CN107989858A - The double actuator electrohydraulic servo system position pressure bonding control methods of series connection - Google Patents
The double actuator electrohydraulic servo system position pressure bonding control methods of series connection Download PDFInfo
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- CN107989858A CN107989858A CN201711186544.1A CN201711186544A CN107989858A CN 107989858 A CN107989858 A CN 107989858A CN 201711186544 A CN201711186544 A CN 201711186544A CN 107989858 A CN107989858 A CN 107989858A
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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
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- 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
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Servomotors (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses the double actuator electrohydraulic servo system positions pressure bonding control methods of one kind series connection, this method balances interference of the outer load force to system, its executing agency is composed in series by an asymmetric servo cylinder and a double outlet-rod hydraulic cylinders, wherein asymmetric servo cylinder is controlled by three hydraulic fluid port axial plunger pumps, double outlet-rod hydraulic cylinders are controlled by double hydraulic fluid port axial plunger pumps, the pressure on four oil circuits of series cylinder is gathered respectively, the controller of the double outlet-rod hydraulic cylinder systems of control is fed back to after contrast, control the double outlet-rod hydraulic cylinder movements of motor driving, form pressure closed loop, and the displacement signal of series cylinder feeds back to the controller of asymmetric servo cylinder system, forming position closed loop, for controlling the positional precision of the double actuator electrohydraulic servo systems of series connection.Since outer load force is all balanced by double outlet-rod hydraulic cylinders, asymmetric servo cylinder system will not be disturbed by outer load force, so as to improve the positional precision of the double actuator electrohydraulic servo systems of series connection.
Description
Technical field
It is specially that double actuator is electro-hydraulic watches for a kind of series connection the present invention relates to high precision electro fluid servo system field of hydraulic control
Dress system position pressure bonding control method, suitable for the control and use of double remaining electro-hydraulic servo actuators.
Background technology
In the prior art, patent of invention " a kind of dissimilar redundancy electric steering gear "（The patent No.：
ZL201610649247.5）A kind of dissimilar redundancy electric steering gear is invented, using advanced power-by-wire technology and appearance
Product speed control principle, drives hydraulic pump system to directly drive double remaining series cylinders by two sets of motor, but the patent is only
Use the stroke of the double remaining hydraulic cylinders of position-force control series connection.
Patent of invention " a kind of open model pump control load chamber independent control asymmetrical cylinder "（The patent No.：
ZL201610916687.2）Invent and a kind of two different two-way variable displacement pumps of power level and two chamber phase of hydraulic cylinder have been respectively adopted
Even, dynamical system and the matching of load are realized, improves the static and dynamic performance of system, but not to position pressure bonding control
Manufacture corresponding requirement.
Above-mentioned patent embodies the advantage of electro-hydraulic actuator, and for electro-hydraulic actuator due to compact-sized, energy loss is small, quilt
Being widely used in aerospace etc. needs the field of high-precision control, but due to the interference of outer load force, electro-hydraulic actuator
Positional precision is difficult to meet the needs of the high-accuracy host such as aerospace.Therefore, the Bit andits control of electro-hydraulic actuator how is ensured
Accuracy, is the key issue for needing to solve at this stage.
