CN105201935A - Variable rotating speed hydraulic power supply flow control system and method - Google Patents
Variable rotating speed hydraulic power supply flow control system and method Download PDFInfo
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Abstract
The invention discloses a variable rotating speed hydraulic power supply flow control system and method. The variable rotating speed hydraulic power supply flow control system comprises a subtracter, a PID controller, a summator, a servo driver, a permanent magnet motor, a gear pump, a motor, a current feedforward controller, a Hall current sensor used for detecting currents of the stator side of the permanent magnet motor and a flow sensor used for detecting flow information of an oil outlet of the gear pump. Variable rotating speed hydraulic power supply flow control can be achieved, the response speed is high, and accuracy is high.
Description
Technical Field
The invention belongs to the technical field of hydraulic power system control, and relates to a variable-speed hydraulic power source flow control system and method.
Background
The hydraulic transmission and control technology is a high-cross and high-comprehensive technical subject integrating a plurality of subjects such as a hydraulic technology, a microelectronic technology, a sensing detection technology, computer control, modern control theory and the like, and has remarkable mechanical-electrical-hydraulic integration characteristics. The speed of an actuating mechanism is controlled by most of hydraulic equipment, namely, the speed regulation control is the core of the hydraulic equipment and generally comprises two valve control modes of throttling speed regulation and volume speed regulation. With the continuous popularization of the frequency conversion speed regulation technology of the alternating current motor, a frequency conversion volume speed regulation (variable rotation speed control) method of the hydraulic equipment is provided, the principle is that a quantitative oil pump and the alternating current speed regulation technology of the motor are organically combined, the dynamic regulation of flow is realized through the change of the rotation speed of the oil pump, and a complex variable displacement control mechanism is omitted compared with a variable pump system. Compared with the traditional valve control speed regulation system, the variable-speed fluid speed regulation control simplifies a hydraulic circuit, has strong pollution resistance, reduces or completely eliminates the energy loss of the hydraulic valve, improves the system efficiency and reliability, has the efficiency of over 80 percent, has simple structure and good dynamic performance, and thus the variable-speed control of the hydraulic equipment becomes a research and development hotspot for researchers at home and abroad.
The speed rigidity of the speed regulating system of the variable-speed pump-controlled motor is low, and the hydraulic pump, the hydraulic motor and the control valve can generate leakage under the action of load torque, so that the rotating speed of the motor is reduced; the action of the load torque can also generate certain rotating speed drop due to the mechanical characteristics of the motor; the hydraulic oil has compressibility, and when the system pressure changes, the volume of the hydraulic oil changes; the greater the load torque, the more pronounced the motor speed drop. Therefore, how to actively compensate the motor speed drop caused by the load is the key point for ensuring the speed regulation precision.
The high-power large-inertia variable-frequency pump control motor speed regulation system increases the stability of the system due to the existence of large inertia, but reduces the rapidity of system response, so how to improve the rapidity of the system response is another key problem of improving the real-time tracking effect. The speed regulating system of the high-power large-inertia variable frequency pump control motor has large time lag in the control system due to large rotational inertia and the regulation dead zone of the hydraulic system, the control system has slow response and poor dynamic and static performances, and a stable PID feedback control method is difficult to obtain satisfactory control effect. For example: during loading, the pressure of the system is increased, and the leakage amount of oil is increased, so that the flow of the system is temporarily reduced, and the control precision of the speed is influenced. The existing hardware compensation measures for system flow have certain limitations, such as: when the load changes, the rotating speed of the pump (motor) is properly adjusted, the flow rate of the loop leakage can be properly compensated, and the stability of the rotating speed of the actuator is maintained, but the compensation amount is lack of theoretical guidance, and overcompensation or undercompensation is easily caused; in addition, the speed rigidity of the rotating speed shaft of the motor can be improved to a greater extent by selecting the frequency converter with vector control, the speed regulation precision is improved, and the vector type frequency converter cannot reduce the influence of the slow time-varying characteristic of a hydraulic system on the system output.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a variable-speed hydraulic power source flow control system and a variable-speed hydraulic power source flow control method, which can realize the flow control of the variable-speed hydraulic power source, have high response speed and high accuracy,
in order to achieve the purpose, the variable-speed hydraulic power source flow control system comprises a subtracter, a PID controller, an adder, a servo driver, a permanent magnet motor, a gear pump, a motor, a current feedforward controller, a Hall current sensor for detecting the current of the stator side of the permanent magnet motor and a flow sensor for detecting the flow information of an oil outlet of the gear pump;
the output end of the servo driver is connected with the control end of the permanent magnet motor, the output shaft of the permanent magnet motor is connected with the drive shaft of the gear pump, the oil outlet of the oil tank is communicated with the oil inlet of the gear pump, the oil outlet of the gear pump is communicated with the oil inlet of the motor, the oil outlet of the motor is communicated with the oil inlet of the oil tank, the output end of the Hall current sensor is connected with the input end of the current feedforward controller, the output end of the current feedforward controller is connected with the input end of the adder, the output end of the flow sensor is connected with the input end of the subtracter, the output end of the subtracter is connected with the input end of the PID controller, the output end of the PID controller is.
