CN106050764A - Mini-type electro-hydraulic actuator cylinder oil distribution and drive system and method - Google Patents
Mini-type electro-hydraulic actuator cylinder oil distribution and drive system and method Download PDFInfo
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- CN106050764A CN106050764A CN201610409698.1A CN201610409698A CN106050764A CN 106050764 A CN106050764 A CN 106050764A CN 201610409698 A CN201610409698 A CN 201610409698A CN 106050764 A CN106050764 A CN 106050764A
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- Prior art keywords
- pressurized strut
- power source
- hydraulic
- target
- controller
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Actuator (AREA)
Abstract
The invention discloses a mini-type electro-hydraulic actuator cylinder oil distribution and drive system and method which aim at achieving large-flexibility and high-reliability drive in narrow spaces. The system is an electro-hydraulic executing mechanism which is small in size, light in weight and large in output power. According to the scheme, oil charging of an energy accumulator (or an energy accumulator unit) is used for achieving energy supply and advance pressurization of a hydraulic cylinder and a connection pipeline thereof, a traditional hydraulic source composed of a hydraulic pump, a hydraulic valve, an oil tank and the like is abandoned, the electric hydraulic cylinder is used for pushing a target actuator cylinder, the system is greatly simplified, reliability is improved, and the application range is widened.
Description
Technical field
The invention belongs to control system technical field, be specifically related to a kind of miniature electro-hydraulic pressurized strut join oil and drive system and
Its method.
Background technology
Hydraulic actuator realizes load and drives and motor control, is one of the vitals of modern actuator, in aviation
The field such as space flight, engineering machinery has a wide range of applications.Being different from Normal hydraulic cylinder, aviation pressurized strut requires compact conformation, weight
Amount is light, dependable performance, and the requirement to designing, manufacturing and test is the strictest.(such as undercarriage control start in addition to air craft carried
Cylinder), many ground experiments also require that can design volume little lightweight, electrohydraulic actuator that output is big is (as become geometry
The engine components wind tunnel test of structure, aircraft load simulation test etc.), thus the hydraulic pressure that design power density is high is performed
Mechanism has urgent engineering demand.
But, for being expected to the aeroengine distributed control system of application in the future, each start task and execution
Mechanism need to configure self independent intelligent control unit, and hydraulic system needs to design unified pumping plant and provides hydraulic energy source, this
Just with aerospace components, construction weight and dcs are required contradiction to executive component independence.
Therefore, it is necessary to a kind of micro hydraulic pressurized strut scheme of design, to solve if the fields such as aviation are to pressurized strut size
There is strict demand, there is the independent high reliability electric hydaulic pressurized strut system design problem driven and control function.
The predominantly organic tool of conventional ADS driving mode, electrically and hydraulic pressure etc., but all by physical dimension, the conditions such as maintenance be installed limit
System, it is impossible to meet the driving in small space and control.Power density is big, precision is high, response is fast to need to provide one, and energy
By flexibly connecting the drive scheme of transmission power.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of miniature electro-hydraulic pressurized strut to join
Oil and drive system and method thereof, by using the oil-filled principle of keeping pressure of accumulator and electric servo unit to drive, dramatically reduce
The number of elements of drive system and volume weight, improve its reliability.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A kind of miniature electro-hydraulic pressurized strut joins oil and drive system, including distributing device, electric servo unit and hydraulic actuation
Cylinder, the cylinder of described hydraulic actuator is for closing chamber, and the inside of described cylinder arranges and connects the piston having piston rod, described piston
Described cylinder is divided into two closed cavity volume, respectively rod chamber and rodless cavity；Described pressurized strut includes the pressurized strut of power source and mesh
Mark pressurized strut；
Described distributing device connects described electric servo unit and described power source pressurized strut, described electric servo unit respectively
Being connected with the rod chamber of described power source pressurized strut, the rodless cavity of described power source pressurized strut connects with the rodless cavity of described target pressurized strut
Connecing, the rod chamber of described power source pressurized strut is connected with the rod chamber of described target pressurized strut；
The rod chamber of described target pressurized strut is fixed with load.