A kind of double redundancy electro hydraulic servo actuator ZL201110169201.0 of patent of invention, a kind of double remainings of proposition are electro-hydraulic
Servo actuator, it discloses the double actuator electrohydraulic servo systems of series connection, including No. I system and No. II system, No. I system is held
Row mechanism is asymmetric servo cylinder 1, and two chambers of asymmetric servo cylinder 1 are oily with three respectively by two four-way electromagnetic reversing valve A14
10 or so the two hydraulic fluid ports connection of mouth axial plunger pump, its remaining hydraulic fluid port are connected with accumulator A11, accumulator A11 and check valve A12
Connected with the oil inlet of check valve B13, the oil outlet of check valve A12 and check valve B13 are commutated by two four-way electromagnetics respectively
Valve A14 is connected with two chambers of asymmetric servo cylinder 1, and three hydraulic fluid port axial plunger pumps 10 are controlled by control motor A9；No. II system
Executing agency be double outlet-rod hydraulic cylinders 2, two chambers of double outlet-rod hydraulic cylinders 2 pass through two four-way electromagnetic reversing valve B3 and double hydraulic fluid ports
Axial plunger pump 7 connects, two chambers of double outlet-rod hydraulic cylinders 2 by two four-way electromagnetic reversing valve B3 respectively with check valve C4 and list
Connected to valve D5 oil outlets, the oil inlet of check valve C4 and check valve D5 are connected with accumulator B6, double hydraulic fluid port axial plunger pumps 7 by
Motor B8 is controlled to control.
Control method is lacked based on the patent of invention, the present invention proposes to be suitable for the double actuator electrohydraulic servo system positions of series connection
Pressure bonding control method is put, to improve the position control accuracy for double actuator electrohydraulic servo systems of connecting, and ensures system
From the influence of outer load, the stability of system is improved.
The content of the invention
The present invention is in order to solve the problems, such as that foregoing invention patent lacks control method, there is provided the double actuator electricity of one kind series connection
Fluid servo system position pressure bonding control method.
The present invention is achieved by the following technical solution：The double actuator electrohydraulic servo systems of series connection include it is double go out
Bar hydraulic cylinder and asymmetric servo cylinder are connected the series cylinder to be formed, and displacement is provided with the actuator of the series cylinder
Sensor, the connection oil circuit of each chamber are provided with pressure sensor, and the control method of the series cylinder includes the following steps：
1. controlling motor A to start, two four-way electromagnetic reversing valve A are powered, and three hydraulic fluid port axial plunger pumps of driving are opened to single rod
Hydraulic cylinder feed flow, acts asymmetric servo cylinder；
Motor B is controlled to start, two four-way electromagnetic reversing valve B are powered, and drive double hydraulic fluid port axial plunger pumps to open to double rod liquid
Cylinder pressure feed flow, makes double outlet-rod hydraulic cylinder actions；
2. No. I system control：Gather the displacement signal of position sensorx, feedback position controller, with given displacementx r Than
Compared with after amplifying element, output control signal drive control motor A, control motor A drives three hydraulic fluid port axial plunger pumps to move
Make, then drive asymmetric servo cylinder action, forming position closed-loop control；When two chambers of asymmetric servo cylinder are due to fluid compression
Property and during leakage unbalance, accumulator A gives asymmetric servo cylinder two chamber feed flows by check valve A and check valve B, two chambers of supplement
Fluid is uneven；
No. II system control：Gather the pressure signal of pressure sensor on four oil inlet and outlet oil circuits of hydraulic cylinderf d , feed back back pressure
Force controller, with setting pressureFCompare, after amplifying element, output control signal drive control motor B, controls motor B bands
Dynamic double hydraulic fluid port axial plunger pump actions, then drive double outlet-rod hydraulic cylinder actions, form pressure closed loop control；When double rod hydraulic pressure
When two chamber of cylinder is uneven, accumulator B gives double outlet-rod hydraulic cylinders two chamber feed flows by check valve C and check valve D, supplements the oil of two chambers
Liquid is uneven；
3. when outer load disturbs series cylinder, outer load force is balanced by pressure closed loop by double outlet-rod hydraulic cylinders,
Pressure on oil circuit changes, and the pressure signal of pressure sensor feeds back to pressure controller, output control signal driving control
Motor B processed, drives double hydraulic fluid port axial plunger pump actions, double outlet-rod hydraulic cylinder actions is then driven, so as to drive series cylinder
Action.
