CN106438585A - Control system with buffering hydraulic cylinder and control method - Google Patents
Control system with buffering hydraulic cylinder and control method Download PDFInfo
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- CN106438585A CN106438585A CN201611128888.2A CN201611128888A CN106438585A CN 106438585 A CN106438585 A CN 106438585A CN 201611128888 A CN201611128888 A CN 201611128888A CN 106438585 A CN106438585 A CN 106438585A
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- hydraulic cylinder
- piston
- hydraulic
- displacement
- electric current
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
Abstract
The invention discloses a control system with a buffering hydraulic cylinder and a control method. The control system comprises an upper computer, a controller, a hydraulic accumulator, a hydraulic servo valve, a displacement sensor, a pull and pressure sensor and a cavity pressure sensor, wherein the controller is connected with the upper computer; the displacement sensor is fixed to the hydraulic cylinder; the pull and pressure sensor is mounted on a piston of the hydraulic cylinder; the cavity pressure sensor is fixed to the cylinder body of the hydraulic cylinder; the hydraulic servo valve is connected with the controller; the hydraulic accumulator is connected with a rodless cavity of the hydraulic cylinder. Through the displacement sensor, the displacement of the piston of the hydraulic cylinder is acquired; through the pull and pressure sensor, the output force of the piston of the hydraulic cylinder is acquired; through the cavity pressure sensor, the pressure p2 of the rodless cavity of the hydraulic cylinder is acquired; the controller drives the hydraulic cylinder by controlling the control current iv of the hydraulic servo valve. The control system is small in volume, convenient to control and good in stability, and can achieve force servo and position servo for the hydraulic cylinder to ensure stable working of a hydraulic system.
Description
Technical field
The present invention relates to a kind of system and method for being controlled to the hydraulic cylinder with pooling feature, belongs to hydraulic pressure
Cylinder control technology field.
Background technology
In the type of drive of lower limb legged type robot, hydraulic driving mode has that dynamic width, output strength be big, power-
The feature that weight is higher than high, bandwidth and the linearity is high, is particularly well-suited to high performance robot.In order that whole robot can
Rationally efficient motion, it is necessary to which its monarthric driver is studied.
The simple joint of lower limb legged type robot drives at present, typically adopts Driven by Hydraulic Cylinder, but existing hydraulic cylinder has punching
The problems such as hitting excessive, causes fluctuation and the damage to element to system pressure.
Disclosed in Chinese patent literature CN203189407U《A kind of hydraulic cylinder control system》, including shaft coupling, shaft coupling
One end is fixedly connected with servomotor, and the shaft coupling other end is fixedly connected with gear pump, and gear pump is provided with hydraulic fluid pressure sensing
Device, servomotor is provided with encoder for servo motor, and servomotor is also associated with servo-driver, and servo-driver is connected with monolithic
Machine, hydraulic oil pressure force transducer and encoder for servo motor are also connected with servo-driver.
Said system has been respectively adopted pressure and flow closed loop control to control pressure and the flow of hydraulic oil, it is not necessary to make
With valve bodies such as choke valve, proportioning valves, high pressure Choking phenomenon is prevented, the response time of closed loop control is exactly the sound of servo-driver
Between seasonable.Although have the characteristics that automatic calibration capability, hydraulic cylinder energy conversion efficiency is high and running precision is high, still not
Can solve hydraulic cylinder presence impact excessive the problems such as.
Content of the invention
The present invention in order to solve existing hydraulic cylinder presence impact excessive the problems such as, one kind is provided and can be reduced impact, keep away
Exempt from the control system with pooling feature hydraulic cylinder that pressure causes to fluctuate with component wear.While providing a kind of control system
Control method, in order to realize the position servo to hydraulic cylinder and force servo.
The control system with pooling feature hydraulic cylinder of the present invention, using following technical proposals：
The system, including host computer, controller, hydraulic accumulator, hydraulic efficiency servo-valve, displacement transducer, pressure sensing
Device and chamber pressure sensor；Controller is connected with host computer；Displacement transducer, pull pressure sensor and chamber pressure sensor all with control
Device connects, and the body of displacement transducer is fixed on the cylinder body of hydraulic cylinder, the measurement bar of displacement transducer and the piston of hydraulic cylinder
Connection；Pull pressure sensor is on the piston of hydraulic cylinder；Chamber pressure sensor is fixed on the cylinder body of hydraulic cylinder and measuring surface
It is connected with hydraulic cylinder rodless cavity；Hydraulic efficiency servo-valve is connected with controller, the oil inlet and outlet of hydraulic efficiency servo-valve respectively with hydraulic cylinder
Oil inlet and outlet connects；Hydraulic accumulator is connected with the rodless cavity of hydraulic cylinder.
