CN107559266A - A kind of servo-control mechanism device and synchronous control method in parallel - Google Patents
A kind of servo-control mechanism device and synchronous control method in parallel Download PDFInfo
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- CN107559266A CN107559266A CN201711016563.XA CN201711016563A CN107559266A CN 107559266 A CN107559266 A CN 107559266A CN 201711016563 A CN201711016563 A CN 201711016563A CN 107559266 A CN107559266 A CN 107559266A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 title claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 title abstract description 7
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 3
- 238000007789 sealing Methods 0.000 claims description 7
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 4
- 239000010962 carbon steel Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 15
- 239000010720 hydraulic oil Substances 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000003068 static effect Effects 0.000 description 6
- 230000003321 amplification Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
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- 238000004088 simulation Methods 0.000 description 3
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- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
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- 230000004907 flux Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Abstract
The invention provides a kind of servo-control mechanism device and synchronous control method in parallel, device to include：Hydraulic pump, hydraulic pipeline and servomotor.Hydraulic pump is connected with servo valve group, servo actuator in turn by hydraulic pipeline；Servo valve group electrically connects with the servo-control system with debugging function.Servo valve group, which carries out synchronous control method in parallel, to be included：Tube formation is carried out to any one servo valve, other servo valves are sealed；Hydraulic pump is opened, makes it into normal operating operating mode；The setting of tuning parameter is carried out to servo-control system and servo controller；The input for debugging servo valve is consistent with feedback；Complete the debugging of whole servo valves.The device can make the null system of every servo valve keep highly consistent, realize the grading control of speed, improve the control accuracy under friction speed operating mode.Servo valve group and together with step control method simultaneously can also improve system work reliability, effectively solve large-flow high-frequency ring key issues of realization.
Description
Technical field
The present invention relates to Fluid Transmission and Control field, in particular to a kind of servo-control mechanism device and parallel connection
Synchronous control method.
Background technology
More servo valves are often used in hydraulic servo loading system while control a servo actuator, especially
It is that in the market can not buy the servo valve of super-flow when system flow demand is larger, therefore just needs more to watch
Valve parallel operation is taken to improve the operating rate of servo actuator.
The servo valve of maximum output flow flow output in 1MPa valve pressure drops in the market is 1500L/min, if
The output loads of oil cylinder are very big, and speed is quickly, then the requirement of flow is also huge, then are necessarily required to more servo valves simultaneously
Connection work can just meet the requirement of experiment.
The product of the more parallel connection of servo valves control servo actuator of many manufacturer productions now, only by servo valve letter
Single parallel connection, not other special debugging methods.All have oneself self character when every servo valve dispatches from the factory, zero point and
Dead band is different.If directly used in parallel, system operating rate can be improved, but can not necessarily reach system
The optimum efficiency of control.
More servo valves control the key issue of a servo actuator is how to make the zero-bit of each servo valve simultaneously
System keeps the uniformity of height, solves this problem, it is possible to solve more servo valve Synchronization Controls one substantially and watch
Take the purpose of actuator.
In view of this, it is special to propose the present invention.
The content of the invention
The first object of the present invention is to provide a kind of servo-control mechanism device, and described device is simple in construction, operation side
Just, solve the test requirements document of high speed big load, avoid because developing the great number cost input by big flow output device.Simultaneously
The null system of every servo valve can be made to keep highly consistent, the grading control of speed is realized, improve under friction speed operating mode
Control accuracy.
The second object of the present invention is to provide a kind of parallel connection of servo valves synchronous control method, and methods described can improve
The operating rate of hydraulic system, the design cost of system is greatlyd save, while the reliability of system work can be improved, lifting
Redundancy, effectively solve key issues of realization of large-flow high-frequency sound.
In order to realize the above-mentioned purpose of the present invention, spy uses following technical scheme：
The embodiments of the invention provide a kind of servo-control mechanism device, including：Hydraulic pump, hydraulic pipeline and servo electricity
Machine.