The present invention be directed to the control method for double actuator electrohydraulic servo systems of connecting, which is divided into No. I system and II
Number system, asymmetric servo cylinder and double outlet-rod hydraulic cylinders share a piston rod, form series cylinder, and No. I system includes single
Outlet-rod hydraulic cylinder, is driven by a three hydraulic fluid port axial plunger pumps, using position-force control, controls the position of series cylinder smart
Degree；No. II system include it is double go out thick stick hydraulic cylinder, driven, controlled using pressure closed loop, balance external is born by double hydraulic fluid port axial plunger pumps
Carry the disturbance of power.The outer load force signal of actuator is fed back into the pressure controller of No. II system, forms pressure closed loop, is owned
Outer load balanced by double outlet-rod hydraulic cylinders, position-force control system, which is mainly responsible for, used by No. I system ensures electro-hydraulic work
The positional precision of dynamic device.
The asymmetric servo cylinder of No. I system is driven by three hydraulic fluid port axial plunger pumps, and asymmetric servo cylinder passes through two four-ways
Solenoid directional control valve A is connected with two hydraulic fluid ports of three hydraulic fluid port axial plunger pumps；The remaining hydraulic fluid port connection accumulation of energy of three hydraulic fluid port axial plunger pumps
Device A, accumulator A store the unnecessary fluid that three hydraulic fluid port axial plunger pumps provide, and give single rod by check valve A and check valve B
Two chamber feed flow of hydraulic cylinder, two chambers of supplement are due to uneven caused by leakage and oil compressibility；Its control method is：Two four-ways
Solenoid directional control valve A is powered, and three hydraulic fluid port axial plunger pumps are opened, and gathers the displacement signal of position sensor, feedback position control
Device, with given displacementx r Compare, after amplifying element, output control signal drive control motor A, control motor A drives three
Hydraulic fluid port axial plunger pump acts, and then drives asymmetric servo cylinder action, forming position closed-loop control, controls series cylinder
Positional precision.
Double outlet-rod hydraulic cylinders of No. II system are driven by double hydraulic fluid port axial plunger pumps, and double outlet-rod hydraulic cylinders pass through two four-ways
Solenoid directional control valve B is connected with two hydraulic fluid ports of double hydraulic fluid port axial plunger pumps；Accumulator B is double rods by check valve C and check valve D
Two chamber of hydraulic cylinder supplements fluid, and double two chambers of outlet-rod hydraulic cylinder of balance flow caused by oil compressibility and leakage is uneven,
And accumulator B is its fuel feeding by exterior oil sources；Its control method is：Two four-way electromagnetic reversing valve B are powered, and double hydraulic fluid ports are axial
Plunger pump is opened, and is gathered the pressure signal of pressure sensor on four oil inlet and outlet oil circuits of hydraulic cylinder, is fed back to pressure controller,
With setting pressureFCompare, after amplifying element, output control signal drive control motor B, control motor B drives double hydraulic fluid ports
Axial plunger pump acts, and then drives double outlet-rod hydraulic cylinder actions, forms pressure closed loop control, the disturbance of balance external load force.
No. I system in the present invention is the hydraulic system that executing agency is asymmetric servo cylinder, using position-force control,
No. II system is the hydraulic system that executing agency is double outlet-rod hydraulic cylinders, is controlled using pressure closed loop；And asymmetric servo cylinder
A piston rod is shared with double outlet-rod hydraulic cylinders, forms series cylinder.The series cylinder only will each chamber of the double actuator of series connection
Pressure signal feed back to the controller of No. II system, form pressure closed loop, all outer load forces are put down by double outlet-rod hydraulic cylinders
Weighing apparatus；The position signal for double actuator of connecting only is fed back to the controller of No. I system, the position of the double actuator of control series connection at the same time
Precision.Since No. II system has balanced all outer load forces, No. I system will not be influenced by outer load force, be merely responsible for controlling
The positional precision of the double actuator electrohydraulic servo systems of series connection, so as to improve the position control of the double actuator electrohydraulic servo systems of series connection
Precision processed.To sum up, this method to connect position control accuracy of double actuator electrohydraulic servo systems has obtained significantly carrying
It is high.
