CN107989858B - The double actuator electrohydraulic servo system positions pressure bonding control methods of series connection - Google Patents
The double actuator electrohydraulic servo system positions pressure bonding control methods of series connection Download PDFInfo
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- CN107989858B CN107989858B CN201711186544.1A CN201711186544A CN107989858B CN 107989858 B CN107989858 B CN 107989858B CN 201711186544 A CN201711186544 A CN 201711186544A CN 107989858 B CN107989858 B CN 107989858B
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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
- F15B21/08—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
Abstract
The invention discloses a kind of double actuator electrohydraulic servo system positions pressure bonding control methods of connecting, 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 acquired respectively, the controller for controlling double outlet-rod hydraulic cylinder systems is fed back to after comparison, control the double outlet-rod hydraulic cylinder movements of motor driven, 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 position precision for double actuator electrohydraulic servo systems of connecting.Since outer load force is all balanced by double outlet-rod hydraulic cylinders, asymmetric servo cylinder system will not be interfered by outer load force, to improve the position precision for double actuator electrohydraulic servo systems of connecting.
Description
Technical field
The present invention relates to high precision electro fluid servo system field of hydraulic control, specially a kind of series connection is double, and actuator is electro-hydraulic watches
Dress system position pressure bonding control method, control and use suitable for double redundancy electro-hydraulic servo actuator.
Background technique
In the prior art, patent of invention " a kind of dissimilar redundancy electric steering gear " (patent No.:
ZL201610649247.5 a kind of dissimilar redundancy electric steering gear) has been invented, using advanced power-by-wire technology and appearance
Product speed control principle, directly drives double redundancy series cylinder by two sets of motor drive hydraulic pump systems, but the patent is only
Use the stroke of position-force control series connection double redundancy hydraulic cylinder.
Patent of invention " a kind of open model pump control load chamber independent control asymmetrical cylinder " (patent No.:
ZL201610916687.2 it) has invented and a kind of two different two-way variable displacement pumps of power level and two chamber phase of hydraulic cylinder has been respectively adopted
Even, the matching of dynamical system and load is realized, the static and dynamic performance of system is improved, 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
It is widely used in the field that aerospace etc. needs high-precision control, but due to the interference of outer load force, electro-hydraulic actuator
Position precision is difficult to meet the needs of the high-accuracy host such as aerospace.Therefore, how to guarantee the Bit andits control of electro-hydraulic actuator
Accuracy is the critical 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 redundancy of proposition are electro-hydraulic
Servo actuator, it discloses double actuator electrohydraulic servo systems of connecting, 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
Mouth 10 or so two hydraulic fluid port of axial plunger pump connection, remaining hydraulic fluid port are connect with accumulator A11, accumulator A11 and check valve A12
It is connected with the oil inlet of check valve B13, the oil outlet of check valve A12 and check valve B13 pass through two four-way electromagnetic commutations respectively
Valve A14 is connect 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 outlet, the oil inlet of check valve C4 and check valve D5 are connect with accumulator B6, double hydraulic fluid port axial plunger pumps 7 by
Motor B8 is controlled to control.
Lack control method based on the patent of invention, the present invention proposes to be suitable for pair actuator electrohydraulic servo system positions of connecting
Pressure bonding control method is set, to improve the position control accuracy for double actuator electrohydraulic servo systems of connecting, and guarantees system
It is not influenced by outer load, improves the stability of system.
Summary of the invention
The present invention provides a kind of double actuator electricity of connecting to solve the problems, such as that foregoing invention patent lacks control method
Fluid servo system position pressure bonding control method.
