CN105422521B - Hydraulic linear drive system based on control of servo pumps, and control method - Google Patents
Hydraulic linear drive system based on control of servo pumps, and control method Download PDFInfo
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- CN105422521B CN105422521B CN201510942988.8A CN201510942988A CN105422521B CN 105422521 B CN105422521 B CN 105422521B CN 201510942988 A CN201510942988 A CN 201510942988A CN 105422521 B CN105422521 B CN 105422521B
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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
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/03—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type with electrical control means
Abstract
The invention discloses a hydraulic linear drive system based on control of servo pumps, and a control method. A rodless cavity and a rod cavity of a hydraulic cylinder of the system are connected with hydraulic pumps A and B respectively, and the two pumps are controlled by servo drivers A and B, and servo motors A and B respectively; a movement control unit is connected with the two servo drivers; pressure sensors A and B on pipelines of the rodless cavity and the rod cavity are connected with the two servo drivers respectively; and a displacement sensor on a push rod of the hydraulic cylinder is connected to the movement control unit. The control method is that when the motor and the pump at the side A positively run, the push rod moves forwards, and meanwhile, the motor and the pump at the side B reversely run, and the rod cavity drains; conversely, the motor and the pump at the side B positively run, and the motor and the pump at the side A reversely run. Process data and control requirements are stored in the movement control unit, running mode instructions, and speed and pressure setting instructions of the two servo drivers are obtained according to the process data, the control requirements and the current displacement signal of the push rod, and the speed and the position of the push rod are accurately controlled. According to the invention, high response frequency and precise position control are realized; and the system is simple in structure, low in cost, and high in reliability.
Description
Technical field
The present invention relates to hydraulic transmission, specially a kind of servo-pump control hydraulic linear drive system and control method,
Two servomotors of the present invention respectively drive an oil pump co-operating, and then the power output of control hydraulic cylinder, realize to straight line
Reciprocating control.
Background technology
It is a kind of conventional machinery structure by hydraulic cylinder control linear motion and power output, traditional hydraulic linear drives
System is that motor-driven hydraulic pumps continuously run, and the oil circuit being made up of various valve groups, sensor and pipeline controls the stream of hydraulic oil
To, flow velocity, pressure, and realize the driving of hydraulic cylinder then.When needing to control the translational speed of hydraulic cylinder, proportion directional is needed
Valve or the valve regulation of proportion directional servo enter the liquid rate of hydraulic cylinder；When needing to control the motive force of hydraulic cylinder, control is needed
The overflow pressure of overflow valve processed or according to the feedback of pressure sensor and passing ratio pressure valve or ratio pressure servo valve come
Thus control control the thrust of hydraulic cylinder into the liquid pressure of hydraulic cylinder.
There is following some deficiency in the hydraulic linear drive system of this quasi-tradition：1st, driving hydraulic pump motor must continuously not
Intermitten service, even if when hydraulic cylinder need not be adjusted control, motor can not shut down, the liquid for constantly pumping out from fuel tank
Force feed returns fuel tank further through valve group, wastes electric energy.Especially when hydraulic cylinder thrust output but piston displacement is minimum or displacement
When speed is very low, the high pressure throttling lifting power consumption of motor wastes electric energy；2nd, the electric energy for wasting becomes heat energy, causes oil
Temperature rises, and oil circuit seal accelerated ageing, fault rate is increased；3rd, when hydraulic oil is between the rod chamber and rodless cavity of hydraulic cylinder
During reciprocal flowing, need to control various valve events, constantly produce overflow, topping up action, increase system loss, the event of valve
Barrier rate is also higher；4th, in quick, accurate control, need to participate in control using P/Q valves (pressure flow hybrid control valve) or servo valve
System, particularly servo valve is expensive, maintenance difficult, causes purchasing for system equipment to be significantly increased with working service cost；5、
Need longer time to complete due to the mechanical action of various valves, cause the various actions switching of oil circuit impossible further
Speed-raising, directly affects the work tempo of equipment.
The content of the invention
The purpose of the present invention is, for the deficiencies in the prior art, to propose a kind of servo-pump control hydraulic linear drive system, A, B
The outlet end of two hydraulic pumps is respectively connected to the rodless cavity and rod chamber of hydraulic cylinder, two servomotors of A, B respectively with A, B hydraulic pressure
Pump connecting shaft, two servo-drivers of A, the B being connected with motion control unit control respectively two servomotors of A, B, are installed on liquid
The signal of two pressure sensors of A, B in the rodless cavity and rod chamber of cylinder pressure is respectively connected to two servo-drivers of A, B, installs
In the signal end connection motion control unit of the displacement transducer of hydraulic cylinder push rod.
It is another object of the present invention to propose the control method of above-mentioned servo-pump control hydraulic linear drive system, A and B servos
Driver drives respectively A and B hydraulic pumps, one of servomotor and the hydraulic pump Positive work for being connected, another servo
Motor and the hydraulic pump antiport pressure release for being connected.Motion control unit required according to pushrod movement position and speeds control and
The current displacement signal of push rod, computing obtains operational mode instruction, speed setting instructions and the pressure setting of two servo-drivers
Instruction, and it is separately sent to A servo-drivers and B servo-drivers.Control model includes speed closed loop pattern and velocity pressure
Two close cycles pattern.The motion mode of hydraulic cylinder is divided into three kinds of progression, backhaul mode and high speed reciprocating manner, realizes hydraulic cylinder
The high speed of push rod, accurate reciprocating motion,
The present invention design a kind of servo-pump control hydraulic linear drive system, including a hydraulic cylinder, two hydraulic pumps and
Replenishing valve, overflow valve, piston connects push rod, cylinder chamber is divided into rod chamber and rodless cavity, and pipeline connects two hydraulic pumps
Liquid feeding end and liquid reserve tank, pipeline connects respectively the outlet end of two hydraulic pumps and the rod chamber of hydraulic cylinder and rodless cavity, two
Motor respectively connects and drives two hydraulic pumps, there is replenishing valve, overflow valve on pipeline；The rodless cavity of present hydraulic cylinder and A hydraulic pressure
The outlet end connection of pump, the rod chamber of hydraulic cylinder is connected with the outlet end of B hydraulic pumps.The liquid feeding end of A hydraulic pumps and B hydraulic pumps connects
Connect liquid reserve tank.A servomotors and A hydraulic pump connecting shafts, A servo-drivers connection control A servomotors；B servomotors and B hydraulic pressure
Pump connecting shaft, B servo-drivers connection control B servomotors.The control end connection A and B servo-drivers of motion control unit.Peace
Signal output part loaded on A pressure sensors on connection liquid cylinder pressure rodless cavity and A hydraulic pump outlet end pipelines accesses A servo-drives
Device；The signal output part of the B pressure sensors being installed on connection liquid cylinder pressure rod chamber and B hydraulic pump outlet end pipelines accesses B
Servo-driver.Displacement transducer is installed on hydraulic cylinder push rod, and its signal output part accesses the input of motion control unit.
