CN107748511A - Based on four switch valves with the pneumatic position control system and its control method for opening strategy - Google Patents
Based on four switch valves with the pneumatic position control system and its control method for opening strategy Download PDFInfo
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- CN107748511A CN107748511A CN201710889216.1A CN201710889216A CN107748511A CN 107748511 A CN107748511 A CN 107748511A CN 201710889216 A CN201710889216 A CN 201710889216A CN 107748511 A CN107748511 A CN 107748511A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The present invention is proposed based on four switch valves with the pneumatic position control system and its control method for opening strategy, the system contains four solenoid high-speed switch valves, a double-acting cylinder, three pressure transmitters, one LVDT position sensor, and for driving the driving plate and controller of high-speed switch valve.The present invention is obtains the intracavitary air pressure beneficial to control, during link motion, increases the mode of operation that four high-speed switch valves are opened simultaneously so that left and right cavity air pressure quickly achieves stable air pressure section.Ensure that the chamber of cylinder or so two keeps enough stable air pressure by the switch opportunity of four solenoid switch valves of Reasonable adjustment, promote the stable operation of air cylinder connecting rod, reduce the position resilience as caused by inertia, and then reduce the shake in the control of position.The present invention is simple in construction, and cost is cheap and greatly improves position control accuracy.
Description
Technical field
It is more particularly to a kind of based on the same pneumatic position for opening strategy of four switch valves the invention belongs to pneumatic servo control field
Control system and its control method.
Background technology
With the development of digital control technology, pneumatic servo system has larger breakthrough.Pneumatic control components response is fast
Speed, it is simple and light, using cleaning, it is easy to safeguard, is widely used in control field.Make in atmospheric control by air
Energy is transmitted for medium, the compressibility of air is big, sticky small, is advantageous to form soft type drive mechanism and realizes high-speed motion.
But the raising of compressibility result in the hysteresis of pressure-responsive；The reduction of viscosity means that system damping is smaller, easily causes and is
Overshoot unite with shaking.
Current most of pneumatic position control systems are accurately controlled by servo/proportioning valve.Servo valve warp of today
Development after for many years can be realized easily continuously for pressure, the control of flow, and can obtain higher control accuracy, but
It is that servo valve also has the shortcomings that costly and valve body product is big.Compared to servo valve, the structure of high-speed switch valve is simple, and price is low
It is honest and clean.System based on switch valve embodies the nonlinear characteristic of increasing, but can pass through pulse modulation technique such as pulsewidth modulation
(Pulse Width Modulation, PWM) technology and pulse code modulation (Pulse Code Modulation, PCM) technology
The flow or pressure coefficient of approximately linear are obtained, and then to show to be similar to using the atmospheric control of switch valve to adopt
With the control effect of proportioning valve.The control cost of control system based on switch valve is relatively low and system complexity is low, still,
Limited by the characteristic of switch valve itself, the control accuracy and speed of system are limited, and contain larger controlling dead error.
R.B.van Varseveld proposed in 1997 improve after nonlinear control algorithm, using friciton compensation,
More good response characteristic has been obtained after the Compensation Controls such as position feed-forward.Sean Hodgson、Mahdi Tavakoli、
Minh Tu Pham et al. with 2015 delivered in IEEE/ASME Transactionst on Mechantronics to four
16 kinds of switch valve switching combinings of individual solenoid high-speed switch valve composition have carried out experimental study, and use sliding formwork control
The optimal assembled scheme of method validation that (Sliding Mode Control, SMC) is combined with PWM.But due to magnetic valve
Switching characteristic, cause the open and close of switch electromagnetic valve to have certain response time so that PWM dutycycle has necessarily
Dead band and saturation region, and then the characteristic of control system is affected.Minh Tu Pham et al. influence to reduce dead band
Expensive ultrahigh speed switch valve (more than switching frequency 500KHZ) is employed to reduce controlling dead error.
Control strategy based on PWM improves the control accuracy of traditional switch valve so that the operation strategies of switch valve obtain
Larger expansion.But high-precision control effect can not be obtained by only relying on PWM control strategies.