The present invention is achieved by the following technical solution: double actuator electrohydraulic servo systems of connecting include it is double go out
Bar hydraulic cylinder and asymmetric servo cylinder are connected the series cylinder to be formed, and displacement is equipped on the actuator of the series cylinder
Sensor, the connection oil circuit of each chamber are equipped with pressure sensor, and the control method of the series cylinder includes the following steps:
1. controlling motor A starting, two four-way electromagnetic reversing valve A are powered, and three hydraulic fluid port axial plunger pumps of driving are opened to list
Outlet-rod hydraulic cylinder feed flow, acts asymmetric servo cylinder；
Control motor B starting, two four-way electromagnetic reversing valve B are powered, drive double hydraulic fluid port axial plunger pumps open to it is double go out
Bar hydraulic cylinder feed flow makes double outlet-rod hydraulic cylinder movements；
2. No. I system control: acquiring the displacement signal of displacement sensorx, feedback position controller, with given displacementx r
Compare, after amplifying element, output control signal drive control motor A, control motor A drive three hydraulic fluid port axial plunger pumps dynamic
Make, then drives asymmetric servo cylinder movement, forming position closed-loop control；When two chambers of asymmetric servo cylinder are due to oil liquid compression
Property and when leakage unbalance, accumulator A gives asymmetric servo cylinder two chamber feed flows by check valve A and check valve B, two chambers of supplement
Oil liquid is uneven；
No. II system control: the pressure signal of pressure sensor on acquisition four oil inlet and outlet oil circuits of hydraulic cylinderf d , feedback
Back pressure force controller, with given pressureFCompare, after amplifying element, output control signal drive control motor B, control electricity
Machine B drives double hydraulic fluid port axial plunger pump movements, then drives double outlet-rod hydraulic cylinder movements, forms pressure closed loop control；When it is double go out
When two chamber imbalance of bar hydraulic cylinder, accumulator B gives double outlet-rod hydraulic cylinders two chamber feed flows by check valve C and check valve D, supplement two
The oil liquid of chamber is uneven；
3. outer load force is carried out by pressure closed loop by double outlet-rod hydraulic cylinders flat when outer load disturbs series cylinder
It weighs, the pressure on oil circuit changes, and the pressure signal of pressure sensor feeds back to pressure controller, output control signal driving
Motor B is controlled, double hydraulic fluid port axial plunger pump movements are driven, double outlet-rod hydraulic cylinder movements are then driven, to drive tandem hydraulic
Cylinder movement.
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 essence of series cylinder
Degree；No. II system includes double thick stick hydraulic cylinders out, is driven by double hydraulic fluid port axial plunger pumps, is controlled using pressure closed loop, balance external is negative
Carry the disturbance of power.By the outer load force signal feedback of actuator to the pressure controller of No. II system, pressure closed loop is formed, is owned
Outer load balanced by double outlet-rod hydraulic cylinders, position-force control system used by No. I system, which is mainly responsible for, guarantees electro-hydraulic work
The position 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 connect with two hydraulic fluid ports of three hydraulic fluid port axial plunger pumps；The remaining hydraulic fluid port of three hydraulic fluid port axial plunger pumps connects accumulation of energy
Device A, accumulator A store the extra oil liquid 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 imbalance as caused by leakage and oil compressibility；Its control method are as follows: two four-ways
Solenoid directional control valve A is powered, and three hydraulic fluid port axial plunger pumps are opened, and acquires the displacement signal of displacement sensor, feedback position control
Device, with given displacementx r Compare, after amplifying element, output control signal drive control motor A, control motor A drive three
The movement of hydraulic fluid port axial plunger pump, then drives asymmetric servo cylinder movement, and forming position closed-loop control controls series cylinder
Position 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 connect 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 oil liquid, balances double two chambers of outlet-rod hydraulic cylinder due to oil compressibility and flow caused by leaking is uneven,
And accumulator B is its fuel feeding by external oil sources；Its control method are as follows: two four-way electromagnetic reversing valve B are powered, and double hydraulic fluid ports are axial
Plunger pump is opened, and is acquired the pressure signal of pressure sensor on four oil inlet and outlet oil circuits of hydraulic cylinder, is fed back to pressure controller,
With given pressureFCompare, after amplifying element, output control signal drive control motor B, control motor B drive double hydraulic fluid ports
Then axial plunger pump movement drives double outlet-rod hydraulic cylinder movements, 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 feedback 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 controller of the position signal feedback for double actuator of connecting to No. I system is only controlled into the position for double actuator of connecting simultaneously
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 position precision of the double actuator electrohydraulic servo systems of series connection, to improve the position control for double actuator electrohydraulic servo systems of connecting
Precision processed.To sum up, this method to connect position control accuracy of double actuator electrohydraulic servo systems has obtained significantly mentioning
It is high.
Detailed description of the invention
Fig. 1 is the double actuator electrohydraulic servo system schematic illustrations of series connection of the invention.