Processor centered on the motion control unit, is furnished with communication interface and man-machine interface.
Pipeline Jing replenishing valves connect the rodless cavity of liquid reserve tank and hydraulic cylinder, and the replenishing valve is check valve, when the valve is without bar
When the pressure of chamber side is less than liquid reserve tank lateral pressure, this valve is automatically opened up, otherwise this valve is remained off.When the push rod of hydraulic cylinder
When quickly moving to rod chamber direction, rodless cavity rapid pressure drop, replenishing valve is automatically opened up to rodless cavity fluid infusion.
Connect A overflow valves on the pipeline of the outlet end connection liquid cylinder pressure rodless cavity of A hydraulic pumps, the outlet end of B hydraulic pumps connects
The pipeline connection B overflow valves of hydraulic cylinder rod chamber are connect, the outlet end of A and B overflow valves accesses liquid reserve tank.When liquid pressure in pipeline
When power exceedes the output pressure upper limit of institute's connection pump, release from the overflow valve for being connect, carry out voltage-limiting protection.
One of the solution of the present invention is protected when the system failure and stopped to install an electricity loss brake on the axle of B servomotors
When machine or power failure, electricity loss brake locks the axle of B servomotors, stops operating with the B hydraulic pumps of B servomotor connecting shafts, it is to avoid
The push rod of hydraulic cylinder and piston article mounted thereto drop rapidly because of gravity, with insurance system equipment safety.
Another scheme of the present invention, B servomotors are three-phase permanent synchronous servo motor, and its three-phase windings installs dead electricity
Normally closed contactor or dead electricity normally closed relay, when system failure protection is shut down or had a power failure, the winding of B servomotors is normal by dead electricity
Close contactor or the short circuit of dead electricity normally closed relay.When the push rod and piston article mounted thereto of hydraulic cylinder is by under gravity traction
During pendant, hydraulic oil promotes B hydraulic pumps to rotate backward, so as to drive B servo motor rotors to rotate backward, due to B servomotors three
Phase winding short circuit and produce damping torsion, B hydraulic pumps are only capable of slow rotation, make hydraulic cylinder push rod and piston slip to machine
Tool extreme position, protection system equipment safety.
Another scheme of the present invention, on the pipeline that the rod chamber of hydraulic cylinder is connected with B hydraulic pumps, during one power-off of installation
The protection valve being automatically switched off, when system failure protection is shut down or had a power failure, the protection valve is automatically switched off, the hydraulic oil in rod chamber
Will not release, you can the push rod for preventing hydraulic cylinder is dropped by the gravity traction of workpiece mounted thereto, plays safeguard protection
Effect.
The control method of servo-pump control hydraulic linear drive system proposed by the present invention is driven respectively for A and B servo-drivers
A the and B servomotors of dynamic each connection, when A servomotor Positive works, its A hydraulic pump Positive work for being connected, A hydraulic pressure
Pump provides pressure fluid into the rodless cavity of hydraulic cylinder, and the piston of hydraulic cylinder is moved to rod chamber direction, push rod output power；With
This simultaneously, B servomotors and its B hydraulic pump antiports for being connected, the rod chamber Jing B hydraulic pumps of hydraulic cylinder release liquid.
Conversely, when B servomotors and B hydraulic pump Positive works, B hydraulic pumps provide pressure fluid, hydraulic pressure into the rod chamber of hydraulic cylinder
The piston of cylinder to rod chamber direction is moved, meanwhile, A servomotors and A hydraulic pump antiports, the rodless cavity Jing A liquid of hydraulic cylinder
Press pump pressure release.
Motion control unit stores the process data of the system and different control model lower push-rod displacement signals and A and B
The relation data of servo-driver control instruction, motion control unit receives the control requirement of man-machine interface input, the control
It is required that speed or pushrod movement i.e. according to corresponding to job requirement sets hydraulic cylinder pushrod movement to certain moment reach certain position
Corresponding speed when putting, motion control unit requires the current displacement signal of push rod with the displacement transducer for being received according to control
Carry out logic judgment and position closed loop computing, obtain A and B servo-drivers operational mode instruction and speed setting instructions and
Pressure setting instruction, and it is separately sent to A servo-drivers and B servo-drivers.So as to adjust 2 servomotors and 2 liquid
The rotation of press pump, and position and the speed of push rod are adjusted then, realize the precise speed control and position control of push rod.
The control model includes speed closed loop pattern and velocity pressure two close cycles pattern.