The content of the invention
Goal of the invention：In traditional control strategy, the control to intracavitary air pressure is not considered, and which results in motion intracavitary
Air pressure can be too high or too low, and then cause too high deflation speed or aeration speed, have considerable influence to control effect.This
Invention proposes a kind of based on the same pneumatic position for opening strategy of four switch valves to obtain the intracavitary air pressure for being beneficial to control that can stablize
Put control system and its control method.It is same to increase a part of four high-speed switch valves during piston rod movement by the present invention
When time for opening so that left and right cavity air pressure quickly achieves the air pressure of stable same stable.Four helicals of Reasonable adjustment
The switch opportunity of switch valve ensures that the chamber of cylinder or so two keeps certain stable air pressure, promotes the stable operation of piston, reduce by
Position resilience caused by inertia, and then reduce the shake in the control of position.The present invention can be by accurately adjusting cylinder or so
Air pressure realizes the accurate control for spool position, realizes and utilizes the relatively simple high-speed switch valve (switching frequency of structure
50KHZ), obtain close to proportional servo valve control effect.Its stable position precision can reach 0.5% the present invention it is simple in construction,
Cost is cheap to further increase position control accuracy.
The content of the invention：To realize above-mentioned technique effect, the present invention proposes following technical scheme：
Based on four switch valves with the pneumatic position control system for opening strategy, including：Double-acting cylinder 8, left charge valve 1, a left side
Vent valve 2, right charge valve 3, right vent valve 4, bleed pressure transmitter 5, cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure
Transmitter 7, LVDT displacement transducers 11, magnetic valve accelerate driving plate and controller；
The cavity of double-acting cylinder 8 is divided into left chamber and right chamber by boundary of piston；
Left charge valve 1, right charge valve 3 are connected with source of the gas, and are respectively used to control double-acting cylinder 8 left chamber, right chamber
Inflation；
Left vent valve 2, right vent valve 4 are respectively used to control the deflation of double-acting cylinder 8 left chamber, right chamber；
LVDT displacement transducers 11 are used for the shift length for gathering the load that cylinder piston rod free end is connected, and will adopt
The data collected are uploaded to controller；
Cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure transmitter 7 be respectively used to gather the right chamber of double-acting cylinder 8 and
Air pressure in left chamber, and the data collected are uploaded to controller；
Bleed pressure transmitter 5 is used for the air inlet air pressure for gathering source of the gas, and the data collected are uploaded into controller；
Controller generates the pwm control signal of 4 tunnel independences according to the gathered data received, and is sent to magnetic valve acceleration
Driving plate, four valves are separately input into after magnetic valve accelerates driving plate conditioning, for controlling the switch of four valves respectively
Action.
Further, the left charge valve 1, left vent valve 2, right charge valve 3, right vent valve 4 are bilateral solenoid height
Fast switch valve.
Further, the controller is the real-time embedded controller of technical grade of NI companies production.
Further, in addition to：Left silencer 9 and right silencer 10；The output gas of left vent valve 2 passes through left silencer
9 noise elimination heel row are removed into air, and the output gas of right vent valve 4 is removed into air by the right noise elimination heel row of silencer 10.
The present invention also proposes a kind of control method based on four switch valves with the pneumatic position control system for opening strategy, including
Step 1) is performed successively to 2)：
1) when double-acting cylinder 8 promotes load motion to the left or to the right, controller controls four valves to open one simultaneously
The section time so that inflation/deflation constant airspeed in system inflation cycle, i.e. cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure become
Device 7 is sent to obtain stable atmospheric pressure value；
2) controller controls corresponding with the cavity of the direction of motion homonymy charge valve and vent valve to remain on, simultaneously
The side chamber body is calculated according to air pressure, the air inlet air pressure of source of the gas, the position of load and the target location of load in opposite side cavity
The late release time is between charge valve and vent valve：
Wherein, V is cylinder volume, and R is air gas constant, and T is environment temperature,For inflation/deflation mass flow, Δ
P is that target air pressure is poor, is obtained by the target location and actual calculation of location that load；
Controller first controls the vent valve of the side chamber body to close, and then postpones the charge valve that Δ t closes the side chamber body so that
Air pressure rises in the side chamber body, promotes piston to be moved to target direction.
Beneficial effect：Compared with prior art, the present invention has the advantage that：
Ensure that the chamber of cylinder or so two keeps enough stabilizations by the switch opportunity of four solenoid switch valves of Reasonable adjustment
Air pressure, promote the stable operation of air cylinder connecting rod, reduce the position resilience as caused by inertia, and then reduce trembling in the control of position
It is dynamic.Stable state accuracy greatly improved in the larger dead band overcome in PWM control strategies.The present invention is simple in construction, and cost is cheap simultaneously
And greatly improve position control accuracy.
