CN106292623A - The servo valve method to controller reverse interference can be weakened - Google Patents
The servo valve method to controller reverse interference can be weakened Download PDFInfo
- Publication number
- CN106292623A CN106292623A CN201610600629.9A CN201610600629A CN106292623A CN 106292623 A CN106292623 A CN 106292623A CN 201610600629 A CN201610600629 A CN 201610600629A CN 106292623 A CN106292623 A CN 106292623A
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- resistance
- circuit
- servo valve
- electric capacity
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
A kind of servo valve that weakens produces the control method of reverse interference, by resistance R to controller3One end be connected with the outfan of current feedback amplifying circuit, resistance R3The other end be connected with the input of drive amplification circuit；At described resistance R3And it is parallel with electric capacity C between the input of drive amplification circuit1；This electric capacity C1The other end be connected with the negative pole end of the input signal of current feedback amplifying circuit.The present invention uses filter processing method to solve the controller monitoring false-alarm problem to electrohydraulic servo valve, thus improve the environmental suitability of electrohydraulic servo-controlling system, improve capacity of resisting disturbance and the malfunction monitoring usefulness of system, reduce the false alarm rate of electrohydraulic servo-controlling system, the present invention has the universal suitability, is a kind of control method having bigger using value.
Description
Technical field
The present invention relates to electrohydraulic servo valve control field, its controller is produced anti-by specifically a kind of electrohydraulic servo valve that weakens
Control method to interference.
Background technology
Electrohydraulic servo valve is the core component in electrohydraulic servo-controlling system, and the output controlled by electrohydraulic servo valve is usual
Electro-hydraulic serving volume valve and Electric hydraulic pressure servo valve two kinds, the electrohydraulic servo valve of the most any form, Qi Zhongdou can be divided into
Moment motor.Fig. 1 is the basic structure schematic diagram of jet pipe type Electric hydraulic pressure servo valve, and torque-motor has a magnet steel 1,
Produce fixing magnetic field by pole shoe 2 and armature 3 between air gap between pole shoe 2 and armature 3, be passed through at coil block 4
After the control current signal of peripheral control unit output, coil block 4 produces certain electromagnetic torque on torque-motor, promotes
Armature 3 deflects, and overcomes the elastic force of its resilient support 5 connected to make jet pipe 6 produce certain displacement, and jet passes through nozzle
7, accepter 8 produces and controls pressure, drive the spool 9 of servo valve, overcome the elastic force of back-moving spring 10 to produce mobile；Work as electricity
After the pressure that hydraulic servo output is corresponding with controlling electric current, spool is in poised state.
In prior art, interface circuit is made up of current feedback amplifying circuit and drive amplification circuit two-stage amplifying circuit；
The output of described current feedback amplifying circuit is as the input of drive amplification circuit；Current feedback to be amplified by described wave filter
The output voltage of circuit is filtered processing.Specifically, the electric current using controller output realizes the stream to electrohydraulic servo valve
Amount or Stress control, in controller, control circuit end has an output interface circuit, control circuit or CPU is calculated
The voltage control signal obtained becomes current signal, completes the control to electrohydraulic servo valve so that it is output require flow or
Person's pressure.Fig. 2 gives the output interface circuit of a common baric flow conversion.Interface circuit is with voltage signal ViFor input, control
System is by electro-hydraulic servo valve coil RfElectric current on 14, resistance R111 is the feedback resistance of electric current, with operational amplifier N112 are constituted
The amplifying circuit of current error, by diode V116 to pliotron V216 provide the error signal amplified, by power three
Pole pipe V216 and resistance R215 at electro-hydraulic servo valve coil RfDriving electric current needed for producing on 14.
In actual control system, additionally it is designed with testing circuit toward contact, control interface is added in electro-hydraulic watching
The voltage taken on valve coil is monitored in real time, to judge whether electrohydraulic servo valve fault occurs, and at real work shape
Under state, by the fluctuating of such as oil supply pressure, vibrate, the environment such as impact is affected, monitoring control devices to be added in electrohydraulic servo valve
Voltage on coil can produce jumbo irregular change, deviates normal voltage range, and the testing circuit of induction controller is sent out
Being out of order instruction, its result makes control system show as false-alarm exactly, even allows control system cannot normally work at all.