Controller adopts the DSP of TMS320F28335 model as acp chip, is powered by 24V battery.Controller is provided with
The display lamp of display system state.
Displacement transducer is used for detecting the displacement of piston, and by data signal transmission to controller, pull pressure sensor is used
In the stress of detection hydraulic cylinder, and by data signal transmission to controller；Chamber pressure sensor is used for detecting the rodless cavity of hydraulic cylinder
Pressure, and by data signal transmission to controller.
When the piston of hydraulic cylinder is impacted, rodless cavity pressure moment becomes big, and the hydraulic oil in rodless cavity flows into accumulation of energy
In device, so that rodless cavity reduced pressure, reaches the purpose for reducing impact.When hydraulic cylinder piston needs elongation, in accumulator
Hydraulic oil output compensation.Reduce impact specifically to be realized by the chamber pressure sensor of detection rodless cavity hydraulic coupling, by the number of accumulator
Learn model to realize to the accurate of hydraulic efficiency servo-valve in the hope of the accumulator compensation term electric current ia in hydraulic efficiency servo-valve control electric current
Control.Controller finally realizes hydraulic cylinder by the control to the control realization of hydraulic efficiency servo-valve to hydraulic cylinder piston length
Power or position output.
Control method of the above-mentioned control system with pooling feature hydraulic cylinder to hydraulic cylinder, be：
The piston displacement of hydraulic cylinder is obtained by displacement transducer, the piston that hydraulic cylinder is obtained by pull pressure sensor is defeated
Exert oneself, transit chamber pressure sensor obtains the pressure p of hydraulic cylinder rodless cavity2, controller is by controlling the control of hydraulic efficiency servo-valve electric
Stream ivDriving hydraulic cylinder, control electric current i of hydraulic efficiency servo-valvevFor following items electric current sum：Piston traveling speed by hydraulic cylinder
vp_fedThe flow-compensated item electric current i for obtainingx, wherein piston traveling speed vp_fedObtained by hydraulic cylinder piston displacement differential；By liquid
The rodless cavity pressure p of cylinder pressure2The accumulator current compensation item i for obtaininga；Coulomb friction force compensating item electric current iFc；By hydraulic cylinder
Piston power output or piston displacement pass through the calculated error compensation item electric current i of PIDdelta.
The flow-compensated item electric current ixComputing formula is：ix=kx*vp_fed, wherein kxFor flow-compensated coefficient, value
0.028～0.032mA/ (mm/s), vp_fedFor hydraulic cylinder piston translational speed, vp_fedObtained by hydraulic cylinder piston displacement differential
Arrive.
The accumulator flow compensation term electric current iaComputing formula is：ia=H (s) * p2, wherein H (s) is accumulator mathematics
Model,kqFor the current flow proportionality coefficient of hydraulic efficiency servo-valve, Va0Be from accumulator initial volume, k
It is 1, p under isothermal conditionsa0For charging pressure of accumulator, p2For hydraulic cylinder rodless cavity hydraulic coupling.
The Coulomb friction force compensating item electric current iFcComputing formula is：iFc=kFc*sign(vp_fed), wherein kFcFor coulomb
Friction Compensation coefficient, sign (x) is sign function, to work as vp_fedFor timing, sign (vp_fed) it is 1, on the contrary it is -1.
The error compensation item electric current ideltaPID (ratio-product is passed through by the piston power output or piston displacement of hydraulic cylinder
Point-differential) be calculated, comprise the concrete steps that：
(1) according to the needs of hydraulic cylinder, the set-point f of piston power output is set by host computerrefOr piston displacement
Set-point Xref；
(2) piston power output f of hydraulic cylinder is obtained using pull pressure sensor or displacement transducerc_refOr piston displacement
xc_ref, the correction value f ' of piston power output is obtained after Kalman filteringc_refOr the correction value x ' of piston displacementc_ref, with work
The set-point of the set-point of plug power output or piston displacement compares, and obtains deviation e (the t)=f of piston power outputref-f′c_ref,
Or deviation e (t) of piston displacement=fref-f′c_ref；
(3) the error compensation item i of the control electric current of hydraulic efficiency servo-valve, according to deviation e (t), is calculated through PIDdelta.