The invention discloses a flow control method of a variable-rotating-speed hydraulic power source, which comprises the following steps of:
1) flow sensor collects flow information Q at oil outlet of gear pump in real timepAnd the flow information Q of the oil outlet of the gear pump is obtainedpThe flow is transmitted to a subtracter, and the subtracter presets a target flow value QrSubtracting the flow value Q at the oil outlet of the current gear pumppObtaining a system flow deviation, forwarding the system flow deviation to a PID controller, generating a PID control quantity by the PID controller according to the system flow deviation, and forwarding the PID control quantity to an adder; the method comprises the steps that a Hall current sensor detects current information on the stator side of a permanent magnet motor in real time, the current information on the stator side of the permanent magnet motor is forwarded to a current feedforward controller, the current feedforward controller generates control information according to the current information on the stator side of the permanent magnet motor, the control information is forwarded to an adder, the adder carries out addition operation on the control information and PID control quantity, and the result of the addition operation is forwarded to a servo driver;
2) the servo driver controls the permanent magnet motor to work according to the addition operation result obtained in the step 1), the output shaft of the permanent magnet motor drives the gear pump to work, and the gear pump outputs hydraulic oil to drive the motor to work.
When the current information of the permanent magnet motor stator side received by the current feedforward controller is not changed, the output control information is '0'; when the current information of the permanent magnet motor stator side received by the current feedforward controller changes, the control information is generated according to the change of the current information of the permanent magnet motor stator side.
The torque balance equation on the drive shaft of the gear pump is:
wherein, TLIs the input torque of the gear pump,is the inertia torque of the gear pump, BpOmega is the damping torque of the gear pump,torque generated for oil pressure, JpIs the rotational inertia of the gear pump, BpThe damping coefficient of the gear pump;
the torque balance equation on the drive shaft of the permanent magnet motor is:
wherein,is the inertia torque of the permanent magnet motor, BmOmega is the resistance torque of the permanent magnet motor, TLIs the load torque of the permanent magnet machine, TeIs the electromagnetic torque of a permanent magnet machine, JmIs the moment of inertia of the permanent magnet machine, BmThe damping coefficient of the permanent magnet motor;
electromagnetic torque TeThe expression of (a) is:
wherein p is the pole pair number of the permanent magnet motor, i is the stator side current of the permanent magnet motor, and KeIs the back electromotive force coefficient of the permanent magnet motor;
substituting the formula (1) and the formula (3) into the formula (2) to obtain
From the formula (4), the output pressure P of the gear pumppRelating to two variables of the rotating speed omega of the permanent magnet motor and the current i of the permanent magnet motor.