The way of such issues that solve at present is, if this servo valve is not bery serious, only to the reverse interference of controller
It is false-alarm, then can consider to limit the testing conditions of hydraulic control system, only allows hydraulic control system to be under static state, very
To in the case of disconnecting hydraulic power source, control circuit and servo valve being carried out fault detect, and shield again under actual working environment
Cover fault detection capability, to prevent false-alarm；But when this reverse interference ratio is time more serious, the event in controller just can only be taken down
Barrier testing circuit.Both ways all can reduce the malfunction monitoring ability of hydraulic control system, and the normal work strip to system
Carry out hidden danger.Use the method for this routine no matter from the point of view of which angle, all can not fundamentally solve the electro-hydraulic of reality existence
The monitoring of servo valve control loop fault and the problem of false-alarm.
The basic reason causing electrohydraulic servo valve to control loop fault monitoring false-alarm problem is torque-motor armature and elasticity
The vibration of element.Studying carefully its failure cause is electrohydraulic servo valve by external interference, the fluctuation of such as oil supply pressure, vibrate, impact etc.
The impact of environment, armature and the flexible member of connection thereof in torque-motor can produce certain vibration, make the electricity of torque-motor
Magnetic resistance in magnetic loop produces fluctuation, thus the voltage that order is added on electro-hydraulic servo valve coil produces jumbo irregular change,
Deviate normal voltage range, cause the testing circuit prompting fault of controller.
Owing to electron controls technology is subordinate to different specialties from hydraulic system, in actual electrohydraulic servo system debugging and work
When work finds problems, tend not to carry out Fault Mechanism Analysis and fault location accurately, cause current this letter
Single processing mode, has explicitly pointed out in the present invention and has caused electrohydraulic servo valve to control the basic of loop fault monitoring false-alarm problem
Reason, and propose the method that the output interface circuit to controller is filtered processing, and do not interfere with the dynamic of system
Operating characteristic, is shown by the test under the harshest experimental condition and actually used checking, uses the method for the invention certain
Solve by the fluctuating of such as oil supply pressure, vibrate, electrohydraulic servo valve that the environment such as impact is affected and causes control loop therefore
Barrier monitoring false-alarm problem.
Through retrieval, prior art has the anti-vibration design in a large number to the most individually product such as electrohydraulic servo valve and controller
And vibration characteristics Simulation Analysis content, there is certain dependency with the present invention, but there is no at electrohydraulic servo valve and controller
Combine research and analyse such as oil supply pressure fluctuation, vibrate, under the environment such as impact, hard to controller of electrohydraulic servo valve
Part circuit produces the report of the research of reverse interference, and the present invention is by being studied the mechanism of this respect, and proposes
The design with operability improves processing method, is applied in an actual electrohydraulic servo-controlling system, solves
Problem present in real system.
Summary of the invention
For overcome present in prior art by the fluctuating of such as oil supply pressure, vibrate, the environment such as impact is affected and is drawn
Electricity hydraulic servo controls the deficiency of loop fault monitoring false-alarm, and the present invention proposes one can weaken servo valve to control
The method of device reverse interference.
The detailed process of the present invention is:
Step 1, determines the cut-off frequency of wave filter:
The antiskid braking control box electrohydraulic servo valve coil drive determined controls the cut-off frequency of the low pass filter of interface
For 20HZ；
Step 2, determines the component parameters of filter circuit:
The described component parameters determined includes resistance r determining resistance3, capacitance c of electric capacity1；
Determined by resistance R3Resistance r3With electric capacity C1Capacitance c1Meet formula:
Wherein: f is the cut-off frequency of low pass filter, unit is HZ；r3For resistance R3Resistance, unit: Ω；c1
For electric capacity C1Capacitance, unit: F.
The improvement of step 3, wave filter and interface circuit:
Control voltage signal is converted to current signal by described interface circuit, and described interface circuit is amplified by current feedback
Circuit and drive amplification circuit two-stage amplifying circuit composition, the output signal of current feedback amplifying circuit i.e. this operational amplifier
N17 feet of 12；The input of drive amplification circuit i.e. operational amplifier V2The base stage of 13.
The output voltage of current feedback amplifying circuit is filtered processing by described wave filter, is believed by filtered voltage
Number it is re-used as the input of drive amplification circuit.
When to the improvement of wave filter and interface circuit, by operational amplifier N1With pliotron V2Between diode
V1Remove, at described operational amplifier N1With pliotron V2Between connection resistance R3, make this resistance R3One end and electric current
The outfan of feedback amplifier connects, resistance R3The other end be connected with the input of drive amplification circuit；At described resistance R3
And access electric capacity C between the input of drive amplification circuit1；This electric capacity C1The input of positive terminal and current feedback amplifying circuit
The negative pole end of signal is connected, and forms a low-pass filter circuit.