Brief description of the drawings
Fig. 1：Based on four switch valves with the position control system with high accuracy structural representation for opening strategy；
Fig. 2：Four switch valve switching sequence schematic diagrames；
Fig. 3：System step responds experiment effect figure；
Fig. 4：System sinusoidal response experiment effect figure；
Fig. 5：Traditional PWM controls experiment effect figure；
In figure：1st, left charge valve, 2, left vent valve, 3, right charge valve, 4, right vent valve, 5, bleed pressure transmitter, 6,
Cylinder right chamber air pressure transmitter, 7, cylinder left chamber pressure transmitter, 8, double-acting cylinder, 9, left silencer, 10, right silencer,
11st, LVDT displacement transducers.
Embodiment
Book technical scheme is further illustrated below by way of specific embodiment.
Fig. 1 show four switch valves described in embodiment with the high-precision pneumatic position control system structural representation for opening strategy
Figure, including：Left charge valve 1, left vent valve 2, right charge valve 3, right vent valve 4, bleed pressure transmitter 5, cylinder right chamber air pressure
Transmitter 6, cylinder left chamber pressure transmitter 7, double-acting cylinder 8, left silencer 9, right silencer 10 and LVDT displacement transducers
11；Wherein,
The left chamber of double-acting cylinder 8 is connected with left charge valve 1, left vent valve 2, right chamber and right charge valve 3, the phase of right vent valve 4
Even.Left charge valve 1 and right charge valve 3 are connected with source of the gas.Left vent valve 2 after left silencer 9 with air by being connected, right vent valve
4 after right silencer 10 with air by being connected.Double-acting cylinder 8 mutually interconnects with load, is gathered by LVDT displacement transducers 11
Input is into controller after load situation, bleed pressure transmitter 5, cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure inverting
Inputted at the measurement of device 7 three after air pressure into controller.The controlled quentity controlled variable that controller is sent out accelerates driving plate to nurse one's health by magnetic valve
After input to four switch valves (left charge valve 1, left vent valve 2, right charge valve 3, right vent valve 4).Meanwhile controller with it is upper
Machine is connected by Ethernet, realizes the preservation processing and reproduction of time data.
The left charge valve 1, left vent valve 2, right charge valve 3, right vent valve 4 use bilateral solenoid high-speed switch valve,
The bilateral solenoid high-speed switch valve can reach 100Hz switching speed；The bleed pressure transmitter 5, cylinder right chamber gas
Pressure transmitter 6, cylinder left chamber pressure transmitter 7 use input range as 1.0Mpa, the pressure inverting that output is 4~20MA outputs
Device；The double-acting cylinder 8 uses the pressure-resistant 0.7MPa of highest, range 0.1m low rubbing cylinder；The LVDT displacements pass
Sensor 11 uses LVDT displacement transducer of the range for 0.1M；The controller is that the technical grade of NI companies production is real-time embedded
Controller；The magnetic valve accelerates driving plate to provide out-put supply for magnetic valve, realizes the speed-sensitive switch of magnetic valve.The load
The sliding block for being 5kg for a mass.
The pwm signal that it is 25ms in the cycle of 4 tunnel independences that the control signal of controller output, which is, controls 4 high speeds to open respectively
Close the switch motion of valve.
During link motion, four high-speed switch valves of an increase part while the period opened, the present embodiment
Middle setting period is 10ms so that the chamber of left and right cylinder or so two reaches the air pressure of stable same stable.In this air pressure,
System has following features：For single chamber, the aeration speed of intracavitary is identical with deflation speed, and charge valve and vent valve are opened
Open time difference Δ t and intracavitary air pressure change Δ P is approximate directly proportional.For cylinder, the pressure balance in the chamber of left and right two, and by
Certain pressure is kept in intracavitary, it is ensured that the stabilization of system.For system, in stablizing atmospheric pressure state, it is believed that whole
It inflation/deflation constant airspeed in individual inflation cycle, can avoid introducing the integration for aeration quantity in the calculation, reduce amount of calculation.
The job step of above-mentioned pneumatic position control system is as follows：
1) when controlling cylinder to move right, four high-speed switch valves open a period of time simultaneously first so that system takes
The atmospheric pressure value that must stablize, i.e. cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure transmitter 7 obtain stable atmospheric pressure value, gas
The instrument board that the atmospheric pressure value that cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure transmitter 7 are detected can be carried by transmitter
Learn.