The present invention has the characteristics that：
1. system bulk is little, easy to control, good stability；
2. the force servo to hydraulic cylinder and position servo can be realized, it is ensured that hydraulic system steady operation；
3. controller is communicated with host computer by CAN, the system mode such as feedback force, position and rodless cavity pressure,
Host computer issues instruction by CAN to controller, sets the given of regulation parameter and power and position.
Description of the drawings
Fig. 1 is the structured flowchart of controller in the present invention.
Fig. 2 is the force servo theory diagram in control system of the present invention.
Fig. 3 is the position servo theory diagram in control system of the present invention.
Fig. 4 is the operation interface functional diagram of controller in the present invention.
In figure：1. displacement transducer, 2. pull pressure sensor, 3. chamber pressure sensor, 4.A/D transducer, 5. controller, 6.
Hydraulic efficiency servo-valve, 7. hydraulic cylinder, 8. hydraulic accumulator, 9. display lamp, 10. host computer.
Specific embodiment
The control system with pooling feature hydraulic cylinder of the present invention, as shown in figure 1, including host computer 10, controller 5,
Hydraulic accumulator 8, hydraulic efficiency servo-valve 6, displacement transducer 1, pull pressure sensor 2 and chamber pressure sensor 3.
Controller 5 is connected by CAN with host computer 1.Controller 5 is using the DSP conduct of TMS320F28335 model
Acp chip, is powered by 24V battery.Controller 5 is provided with the display lamp 9 of display system state.Controller 5 reads hydraulic pressure 7
The signal such as the position of cylinder, pressure and rodless cavity pressure, and these information are sent to host computer 10 by CAN.
Displacement transducer 1, pull pressure sensor 2 and chamber pressure sensor 3 are respectively by A/D converter 4 with controller 5 even
Connect.The body of displacement transducer 1 is fixed on the cylinder body of hydraulic cylinder 7, and its measurement bar is connected with the piston of hydraulic cylinder 7, for examining
The displacement of piston is surveyed, and by data signal transmission to controller 5.Pull pressure sensor 2 is used on the piston of hydraulic cylinder 7
In the stress of detection hydraulic cylinder 7, and by data signal transmission to controller 5.Chamber pressure sensor 3 is fixed on the cylinder body of hydraulic cylinder 7
On, its measuring surface is connected with the rodless cavity of hydraulic cylinder 7, for detecting the rodless cavity pressure of hydraulic cylinder 7, and by data signal transmission
To controller 5.
Hydraulic efficiency servo-valve 6 is connected with controller 7, the oil inlet and outlet of hydraulic efficiency servo-valve 6 oil inlet and outlet respectively with hydraulic cylinder 7
Connection.
Hydraulic accumulator 8 is connected with the rodless cavity of hydraulic cylinder 7.Hydraulic accumulator is a kind of energy in fluid power system
Savings device, it is that compression energy or potential energy are stored to be in due course the energy conversion in system；When system needs, and
Compression energy or potential energy are changed into hydraulic energy and discharge, mends again feed system；When system instantaneous pressure increases, it can
To absorb the energy of this part, normal to ensure whole system pressure.The pooling feature of hydraulic cylinder 7 is mainly by being connected to hydraulic cylinder
The hydraulic accumulator 8 of 7 rodless cavity is realized, and when hydraulic cylinder piston receives impact, rodless cavity pressure moment becomes big, now, liquid
Hydraulic oil stream in cylinder pressure rodless cavity is in accumulator, so that rodless cavity reduced pressure, reaches the purpose for reducing impact.Reduce
Impact is specifically realized by the chamber pressure sensor of measurement hydraulic cylinder rodless cavity hydraulic coupling, such as in Fig. 2 and Fig. 3, p2For hydraulic cylinder no bar
Cavity pressure, by p2Can compensate in the hope of the accumulator in the control electric current of hydraulic efficiency servo-valve 6 with mathematical model H (s) of accumulator
Item electric current ia, realize the precise control to hydraulic efficiency servo-valve 6.
The displacement of hydraulic cylinder piston is obtained by displacement transducer, the piston that hydraulic cylinder is obtained by pull pressure sensor is defeated
Exert oneself, transit chamber pressure sensor obtains the pressure p of hydraulic cylinder rodless cavity2, controller is by controlling hydraulic efficiency servo-valve realization to liquid
The control of pressure cylinder piston.