Hydraulic pump is connected with servo valve group, servo actuator in turn by hydraulic pipeline；
Servo valve group electrically connects with the servo-control system with debugging function, and servo valve group includes mutual cooperation action
Multigroup parallel connection is for the servo valve of adjustment control flow and the debugging cover plate of sealing oil inlet and outlet；
Servo-control system includes being used for the servo controller for controlling servomotor, and servo controller includes integrator switch
And valve balance adjustment knob.
Servomotor, servo-control system, hydraulic pump, servo valve group, servo actuator and hydraulic pipeline are servo loading
Main composition in system.In system application, the principal mode of servo valve is electrohydraulic servo valve, and it is receiving electric simulation letter
After number, flow and pressure after debugging are accordingly exported.Both electro-hydraulic converting element, and power amplification element are used as, can
Low power faint electrical input signal is converted into powerful hydraulic energy (flow and pressure) output.
In servo-drive system, servo valve connects electric part and hydraulic part, realize the conversion of electro-hydraulic signal with
Hydraulic pressure amplifies.For in a sense, servo valve is the core of servo system control.It is if right in servo loading experiment
, it is necessary to which more parallel connection of servo valves work could meet the requirement of experiment when a servo valve can not meet big flow output.
The main function of servo controller is control servomotor, and common alternating current motor is acted on similar to frequency converter, one
As servomotor is controlled by three kinds of position, speed and torque modes, realize the positioning of high-precision transmission system.
Further, servo valve also includes the zero-bit knob being arranged on valve body, and the zero-bit knob is respectively machinery zero
Position knob and electrical null position knob.
The zero-bit of servo valve refers to the geometry zero-bit that no load discharge is zero, and servo valve is often operated near zero-bit, therefore zero-bit
Characteristic is especially important.Zero-bit region is that the overlapping of output stage plays the region mainly influenceed to flow gain.
Further, servo valve-type is the servo valve of control source interface.
In order to avoid the influence of servo controller drive circuit driving force, servo valve selects control source interface as far as possible
Servo valve, avoid the occurrence of other unpredictalbe influence factors.
Further, the oil inlet and oil-out of hydraulic pipeline and servo valve connect.
In the debugging process of servo valve, it is necessary to the hydraulic oil of certain flow by, to carry out appropriate parameter setting, this
Hydraulic pipeline is just needed to be connected the conveying for carrying out hydraulic oil with oil inlet and oil-out.
Further, the quantity of servo valve is two or more, preferably even number.
The form of more parallel connection of servo valves is, it is necessary to which multiple servo valves carry out the conveying of hydraulic oil, in servo loading system simultaneously
The closed cycle of big flux hydraulic oil is formed in system, realizes the output of larger pressure.If the number of servo valve is even number, each
The flowrate proportioning of branch road is more uniform, adds the stability of system operation.
Further, it is stainless steel or carbon steel to debug cover plate material.
In debugging system during any one servo valve, the oil inlet and outlet of other servo valves is to need to debug cover plate for sealing
's.Due to the larger pressure formed in system, it should be ensured that debugging cover plate has certain mechanical strength first.General servo valve
Valve body be to be made by carbon steel or stainless steel, this just need same material be attached matching.
For a kind of servo-control mechanism device provided in the present invention, there is simple in construction, easy to operate, stability height
The features such as.Solve that oil cylinder output loads are big, the current demand of servo loading system high-volume hydraulic oil.
Except providing a kind of servo-control mechanism device, the present embodiment additionally provides carries out parallel connection synchronously using described device
Method.Comprise the following steps：
(1) Tube formation is carried out to any one servo valve, other servo valves are sealed；
(2) hydraulic pump is opened, makes it into normal operating operating mode；
(3) setting of tuning parameter is carried out to servo-control system and servo controller；
(4) input for debugging servo valve is consistent with feedback；
(5) debugging of whole servo valves is completed, you can.