2) then, right charge valve 3, right vent valve 4 remain on so that cylinder right chamber air pressure is maintained at stable shape
State；The left more left delay of vent valve 2 a period of time of charge valve 1 closes so that left chamber air pressure rises, and promotes load to move right.
3) after left charge valve 1 and left vent valve 2 are turned off, left charge valve 1, left vent valve 2 is kept to close, right charge valve
3rd, right vent valve 4 opens a period of time, promotes load movement.
4) continue thereafter with into four switch valves while open mode.
5) when controlling cylinder to left movement, four high-speed switch valves open a period of time simultaneously first so that system takes
The atmospheric pressure value that must stablize.
6) then, left charge valve 1, left vent valve 2 remain on so that cylinder right chamber air pressure is maintained at stable shape
State；The right righter delay of vent valve 4 a period of time of charge valve 3 closes so that right chamber air pressure rises, and promotes load to be moved to the left.
7) after left charge valve 1 and left vent valve 2 are turned off, right charge valve 3, right vent valve 4 is kept to close, left charge valve
1st, left vent valve 2 opens a period of time, promotes load movement.
8) continue thereafter with into four switch valves while open mode.
In above-mentioned steps, gas-filled switching tube valve compared with air escape cock valve late release time by air pressure in cylinder chamber and source of the gas gas
Pressure determines.Air pressure is measured by cylinder right chamber air pressure transmitter 6, cylinder left chamber pressure transmitter 7 in cylinder chamber, and source of the gas air pressure is by gas
Source pressure transmitter 5 measures.As a result of delay inequality is closed as controlled quentity controlled variable, can significantly eliminate by switch threshold switch speed
Controlling dead error caused by degree limitation.
The late release time is calculated by target air pressure difference：
V is cylinder volume in formula 1, and R is air gas constant, and T is environment temperature,For inflation/deflation mass flow, by
In in steady pressure, now aeration speed is identical with deflation speed,It can be tried to achieve by interface air pressure and outlet air pressure.Cause
This, more can simply try to achieve the late release time.In order to give slide bar remaining enough traveling times, control PWM weeks is set
Phase is 25ms.Intuitively to show the switch motion of 4 valves in controlling cycle, by Fig. 2 statements when controlling slide bar to move right four
The switch motion of individual switch valve.Target air pressure difference Δ P is using Sliding mode variable structure control strategy by target location and physical location meter
Obtain.
Control signal is occurred by cRIO.Its signal characteristic is：Generate the PWM waveform that the cycle is 25ms.Accounted for by adjusting PWM
Sky compares and then adjusts the switch time of four valves.The signal of cRIO generations is inputted into switch valve after conditioning plate amplification of overdriving,
The break-make of controlling switch valve, and then realize the regulation and control for left and right intracavitary air pressure and slide position.
Fig. 3 is system step response diagram.The system fading margin time is 0.83s, and steady-state error is only 0.21mm, with respect to 100mm
Full scale, its relative error is only 0.21%.Its control accuracy is superior to general PWM control strategies with regulating time.Due to
The asymmetry of cylinder, system decrease speed slightly slowly and the rate of climb, regulating time 1.21s.
Fig. 4 is system sinusoidal response figure.Input signal is that amplitude is ± 3cm, and the cycle is 4.5s sinusoidal signal.System energy
This upper sine input of enough tracking well.
Fig. 5 is the design sketch under pure PWM policy controls.It can be seen that the system rate of climb is similar to Fig. 3 effects,
For 0.69s.But in stable state section, there is 5mm or so concussion in system, can not realize accurate control.
It is 25ms based on the same position control system with high accuracy controlling cycle for opening strategy of four switch valves, can uses more general
Logical high-speed switch valve.When the symmetry of four valves is good, the control effect of general PWM control strategies can be greatly improved,
Obtain good response speed and control accuracy.
Above example is only the technological thought of the present invention, it is noted that for those skilled in the art
For, some improvement can also be made under the premise without departing from the principles of the invention, and these improvement also should be regarded as the guarantor of the present invention
Protect scope.