The invention has the following beneficial effects:
when the variable-speed hydraulic power source flow control system and the variable-speed hydraulic power source flow control method work, the flow sensor is used for acquiring the flow information at the oil outlet of the gear pump, and subtracting the flow information at the oil outlet of the gear pump from the target flow to obtain the system flow deviation, the PID controller gives out PID control quantity according to the deviation of the system flow, and the PID control quantity is input into the adder, the current feedforward controller judges the system operation condition according to the current information of the stator side of the permanent magnet motor, then obtaining control information according to the system operation condition, and transmitting the control information to an adder, the servo driver controls the permanent magnet motor to work according to the addition result of the adder, the permanent magnet motor drives the motor to work through the gear pump, and the control of the flow of the hydraulic oil at the oil outlet of the gear pump is achieved, so that the control of the flow of the variable-speed hydraulic power source is achieved. The invention firstly provides a current feedforward and flow feedback combined active control strategy to form a current feedforward-feedback composite compensation active control strategy, thereby solving the problems of large instantaneous fluctuation of system flow, slow response speed, difficult adjustment and the like when a hydraulic system is changed due to load disturbance through current feedforward control, and simultaneously eliminating the steady-state error of the hydraulic power source flow by combining with a PID controller to improve the control precision.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a diagram showing the relationship between the stator side current and the system pressure of the permanent magnet motor 5 according to the present invention;
FIG. 3 is a graph showing the relationship between current and pressure when the actual measurement hydraulic system is loaded or unloaded;
FIG. 4 is a flow step loading response diagram of a conventional measured PID control method;
FIG. 5 is a flow step load response graph of the present invention;
FIG. 6 is a flow ramp loading response diagram for a conventional measured PID control method;
FIG. 7 is a flow ramp load response graph of the present invention;
wherein, 1 is a subtracter, 2 is a PID controller, 3 is an adder, 4 is a servo driver, 5 is a permanent magnet motor, 6 is a gear pump, 7 is a motor, 8 is a current feedforward controller, 9 is a Hall current sensor, and 10 is a flow sensor.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the variable-speed hydraulic power source flow control system of the present invention includes a subtractor 1, a PID controller 2, an adder 3, a servo driver 4, a permanent magnet motor 5, a gear pump 6, a motor 7, a current feedforward controller 8, a hall current sensor 9 for detecting the stator side current of the permanent magnet motor 5, and a flow sensor 10 for detecting the flow information of the oil outlet of the gear pump 6; the output end of the servo driver 4 is connected with the control end of the permanent magnet motor 5, the output shaft of the permanent magnet motor 5 is connected with the drive shaft of the gear pump 6, the oil outlet of the oil tank is communicated with the oil inlet of the gear pump 6, the oil outlet of the gear pump 6 is communicated with the oil inlet of the motor 7, the oil outlet of the motor 7 is communicated with the oil inlet of the oil tank, the output end of the Hall current sensor 9 is connected with the input end of the current feedforward controller 8, the output end of the current feedforward controller 8 is connected with the input end of the adder 3, the output end of the flow sensor 10 is connected with the input end of the subtracter 1, the output end of the subtracter 1 is connected with the input end of the PID controller 2, the output end of the PID controller 2 is connected with the input.
The invention discloses a flow control method of a variable-rotating-speed hydraulic power source, which comprises the following steps of:
1) the flow sensor 10 collects the flow information Q at the oil outlet of the gear pump 6 in real timepAnd flow information Q at the oil outlet of the gear pump 6pThe flow is forwarded to a subtracter 1, and the subtracter 1 presets a target flow value QrSubtracting the flow value Q at the oil outlet of the current gear pump 6pObtaining a system flow deviation, forwarding the system flow deviation to a PID controller 2, generating a PID control quantity by the PID controller 2 according to the system flow deviation, and forwarding the PID control quantity to an adder 3; the method comprises the steps that a Hall current sensor 9 detects current information on the stator side of a permanent magnet motor 5 in real time, the current information on the stator side of the permanent magnet motor 5 is forwarded to a current feedforward controller 8, the current feedforward controller 8 generates control information according to the current information on the stator side of the permanent magnet motor 5, the control information is forwarded to an adder 3, the adder 3 carries out addition operation on the control information and PID control quantity, and the result of the addition operation is forwarded to a servo motorIn the drive 4;
2) the servo driver 4 controls the permanent magnet motor 5 to work according to the addition operation result obtained in the step 1), the output shaft of the permanent magnet motor 5 drives the gear pump 6 to work, and the gear pump 6 outputs hydraulic oil to drive the motor 7 to work.