Brief description of the drawings
Fig. 1 is the double actuator electrohydraulic servo system principle schematics of series connection of the present invention.
Fig. 2 is position pressure bonding control block.
In figure：1- asymmetric servo cylinders, the double outlet-rod hydraulic cylinders 2 of 2-, two four-way electromagnetic reversing valve B, 4- check valve C of 3-,
The double hydraulic fluid port axial plunger pumps of 5- check valves D, 6- accumulator B, 7-, 8- control motor B, 9- control motor tri- hydraulic fluid ports of A, 10- are axial
Plunger pump, two four-way electromagnetic reversing valve A of 11- accumulators A, 12- check valve A, 13- check valve B, 14-.
Embodiment
The specific embodiment of the present invention is illustrated below in conjunction with the accompanying drawings.
The double actuator electrohydraulic servo system position pressure bonding control methods of one kind series connection, the double actuator of series connection are electro-hydraulic
Servo-drive system includes the series cylinder that double outlet-rod hydraulic cylinder 1 and asymmetric servo cylinder 2 series connection are formed, the series cylinder
Displacement sensor is installed, the connection oil circuit of each chamber is provided with pressure sensor, as shown in Figure 1, the series connection liquid on actuator
The control method of cylinder pressure includes the following steps：
1. controlling motor A9 to start, two four-way electromagnetic reversing valve A14 are powered, and three hydraulic fluid port axial plunger pumps 10 of driving are opened to list
1 feed flow of outlet-rod hydraulic cylinder, acts asymmetric servo cylinder 1；
Motor B8 is controlled to start, two four-way electromagnetic reversing valve B3 are powered, and drive double hydraulic fluid port axial plunger pumps 7 to open to double rods
2 feed flow of hydraulic cylinder, acts double outlet-rod hydraulic cylinders 2；
2. No. I system control：Gather the displacement signal of position sensorx, feedback position controller, with given displacementx r Than
Compared with after amplifying element, output control signal drive control motor A9, control motor A9 drives three hydraulic fluid port axial plunger pumps 10
Action, then drives asymmetric servo cylinder 1 to act, forming position closed-loop control；When two chambers of asymmetric servo cylinder 1 are due to fluid
When compressibility and leakage unbalance, accumulator A11 is supplied by check valve A12 and check valve B13 to 1 liang of chamber of asymmetric servo cylinder
Liquid, the fluid for supplementing two chambers are uneven；
No. II system control：Gather the pressure signal of pressure sensor on four oil inlet and outlet oil circuits of hydraulic cylinderf d , feed back back pressure
Force controller, with setting pressureFCompare, after amplifying element, output control signal drive control motor B8, control motor B8
Drive double hydraulic fluid port axial plunger pumps 7 to act, then drive double outlet-rod hydraulic cylinders 2 to act, form pressure closed loop control；When double rods
When 2 liang of chambers of hydraulic cylinder are uneven, accumulator B6 gives double outlet-rod hydraulic cylinders 2 liang of chamber feed flows by check valve C4 and check valve D5, mends
The fluid for filling two chambers is uneven；
3. when outer load disturbs series cylinder, outer load force is balanced by pressure closed loop by double outlet-rod hydraulic cylinders 2,
Pressure on oil circuit changes, and the pressure signal of pressure sensor feeds back to pressure controller, output control signal driving control
Motor B8 processed, drives double hydraulic fluid port axial plunger pumps 7 to act, then drives double outlet-rod hydraulic cylinders 2 to act, so as to drive tandem hydraulic
Cylinder acts.