Fig. 2 is position pressure bonding control block.
In figure: 1- asymmetric servo cylinder, the bis- outlet-rod hydraulic cylinders of 2-, 3- two four-way electromagnetic reversing valve B, 4- check valves C, 5-
The bis- hydraulic fluid port axial plunger pumps of check valve D, 6- accumulator B, 7-, 8- control motor B, and 9- controls motor A, tri- hydraulic fluid port axial columns of 10-
Plug pump, two four-way electromagnetic reversing valve A of 11- accumulator A, 12- check valve A, 13- check valve B, 14-.
Specific embodiment
Specific embodiments of the present invention are illustrated with reference to the accompanying drawing.
A kind of double actuator electrohydraulic servo system positions pressure bonding control method of connecting, double actuator of connecting are electro-hydraulic
Servo-system includes the series cylinder of double outlet-rod hydraulic cylinders 2 and the series connection formation of asymmetric servo cylinder 1, the series cylinder
Displacement sensor is installed, the connection oil circuit of each chamber is equipped 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 starting, two four-way electromagnetic reversing valve A14 are powered, and three hydraulic fluid port axial plunger pumps 10 of driving are opened
It gives asymmetric servo cylinder 1 feed flow, acts asymmetric servo cylinder 1；
Motor B8 starting is controlled, two four-way electromagnetic reversing valve B3 are powered, and double hydraulic fluid port axial plunger pumps 7 is driven to open to double
2 feed flow of outlet-rod hydraulic cylinder acts double outlet-rod hydraulic cylinders 2；
2. No. I system control: acquiring the displacement signal of displacement sensorx, feedback position controller, with given displacementx r
Compare, after amplifying element, output control signal drive control motor A9, control motor A9 drive three hydraulic fluid port axial plunger pumps
10 movements, then drive asymmetric servo cylinder 1 to act, forming position closed-loop control；When two chambers of asymmetric servo cylinder 1 are due to oil
When hydraulic compression 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 oil liquid for supplementing two chambers are uneven；
No. II system control: the pressure signal of pressure sensor on acquisition four oil inlet and outlet oil circuits of hydraulic cylinderf d , feedback
Back pressure force controller, with given pressureFCompare, after amplifying element, output control signal drive control motor B8, control electricity
Machine B8 drives double hydraulic fluid port axial plunger pumps 7 to act, and double outlet-rod hydraulic cylinders 2 is then driven to act, and forms pressure closed loop control；When double
When 2 liang of chamber imbalances of outlet-rod hydraulic cylinder, accumulator B6 gives double 2 liang of chambers of outlet-rod hydraulic cylinder to supply by check valve C4 and check valve D5
Liquid, the oil liquid for supplementing two chambers are uneven；
3. outer load force is carried out by pressure closed loop by double outlet-rod hydraulic cylinders 2 when outer load disturbs series cylinder
It balances, the pressure on oil circuit changes, and the pressure signal of pressure sensor feeds back to pressure controller, and output control signal drives
Dynamic control motor B8 drives double hydraulic fluid port axial plunger pumps 7 to act, then drives double outlet-rod hydraulic cylinders 2 to act, to drive series connection
Hydraulic cylinder movement.
As shown in Fig. 2, No. I system control: acquiring the displacement signal of displacement sensorx, feedback position controller and gives
Positioning movesx r Compare, after amplifying element, output control signal drive control motor A9, control motor A9 drive three hydraulic fluid port axis
It is acted to plunger pump 10, then asymmetric servo cylinder 1 is driven to act, forming position closed-loop control, to control series connection actuator electricity
The position precision of fluid servo system；When 1 two cavity oil liquid imbalance of asymmetric servo cylinder, accumulator A11 by check valve A12 and
Check valve B13 gives asymmetric servo cylinder 1 liang of chamber feed flow, and the oil liquid for supplementing two chambers is uneven.
As shown in Fig. 2, No. II system control: the pressure signal of pressure sensor on four oil circuits of acquisitionf d , feed back back pressure
Force controller, with given pressureFCompare, after amplifying element, output control signal drive control motor B8 controls motor B8
It drives double hydraulic fluid port axial plunger pumps 7 to act, double outlet-rod hydraulic cylinders 2 is then driven to act, form pressure closed loop control, carry out balance external
The disturbance of load force；When double 2 two cavity oil liquid imbalances of outlet-rod hydraulic cylinder, accumulator B6 is given by check valve C4 and check valve D5
2 liang of chamber feed flows of double outlet-rod hydraulic cylinders, the oil liquid for supplementing two chambers are uneven.