A and B servo-drivers receive motion control unit speed setting instructions or speed and pressure setting instruction, with
And control model instruction, and receive anti-from the hydraulic cylinder rodless cavity of A and B pressure sensors or the current pressure of rod chamber respectively
Feedback value.When the control model instruction of motion control unit is speed closed loop pattern, the speed closed loop of servo-driver is by motion
The speed setting instructions of control unit control connected servomotor, drive it to set fully according to the speed of motion control unit
Determine instruction operation；When the control model instruction of motion control unit is velocity pressure two close cycles pattern, the pressure of servo-driver
Power closed loop sets instruction according to the pressure of motion control unit and current pressure value of feedback controls turning for connected servomotor
Dynamic speed, if current pressure value of feedback is reached or more than setup pressure value, reduces same with the hydraulic pump of positive pump liquid
The forward direction speed setting of the servomotor of axle improves the reverse of the servomotor coaxial with the hydraulic pump of reverse drainage
Speed sets；If current pressure value of feedback is less than setup pressure value, lifting is coaxial with the hydraulic pump of positive pump liquid
The inverted speed of the forward direction speed setting of the servomotor or reduction servomotor coaxial with the hydraulic pump of reverse drainage
Setting, the current servo motor speed setting value that servo-driver pressure closed loop determines sets with the speed from motion control unit
Fixed instruction compares, and takes the less speed command as the servo-driver of absolute value in two-value and is sent to connected servo
Motor is performed.
The high speed of hydraulic cylinder push rod, accurate reciprocating motion, specific pushrod movement side are capable of achieving by above-mentioned control method
Formula is divided into three kinds of progression, backhaul mode and high speed reciprocating manner.
Ith, progression
Progression refers to that hydraulic cylinder push rod is moved to rod chamber direction, is divided to F.F. mode (idle running) and work to enter mode two
Kind.
I -1, F.F. mode
Now the resistance of workpiece is not born in hydraulic cylinder push rod bottom, and usual movement velocity is higher lifting operating efficiency.Fortune
Dynamic control unit sends the instruction for running on speed closed loop pattern to the B servo-drivers for being connected to hydraulic cylinder rod chamber side, and
Speed setting instructions are sent, B servomotors and B hydraulic pumps are rotated backward by setting speed, have bar under B servo driver drives
Chamber drainage.Simultaneously motion control unit sends to the A servo-drivers for being connected to hydraulic cylinder rodless cavity side and runs on speed closed loop
The instruction of pattern, and speed setting instructions are sent, A servomotors and A hydraulic pumps press setting speed under A servo driver drives
Positive work, into rodless cavity pressure fluid is fed, and promotes the push rod of hydraulic cylinder to advance by predetermined speed.
When the frock weight on hydraulic cylinder push rod be enough to make bar to the pressure that the liquid of rod chamber and downstream pipe is produced
When the B hydraulic pumps of chamber side are in reversion, pressure release state, if the velocity of rotation of the A hydraulic pumps of rodless cavity side and A servomotors is not
Fuel feeding requirement when push rod advances can be met, rodless cavity side hydraulic pressure reduces even being changed into negative pressure, when pressure is less than storage in rodless cavity
During liquid case lateral pressure, the replenishing valve for connecting rodless cavity is automatically opened up, and to rodless cavity fluid infusion is implemented.The maximum speed of F.F. mode by
The B hydraulic pumps of rod chamber side and the maximum inversion speed of B servomotors are determined.
When F.F. mode terminates, changes a job into mode, motion control unit to the speed that B servo-drivers send reduction sets
Definite value sends speed lock zero-signal so that the speed of B servomotors and B hydraulic pumps declines, the pressure release of rod chamber slow down or
Stop, now, the pressure of rodless cavity rises, and replenishing valve is automatically switched off.
I -2, work enters mode
Now the resistance of workpiece is born in hydraulic cylinder push rod bottom, and its motion overcomes resistance work done.
Motion control unit sends the instruction for running on speed closed loop pattern to the A servo-drivers of rodless cavity side, concurrently
Go out speed setting instructions, A servomotors and A hydraulic pumps are referred to by the setting of motion control unit speed under A servo driver drives
Make, promote the push rod of hydraulic cylinder to advance by predetermined work speed；Meanwhile, motion control unit to the B servos of rod chamber side are driven
Dynamic device sends and runs on the instruction of velocity pressure two close cycles pattern, and sends speed reversal setting and pressure setting instruction, B servos
Current pressure feedback of the driver according to the speed setting instructions, pressure setting instruction and B pressure sensors of motion control unit
Value is determined the speed of B servomotors, the reversion pressure release of B hydraulic pumps by velocity pressure two close cycles pattern.
IIth, backhaul mode
Backhaul mode refers to that hydraulic cylinder push rod is moved to rodless cavity direction.B servo of the motion control unit to rod chamber side
Driver sends and runs on the instruction of speed closed loop pattern, and sends speed setting instructions, and B is watched under B servo driver drives
Motor and B hydraulic pumps are taken by predetermined speed Positive work, piston push rod is promoted to the backhaul of rodless cavity direction；Meanwhile, motion control
Unit sends to the A servo-drivers of rodless cavity side and runs on the instruction of velocity pressure two close cycles pattern, and sends speed reversal
Setting and pressure setting instruction, A servo-drivers set instruction and A according to the speed setting instructions of motion control unit, pressure
The current pressure value of feedback of pressure sensor is determined the speed of A servomotors, the reversion of A hydraulic pumps by velocity pressure two close cycles pattern
Drainage.
Motion control unit requires the Displacement Feedback with displacement transducer all in accordance with control under backhaul mode and progression
The control model and speed command of value real-time regulation A and B servo-drivers, controls the speed of A and B servomotors, so as to realize
The position of hydraulic cylinder push rod and speed precise control.
IIIth, high speed reciprocating manner
High speed reciprocating manner is that above-mentioned work enters mode and the high speed of backhaul mode repeats, and does not now have F.F. mode, hydraulic pressure
Reciprocating motion state of the cylinder in " work enters-backhaul-work enter ... ".The in-position of the predetermined push rod of motion control unit and/
Or arrival time enters the basis for estimation that end or backhaul terminate as work, motion control unit is believed according to the displacement of displacement transducer
Number and/or the time judge work enter terminate or backhaul terminate, that is, proceed to backhaul mode or work enter mode.Due to servo driver drives
The response frequency of servomotor is very high, it is possible to achieve quick rotating switching, the servo drive of the system can realize ten
Several to tens hertz of high accuracy, the reciprocating motion of high duplication.