Instant invention overcomes electrohydraulic servo valve present in prior art easily fluctuated by such as oil supply pressure, vibrated,
The impact of the environment such as impact, and make the voltage on control coil produce change, deviate normal voltage range, induction controller
Testing circuit produces indicating fault, causes the deficiency that hydraulic control system false alarm rate is too high, less demanding to dynamic response characteristic
Electrohydraulic servo-controlling system have obviously effect.Utilize prior art to pass through controller and gather electro-hydraulic servo valve coil Rf
The voltage signal at two ends, is monitored the voltage signal gathered, carries out fault according to the requirement of electrohydraulic servo-controlling system and patrol
Volume judge, described electrohydraulic servo-controlling system by the fluctuating of such as oil supply pressure, vibrate, the environment such as impact affected time,
It is not result in that the electrohydraulic servo valve that above-mentioned reason causes controls loop fault monitoring false-alarm, thus improves electro-hydraulic servo control system
The environmental suitability of system, improves capacity of resisting disturbance and the malfunction monitoring usefulness of system, reduces the false alarm rate of described control system.
For aircraft brake system exist antiskid system under working environment, in process of self-test, faults frequent refers to
Show, make the problem that system can not normally use, use the present invention that original electronic anti-breaking brake-control box is carried out interface circuit
Design improve, show with the actually used checking in outfield in factory, the present invention the most successfully solves actually used medium-term and long-term deposit
A technical barrier.
Fig. 4 show the hydraulic sliding prevention braking system of aircraft under actual operating conditions, before brake controller improves,
Detection signal 19 when carrying out brake system self-inspection and the sectional drawing of the measured curve of electrohydraulic servo valve coil voltage 20；At detection letter
After number by high level to low level, antiskid system is in running order, and controller starts the inspection to electrohydraulic servo valve coil voltage
Survey, as seen from the figure: serious interference signal occurs in electrohydraulic servo valve coil voltage, and jumbo concussion occurs, it is sufficient to cause brake system
System instruction fault.
Fig. 5 show the hydraulic sliding prevention braking system of this type aircraft under actual operating conditions, to electricity in brake controller
After the driving interface circuit of hydraulic servo improves, detection signal 19 when carrying out brake system self-inspection, electro-hydraulic servo valve coil
Desired voltage 21 and the picture mosaic of electro-hydraulic servo valve coil actual measurement voltage 22 curve.As seen from the figure, filtering control of the present invention is used
Method processed, after improving controller, the interference signal of electro-hydraulic servo valve coil actual measurement voltage is greatly lowered, and uses this specially
The described control method of profit can solve electrohydraulic servo-controlling system fluctuated by such as oil supply pressure, vibrated, the environment such as impact
The electrohydraulic servo valve affected and cause produces reverse interference to controller, causes the measure loop report of controller to control loop and occurs
The monitoring false-alarm problem of fault, thus improve the environmental suitability of electrohydraulic servo-controlling system, improve the anti-interference of system
Ability and malfunction monitoring usefulness, reduce the false alarm rate of described control system.
In sum, the problem that the false alarm rate that exists for current electrohydraulic servo-controlling system is high, use the present invention to find
The basic reason of this problem occurs, be due to electrohydraulic servo valve fluctuated by such as oil supply pressure, vibrated, the environment such as impact
Affect and controller is produced caused by reverse interference, utilize filter processing method of the present invention to can solve the problem that controller pair
The monitoring false-alarm problem of electrohydraulic servo valve, thus improve the environmental suitability of electrohydraulic servo-controlling system, improve system
Capacity of resisting disturbance and malfunction monitoring usefulness, reduce the false alarm rate of electrohydraulic servo-controlling system, and the present invention has the universal suitability,
It it is a kind of control method having bigger using value.