By the process described above, while the null system of every servo valve can be made to keep highly consistent, realize speed
The grading control of degree, improve the control accuracy under friction speed operating mode.This method substantially increases the operating rate of hydraulic system,
The design cost of system is saved, while the reliability of system work can be improved, lifts redundancy, it is high effectively to solve big flow
Key issues of realization of frequency response.Deploy the explanation of carry out method below：
(1) according to the physical dimension processing and debugging cover plate of servo valve, the step is to meet in debugging process, is waited
Other servo valve mouths of pipe of debugging need debugging cover plate to seal, and isolate from system.
(2) servo valve is installed, the oil inlet and outlet of other servo valves is with debugging cover plate for sealing, appointing in each branch road
Anticipate a branch pipe(tube) normal mounting servo valve, the oil inlet and outlet of other servo valves is fully sealed.
(3) by after the outlet pressure debugging of hydraulic pump to operating pressure, static and dynamic is carried out to servo-control system and is joined
Several settings.Outlet pressure hydraulic pump being arranged under normal operating, it can more really react the work of each servo valve
State.After the static state and dynamic parameter of servo-control system are set, complete accurately to survey the comprehensive of servo-driver
Examination, makes hydraulic system enter steady operational status.
(4) the maximum debugging speed of servo-control system is set with the ability to work of a servo valve.Because debugging
Cheng Zhong, corresponding is any one servo valve in system, ensures the control accuracy of servo-control system in the reasonable scope.
(5) integrator switch of the PID control of servo controller is closed, or integral parameter is set as 0.This is key
Step, directly influence follow-up adjustment accuracy.
(6) the output step valve balance adjustment knob of servo controller is set as 0, primarily to avoiding the weight of output stage
Overlay flow is influenceed, and makes the debugging of servo valve not influenceed by external factor.
(7) servo-control system is set into a static command signal (be typically set at full scale 60%), the amount
The foundation that journey is chosen is to meet the parameter simulation under nominal situation, improves the stability in debugging process.
(8) whether consistent with instruction value of feedback is observed, if inconsistent, it is necessary to adjust the machinery (or electrical equipment) of servo valve
Zero-bit knob, instruction is adjusted to as far as possible with feeding back unanimously, completes preliminary debugging.This step is the key in adjustment method,
Debugging system forms closed-loop control, forms closed-loop path by signal forward path and feedback network, the servo after debugging
Valve, the sound value of output variable are corresponding with input variable so that power amplification is consistent with feedback.Efficiently solve the reality of high frequency sound
It is existing.
(9) cover plate will be debugged to seal the servo valve oil inlet and outlet for completing debugging, opens the debugging of any one servo valve
Cover plate, repeat step 3-8, until whole servo valve installations and debugging finish.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described.
Fig. 1 is the structural representation of servo-control mechanism device in the embodiment of the present invention 1；
Fig. 2 is the structural representation of servo valve group in the embodiment of the present invention 1.
Reference：
1- servomotors；2- hydraulic pumps；
3- servo valve groups；4- servo actuators；
5- servo-control systems；6- hydraulic pipelines；
7- servo valves.
Embodiment
Embodiment of the present invention is described in detail below in conjunction with embodiment, but those skilled in the art will
Understand, the following example is merely to illustrate the present invention, and is not construed as limiting the scope of the present invention.It is unreceipted specific in embodiment
Condition person, the condition suggested according to normal condition or manufacturer are carried out.Agents useful for same or the unreceipted production firm person of instrument, it is
The conventional products that can be obtained by commercially available purchase.
Embodiment 1
Shown in the structure as accompanying drawing 1 of specific servo-control mechanism device, servomotor 1 is connected with hydraulic pump 2 by shaft coupling
Connect, hydraulic pump 2 is connected with servo valve group 3, servo actuator 4 in turn by hydraulic pipeline 6；
Servo valve group electrically connects with the servo-control system with debugging function, and servo valve group includes mutual cooperation action
Multigroup parallel connection is for the servo valve 7 of adjustment control flow and the debugging cover plate of sealing oil inlet and outlet；
Servo-control system includes being used for the servo controller for controlling servomotor, and servo controller includes integrator switch
And valve balance adjustment knob.