Compared with prior art, the beneficial effect of a kind of servo-pump control hydraulic linear drive system of the invention and control method
For：1st, two servomotors drive two oil pump co-operatings, control the power output of hydraulic cylinder, realize to straight reciprocating motion
Precise control；2nd, servomotor and servo-driver response frequency are high, therefore system can realize up to more than ten to tens hertz
Response frequency and more than ten microns or even micron accuracies position control；3rd, the hydraulic valve in system pipeline is only two and is used for
The overflow valve of hydraulic protecting and a unidirectional replenishing valve for being used for fluid infusion, it is not necessary to magnetic valve, P/Q valves or servo valve, system knot
Structure is simple, with low cost, and reliability is high.
Description of the drawings
Fig. 1 is this servo-pump control hydraulic linear drive system example structure schematic diagram.
Identify in figure：1st, replenishing valve (YF)；2nd, hydraulic cylinder；3rd, A overflow valves (AF)；4th, A pressure sensors (AP)；5th, A liquid
Press pump (AU)；6th, A servomotors (AM)；7th, A servo-drivers (AS)；8th, B hydraulic pumps (BU)；9th, B servomotors (BM)；10、B
Servo-driver (BS)；11st, B pressure sensors (BP)；12nd, valve is protected；13rd, B overflow valves (BF)；14th, displacement transducer.
Specific embodiment
Below in conjunction with the accompanying drawings illustrated embodiment is described further to technical scheme.
Servo-pump control hydraulic linear drive system embodiment
This servo-pump control hydraulic linear drive system embodiment is as shown in figure 1, the solid line table in figure between connecting components
Show the oil line pipe of connecting components, dotted line represents the holding wire of sensor and the control signal wire of motion control unit, connect
The heavy line of servomotor and hydraulic pump represents that the two is coaxial.The hydraulic medium of this example is hydraulic oil, and the liquid reserve tank of this example is oil
Case, hydraulic cylinder is oil cylinder, and hydraulic pump is oil pump.
The piston connection push rod of hydraulic cylinder 2, cylinder chamber is divided into rod chamber and rodless cavity, the rodless cavity and A of hydraulic cylinder 2
The outlet end connection of hydraulic pump 5 (being AU shown in figure), the rod chamber of hydraulic cylinder 2 and going out for B hydraulic pumps 8 (being BU shown in figure)
Liquid end connects.Fuel tank in liquid feeding end connection liquid reserve tank, i.e. this example of A hydraulic pumps 5 and B hydraulic pumps 8.In order to avoid figure in Fig. 1
Face is chaotic, and in different parts multiple fuel tanks are depicted, and actual is same fuel tank.A servomotors 6 (being AM shown in figure) and A liquid
The connecting shaft of press pump 5, A servo-drivers 7 (being AS shown in figure) connection control A servomotors 6；B servomotors 9 (are shown in figure
BM) with the connecting shaft of B hydraulic pumps 8, B servo-drivers 10 (being BS shown in figure) connection control B servomotors 9.Motion control unit
Control end connection A servo-drivers 7 and B servo-drivers 10.It is installed on the rodless cavity of connection liquid cylinder pressure 2 and A hydraulic pumps 5 goes out liquid
The signal output part of A pressure sensors 4 (being AP shown in figure) accesses A servo-drivers 7 on end pipe road；Connection liquid cylinder pressure 2 has
The signal output part of the B pressure sensors 11 (being BP shown in figure) installed on the pipeline of rod cavity and the outlet end of B hydraulic pumps 8 is accessed
B servo-drivers 10.Displacement transducer 14 is installed on hydraulic cylinder push rod, and its signal output part accesses the input of motion control unit
End.
Processor centered on this example motion control unit, is furnished with communication interface and man-machine interface.
The rodless cavity of (being YF shown in figure) the connection fuel tank of pipeline Jing replenishing valves 1 and hydraulic cylinder 2, this example replenishing valve 1 is single
To valve, when the pressure of the valve rodless cavity side is less than fuel tank lateral pressure, this valve is automatically opened up, otherwise this valve is remained off.
When the push rod of hydraulic cylinder 2 is quickly moved to rod chamber direction, if the hydraulic oil that A hydraulic pumps 5 pump into rodless cavity can not be rapid
Inner chamber full of rodless cavity, then rodless cavity rapid pressure drop, replenishing valve is automatically opened up to rodless cavity fluid infusion.
Connect A overflow valves 3 (being AF shown in figure), B on the pipeline of the rodless cavity of outlet end connection liquid cylinder pressure 2 of A hydraulic pumps 5
The pipeline connection B overflow valves 13 (being BF shown in figure) of the rod chamber of outlet end connection liquid cylinder pressure 2 of hydraulic pump 8, A and B overflow valves
3rd, 13 outlet end accesses fuel tank.
On the pipeline that the rod chamber of this example hydraulic cylinder 2 is connected with B hydraulic pumps 8, the guarantor being automatically switched off during a power-off is installed
Shield valve 12 (being BB shown in figure), when system failure protection is shut down or had a power failure, protection valve 12 can turn off having from hydraulic cylinder 2
Oil circuit from rod cavity to B hydraulic pumps 8, so as to play a protective role.
Also other protection schemes can be used：One electricity loss brake is installed, when system failure protection on the axle of B servomotors 9
When shutting down or having a power failure, electricity loss brake locks the axle of B servomotors,.