Present system is electrohydraulic integration integration servo-control system, has pressurized strut, 2/2-way zero leakage electromagnetic valve
Make switch electromagnetic valve, electric servo unit, pressure transducer and position sensor etc..
Further, described electric servo unit include be sequentially connected with encoder, servomotor, decelerator and with institute
State the drive lead screw that the pressurized strut of power source is connected；Described and described distributing device is connected；
Described distributing device includes accumulator, 2/2-way zero leakage electromagnetic valve, pressure transducer and controller, described storage
Described power source pressurized strut, described 2/2-way zero leakage electromagnetic valve and described can be connected by device by 2/2-way zero leakage electromagnetic valve
Described pressure transducer it is provided with between the pressurized strut of power source；Described controller connect respectively described 2/2-way zero leakage electromagnetic valve,
Pressure transducer；Sent signal by controller and control the break-make of described 2/2-way zero leakage electromagnetic valve；
Described distributing device is connected with the encoder of described electric servo unit by described controller.
According to the oil-filled principle of keeping pressure of accumulator, it is achieved the preexpanding of flexible pipe, solve elongated flexible tube and deformed micro-by oil pressure
The impact of type hydraulic actuator positional precision, is used for pressurized strut hydraulic pressure pwc punching oil repairing oil sources existing to replace by described accumulator
Conventional hydraulic pumping plant in technology, has simplified system composition, reduces its volume weight.The fueller of the present invention utilizes zero to let out
Electric leakage magnet valve realizes the oil circuit break-make of oil charging-discharging pre-to accumulator and controls, because a small amount of fuel leakage or cavity volume are become by micro hydraulic cylinder
Shape is the most sensitive, and thus the present invention proposes to use zero leakage (or low leakage) electromagnetic valve.Additionally, fueller utilizes pressure sensing
Device Real-time Feedback precharge pressure, sends power on/off signal to zero leakage electromagnetic valve accordingly, it is achieved itself and accumulator (Accumulator arrangements)
On and off join oil action.Electromagnetic valve break-make can be controlled according to different loads and realize different precharge pressures, efficiently profit
Use accumulator oil storage.
Further, described controller includes interconnective host computer and servo controller, described servo controller
Connecting described 2/2-way zero leakage electromagnetic valve, pressure transducer respectively, described servo controller connects described electrical servo list
Encoder in unit.
Further, described distributing device includes two groups of accumulators, 2/2-way zero leakage electromagnetic valve and pressure transducer,
The 2/2-way zero leakage electromagnetic valve of one of which connects the rodless cavity of described power source pressurized strut, and the 2/2-way zero of another group is let out
Electric leakage magnet valve connects the rod chamber of described power source pressurized strut.
Further, between described target pressurized strut and described load, displacement transducer, institute's displacement sensors it are provided with
It is connected with described electric servo unit.Load driven to target pressurized strut is realized by the displacement transducer in target pressurized strut
The closed loop control of position.
Further, described distributing device, electric servo unit and the pressurized strut of power source are as external drive part, with described
Target pressurized strut is provided separately, and wherein said power source pressurized strut is connected with described target pressurized strut by hydraulic hose.Power source is made
Dynamic being connected with elongated hydraulic hose between cylinder with target pressurized strut, target pressurized strut is placed at a distance, increase its installation, maintenance soft
Property and adaptability, meet the rigors of special occasions space and position.Use positive displacement control principle, by electric servo unit
Drive force source pressurized strut, the pressurized strut of power source is connected with target pressurized strut hydraulic hose, by the high precision position of power source pressurized strut
Put the control realization volume adjustment to target pressurized strut turnover oil.
Further, the physical dimension of described target pressurized strut is less than the physical dimension of described power source pressurized strut.This is to examine
Considering to there is leakage during pressurized strut dynamic duty, this leakage is relatively big to position or the velocity control accuracy of microminiature pressurized strut,
The scheme that the source pressurized strut of employing power is less than target pressurized strut size, can improve the resolution to input, make position control accurate
Higher.