Accompanying drawing explanation
Fig. 1 is the basic structure schematic diagram of jet pipe type Electric hydraulic pressure servo valve；
Fig. 2 is the output interface circuit figure of the simple baric flow conversion of prior art；
Fig. 3 is the baric flow conversion output interface circuit figure having low-pass filtering function；
Fig. 4 is the electrohydraulic servo valve coil voltage curve changing front testing circuit；
Fig. 5 is the electrohydraulic servo valve coil voltage curve changing rear testing circuit；
Fig. 6 is the flow chart of the present invention.In figure:
1. magnet steel；2. pole shoe；3. armature；4. coil block；5. resilient support；6. jet pipe；7. nozzle；8. accepter；
9. spool；10. back-moving spring；11 resistance R1；12. operational amplifier N1；13 pliotron V2；14 electro-hydraulic servo valve coil Rf；
15. resistance R2；16. diode V1；17. resistance R3；18. electric capacity C1；19. detection signals；Electro-hydraulic servo valve coil before 20. filtering
Actual measurement voltage；21. electro-hydraulic servo valve coil desired voltage；Electro-hydraulic servo valve coil actual measurement voltage after 22. low-pass filtering.
Detailed description of the invention
The present embodiment is a kind of can to weaken the servo valve method to controller reverse interference, and detailed process is:
Step 1, low pass determines the cut-off frequency of wave filter.
The dynamic response frequency bandwidth of brake control system is relatively low, only about 20HZ, therefore directly uses 20HZ as anti-skidding
The electrohydraulic servo valve coil drive of brake-control box controls the cut-off frequency of the low pass filter of interface.
Step 2, determines the component parameters of filter circuit.
The described component parameters determined includes the capacitance determining the resistance of resistance, electric capacity, specifically:
Determine resistance R3Resistance r3With electric capacity C1Capacitance c1, make described r3And c1Meet formula:
Wherein: f is the cut-off frequency of low pass filter, unit is HZ；r3For resistance R3Resistance, unit: Ω；c1For electricity
Hold C1Capacitance, unit: F.
Resistance R in the present embodiment, in interface circuit111 and R2The resistance of 15 is 100 Ω, the coil of electrohydraulic servo valve
RfThe resistance of 14 is 400 Ω, selects C1=2.2uF, then obtain R by (1) formula3=3.617K Ω, takes 3.6K Ω in fact.
Use the general amplifying circuit operating point computational methods resistance R to determining3With electric capacity C1Check, result table
Bright, when maximum electrohydraulic servo valve coil current is 20mA, the pliotron V in described interface circuit2Still in linear work
Make district, and operational amplifier N1The control voltage of necessity can be supplied to.
The improvement of step 3, wave filter and interface circuit.
Control voltage signal is converted to current signal by described interface circuit, and described interface circuit is amplified by current feedback
Circuit and drive amplification circuit two-stage amplifying circuit composition, in the present embodiment, as it is shown in figure 1, current feedback amplifying circuit is defeated
Go out signal i.e. this operational amplifier N17 feet of 12；The input of drive amplification circuit i.e. operational amplifier V2The base stage of 13.
The output voltage of current feedback amplifying circuit to be filtered processing, by filtered voltage by described wave filter
Signal is re-used as the input of drive amplification circuit.
For realizing the purpose of the present invention, the present embodiment improves with interface principle circuit at wave filter described in Fig. 2
Time, by operational amplifier N112 and pliotron V2Diode V between 1316 remove, at described operational amplifier N12 and merit
Rate audion V2Connection resistance R between 3317, make this resistance R3One end of 17 connects with the outfan of current feedback amplifying circuit
Connect, resistance R3The other end of 17 is connected with the input of drive amplification circuit；At described resistance R317 defeated with drive amplification circuit
Enter and between end, access electric capacity C118；This electric capacity C1The negative pole end phase of the positive terminal of 18 and the input signal of current feedback amplifying circuit
Even, a low-pass filter circuit is formed.
In the present embodiment, described resistance R3The outfan of the one termination current feedback amplifying circuit of 17, i.e. this operation amplifier
Device N17 feet of 12；Resistance R3Another termination audion V of 172The base stage of 13.Electric capacity C1The positive terminal of 18 is connected to resistance R317 with
Between the input of drive amplification circuit, electric capacity C1Negative pole end ground connection.
Wave filter after improvement and interface circuit using the output signal of current feedback amplifying circuit as input, described electric current
The low frequency signal of feedback amplifier output is by resistance R317 inputs entering described drive amplification circuit.Electricity after improvement
There is attenuation on road to higher than the frequency component of low pass filter cutoff frequency, selects low pass filter determined by step 1
Cut-off frequency, can play the effect of low pass filter, thus eliminate the servo valve reverse interference to controller.