Or, B servomotors 9 are three-phase permanent synchronous servo motor, its three-phase windings install dead electricity normally closed contactor or
Dead electricity normally closed relay, when system failure protection is shut down or had a power failure, the winding of B servomotors is by dead electricity normally closed contactor or mistake
Electric normally closed relay short circuit.
The control method embodiment of servo-pump control hydraulic linear drive system
The present embodiment is the control method of above-mentioned servo-pump control hydraulic linear drive system embodiment.The He of A servo-drivers 7
B servo-drivers 10 drive respectively the A servomotors 6 and B servomotors 9 of respective connection, when the Positive work of A servomotors 6, its
The Positive work of A hydraulic pumps 5 for being connected, A hydraulic pumps 5 provide pressure fluid, the work of hydraulic cylinder 2 into the rodless cavity of hydraulic cylinder 2
Fill in and moved to rod chamber direction, push rod output power；At the same time, B servomotors 9 and its B hydraulic pumps 8 that connected reversely are transported
Turn, the rod chamber Jing B hydraulic pumps 8 of hydraulic cylinder 2 release liquid.Conversely, when B servomotors 9 and the Positive work of B hydraulic pumps 8, B liquid
Press pump 8 provides pressure fluid into the rod chamber of hydraulic cylinder 2, and the piston of hydraulic cylinder 2 is moved to rod chamber direction, meanwhile, A servos
Motor 6 and the antiport of A hydraulic pumps 5, the pressure release of rodless cavity Jing A hydraulic pumps 5 of hydraulic cylinder 2.
Motion control unit stores the process data, different control model lower push-rod displacement signals and A and B servos of the system
The relation data of driver control instruction, motion control unit receives the control requirement of man-machine interface input, and the control is required
When speed or pushrod movement i.e. according to corresponding to job requirement sets hydraulic cylinder pushrod movement to certain moment reaches certain position
Corresponding speed, the current displacement signal of push rod of the displacement transducer 14 that motion control unit is required according to control and received enters
Row logic judgment and position closed loop computing, obtain operational mode instruction and speed setting instructions and the pressure of A and B servo-drivers
Power setting instruction, and it is separately sent to A servo-drivers 7 and B servo-drivers 10.
The control model includes speed closed loop pattern and velocity pressure two close cycles pattern.
A and B servo-drivers 7,10 receive the speed setting instructions or speed of motion control unit and pressure setting
Instruction, and control model instruction, and the rodless cavity of hydraulic cylinder 2 or rod chamber from A and B pressure sensors 4,11 is received respectively
Current pressure value of feedback.When the control model of motion control unit is instructed as speed closed loop pattern, the speed of servo-driver
Closed loop controls connected servomotor by the speed setting instructions of motion control unit, drives it fully according to motion control list
The speed setting instructions operation of unit；When the control model instruction of motion control unit is velocity pressure two close cycles pattern, servo
The pressure closed loop of driver sets instruction with watching that the control of current pressure value of feedback is connected according to the pressure of motion control unit
The speed of motor is taken, if current pressure value of feedback is reached or more than setup pressure value, reduces the liquid with positive pump oil
The forward direction speed setting of the coaxial servomotor of press pump improves the servomotor coaxial with the hydraulic pump of reverse draining
Speed reversal setting；If current pressure value of feedback is less than setup pressure value, lifting and the hydraulic pump of positive pump oil
The positive rotary speed setting of coaxial servomotor reduces the anti-of the servomotor coaxial with the hydraulic pump of reverse draining
Rotary speed sets；Servo-driver pressure closed loop determine current servo motor speed setting value with from motion control unit
Speed setting instructions compare, and take the less speed command as the servo-driver of absolute value in two-value and are sent to and are connected
Servomotor perform.
The high speed of hydraulic cylinder push rod, accurate reciprocating motion, specific pushrod movement side are capable of achieving by above-mentioned control method
Formula is divided into three kinds of progression, backhaul mode and high speed reciprocating manner.
Ith, progression
Progression refers to that hydraulic cylinder push rod is moved to rod chamber direction, is divided to F.F. mode (idle running) and work to enter mode two
Kind.
I -1, F.F. mode
Now the resistance of workpiece is not born in the push rod bottom of hydraulic cylinder 2, and motion control unit is to being connected to the rod chamber of hydraulic cylinder 2
The B servo-drivers 10 of side send and run on the instruction of speed closed loop pattern, and send speed setting instructions, in B servo-drives
Device 10 drives lower B servomotors 9 and B hydraulic pumps 8 to press setting speed reversion, rod chamber drainage.Simultaneously motion control unit is to even
The A servo-drivers 7 for being connected to the rodless cavity side of hydraulic cylinder 2 send and run on the instruction of speed closed loop pattern, and send speed setting
Instruction, in the case where A servo-drivers 7 drive, A servomotors 6 and A hydraulic pumps 5 press setting speed Positive work, supply into rodless cavity
Enter pressure fluid, promote the push rod of hydraulic cylinder 2 to advance by predetermined speed.
When pressure is less than liquid reserve tank lateral pressure in the rodless cavity of hydraulic cylinder 2, the replenishing valve 1 for connecting rodless cavity is automatically opened up,
Fluid infusion is implemented to rodless cavity.The maximum speed of F.F. mode is by the B hydraulic pumps 8 of rod chamber side and the maximum inversion of B servomotors 9
Speed is determined.
When F.F. mode terminates, changes a job into mode, motion control unit sends the speed of reduction to B servo-drivers 10
Setting value sends speed lock zero-signal so that the speed of B servomotors 9 and B hydraulic pumps 8 declines, and the pressure release of rod chamber subtracts
Slow or stopping, now, the pressure of rodless cavity rises, and replenishing valve 1 is automatically switched off.
I -2, work enters mode
Now the resistance of workpiece is born in the push rod bottom of hydraulic cylinder 2.
