and x
vcompensation intensity during <0; K
q1and K
q2no. I servo proportion (19) spool travel x respectively
v>0 and x
vflow gain during <0; p
1it is the signal that the pressure of No. I pressure transducer (13) Real-time Collection Loading Control asymmetrical cylinder (15) rodless cavity exports through No. I pressure modulus transducer (5); p
2it is the signal that the pressure of No. II pressure transducer (17) Real-time Collection Loading Control asymmetrical cylinder (15) rod chamber exports through No. II pressure modulus transducer (3); p
s1it is the signal that system charge oil pressure sensor (20) exports through system charge oil pressure analog-digital converter (9).
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Cited By (12)
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| CN105387024A (en) * | 2015-12-09 | 2016-03-09 | 中国飞机强度研究所 | Method for judging whether servo valve is matched with actuating cylinder or not |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN108050112A (en) * | 2017-11-10 | 2018-05-18 | 西安理工大学 | The control pressurer system and its control method of a kind of asymmetrical hydraulic cylinder |
| CN108626206A (en) * | 2018-05-18 | 2018-10-09 | 太原理工大学 | A kind of state parameter acquisition device for electrohydraulic servo-controlling system |
| CN109139616A (en) * | 2018-09-17 | 2019-01-04 | 中南大学 | The symmetrization control method of asymmetric hydraulic system based on output feedback |
| CN109281894A (en) * | 2018-10-29 | 2019-01-29 | 南京航空航天大学 | A kind of hydrostatic actuator non-linear compensation method that miniature positive displacement remotely controls |
| CN109443823A (en) * | 2018-12-25 | 2019-03-08 | 上海电气液压气动有限公司 | A kind of depth tunnel domain experimental rig |
| CN109595223A (en) * | 2018-12-12 | 2019-04-09 | 长沙航空职业技术学院 | A kind of control method of the asymmetric electro-hydraulic proportional system based on proportioning valve Accurate Model |
| CN109958664A (en) * | 2017-12-25 | 2019-07-02 | 北京金风科创风电设备有限公司 | Electro-hydraulic control system, method and device |
| WO2021046985A1 (en) * | 2019-09-12 | 2021-03-18 | 清华大学 | Electro-hydraulic servo actuator for implementing long-path and high-frequency loading, and control method |
| CN113431816A (en) * | 2021-07-14 | 2021-09-24 | 长沙航空职业技术学院 | Control method of asymmetric negative superposition proportional valve control asymmetric cylinder system |
| CN113757221A (en) * | 2021-07-22 | 2021-12-07 | 浙江大学 | Liquid supply speed and position open-loop control method |
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| CN105387024A (en) * | 2015-12-09 | 2016-03-09 | 中国飞机强度研究所 | Method for judging whether servo valve is matched with actuating cylinder or not |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN107345535B (en) * | 2017-07-04 | 2018-07-20 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN108050112A (en) * | 2017-11-10 | 2018-05-18 | 西安理工大学 | The control pressurer system and its control method of a kind of asymmetrical hydraulic cylinder |
| CN108050112B (en) * | 2017-11-10 | 2019-07-23 | 西安理工大学 | A kind of control pressurer system and its control method of asymmetrical hydraulic cylinder |
| CN109958664A (en) * | 2017-12-25 | 2019-07-02 | 北京金风科创风电设备有限公司 | Electro-hydraulic control system, method and device |
| CN109958664B (en) * | 2017-12-25 | 2020-05-12 | 北京金风科创风电设备有限公司 | Electro-hydraulic control system, method and device |
| CN108626206A (en) * | 2018-05-18 | 2018-10-09 | 太原理工大学 | A kind of state parameter acquisition device for electrohydraulic servo-controlling system |
| CN109139616B (en) * | 2018-09-17 | 2019-11-12 | 中南大学 | The symmetrization control method of asymmetric hydraulic system based on output feedback |
| CN109139616A (en) * | 2018-09-17 | 2019-01-04 | 中南大学 | The symmetrization control method of asymmetric hydraulic system based on output feedback |
| CN109281894A (en) * | 2018-10-29 | 2019-01-29 | 南京航空航天大学 | A kind of hydrostatic actuator non-linear compensation method that miniature positive displacement remotely controls |
| CN109595223A (en) * | 2018-12-12 | 2019-04-09 | 长沙航空职业技术学院 | A kind of control method of the asymmetric electro-hydraulic proportional system based on proportioning valve Accurate Model |
| CN109595223B (en) * | 2018-12-12 | 2020-09-04 | 长沙航空职业技术学院 | Control method of asymmetric electro-hydraulic proportional system based on precise modeling of proportional valve |
| CN109443823A (en) * | 2018-12-25 | 2019-03-08 | 上海电气液压气动有限公司 | A kind of depth tunnel domain experimental rig |
| WO2021046985A1 (en) * | 2019-09-12 | 2021-03-18 | 清华大学 | Electro-hydraulic servo actuator for implementing long-path and high-frequency loading, and control method |
| US11867207B2 (en) | 2019-09-12 | 2024-01-09 | Tsinghua University | Electro-hydraulic servo actuator capable of implementing long-stroke and high-frequency loading, and control method |
| CN113431816A (en) * | 2021-07-14 | 2021-09-24 | 长沙航空职业技术学院 | Control method of asymmetric negative superposition proportional valve control asymmetric cylinder system |
| CN113431816B (en) * | 2021-07-14 | 2022-04-15 | 长沙航空职业技术学院 | Control method of asymmetric negative superposition proportional valve control asymmetric cylinder system |
| CN113757221A (en) * | 2021-07-22 | 2021-12-07 | 浙江大学 | Liquid supply speed and position open-loop control method |
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