It should be noted that, when the current information of the stator side of the permanent magnet motor 5 received by the current feedforward controller 8 does not change, the output control information is "0"; when the current feed-forward controller 8 receives the current information of the stator side of the permanent magnet motor 5 and changes, the control information is generated according to the change of the current information of the stator side of the permanent magnet motor 5.
The torque balance equation on the drive shaft of the gear pump 6 is:
wherein, TLIs the input torque of the gear pump 6,is the inertia torque of the gear pump 6, BpOmega is the damping torque of the gear pump 6,torque generated for oil pressure, JpIs the moment of inertia of the gear pump 6, BpThe damping coefficient of the gear pump 6;
the torque balance equation on the drive shaft of the permanent magnet motor 5 is:
wherein,is the inertia torque of the permanent magnet motor 5, BmOmega is the resistance torque of the permanent magnet motor 5, TLIs the load torque, T, of the permanent magnet motor 5eIs the electromagnetic torque of the permanent magnet motor 5, JmIs the moment of inertia of the permanent magnet motor 5, BmThe damping coefficient of the permanent magnet motor 5;
electromagnetic torque TeThe expression of (a) is:
wherein p is the pole pair number of the permanent magnet motor 5, i is the stator side current of the permanent magnet motor 5, and KeIs the back emf coefficient of the permanent magnet motor 5;
substituting the formula (1) and the formula (3) into the formula (2) to obtain
The output pressure P of the gear pump 6 is obtained from the formula (4)pThe relationship between the stator side current of the motor and the system pressure at different rotation speeds can be obtained by relating two variables, namely the rotation speed omega of the permanent magnet motor 5 and the current i of the permanent magnet motor 5, as shown in fig. 2.
As can be seen from fig. 3, when the load of the hydraulic system suddenly changes, the change of the stator side current of the permanent magnet motor 5 is almost synchronous with the change of the system pressure, so that the stator side current of the permanent magnet motor 5 can be used as a feed-forward signal.
As can be seen from FIG. 4, when the system flow is stable, the proportional relief valve is used for adding the load of step-up and step-down, the system pressure is increased to 5MPa, and the temperature is 23.5 ℃; when the pressure of the system rises in a step mode, the leakage amount of the gear pump 6 is increased, so that the flow can be reduced, but the flow closed-loop control is adopted in the system, so that the leakage increase of the gear pump 6 can be compensated by controlling the increase of the rotating speed of the permanent magnet motor 5, the flow of the system is adjusted and recovered stably after 6.5 seconds, and the set target flow is achieved. Meanwhile, when the pressure of the system is decreased in a step mode, the flow rate is increased, and the rotating speed of the permanent magnet motor 5 is adjusted through closed-loop control, so that the flow rate of the system reaches a set target value.
As can be seen from fig. 5, after the current feedforward control is added, when the load changes, the change of the system pressure is coupled to the change of the motor current, the change quantity of the current value is output by the current feedforward controller 8 and then added to the PID control quantity, at this time, the analog input control quantity of the permanent magnet motor 5 is increased, the rotating speed of the permanent magnet motor 5 is increased, the output flow of the hydraulic power source is increased, and the deviation between the target flow and the system flow is rapidly reduced, the adjusting time of the present invention is only 2 seconds, which is 4.5 seconds shorter than the adjusting time of the conventional PID feedback control.
As can be seen from fig. 6, after the system flow is stabilized, the proportional relief valve is used to apply the ramp-up and ramp-down loads, so that the system pressure rises to 5MPa, the temperature is 23.5 ℃, the system pressure rises more slowly than the step load when the ramp load is applied, but the flow adjustment time is still 6.5 seconds.
As can be seen from fig. 7, after the current feedforward control is added, the adjustment time of the system flow during the ramp loading is 2.5 seconds, which is 4 seconds shorter than the adjustment time of the conventional PID feedback control.
Therefore, the method effectively solves the problems of large instantaneous flow fluctuation, slow response speed, difficult adjustment and the like of the system when the variable-speed hydraulic power source changes in load disturbance, and combines the advantages of feedforward control and feedback control to realize the active control of the variable-speed hydraulic power source based on current feedforward.