Motion control unit sends the instruction for running on speed closed loop pattern to the A servo-drivers 7 of rodless cavity side, concurrently
Go out speed setting instructions, A servomotors 6 and A hydraulic pumps 5 press the setting of motion control unit speed in the case where A servo-drivers 7 drive
Instruction, the push rod advance that hydraulic cylinder 2 is promoted by predetermined work speed；Meanwhile, motion control unit to the B servos of rod chamber side are driven
Dynamic device 10 sends and runs on the instruction of velocity pressure two close cycles pattern, and sends speed reversal setting and pressure setting instruction, and B is watched
Take current pressure of the driver 10 according to the speed setting instructions, pressure setting instruction and B pressure sensors 11 of motion control unit
Force feedback value is determined the speed of B servomotors 9, the reversion pressure release of B hydraulic pumps 8 by velocity pressure two close cycles pattern.
IIth, backhaul mode
Backhaul mode refers to that the push rod of hydraulic cylinder 2 is moved to rodless cavity direction.
Motion control unit sends the instruction for running on speed closed loop pattern to the B servo-drivers 10 of rod chamber side, and
Speed setting instructions are sent, B servomotors 9 and B hydraulic pumps 8 press predetermined speed Positive work in the case where B servo-drivers 10 drive,
Piston push rod is promoted to the backhaul of rodless cavity direction；Meanwhile, motion control unit to the A servo-drivers 7 of rodless cavity side send fortune
Row in the instruction of velocity pressure two close cycles pattern, and send speed reversal setting and pressure setting instruction, A servo-drivers according to
The current pressure value of feedback of the speed setting instructions, pressure setting instruction and A pressure sensors of motion control unit presses speed pressure
Power two close cycles pattern determines the speed of A servomotors, A hydraulic pumps reversion draining.
IIIth, high speed reciprocating manner
High speed reciprocating manner refers to reciprocating motion state of the hydraulic cylinder 2 in " work enters-backhaul-work enter ... ".Motion control
The in-position of the predetermined push rod of unit processed and/or arrival time enter to terminate or basis for estimation that backhaul terminates as work, motion control
Unit processed judges that work is entered to terminate or backhaul terminates according to the displacement signal of displacement transducer 14 and/or time, that is, proceed to backhaul side
Formula or work enter mode.
This example hydraulic linear drive system realizes pushrod movement control by motion control unit.According to the system push rod
Control requires and that from the displacement data of displacement transducer 14 motion control unit obtains A and B servo-drives through computing
The speed preset of device, pressure are given and operational mode is instructed, and are separately sent to A servo-drivers 7 and B servo-drivers 10,
Realize the position and speed precise control to push rod.
Above-described embodiment, only the purpose of the present invention, technical scheme and beneficial effect are further described is concrete
Individual example, the present invention is not limited to this.All any modifications made within the scope of disclosure of the invention, equivalent, change
Enter, be all contained within protection scope of the present invention.
Claims (9)
1. a kind of servo-pump control hydraulic linear drive system, including a hydraulic cylinder, two hydraulic pumps and replenishing valve, overflow valve,
Piston connects push rod, and cylinder chamber is divided into into rod chamber and rodless cavity, and pipeline connects the liquid feeding end and liquid storage of two hydraulic pumps
Case, pipeline connects respectively the outlet end of two hydraulic pumps and the rod chamber of hydraulic cylinder and rodless cavity, and two motors respectively connect and drive
Two hydraulic pumps are moved, there is replenishing valve, overflow valve on pipeline；It is characterized in that：
The rodless cavity of the hydraulic cylinder (2) is connected with the outlet end of A hydraulic pumps (5), rod chamber and the B hydraulic pumps of hydraulic cylinder (2)
(8) outlet end connection；The liquid feeding end connection liquid reserve tank of A hydraulic pumps (5) and B hydraulic pumps (8)；A servomotors (6) and A hydraulic pressure
Pump (5) connecting shaft, A servo-drivers (7) connection control A servomotors (6)；B servomotors (9) and B hydraulic pumps (8) connecting shaft, B is watched
Take driver (10) connection control B servomotors (9)；Control end connection A servo-drivers (7) of motion control unit and B are watched
Take driver (10)；It is installed on A pressure sensors (4) on connection liquid cylinder pressure (2) rodless cavity and A hydraulic pumps (5) outlet end pipeline
Signal output part access A servo-drivers (7)；It is installed on connection liquid cylinder pressure (2) rod chamber and B hydraulic pumps (8) outlet end pipe
The signal output part of the B pressure sensors (11) on road accesses B servo-drivers (10)；Displacement transducer (14) is installed on hydraulic pressure
Cylinder (2) push rod, its signal output part accesses the input of motion control unit；
Processor centered on the motion control unit, is furnished with communication interface and man-machine interface.
2. servo-pump control hydraulic linear drive system according to claim 1, it is characterised in that：
Pipeline Jing replenishing valves (1) connects the rodless cavity of liquid reserve tank and hydraulic cylinder (2), and the replenishing valve (1) is check valve, when this fills
When the pressure of liquid valve (1) rodless cavity side is less than liquid reserve tank lateral pressure, this replenishing valve (1) is automatically opened up, otherwise this replenishing valve (1) is protected
Hold closed mode.
3. servo-pump control hydraulic linear drive system according to claim 1, it is characterised in that：
Connect A overflow valves (3), B hydraulic pumps on the pipeline of outlet end connection liquid cylinder pressure (2) rodless cavity of the A hydraulic pumps (5)
(8) pipeline connection B overflow valves (13) of outlet end connection liquid cylinder pressure (2) rod chamber, A overflow valves (3) and B overflow valves (13)
Outlet end accesses liquid reserve tank.
4. servo-pump control hydraulic linear drive system according to claim 1, it is characterised in that：
One electricity loss brake is installed on the axle of the B servomotors (9), when system failure protection is shut down or is had a power failure, dead electricity
The axle of brake locking B servomotors (9).