The method that oil and drive system are joined in above-mentioned miniature electro-hydraulic pressurized strut, comprises the following steps:
1) send instructions: the host computer of controller sends a start instruction, including the position of target pressurized strut with by loading
The preacceleration inflation value that the size of power determines；
2) pre-oiling: 2/2-way zero leakage electromagnetic valve 2 obtains electric opening, and accumulator 1 to two hydraulic actuators and is managed therebetween
The most oil-filled supercharging of pressure chamber that road is formed, pressure transducer feeds back current precharge pressure, reaches the described preacceleration inflation value set,
Controller sends signal and turns off 2/2-way zero leakage electromagnetic valve, and pre-oiling terminates；
3) hydraulic actuator is driven: the servo controller of controller sends command pulse to electric servo unit encoder,
Control servomotor to rotate, through the piston rod movement of power source pressurized strut described in decelerator and drive lead screw rear drive；
4) load movement: the pressurized strut of described power source drive described target pressurized strut piston rod movement, the pressurized strut of power source and
Closed containing cavity between target pressurized strut is compressed, and makes target pressurized strut realize promoting load to move to assigned direction and position.
Further, comprise the following steps:
1) send instructions: the host computer of controller 8 sends a start instruction, including the position of target pressurized strut with by load 9
The preacceleration inflation value that determines of the size of power；
2) pre-oiling: 2/2-way zero leakage electromagnetic valve obtains electric opening, accumulator to the rodless cavity of described power source pressurized strut,
The rodless cavity of target pressurized strut and the most oil-filled supercharging of pressure chamber of pipeline formation therebetween, pressure transducer feeds back current oil-filled pressure
Power, reaches the described preacceleration inflation value set, and controller sends signal and turns off 2/2-way zero leakage electromagnetic valve, and pre-oiling terminates；
3) hydraulic actuator is driven: the servo controller of controller sends command pulse to electric servo unit encoder,
Control servomotor to rotate, through the piston rod movement of power source pressurized strut, the start of power source described in decelerator and drive lead screw rear drive
The rodless cavity of cylinder is extruded；
4) load movement: the pressurized strut of described power source drives the piston rod of described target pressurized strut to move to its rod chamber, power
Closed containing cavity between source pressurized strut and target pressurized strut is compressed, and makes target pressurized strut realize promoting load to specify position fortune to the left
Dynamic.
Further, comprise the following steps:
1) send instructions: the host computer of controller sends a start instruction, including the position of target pressurized strut with by loading
The preacceleration inflation value that the size of power determines；
2) pre-oiling: 2/2-way zero leakage electromagnetic valve obtains electric opening, accumulator to the rod chamber of described power source pressurized strut,
The rod chamber of target pressurized strut and the most oil-filled supercharging of pressure chamber of pipeline formation therebetween, pressure transducer feeds back current oil-filled pressure
Power, reaches the described preacceleration inflation value set, and controller sends signal and turns off 2/2-way zero leakage electromagnetic valve, and pre-oiling terminates；
3) hydraulic actuator is driven: the servo controller of controller sends command pulse to electric servo unit encoder,
Control servomotor to rotate, through the piston rod movement of power source pressurized strut, the start of power source described in decelerator and drive lead screw rear drive
The rod chamber of cylinder is extruded；
4) load movement: the pressurized strut of described power source drives the piston rod of described target pressurized strut to move to its rodless cavity, power
Closed containing cavity between source pressurized strut and target pressurized strut is compressed, and makes target pressurized strut realize promoting load to specify to the right position fortune
Dynamic.
The solution of the present invention uses positive displacement control principle, and the pressurized strut of power source, by distributing device fuel feeding preacceleration inflation, electronic is watched
Take unit and drive its piston rod movement, the oil pressure in the pressurized strut of power source change promoting its piston rod movement, thus band dynamic load
Motion.The pressurized strut of power source is connected by hydraulic hose with target pressurized strut, is controlled real by the high precision position of power source pressurized strut
Now to target pressurized strut turnover oil volume adjustment, realized mesh by the displacement transducer in the load that connects firmly with target pressurized strut
The closed loop of mark pressurized strut and load situation accurately controls.