Servomotor 1, servo-control system 5, hydraulic pump 2, servo valve group 3, servo actuator 4 and hydraulic pipeline 6 are to watch
Take the main composition in loading system.In system application, the principal mode of servo valve 7 is electrohydraulic servo valve, and it is receiving electricity
After gas analog signal, flow and pressure after debugging are accordingly exported.Both electro-hydraulic converting element, and power amplification member are used as
Part, low power faint electrical input signal can be converted to powerful hydraulic energy (flow and pressure) output.
Servo valve connects electric part and hydraulic part, and the conversion and hydraulic pressure for realizing electro-hydraulic signal are amplified.For
One servo valve can not meet during big flow output, it is necessary to which more parallel connection of servo valves work could meet the requirement of experiment.
Servo valve also includes the zero-bit knob being arranged on valve body, and the zero-bit knob is respectively mechanical zero knob and electricity
Gas zero-bit knob, input interface type are control source interface.
In the debugging process of servo valve, it is necessary to the hydraulic oil of certain flow by, to carry out appropriate parameter setting, this
Hydraulic pipeline is just needed to be connected the conveying for carrying out hydraulic oil with oil inlet and oil-out.
The quantity of servo valve is two or more, preferably even number.The form of more parallel connection of servo valves is, it is necessary to multiple servos
Valve carries out the conveying of hydraulic oil simultaneously, and the closed cycle of big flux hydraulic oil is formed in servo loading system, realizes larger pressure
The output of power.It is more uniform in the flowrate proportioning of each branch road if the number of servo valve is even number, add the stabilization of system operation
Property.
In debugging system during any one servo valve, the oil inlet and outlet of other servo valves is to need to debug cover plate for sealing
's.Due to the larger pressure formed in system, it should be ensured that debugging cover plate has certain mechanical strength first.General servo valve
Valve body be to be made by carbon steel or stainless steel, this just need same material be attached matching.
The synchronous control method of parallel connection of servo valves includes：
(1) according to the physical dimension processing and debugging cover plate of servo valve, the step is to meet in debugging process, is waited
Other servo valve mouths of pipe of debugging need debugging cover plate to seal, and isolate from system.
(2) servo valve is installed, the oil inlet and outlet of other servo valves is with debugging cover plate for sealing, appointing in each branch road
Anticipate a branch pipe(tube) normal mounting servo valve, the oil inlet and outlet of other servo valves is fully sealed.
(3) by after the outlet pressure debugging of hydraulic pump to operating pressure, static and dynamic is carried out to servo-control system and is joined
Several settings.Outlet pressure hydraulic pump being arranged under normal operating, it can more really react the work of each servo valve
State.After the static state and dynamic parameter of servo-control system are set, complete accurately to survey the comprehensive of servo-driver
Examination, makes hydraulic system enter steady operational status.
(4) the maximum debugging speed of servo-control system is set with the ability to work of a servo valve.Because debugging
Cheng Zhong, corresponding is any one servo valve in system, ensures the control accuracy of servo-control system in the reasonable scope.
(5) integrator switch of the PID control of servo controller is closed, or integral parameter is set as 0.This is key
Step, directly influence follow-up adjustment accuracy.
(6) the output step valve balance adjustment knob of servo controller is set as 0, primarily to avoiding the weight of output stage
Overlay flow is influenceed, and makes the debugging of servo valve not influenceed by external factor.
(7) servo-control system is set into a static command signal (be set as full scale 60%), range choosing
The foundation taken is to meet the parameter simulation under nominal situation, improves the stability in debugging process.