The above-mentioned control system with pooling feature hydraulic cylinder is according to control electric current i of hydraulic efficiency servo-valve 6vDriving hydraulic cylinder
7 motion, realizes target control.As Fig. 2 and Fig. 3, control electric current i of hydraulic efficiency servo-valve 6vFor following items electric current sum:
1. by the piston traveling speed v of hydraulic cylinder 7p_fedThe flow-compensated item electric current i for obtainingx
Flow-compensated item electric current ixComputing formula is：ix=kx*vp_fed, wherein kxFor flow-compensated coefficient (about 0.028
～0.032mA/ (mm/s)), vp_fedFor hydraulic cylinder piston translational speed, vp_fedObtained by hydraulic cylinder piston displacement differential.
2. by the rodless cavity pressure p of hydraulic cylinder 72The current compensation item i of the accumulator 8 for obtaininga
The accumulator flow compensation term electric current iaComputing formula is：ia=H (s) * p2, wherein H (s) is accumulator mathematics
Model,kqFor the current flow proportionality coefficient of hydraulic efficiency servo-valve, its value of servo valve that the system is selected is
0.006～0.01mA s/mm3, Va0It is the initial volume of the accumulator that selects (as 13mm3), k is 1, p under isothermal conditionsa0
For the blowing pressure of accumulator, it is 1bar, p in the system2For hydraulic cylinder rodless cavity hydraulic coupling, obtained by chamber pressure sensor 3.
3. Coulomb friction force compensating item electric current iFc,
Coulomb friction force compensating item iFcComputing formula is：iFc=kFc*sign(vp_fed), wherein kFcMend for Coulomb friction power
Coefficient (about 0.2mA can choose 0.19-0.21mA) is repaid, sign (x) is sign function, to work as vp_fedFor timing, sign
(vp_fed) it is 1, on the contrary it is -1.
4. the error compensation item electric current i for being calculated by PIDdelta
Error compensation item electric current ideltaCalculated using the method for PID (proportional-integral-differential), specifically according to Fig. 2
The stress of the hydraulic cylinder 7 for being detected by pull pressure sensor 2 or the hydraulic cylinder 7 that detected by displacement transducer 1 according to Fig. 3
Piston displacement calculates the error compensation item of the control electric current of hydraulic efficiency servo-valve 6；Comprise the concrete steps that：
(1) needs for being moved according to hydraulic cylinder 7 are set the set-point f of power by host computer 10refOr the set-point X of displacementref；
(2) piston power output f of hydraulic cylinder 7 is obtained using pull pressure sensor 2 or displacement transducer 1c_refOr displacement
xc_ref, the correction value f ' of power is obtained after Kalman filteringc_refOr the correction value x ' of displacementc_ref, set-point or position with power
The set-point of shifting compares, and obtains deviation e (the t)=f of powerref-f′c_ref, or deviation e (t) of displacement=fref-f′c_ref；
(3) the error compensation item i of the control electric current of hydraulic efficiency servo-valve 6, according to deviation e (t), is calculated through PIDdelta.
The operation interface of controller, based on Visual C++ platform, operates on host computer 10, as shown in figure 4, including aobvious
Show that module, CAN, parameter give module and waveform gives module.Display module includes that sensing data shows mould
Block, threshold voltage display module and set-point display module；CAN includes to send command module, receive control to controller
The status information module that device processed is sent；Parameter gives module includes that mode selection module, pid parameter give module, big loculus stream
Coefficient of discharge gives module and Kalman filtering parameter gives module.Waveform gives module includes mode selection module, waveform selection
Module and waveform parameter give module.
The present invention reads power or the piston moving displacement that hydraulic cylinder is subject to by force transducer or displacement transducer, and with give
Definite value is compared, in conjunction with the data of hydraulic cylinder rodless cavity pressure transducer collection, after treated computing, by controller to hydraulic pressure
Servo valve is controlled, and realizes hydraulic cylinder and moves accordingly.It is total that the cylinder velocity data information that controller 5 is measured can pass through CAN
Line is sent to host computer 10.
Claims (6)
1. a kind of control system with pooling feature hydraulic cylinder, including host computer, controller, hydraulic accumulator, hydraulic servo
Valve, displacement transducer, pull pressure sensor and chamber pressure sensor；It is characterized in that：Controller is connected with host computer；Displacement sensing
Device, pull pressure sensor and chamber pressure sensor are all connected with controller, and the body of displacement transducer is fixed on the cylinder body of hydraulic cylinder
On, the measurement bar of displacement transducer is connected with the piston of hydraulic cylinder；Pull pressure sensor is on the piston of hydraulic cylinder；Chamber is pressed
Sensor is fixed on the cylinder body of hydraulic cylinder and measuring surface is connected with hydraulic cylinder rodless cavity；Hydraulic efficiency servo-valve is connected with controller,
The oil inlet and outlet of hydraulic efficiency servo-valve is connected with the oil inlet and outlet of hydraulic cylinder respectively；Hydraulic accumulator is connected with the rodless cavity of hydraulic cylinder
Connect.