Beneficial effect: the present invention provide the miniature electro-hydraulic pressurized strut of one join oil and drive system and method thereof, have as
Lower beneficial effect:
(1) this oil-filled principle of keeping pressure of system accumulator realizes the pressurized strut of power source and target pressurized strut and a hydraulic pressure thereof soft
The preacceleration inflation of pipe, has abandoned the conventional hydraulic pumps that many hydraulic power source components and parts such as motor, hydraulic pump, hydraulic valve and fuel tank are constituted
Stand, greatly simplify system, improve reliability；
(2) it is connected by elongated flexible tube between the pressurized strut of power source with target pressurized strut, microminiature target pressurized strut can be installed
In desired location, the pressurized strut of power source is placed at a distance, determines hydraulic hose length according to on-the-spot circumstance, and space distribution is more flexible；
(3) system structure is simpler, it is simple to dismounts and safeguards；
(4) utilizing electric servo unit to control power source actuator, control mode is simple, and system material object is taken up space reduction.
(5) pressurized strut small volume used by so that system object construction is compact, is more suitable for performing component etc. as aviation
The use occasion sensitive to physical dimension.
(6) the pre-front Plenum Process of accumulator can reduce the initial preexpanding of electro-hydraulic servo start cell pressure cavity volume and draws
Play the displacement dead band of miniature pressurized strut, also avoid the volume weight burden brought because of the configuration of pumping source necessity.
Accompanying drawing explanation
Fig. 1 is this programme system structure schematic diagram；
Fig. 2 is this programme electric servo unit structure diagram；
Fig. 3 is this programme controller architecture sketch；
Fig. 4 is the AMESim phantom of system；
Fig. 5 is the simulation result that accumulator substitutes conventional pumping plant；
Fig. 6 is the Realization of Simulation of pre-punching control strategy function based on pressure feedback.
In Fig. 1,1 (1.1,1.2)-accumulator, 2 (2.1,2.2)-2/2-way electromagnetic valves, 3 (3.1,3.2)-pressure sensings
Device, the source pressurized strut of 4-power, 5-target pressurized strut, 6-displacement transducer, 7-servo control unit, 8-controller, 9-load.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
The present invention is that a kind of miniature electric hydraulic actuation cartridge system realizes efficiently joining oil, load drives and motor control, mesh
Be the driving that flexibility is big, reliability is high realizing narrow space occasion.Native system is that a kind of volume is little, lightweight, output work
The electrohydraulic actuator that rate is big.The program detects device with accumulator (Accumulator arrangements), zero leakage electromagnetic valve and precharge pressure,
Utilize that accumulator (or Accumulator arrangements) is oil-filled realizes hydraulic cylinder and the energy resource supply of connecting line thereof and preacceleration inflation, abandoned hydraulic pressure
The conventional hydraulic source of the composition such as pump, hydraulic valve and fuel tank, replaces conventional hydraulic pumping plant, drives target start by electrohydraulic cylinder
Cylinder, dramatically reduces number of elements and the volume weight of actuator, improves reliability and applicable surface.
With reference to Fig. 1, can be arranged apart with the pressurized strut of power source by target pressurized strut in installation process, between soft with elongated hydraulic pressure
Pipe connects, and thus the pressurized strut of power source and servo drive unit can be placed in driving scene remotely, can meet severe test and work
Make the driving of environment.The pressurized strut of power source becomes one with electric servo unit, and with long soft-pipe and interacting goals cylinder at a distance
Connect.Accumulator 1.1,1.2 is respectively by rodless cavity and the rod chamber of respective 2/2-way valve insertion force source pressurized strut.