As shown in Fig. 2, No. I system control：Gather the displacement signal of position sensorx, feedback position controller, with to
Positioning movesx r Compare, after amplifying element, output control signal drive control motor A9, control motor A9 drives three hydraulic fluid port axis
Acted to plunger pump 10, then drive asymmetric servo cylinder 1 to act, forming position closed-loop control, to control series connection actuator electricity
The positional precision of fluid servo system；When 1 two cavity oil liquid of asymmetric servo cylinder is uneven, accumulator A11 by check valve A12 and
Check valve B13 gives asymmetric servo cylinder 1 liang of chamber feed flow, and the fluid for supplementing two chambers is uneven.
As shown in Fig. 2, No. II system control：Gather the pressure signal of pressure sensor on four oil circuitsf d , feed back back pressure
Force controller, with setting pressureFCompare, after amplifying element, output control signal drive control motor B8, control motor B8
The double hydraulic fluid port axial plunger pumps 7 of driving act, and then drive double outlet-rod hydraulic cylinders 2 to act, and form pressure closed loop control, carry out balance external
The disturbance of load force；When double 2 two cavity oil liquid of outlet-rod hydraulic cylinder are uneven, accumulator B6 is given by check valve C4 and check valve D5
Double 2 liang of chamber feed flows of outlet-rod hydraulic cylinder, the fluid for supplementing two chambers are uneven.
Pressure controller and positioner in above-described embodiment are simultaneously not specific to a certain controller, every achievable control
The controller of function processed can use, and this point is known in those skilled in the art.As can be seen from the above-described embodiment,
When there is external loading force-disturbance, double outlet-rod hydraulic cylinders have balanced outer load force, make the position signal of asymmetric servo cylinder not
Influenced by outer load, improve the positional precision of servo-drive system.
Claims (1)
1. the double actuator electrohydraulic servo system positions pressure bonding control methods of one kind series connection, the series connection is double, and actuator is electro-hydraulic watches
Dress system includes double outlet-rod hydraulic cylinders（1）And asymmetric servo cylinder（2）The series cylinder that series connection is formed, the series cylinder
Actuator on displacement sensor is installed, the connection oil circuit of each chamber is provided with pressure sensor, it is characterised in that：The series connection
The control method of hydraulic cylinder includes the following steps：
1. control motor A（9）Start, two four-way electromagnetic reversing valve A（14）It is powered, drives three hydraulic fluid port axial plunger pumps（10）Open
Open to asymmetric servo cylinder（1）Feed flow, makes asymmetric servo cylinder（1）Action；
Control motor B（8）Start, two four-way electromagnetic reversing valve B（3）It is powered, drives double hydraulic fluid port axial plunger pumps（7）Open to
Double outlet-rod hydraulic cylinders（2）Feed flow, makes double outlet-rod hydraulic cylinders（2）Action；
2. No. I system control：Gather the displacement signal of position sensorx, feedback position controller, with given displacementx r Compare,
After amplifying element, output control signal drive control motor A（9）, control motor A（9）Drive three hydraulic fluid port axial plunger pumps
（10）Action, then drives asymmetric servo cylinder（1）Action, forming position closed-loop control；Work as asymmetric servo cylinder（1）Two chambers
During due to oil compressibility and leakage unbalance, accumulator A（11）Pass through check valve A（12）With check valve B（13）To single rod
Hydraulic cylinder（1）Two chamber feed flows, the fluid for supplementing two chambers are uneven；
No. II system control：Gather the pressure signal of pressure sensor on four oil inlet and outlet oil circuits of hydraulic cylinderf d , feed back back pressure
Controller, with setting pressureFCompare, after amplifying element, output control signal drive control motor B（8）, control motor B
（8）Drive double hydraulic fluid port axial plunger pumps（7）Action, then drives double outlet-rod hydraulic cylinders（2）Action, forms pressure closed loop control；
When double outlet-rod hydraulic cylinders（2）When two chambers are uneven, accumulator B（6）Pass through check valve C（4）With check valve D（5）To double rod liquid
Cylinder pressure（2）Two chamber feed flows, the fluid for supplementing two chambers are uneven；
3. when outer load disturbs series cylinder, outer load force is by pressure closed loop by double outlet-rod hydraulic cylinders（2）Put down
Weigh, the pressure on oil circuit changes, and the pressure signal of pressure sensor feeds back to pressure controller, output control signal driving
Control motor B（8）, drive double hydraulic fluid port axial plunger pumps（7）Action, then drives double outlet-rod hydraulic cylinders（2）Action, so as to drive
Series cylinder acts.