Pressure controller and positioner in above-described embodiment are simultaneously not specific to a certain controller, all achievable controls
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
It is influenced by outer load, improves the position precision of servo-system.
Claims (1)
1. a kind of double actuator electrohydraulic servo system positions pressure bonding control methods of connecting, the series connection is double, and actuator is electro-hydraulic watches
Dress system includes double outlet-rod hydraulic cylinders (2) and the series cylinder that asymmetric servo cylinder (1) series connection is formed, the series cylinder
Actuator on displacement sensor is installed, the connection oil circuit of each chamber is equipped 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) starting, two four-way electromagnetic reversing valve A(14) it is powered, three hydraulic fluid port axial plunger pumps (10) of driving are opened
It opens and gives asymmetric servo cylinder (1) feed flow, act asymmetric servo cylinder (1)；
Control motor B(8) starting, two four-way electromagnetic reversing valve B(3) it is powered, drive double hydraulic fluid port axial plunger pump (7) unlatchings to give
Double outlet-rod hydraulic cylinder (2) feed flows make double outlet-rod hydraulic cylinder (2) movements；
2. No. I system control: acquiring the displacement signal of displacement sensorx, feedback position controller, with given displacementx r Compare,
After amplifying element, output control signal drive control motor A(9), control motor A(9) and three hydraulic fluid port axial plunger pumps of driving
(10) it acts, then drives asymmetric servo cylinder (1) movement, forming position closed-loop control；When two chambers of asymmetric servo cylinder (1)
When due to oil compressibility and leakage unbalance, accumulator A(11) pass through check valve A(12) and check valve B(13) to single rod
(1) two chamber feed flow of hydraulic cylinder, the oil liquid for supplementing two chambers are uneven；
No. II system control: the pressure signal of pressure sensor on acquisition four oil inlet and outlet oil circuits of hydraulic cylinderf d , feed back back pressure
Controller, with given pressureFCompare, after amplifying element, output control signal drive control motor B(8), control motor B
(8) double hydraulic fluid port axial plunger pump (7) movements are driven, double outlet-rod hydraulic cylinder (2) movements is then driven, forms pressure closed loop control；
When double (2) two chamber imbalances of outlet-rod hydraulic cylinder, accumulator B(6) pass through check valve C(4) and check valve D(5) to double rod liquid
(2) two chamber feed flow of cylinder pressure, the oil liquid for supplementing two chambers are uneven；
3. outer load force is carried out by pressure closed loop by double outlet-rod hydraulic cylinders (2) flat when outer load disturbs series cylinder
It weighs, 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), double hydraulic fluid port axial plunger pump (7) movements are driven, double outlet-rod hydraulic cylinder (2) movements are then driven, to drive
Series cylinder movement.
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| Application Number | Priority Date | Filing Date | Title |
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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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3824191A1 (en) | 2018-08-21 | 2021-05-26 | Siemens Energy, Inc. | Double-acting hydraulic actuator with different pumps for each actuation direction |
| CN111114758B (en) * | 2019-12-06 | 2023-01-20 | 太原理工大学 | Heterogeneous series dual-redundancy steering engine |
| 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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| 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 |
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Effective date of registration: 20200907 Address after: 250132 3-3002, building 4, Wanxiang Xintian community, Wangsheren street, Licheng District, Jinan City, Shandong Province Patentee after: Shandong Yuanzhi Hydraulic Technology Co., Ltd Address before: 030024 West Street, Taiyuan, Shanxi, No. 79, No. Patentee before: Taiyuan University of Technology |
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Effective date of registration: 20210315 Address after: 355200 No.44 Jishi Road, Taimushan Town, Fuding City, Ningde City, Fujian Province Patentee after: Lin Chenyi Address before: 250132 3-3002, building 4, area 1, Wanxiang Xintian community, Wangsheren street, Licheng District, Jinan City, Shandong Province Patentee before: Shandong Yuanzhi Hydraulic Technology Co., Ltd |
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