With reference to Fig. 2 and Fig. 3, when (including the position of target pressurized strut to host computer one instruction and determined by load
Preacceleration inflation value), servo controller control magnet switching realize accumulator to two hydraulic actuators and therebetween pipeline formed
The punching press in advance of pressure chamber, treats that pressure transducer records current pressure and reached to set pre-punching value, then sends instruction and cut off
Closing valve stopping and continuing oil-filled, servo controller sends command pulse to the encoder of servo control unit, driving servo electricity immediately
Machine rotates.Owing to the general rotating speed of servomotor is high, moment of torsion is little, reduces its rotating speed through decelerator and improve driving load, then by passing
Rotating torque is converted into axial thrust by movable wire bar, and pressurized strut piston rod in motive force source is transported to assigned direction and position with load
Dynamic.
Embodiment 1
With reference to Fig. 1 and combine Fig. 2, Fig. 3, load to be made is as shown to left movement, and host computer provides instruction, system start-up,
Controller 8 controls 2/2-way electromagnetic valve 2.1 and opens, accumulator 1.1 to power source pressurized strut 4 rodless cavity, target pressurized strut 5 without bar
Pre-front oil-filled supercharging in chamber and the flexible pipe that both is connected, when pressure transducer 3.1 detects that in pipeline, oil pressure reaches to set in advance
During fixed expectation preexpanding pressure, controller 8 sends instruction and controls 2/2-way electromagnetic valve 2.1 and cut out, and pre-front punching course is complete
Become.Now controller 8 controls servomotor operating, and power source pressurized strut 4 rodless cavity is extruded, and promotes target pressurized strut 5 piston rod
Move to its rod chamber；When power source pressurized strut 4 rodless cavity, target pressurized strut 5 rodless cavity are compressed, then the fluid in cavity volume also by
Compress and set up rapidly recovery oil pressure, be stepped up with the mobile pressure putting forth effort source pressurized strut 4, until band dynamic load 9 is to the left
Motion.
Embodiment 2
With reference to Fig. 1 and combine Fig. 2, Fig. 3, load to be made moves right as shown, and host computer provides instruction, system start-up,
Controller 8 controls 2/2-way electromagnetic valve 2.2 and opens, and accumulator 1.2 has bar to power source pressurized strut 4 rod chamber, target pressurized strut 5
Pre-front oil-filled supercharging in chamber and the flexible pipe that both is connected, when pressure transducer 3.2 detects that in pipeline, oil pressure reaches to set in advance
During fixed expectation preexpanding pressure, controller 8 sends instruction and controls 2/2-way electromagnetic valve 2.2 and cut out, and pre-front punching course is complete
Become.Now controller 8 controls servomotor operating, and power source pressurized strut 4 rod chamber is extruded, and promotes target pressurized strut 5 piston rod
Move to its rodless cavity, when power source pressurized strut rod chamber, target pressurized strut 5 rod chamber are compressed, then the fluid in cavity volume also by
Compress and set up rapidly recovery oil pressure, be stepped up with the mobile pressure putting forth effort source pressurized strut 4, until band dynamic load 9 is to the right
Motion.
Embodiment 3
Oil return for accumulator is pressed again, by opening the electromagnetic valve 2.1 before accumulator 1.1 during main stroke end, it is ensured that
During accumulator pressure recovery oil, cylinder is motionless, and continues to make motor pushing power source cylinder advance, until pressure transducer 3.1 records storage
The oil return precharge pressure that the current pressure of energy device 1.1 reaches, then this electromagnetic valve 2.1 cuts out, and this action stops.
In like manner, press again if accumulator 1.2 need to be carried out oil return, then operation electromagnetic valve 2.2.
Preferably, with reference to Fig. 1 and combine Fig. 3, the displacement transducer 6 in target pressurized strut is by the piston rod of target pressurized strut
Position feeds back to servo controller, and passes to host computer and be adjusted, and forms accurate closed loop control.