Claims (4)
1. A variable-rotation-speed hydraulic power source flow control system is characterized by comprising a subtracter (1), a PID controller (2), an adder (3), a servo driver (4), a permanent magnet motor (5), a gear pump (6), a motor (7), a current feedforward controller (8), a Hall current sensor (9) for detecting the stator side current of the permanent magnet motor (5) and a flow sensor (10) for detecting the oil outlet flow information of the gear pump (6);
the output end of the servo driver (4) is connected with the control end of the permanent magnet motor (5), the output shaft of the permanent magnet motor (5) is connected with the drive shaft of the gear pump (6), the oil outlet of the oil tank is communicated with the oil inlet of the gear pump (6), the oil outlet of the gear pump (6) is communicated with the oil inlet of the motor (7), the oil outlet of the motor (7) is communicated with the oil inlet of the oil tank, the output end of the Hall current sensor (9) is connected with the input end of the current feedforward controller (8), the output end of the current feedforward controller (8) is connected with the input end of the adder (3), the output end of the flow sensor (10) is connected with the input end of the subtracter (1), the output end of the subtracter (1) is connected with the input end of the PID controller (2), the output end of the PID controller (2) is connected with, the output end of the adder (3) is connected with the input end of the servo driver (4).
2. A variable-speed hydraulic power source flow control method is based on the variable-speed hydraulic power source flow control system of claim 1 and is characterized by comprising the following steps:
1) the flow sensor (10) collects flow information Q at an oil outlet of the gear pump (6) in real timepAnd flow information Q at an oil outlet of the gear pump (6)pThe flow is forwarded to a subtracter (1), and the subtracter (1) presets a target flow value QrSubtracting the flow value Q at the oil outlet of the current gear pump (6)pObtaining a system flow deviation, forwarding the system flow deviation to a PID controller (2), generating a PID control quantity by the PID controller (2) according to the system flow deviation, and forwarding the PID control quantity to an adder (3); the method comprises the steps that a Hall current sensor (9) detects current information of the stator side of a permanent magnet motor (5) in real time, the current information of the stator side of the permanent magnet motor (5) is forwarded to a current feedforward controller (8), the current feedforward controller (8) generates control information according to the current information of the stator side of the permanent magnet motor (5), the control information is forwarded to an adder (3), the adder (3) carries out addition operation on the control information and PID control quantity, and the result of the addition operation is forwarded to a servo driver (4);
2) the servo driver (4) controls the permanent magnet motor (5) to work according to the addition operation result obtained in the step 1), the output shaft of the permanent magnet motor (5) drives the gear pump (6) to work, and the gear pump (6) outputs hydraulic oil to drive the motor (7) to work.
3. The variable speed hydraulic power source flow control method according to claim 2,
when the current information of the stator side of the permanent magnet motor (5) received by the current feedforward controller (8) is not changed, the output control information is '0'; when the current information of the stator side of the permanent magnet motor (5) received by the current feedforward controller (8) changes, the control information is generated according to the change of the current information of the stator side of the permanent magnet motor (5).
4. The variable speed hydraulic power source flow control method according to claim 2,
the torque balance equation on the drive shaft of the gear pump (6) is:
wherein, TLIs the input torque of the gear pump (6),is the inertia torque of the gear pump (6), BpOmega is the damping torque of the gear pump (6),torque generated for oil pressure, JpIs the rotational inertia of the gear pump (6), BpThe damping coefficient of the gear pump (6);
the torque balance equation on the driving shaft of the permanent magnet motor (5) is as follows:
wherein,is the inertia torque of the permanent magnet motor (5), BmOmega is the resistance torque of the permanent magnet motor (5), TLIs the load torque, T, of the permanent magnet motor (5)eIs the electromagnetic torque of the permanent magnet motor (5), JmIs the moment of inertia of the permanent magnet motor (5), BmThe damping coefficient of the permanent magnet motor (5);
electromagnetic torque TeThe expression of (a) is:
wherein p is the pole pair number of the permanent magnet motor (5), i is the stator side current of the permanent magnet motor (5), KeIs the back electromotive force coefficient of the permanent magnet motor (5);
substituting the formula (1) and the formula (3) into the formula (2) to obtain
The output pressure P of the gear pump (6) is obtained from the formula (4)pThe speed of the permanent magnet motor (5) and the current i of the permanent magnet motor (5) are related to two variables.
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