5. servo-pump control hydraulic linear drive system according to claim 1, it is characterised in that：
The B servomotors (9) are three-phase permanent synchronous servo motor, and its three-phase windings installs dead electricity normally closed contactor or dead electricity
Normally closed relay, when system failure protection is shut down or had a power failure, the winding of B servomotors (9) is by dead electricity normally closed contactor or mistake
Electric normally closed relay short circuit.
6. servo-pump control hydraulic linear drive system according to claim 1, it is characterised in that：
On the pipeline that the rod chamber of the hydraulic cylinder (2) is connected with B hydraulic pumps (8), the guarantor being automatically switched off during a power-off is installed
Shield valve (12), when system failure protection is shut down or had a power failure, protection valve (12) is automatically switched off.
7. the control method of servo-pump control hydraulic linear drive system according to any one of claim 1 to 6, its feature
It is：
A the and B servo-drivers (7,10) drive respectively A the and B servomotors (6,9) of respective connection, when A servomotors
(6) Positive work, its A hydraulic pumps (5) Positive work for being connected, A hydraulic pumps (5) are provided into the rodless cavity of hydraulic cylinder (2)
Pressure fluid, the piston of hydraulic cylinder (2) is moved to rod chamber direction, push rod output power；At the same time, B servomotors (9) and
B hydraulic pumps (8) antiport that it is connected, rod chamber Jing B hydraulic pumps (8) of hydraulic cylinder (2) releases liquid；Conversely, when B is watched
Motor (9) and B hydraulic pumps (8) Positive work are taken, B hydraulic pumps (8) provide pressure fluid, liquid into the rod chamber of hydraulic cylinder (2)
The piston of cylinder pressure (2) is moved to rod chamber direction, meanwhile, A servomotors (6) and A hydraulic pumps (5) antiport, hydraulic cylinder (2)
Rodless cavity Jing A hydraulic pumps (5) pressure releases；
Motion control unit stores the process data of the system and different control model lower push-rod displacement signals and A and B servos
The relation data of driver (7,10) control instruction, motion control unit receives the control requirement of man-machine interface input, the control
System requires that speed or pushrod movement i.e. according to corresponding to job requirement sets hydraulic cylinder pushrod movement to certain moment reach certain
Corresponding speed during position, motion control unit requires the push rod present bit with the displacement transducer (14) for being received according to control
Shifting signal carries out logic judgment and position closed loop computing, obtains operational mode instruction and the speed of A and B servo-drivers (7,10)
Degree setting instruction and pressure setting instruction, and A servo-drivers (7) and B servo-drivers (10) are separately sent to, so as to adjust
The position of push rod and speed, realize the precise speed control and position control of push rod；
The control model includes speed closed loop pattern and velocity pressure two close cycles pattern；
A and B servo-drivers (7,10) receive the speed setting instructions or speed of motion control unit and pressure setting refers to
Make and control model instruction, and receive respectively from A and B pressure sensors (4,11) hydraulic cylinder (2) rodless cavity or have bar
The current pressure value of feedback in chamber；When the control model instruction of motion control unit is speed closed loop pattern, servo-driver
Speed closed loop controls connected servomotor by the speed setting instructions of motion control unit, drives it fully according to motion control
The speed setting instructions operation of unit processed；When the control model instruction of motion control unit is velocity pressure two close cycles pattern,
The pressure closed loop of servo-driver is connected according to the pressure of motion control unit setting instruction and the control of current pressure value of feedback
Servomotor speed, if current pressure value of feedback is reached or more than setup pressure value, reduce and positive pump liquid
The coaxial servomotor of hydraulic pump forward direction speed setting or improve the servo coaxial with the hydraulic pump of reverse drainage
The inverted speed setting of motor；If current pressure value of feedback is less than setup pressure value, lifting and the liquid of positive pump liquid
The forward direction speed setting of the coaxial servomotor of press pump reduces the servomotor coaxial with the hydraulic pump of reverse drainage
Inverted speed setting；Servo-driver pressure closed loop determine current servo motor speed setting value with carry out Self-motion control list
The speed setting instructions of unit compare, and take the less speed command as the servo-driver of absolute value in two-value and are sent to institute
The servomotor of connection is performed.
8. the control method of servo-pump control hydraulic linear drive system according to claim 7, it is characterised in that：
The pushrod movement mode is divided into three kinds of progression, backhaul mode and high speed reciprocating manner；
Ith, progression
Progression refers to that hydraulic cylinder (2) push rod is moved to rod chamber direction, is divided to F.F. mode and work to enter two kinds of mode；
I -1, F.F. mode
Now the resistance of workpiece is not born in hydraulic cylinder (2) push rod bottom, and motion control unit is to being connected to hydraulic cylinder (2) rod chamber
The B servo-drivers (10) of side send and run on the instruction of speed closed loop pattern, and send speed setting instructions, drive in B servos
Dynamic device (10) drives lower B servomotors (9) and B hydraulic pumps (8) to invert by setting speed, rod chamber drainage；Motion control simultaneously
Unit sends the instruction for running on speed closed loop pattern to the A servo-drivers (7) for being connected to hydraulic cylinder (2) rodless cavity side, and
Speed setting instructions are sent, A servomotors (6) and A hydraulic pumps (5) are positive by setting speed in the case where A servo-drivers (7) drive
Operating, into rodless cavity pressure fluid is fed, and promotes the push rod of hydraulic cylinder (2) to advance by predetermined speed；
I -2, work enters mode
Now the resistance of workpiece is born in hydraulic cylinder (2) push rod bottom；
Motion control unit sends to the A servo-drivers (7) of rodless cavity side and runs on the instruction of speed closed loop pattern, and sends
Speed setting instructions, in the case where A servo-drivers (7) drive, A servomotors (6) and A hydraulic pumps (5) are by motion control unit speed
The work speed of setting promotes the push rod of hydraulic cylinder (2) to advance；Meanwhile, B servo-drive of the motion control unit to rod chamber side
Device (10) sends and runs on the instruction of velocity pressure two close cycles pattern, and sends speed reversal setting and pressure setting instruction, and B is watched
Take driver (10) and working as instruction and B pressure sensors (11) is set according to the speed setting instructions of motion control unit, pressure
Front pressure feedback value is determined the speed of B servomotors (9), B hydraulic pumps (8) reversion pressure release by velocity pressure two close cycles pattern；
IIth, backhaul mode
Backhaul mode refers to that hydraulic cylinder (2) push rod is moved to rodless cavity direction；
Motion control unit sends the instruction for running on speed closed loop pattern to the B servo-drivers (10) of rod chamber side, concurrently
Go out speed setting instructions, B servomotors (9) and B hydraulic pumps (8) are positive by predetermined speed in the case where B servo-drivers (10) drive
Operating, promotes piston push rod to the backhaul of rodless cavity direction；Meanwhile, A servo-driver (7) of the motion control unit to rodless cavity side
Send and run on the instruction of velocity pressure two close cycles pattern, and send speed reversal setting and pressure setting instruction, A servo-drives
Device (7) is anti-according to the current pressure of the speed setting instructions, pressure setting instruction and A pressure sensors (4) of motion control unit
Feedback value is determined the speed of A servomotors (6), A hydraulic pumps (5) reversion drainage by velocity pressure two close cycles pattern；
IIIth, high speed reciprocating manner
The high speed for entering mode and backhaul mode for above-mentioned work repeats, and hydraulic cylinder (2) is in " work enters-backhaul-work enter ... "
Reciprocating motion state；Motion control unit according to the displacement signal of displacement transducer (14) and/or time judge work enter to terminate or
Backhaul terminates, that is, proceed to backhaul mode or work enters mode.