For verifying the correctness of system, Fig. 4, Fig. 5, Fig. 6 provide AMESim system simulation model and the result of this programme.Its
In, Fig. 4 is the AMESim phantom of system, and Fig. 5 is function and the performance comparison that accumulator substitutes transmission pumping plant, can see
Going out, accumulator is obviously reduced than dead band during its system start-up of conventional hydraulic pumping plant.Position of Hydraulic Cylinder precision does not weaken.Fig. 6
A (), (b) are respectively according to different loads, under 20bar and 27bar Preliminary pressure-filled, the course of action that accumulator is oil-filled, in figure
It can be seen that pre-punching oil pressure error is substantially within 2bar, it is not result in moving in advance of target pressurized strut, and during preacceleration inflation
Between basic within 0.5s, meet the actuation requirements of most control system.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. oil and drive system are joined in a miniature electro-hydraulic pressurized strut, it is characterised in that: include distributing device, electric servo unit
(7) and hydraulic actuator, the cylinder of described hydraulic actuator is for closing chamber, and the inside of described cylinder arranges connection piston rod
Piston, described cylinder is divided into two to close cavity volume, respectively rod chamber and rodless cavity by described piston；Described pressurized strut includes power
Source pressurized strut (4) and target pressurized strut (5)；
Described distributing device connects described electric servo unit (7) and described power source pressurized strut (4), described electrical servo list respectively
Unit (7) is connected with the rod chamber of described power source pressurized strut (4), the rodless cavity of described power source pressurized strut (4) and described target start
The rodless cavity of cylinder (5) connects, and the rod chamber of described power source pressurized strut (4) is connected with the rod chamber of described target pressurized strut (5)；
The rod chamber of described target pressurized strut (5) is fixed with load (9).
Oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 1, it is characterised in that: described electrical servo
Unit (7) includes encoder, servomotor, decelerator and the transmission that is connected with described power source pressurized strut (4) being sequentially connected with
Screw mandrel；Described and described distributing device is connected；
Described distributing device includes accumulator (1), 2/2-way zero leakage electromagnetic valve (2), pressure transducer (3) and controller
(8), described accumulator (1) connects described power source pressurized strut (4) by 2/2-way zero leakage electromagnetic valve (2), described two two
Lead to and between zero leakage electromagnetic valve (2) and described power source pressurized strut (4), be provided with described pressure transducer (3)；Described controller (8) point
Do not connect described 2/2-way zero leakage electromagnetic valve (2), pressure transducer (3)；Sent signal by controller (8) and control described two
Position two leads to the break-make of zero leakage electromagnetic valve (2)；
Described distributing device is connected with the encoder of described electric servo unit (7) by described controller (8).
Oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 2, it is characterised in that: described controller
(8) including interconnective host computer and servo controller, described servo controller connects described 2/2-way zero respectively and lets out
Electric leakage magnet valve (2), pressure transducer (3)；Described servo controller connects the encoder in described electric servo unit (7).
Oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 2, it is characterised in that: described distributing device
Including two groups of accumulators (1), 2/2-way zero leakage electromagnetic valve (2) and pressure transducer (3), the 2/2-way zero of one of which
Leakage electromagnetic valve (2.1) connects the rodless cavity of described power source pressurized strut (4), the 2/2-way zero leakage electromagnetic valve of another group
(2.2) rod chamber of described power source pressurized strut (4) is connected.
Oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 1, it is characterised in that: make in described target
The dynamic displacement transducer (6) that is provided with between cylinder (5) and described load (9), institute's displacement sensors (6) and described electric servo unit
(7) connect.
Oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 1, it is characterised in that join oil dress described in:
Put, electric servo unit (7) and power source pressurized strut (4) as external drive part, separately set with described target pressurized strut (5)
Putting, wherein said power source pressurized strut (4) is connected with described target pressurized strut (5) by hydraulic hose.
Oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 1, it is characterised in that: described target start
The physical dimension of cylinder (5) is less than the physical dimension of described power source pressurized strut (4).