2. control method of the control system described in a kind of claim 1 with pooling feature hydraulic cylinder to hydraulic cylinder, its feature
It is：
The piston displacement of hydraulic cylinder is obtained by displacement transducer, obtains the piston output of hydraulic cylinder by pull pressure sensor
Power, transit chamber pressure sensor obtains the pressure p of hydraulic cylinder rodless cavity2, controller is by control electric current i of control hydraulic efficiency servo-valvev
Driving hydraulic cylinder, control electric current i of hydraulic efficiency servo-valvevFor following items electric current sum：Piston traveling speed by hydraulic cylinder
vp_fedThe flow-compensated item electric current i for obtainingx, wherein piston traveling speed vp_fedObtained by hydraulic cylinder piston displacement differential；By liquid
The rodless cavity pressure p of cylinder pressure2The accumulator current compensation item i for obtaininga；Coulomb friction force compensating item electric current iFc；By hydraulic cylinder
Piston power output or piston displacement pass through the calculated error compensation item electric current i of PIDdelta.
3. there is the control method of the control system of pooling feature hydraulic cylinder to hydraulic cylinder as claimed in claim 2, it is characterized in that：
The flow-compensated item electric current ixComputing formula is：ix=kx*vp_fed, wherein kxFor flow-compensated coefficient, value 0.028～
0.032mA/ (mm/s), vp_fedFor hydraulic cylinder piston translational speed, vp_fedObtained by hydraulic cylinder piston displacement differential.
4. there is the control method of the control system of pooling feature hydraulic cylinder to hydraulic cylinder as claimed in claim 2, it is characterized in that：
The accumulator flow compensation term electric current iaComputing formula is：ia=H (s) * p2, wherein H (s) is accumulator mathematical model,kqFor the current flow proportionality coefficient of hydraulic efficiency servo-valve, Va0It is that k is being waited from accumulator initial volume
It is 1, p under the conditions of temperaturea0For charging pressure of accumulator, p2For hydraulic cylinder rodless cavity hydraulic coupling.
5. there is the control method of the control system of pooling feature hydraulic cylinder to hydraulic cylinder as claimed in claim 2, it is characterized in that：
The Coulomb friction force compensating item electric current iFcComputing formula is：iFc=kFc*sign(vp_fed), wherein kFcMend for Coulomb friction power
Coefficient is repaid, sign (x) is sign function, to work as vp_fedFor timing, sign (vp_fed) it is 1, on the contrary it is -1.
6. there is the control method of the control system of pooling feature hydraulic cylinder to hydraulic cylinder as claimed in claim 2, it is characterized in that：
The error compensation item electric current ideltaIt is calculated by PID by the piston power output or piston displacement of hydraulic cylinder, concrete step
Suddenly it is：
(1) according to the needs of hydraulic cylinder, the set-point f of piston power output is set by host computerrefOr piston displacement is given
Value Xref；
(2) piston power output f of hydraulic cylinder is obtained using pull pressure sensor or displacement transducerc_refOr piston displacement xc_ref,
The correction value f ' of piston power output is obtained after Kalman filteringc_refOr correction value x' of piston displacementc_ref, defeated with piston
The set-point that exerts oneself or the set-point of piston displacement compare, and obtain deviation e (the t)=f of piston power outputref-f′c_ref, or living
Deviation e (the t)=f of plug displacementref-f′c_ref；
(3) the error compensation item i of the control electric current of hydraulic efficiency servo-valve, according to deviation e (t), is calculated through PIDdelta.
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| CN201611128888.2A CN106438585B (en) | 2016-12-09 | 2016-12-09 | Control system and control method with pooling feature hydraulic cylinder |
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|---|---|---|---|
| CN201611128888.2A CN106438585B (en) | 2016-12-09 | 2016-12-09 | Control system and control method with pooling feature hydraulic cylinder |
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| CN106438585B CN106438585B (en) | 2018-01-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021022682A1 (en) * | 2019-08-06 | 2021-02-11 | 南通锻压设备如皋有限公司 | Method for combined control of speed and pressure of orbital hydraulic press |
| CN112872155A (en) * | 2020-12-24 | 2021-06-01 | 天津市天锻压力机有限公司 | Closed-loop control system for jaw pressure of skin stretcher |
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| CN106438585B (en) | 2018-01-05 |
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