9. the control method of servo-pump control hydraulic linear drive system according to claim 8, it is characterised in that：
Pipeline Jing replenishing valves (1) connects the rodless cavity of liquid reserve tank and hydraulic cylinder (2), and the replenishing valve (1) is check valve, when this fills
When the pressure of liquid valve (1) rodless cavity side is less than liquid reserve tank lateral pressure, this replenishing valve (1) is automatically opened up, otherwise this replenishing valve (1) is protected
Hold closed mode；
In I -1 F.F. mode, if the velocity of rotation of the A hydraulic pumps (5) of rodless cavity side and A servomotors (6) can not meet
Fuel feeding when push rod advances requires that rodless cavity side hydraulic pressure is reduced, and when pressure is less than liquid reserve tank lateral pressure in rodless cavity, connects nothing
The replenishing valve (1) of rod cavity is automatically opened up, and to rodless cavity fluid infusion is implemented；
When F.F. mode terminates, changes a job into mode, motion control unit reduces rod chamber side B servomotors (9) and B hydraulic pumps
(8) speed setting value sends speed lock zero-signal so that the speed decline of B servomotors (9) and B hydraulic pumps (8), has
The pressure release of rod cavity is slowed or shut off, and now, the pressure of rodless cavity rises, and replenishing valve (1) is automatically switched off.
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| CN105736492B (en) * | 2016-04-14 | 2018-01-26 | 刘湖南 | A kind of hydraulic jack and its oil piping system |
| CN106763006B (en) * | 2016-11-23 | 2018-01-19 | 南京航空航天大学 | A kind of control method of hydraulic servo driving system |
| CN106762871B (en) * | 2017-03-09 | 2018-11-13 | 桂林星辰科技股份有限公司 | A kind of the servo-pump control hydraulic linear drive system and control method of single motor double pump |
| CN106704530B (en) * | 2017-03-09 | 2023-09-19 | 桂林星辰科技股份有限公司 | Servo pump control hydraulic rotation driving system and control method |
| JP6592118B2 (en) * | 2018-01-16 | 2019-10-16 | ファナック株式会社 | Motor control device |
| CN108375405A (en) * | 2018-01-29 | 2018-08-07 | 中国第汽车股份有限公司 | Liquid flow measurement device and measurement method |
| CN108457933B (en) * | 2018-04-18 | 2023-11-28 | 西南石油大学 | Shale gas well field safety control system adaptability testing device and method |
| CN109915442A (en) * | 2019-03-19 | 2019-06-21 | 江门市蒙德电气股份有限公司 | A kind of Position of Hydraulic Cylinder control system and control method adjusted based on bidirectional pressure inlet |
| CN110470551B (en) * | 2019-09-04 | 2022-06-21 | 湖北文理学院 | SHPB test device and transmitting device and control method thereof |
| CN112983905B (en) * | 2019-12-12 | 2022-05-13 | 上海交通大学 | Asymmetric hydraulic cylinder control system independently driven by double servo motor pumps |
| CN112160948B (en) * | 2020-09-09 | 2022-10-18 | 南京晨光集团有限责任公司 | Linear hydraulic driving system based on quick response of intelligent pump |
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| JPS5937302A (en) * | 1982-08-26 | 1984-02-29 | Ube Ind Ltd | Speed control method of cylinder in hydraulic system |
| JPS59117902A (en) * | 1982-12-23 | 1984-07-07 | S G:Kk | Positioning control device of fluid pressure cylinder |
| RU2190129C2 (en) * | 2000-10-17 | 2002-09-27 | Открытое акционерное общество "Павловский машиностроительный завод "Восход" | Standby electrohydraulic drive unit |
| CN101392769B (en) * | 2008-10-17 | 2010-09-15 | 绍兴市肯特机械电子有限公司 | High precision hydraulic power source for directly driving oil pump by speed governing generator |
| CN101623920B (en) * | 2009-07-30 | 2012-02-29 | 桂林星辰科技有限公司 | Energy-saving servo hydraulic control system for injection machine and control method thereof |
| CN205207295U (en) * | 2015-12-16 | 2016-05-04 | 桂林星辰科技股份有限公司 | Servo pump control hydraulic pressure straight line actuating system |
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