8. the method joining oil and drive system according to the arbitrary described miniature electro-hydraulic pressurized strut of claim 1 to 7, its feature exists
In: comprise the following steps:
1) send instructions: the host computer of controller (8) sends a start instruction, including the position of target pressurized strut (5) with by loading
(9) the preacceleration inflation value that the size of power determines；
2) pre-oiling: 2/2-way zero leakage electromagnetic valve (2) obtains electric opening, and accumulator (1) to two hydraulic actuators and is managed therebetween
The most oil-filled supercharging of pressure chamber that road is formed, pressure transducer (3) feeds back current precharge pressure, reaches the described preacceleration inflation set
Value, controller (8) sends signal and turns off 2/2-way zero leakage electromagnetic valve (2), and pre-oiling terminates；
3) hydraulic actuator is driven: the servo controller of controller (8) sends command pulse and encodes to electric servo unit (7)
Device, controls servomotor and rotates, through the piston rod movement of power source pressurized strut (4) described in decelerator and drive lead screw rear drive；
4) load movement: described power source pressurized strut (4) drives the piston rod movement of described target pressurized strut (5), the pressurized strut of power source
(4) closed containing cavity and between target pressurized strut (5) is compressed, and makes target pressurized strut (5) realize promoting load (9) to assigned direction
Move with position.
The method that oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 8, it is characterised in that: include with
Lower step:
1) send instructions: the host computer of controller (8) sends a start instruction, including the position of target pressurized strut (5) with by loading
(9) the preacceleration inflation value that the size of power determines；
2) pre-oiling: 2/2-way zero leakage electromagnetic valve (2.1) obtains electric opening, and accumulator (1.1) is to described power source pressurized strut (4)
Rodless cavity, the rodless cavity of target pressurized strut (5) and therebetween pipeline formed the most oil-filled supercharging of pressure chamber, pressure transducer
(3.1) feeding back current precharge pressure, reach the described preacceleration inflation value set, controller (8) sends signal and turns off 2/2-way zero
Leakage electromagnetic valve (2.1), pre-oiling terminates；
3) hydraulic actuator is driven: the servo controller of controller (8) sends command pulse and encodes to electric servo unit (7)
Device, controls servomotor and rotates, through the piston rod movement of power source pressurized strut (4), power described in decelerator and drive lead screw rear drive
The rodless cavity of source pressurized strut (4) is extruded；
4) load movement: described power source pressurized strut (4) drives the piston rod of described target pressurized strut (5) to move to its rod chamber,
Closed containing cavity between power source pressurized strut (4) and target pressurized strut (5) is compressed, and makes target pressurized strut (5) realize promoting load (9)
Specify position motion to the left.
The method that oil and drive system are joined in miniature electro-hydraulic pressurized strut the most according to claim 8, it is characterised in that: include
Following steps:
1) send instructions: the host computer of controller (8) sends a start instruction, including the position of target pressurized strut (5) with by loading
(9) the preacceleration inflation value that the size of power determines；
2) pre-oiling: 2/2-way zero leakage electromagnetic valve (2.2) obtains electric opening, and accumulator (1.2) is to described power source pressurized strut (4)
Rod chamber, the rod chamber of target pressurized strut (5) and therebetween pipeline formed the most oil-filled supercharging of pressure chamber, pressure transducer
(3.2) feeding back current precharge pressure, reach the described preacceleration inflation value set, controller (8) sends signal and turns off 2/2-way zero
Leakage electromagnetic valve (2.2), pre-oiling terminates；
3) hydraulic actuator is driven: the servo controller of controller (8) sends command pulse and encodes to electric servo unit (7)
Device, controls servomotor and rotates, through the piston rod movement of power source pressurized strut (4), power described in decelerator and drive lead screw rear drive
The rod chamber of source pressurized strut (4) is extruded；
4) load movement: described power source pressurized strut (4) drives the piston rod of described target pressurized strut (5) to move to its rodless cavity,
Closed containing cavity between power source pressurized strut (4) and target pressurized strut (5) is compressed, and makes target pressurized strut (5) realize promoting load (9)
Specify to the right position motion.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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