Claims (5)
1. based on four switch valves with the pneumatic position control system for opening strategy, it is characterised in that including：Double-acting cylinder (8), a left side
Charge valve (1), left vent valve (2), right charge valve (3), right vent valve (4), bleed pressure transmitter (5), cylinder right chamber air pressure
Transmitter (6), cylinder left chamber pressure transmitter (7), LVDT displacement transducers (11), magnetic valve accelerate driving plate and controller；
The cavity of double-acting cylinder (8) is divided into left chamber and right chamber by boundary of piston；
Left charge valve (1), right charge valve (3) are connected with source of the gas, and are respectively used to control double-acting cylinder (8) left chamber, right chamber
Inflation；
Left vent valve (2), right vent valve (4) are respectively used to control the deflation of double-acting cylinder (8) left chamber, right chamber；
LVDT displacement transducers (11) are used for the shift length for gathering the load that cylinder piston rod free end is connected, and will collection
To data be uploaded to controller；
Cylinder right chamber air pressure transmitter (6), cylinder left chamber pressure transmitter (7) are respectively used to gather double-acting cylinder (8) right chamber
With the air pressure in left chamber, and the data collected are uploaded to controller；
Bleed pressure transmitter (5) is used for the air inlet air pressure for gathering source of the gas, and the data collected are uploaded into controller；
Controller generates the pwm control signal of 4 tunnel independences according to the gathered data received, and is sent to magnetic valve and accelerates driving
Plate, four valves are separately input into after magnetic valve accelerates driving plate conditioning, control the switch motion of four valves respectively.
It is 2. according to claim 1 based on the same pneumatic position control system for opening strategy of four switch valves, it is characterised in that institute
It is bilateral solenoid high-speed switch valve to state left charge valve (1), left vent valve (2), right charge valve (3), right vent valve (4).
It is 3. according to claim 1 based on the same pneumatic position control system for opening strategy of four switch valves, it is characterised in that institute
State the real-time embedded controller of technical grade that controller is the production of NI companies.
It is 4. according to claim 1 based on the same pneumatic position control system for opening strategy of four switch valves, it is characterised in that also
Including：Left silencer (9) and right silencer (10)；The output gas of left vent valve (2) is removed by left silencer (9) noise elimination heel row
Into air, the output gas of right vent valve (4) is removed into air by right silencer (10) noise elimination heel row.
5. tactful pneumatic position control system is opened together based on four switch valves according to Claims 1-4 any one
Control method, it is characterised in that including performing step 1) successively to 2)：
1) when double-acting cylinder (8) promotes load motion to the left or to the right, controller controls four valves to open one section simultaneously
Time so that inflation/deflation constant airspeed in system inflation cycle, i.e. cylinder right chamber air pressure transmitter (6), cylinder left chamber pressure become
Device (7) is sent to obtain stable atmospheric pressure value；
2) controller controls corresponding with the cavity of the direction of motion homonymy charge valve and vent valve to remain on, while basis
Air pressure, the air inlet air pressure of source of the gas, the position of load and the target location of load calculate side chamber body inflation in opposite side cavity
The late release time is between valve and vent valve：
<mrow>
<mi>&Delta;</mi>
<mi>t</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>&Delta;</mi>
<mi>P</mi>
<mi>V</mi>
</mrow>
<mrow>
<mover>
<mi>m</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>R</mi>
<mi>T</mi>
</mrow>
</mfrac>
</mrow>
Wherein, V is cylinder volume, and R is air gas constant, and T is environment temperature,For inflation/deflation mass flow；Δ P is mesh
Gas pressure difference, obtained by the target location and actual calculation of location that load；
Controller first controls the vent valve of the side chamber body to close, and then postpones the charge valve that Δ t closes the side chamber body so that the side
Air pressure rises in cavity, promotes piston to be moved to target direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710889216.1A CN107748511B (en) | 2017-09-26 | 2017-09-26 | Pneumatic position control system based on four-switch valve simultaneous opening strategy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710889216.1A CN107748511B (en) | 2017-09-26 | 2017-09-26 | Pneumatic position control system based on four-switch valve simultaneous opening strategy |
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| CN107748511B CN107748511B (en) | 2020-02-21 |
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Cited By (1)
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| CN110107547A (en) * | 2019-05-16 | 2019-08-09 | 南京航空航天大学 | Cylinder power output servo-control system based on switch valve volume flow fitting module |
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| CN110107547B (en) * | 2019-05-16 | 2020-05-05 | 南京航空航天大学 | Air cylinder output force servo control system based on switch valve volume flow fitting module |
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| CN107748511B (en) | 2020-02-21 |
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