Now to the wave filter after improving and electro-hydraulic servo valve coil R in interface circuitfThe voltage signal at two ends is supervised
Survey, carry out fault logic judgement according to the requirement of electrohydraulic servo-controlling system, at described electrohydraulic servo-controlling system by such as
The fluctuation of oil supply pressure, vibrate, when the affecting of environment such as impact, eliminate the electrohydraulic servo valve that torque-motor causes and control loop
Malfunction monitoring false-alarm.
Claims (3)
1. one kind can weaken the servo valve method to controller reverse interference, it is characterised in that detailed process is:
Step 1, determines the cut-off frequency of wave filter:
The cut-off frequency of the low pass filter that the antiskid braking control box electrohydraulic servo valve coil drive determined controls interface is
20HZ；
Step 2, determines the component parameters of filter circuit:
The described component parameters determined includes resistance r determining resistance3, capacitance c of electric capacity1；
The improvement of step 3, wave filter and interface circuit:
Control voltage signal is converted to current signal by described interface circuit, and described interface circuit is by current feedback amplifying circuit
Form with drive amplification circuit two-stage amplifying circuit, the output signal of current feedback amplifying circuit i.e. this operational amplifier N112
7 feet；The input of drive amplification circuit i.e. operational amplifier V2The base stage of 13；
The output voltage of current feedback amplifying circuit is filtered processing, by filtered voltage signal again by described wave filter
Input as drive amplification circuit.
The servo valve method to controller reverse interference can be weakened the most as claimed in claim 1, it is characterised in that
Determined by resistance R3Resistance r3With electric capacity C1Capacitance c1Meet formula:
Wherein: f is the cut-off frequency of low pass filter, unit is HZ；r3For resistance R3Resistance, unit: Ω；c1For electric capacity C1's
Capacitance, unit: F.
The servo valve method to controller reverse interference can be weakened the most as claimed in claim 1, it is characterised in that to filtering
During the improvement of device and interface circuit, by operational amplifier N1With pliotron V2Between diode V1Remove, in described computing
Amplifier N1With pliotron V2Between connection resistance R3, make this resistance R3One end and current feedback amplifying circuit defeated
Go out end to connect, resistance R3The other end be connected with the input of drive amplification circuit；At described resistance R3With drive amplification circuit
Electric capacity C is accessed between input1；This electric capacity C1Positive terminal be connected with the negative pole end of the input signal of current feedback amplifying circuit,
Form a low-pass filter circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610600629.9A CN106292623B (en) | 2016-07-27 | 2016-07-27 | Method of the servo valve to controller reverse interference can be weakened |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610600629.9A CN106292623B (en) | 2016-07-27 | 2016-07-27 | Method of the servo valve to controller reverse interference can be weakened |
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| Publication Number | Publication Date |
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| CN106292623A true CN106292623A (en) | 2017-01-04 |
| CN106292623B CN106292623B (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5806805A (en) * | 1996-08-07 | 1998-09-15 | The Boeing Company | Fault tolerant actuation system for flight control actuators |
| CN101196200A (en) * | 2007-12-04 | 2008-06-11 | 北京工业大学 | Double-phase oppositely arranged ultra-magnetostriction self-sensing force feedback grade B servo valve and control method thereof |
| CN102620031A (en) * | 2012-03-28 | 2012-08-01 | 北京工业大学 | Two-phase opposed super magnetostrictive self-sensing driver |
| CN105253299A (en) * | 2015-09-07 | 2016-01-20 | 西安航空制动科技有限公司 | Antiskid brake control method suitable for undercarriage characteristic frequency |
-
2016
- 2016-07-27 CN CN201610600629.9A patent/CN106292623B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5806805A (en) * | 1996-08-07 | 1998-09-15 | The Boeing Company | Fault tolerant actuation system for flight control actuators |
| CN101196200A (en) * | 2007-12-04 | 2008-06-11 | 北京工业大学 | Double-phase oppositely arranged ultra-magnetostriction self-sensing force feedback grade B servo valve and control method thereof |
| CN102620031A (en) * | 2012-03-28 | 2012-08-01 | 北京工业大学 | Two-phase opposed super magnetostrictive self-sensing driver |
| CN105253299A (en) * | 2015-09-07 | 2016-01-20 | 西安航空制动科技有限公司 | Antiskid brake control method suitable for undercarriage characteristic frequency |
Non-Patent Citations (2)
| Title |
|---|
| 吴进 等: "电液伺服系统故障诊断技术研究综述", 《液压与气动》 * |
| 赵海鹰 等: "飞机防滑刹车系统鲁棒控制器的设计与研究", 《北京航空航天大学学报》 * |
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