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| CN201711186544.1A CN107989858B (en) | 2017-11-24 | 2017-11-24 | The double actuator electrohydraulic servo system positions pressure bonding control methods of series connection |
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| CN201711186544.1A CN107989858B (en) | 2017-11-24 | 2017-11-24 | The double actuator electrohydraulic servo system positions pressure bonding control methods of series connection |
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| CN107989858A true CN107989858A (en) | 2018-05-04 |
| CN107989858B CN107989858B (en) | 2019-11-05 |
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ID=62032903
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114758A (en) * | 2019-12-06 | 2020-05-08 | 太原理工大学 | Heterogeneous series dual-redundancy steering engine |
| CN111608967A (en) * | 2020-04-30 | 2020-09-01 | 太原科技大学 | Hydraulic pressing control system for spinning machine die |
| US11384777B2 (en) | 2018-08-21 | 2022-07-12 | Siemens Energy, Inc. | Double-acting hydraulic actuator with different pumps for each actuation direction |
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| US4257311A (en) * | 1978-05-30 | 1981-03-24 | Smiths Industries Limited | Control systems |
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| US20090165457A1 (en) * | 2007-12-26 | 2009-07-02 | Atsushi Kakino | Double redundancy electro hydrostatic actuator system |
| CN102226453A (en) * | 2011-06-22 | 2011-10-26 | 太原理工大学 | Dual-redundancy electro hydraulic servo actuator |
| CN104595289A (en) * | 2015-01-28 | 2015-05-06 | 北京航空航天大学 | Double-redundancy electro-hydrostatic actuator (EHA) |
| CN106257060A (en) * | 2016-08-10 | 2016-12-28 | 北京航空航天大学 | A kind of dissimilar redundancy electric steering gear |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4257311A (en) * | 1978-05-30 | 1981-03-24 | Smiths Industries Limited | Control systems |
| CN1914426A (en) * | 2003-12-23 | 2007-02-14 | Hr德克斯特隆公司 | Redundant flow control for hydraulic actuator systems |
| CN1818382A (en) * | 2006-03-07 | 2006-08-16 | 太原理工大学 | Closed electrohydraulic controlling system |
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| CN104595289A (en) * | 2015-01-28 | 2015-05-06 | 北京航空航天大学 | Double-redundancy electro-hydrostatic actuator (EHA) |
| CN106257060A (en) * | 2016-08-10 | 2016-12-28 | 北京航空航天大学 | A kind of dissimilar redundancy electric steering gear |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11384777B2 (en) | 2018-08-21 | 2022-07-12 | Siemens Energy, Inc. | Double-acting hydraulic actuator with different pumps for each actuation direction |
| CN111114758A (en) * | 2019-12-06 | 2020-05-08 | 太原理工大学 | Heterogeneous series dual-redundancy steering engine |
| CN111114758B (en) * | 2019-12-06 | 2023-01-20 | 太原理工大学 | Heterogeneous series dual-redundancy steering engine |
| CN111608967A (en) * | 2020-04-30 | 2020-09-01 | 太原科技大学 | Hydraulic pressing control system for spinning machine die |
| CN111608967B (en) * | 2020-04-30 | 2022-05-10 | 太原科技大学 | Hydraulic pressing control system for spinning machine die |
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| Publication number | Publication date |
|---|---|
| CN107989858B (en) | 2019-11-05 |
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