(8) whether consistent with instruction value of feedback is observed, if inconsistent, it is necessary to adjust the machinery (or electrical equipment) of servo valve
Zero-bit knob, instruction is adjusted to as far as possible with feeding back unanimously, completes preliminary debugging.This step is the key in adjustment method,
Debugging system forms closed-loop control, forms closed-loop path by signal forward path and feedback network, the servo after debugging
Valve, the sound value of output variable are corresponding with input variable so that power amplification is consistent with feedback.Efficiently solve the reality of high frequency sound
It is existing.
(9) cover plate will be debugged to seal the servo valve oil inlet and outlet for completing debugging, opens the debugging of any one servo valve
Cover plate, repeat step 3-8, until whole servo valve installations and debugging finish.
Although illustrate and describing the present invention with specific embodiment, but will be appreciated that without departing substantially from the present invention's
Many other change and modification can be made in the case of spirit and scope.It is, therefore, intended that in the following claims
Including belonging to all such changes and modifications in the scope of the invention.
Claims (7)
- A kind of 1. servo-control mechanism device, it is characterised in that including：Hydraulic pump, hydraulic pipeline and servomotor；The hydraulic pump is connected with servo valve group, servo actuator in turn by the hydraulic pipeline；The servo valve group is electrically connected with the servo-control system with debugging function, and the servo valve group, which includes cooperating, to be moved The multigroup parallel connection made is for the servo valve of adjustment control flow and the debugging cover plate of sealing oil inlet and outlet；The servo-control system includes being used for the servo controller for controlling the servomotor, and the servo controller includes product Divide device switch and valve balance adjustment knob.
- 2. device according to claim 1, it is characterised in that the servo valve also includes the zero-bit rotation being arranged on valve body Button, the zero-bit knob are respectively mechanical zero knob and electrical null position knob.
- 3. device according to claim 2, it is characterised in that the servo valve-type is the servo of control source interface Valve.
- 4. device according to claim 1, it is characterised in that the oil inlet of the hydraulic pipeline and the servo valve and go out Hydraulic fluid port connects.
- 5. device according to claim 1, it is characterised in that the quantity of the servo valve is two or more, is preferably even It is several.
- 6. device according to claim 1, it is characterised in that the debugging cover plate material is stainless steel or carbon steel.
- 7. the method that Synchronization Control in parallel is carried out using any one of claim 1-6 described device, it is characterised in that including such as Lower step：(1) Tube formation is carried out to any one servo valve, other servo valves are sealed；(2) hydraulic pump is opened, makes it into normal operating operating mode；(3) setting of tuning parameter is carried out to servo-control system and servo controller；(4) input for debugging servo valve is consistent with feedback；(5) debugging of whole servo valves is completed, you can.
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| CN109611400A (en) * | 2018-12-13 | 2019-04-12 | 江苏恒立液压股份有限公司 | Hydraulic system pipeline structure |
| CN110160879A (en) * | 2019-05-14 | 2019-08-23 | 中国科学院武汉岩土力学研究所 | A kind of fracturing device |
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| CN115324970A (en) * | 2022-10-13 | 2022-11-11 | 保定北奥石油物探特种车辆制造有限公司 | External control method and system for zero characteristic of alternating electrohydraulic servo system |
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| CN113653709A (en) * | 2021-07-01 | 2021-11-16 | 武汉船用机械有限责任公司 | Hydraulic control driving system |
| CN114183334A (en) * | 2021-11-03 | 2022-03-15 | 内蒙古北方重工业集团有限公司 | Method for suppressing zero drift in debugging of amplification plate of radial plunger pump |
| CN114183334B (en) * | 2021-11-03 | 2024-03-29 | 内蒙古北方重工业集团有限公司 | Method for debugging and inhibiting zero drift of radial plunger pump amplification plate |
| CN115324970A (en) * | 2022-10-13 | 2022-11-11 | 保定北奥石油物探特种车辆制造有限公司 | External control method and system for zero characteristic of alternating electrohydraulic servo system |
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