CN108087349A - A kind of oil cylinder servo synchronization control system - Google Patents
A kind of oil cylinder servo synchronization control system Download PDFInfo
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- CN108087349A CN108087349A CN201711405024.5A CN201711405024A CN108087349A CN 108087349 A CN108087349 A CN 108087349A CN 201711405024 A CN201711405024 A CN 201711405024A CN 108087349 A CN108087349 A CN 108087349A
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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
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/16—Systems essentially having two or more interacting servomotors, e.g. multi-stage
- F15B9/17—Systems essentially having two or more interacting servomotors, e.g. multi-stage with electrical control means
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
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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)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of oil cylinder servo synchronization control systems, it includes array hydraulic cylinder, every group of hydraulic cylinder is each equipped with individual Serve Motor Control its oil cylinder working-pressure, the piston end of the hydraulic cylinder is equipped with displacement detecting grating ruler, the output terminal of displacement detecting grating ruler is connected with high speed counting module, the output terminal of high speed counting module is connected with master controller, and master controller controls the rotating speed of servo drive motor by digital-to-analogue conversion D/A modules.The present invention is using programmable controller as master controller, with reference to PID regulation technologies, the output size of analog signals is controlled by PID regulation technologies, to realize the accurate control to servomotor rotating speed, and then to the control of the hydraulic cylinder speed of service, oil pump drive cylinder speed, displacement synchronous suitable for positive and negative Double-directional rotary are precisely controlled.The present invention makes hydraulic control system become simple, while equipment precision is ensured, enhances the applicability and opening of equipment, cost is greatly lowered.
Description
Technical field
The present invention relates to hydraulic test control technology fields, specifically a kind of oil cylinder servo synchronization control system.
Background technology
In hydraulic test for the synchronous control mode of hydraulic cylinder speed, displacement mainly have machinery turn round axis synchronization structure and
Electrohydraulic proportional synchronous control system and servo-pump control synchronous control system.Mechanical synchronization structure due to complicated, precision compared with
Low, many defects such as the scope of application is small are not common in practical applications.Electrohydraulic proportional synchronous control system is by numerical control system
System adjusts the openings of sizes of proportional direction valve, to control into the flow of the hydraulic oil of oil cylinder to realize oil cylinder speed and position
Control, the system accuracy is higher, obtains the extensive use in industry for a long time, but its cost is also high, and hydraulic system is complicated, right
The overall qualities requirement of Operation and maintenance personnel is relatively high.Servo-pump control synchronous control system is can by Serve Motor Control
The oil pump of positive and negative Double-directional rotary makes liquid stream commutate, and can be carried out at the same time the Synchronization Control of oil cylinder, has abandoned electric-hydraulic proportion system completely
Proportional servo valve, proportional pressure valve used in system, completely without proportioning valve throttling and the spill losses of proportional pressure valve, maximum limit
Degree reduces the energy loss during lathe free time.
With the rise of domestic cost of labor and energy consumption expenditure cost, the requirement of production safety condition is promoted, energy-saving and environmental protection
Pay attention to day by day, manufacturer is faced with the change of manufacturing mode and the saving of energy consumption cost, and core is exactly the oil based on servo
The application of electric energy conserving system.
The content of the invention
The object of the present invention is to provide a kind of oil cylinder servo synchronization control system, using programmable controller as master controller,
With reference to PID regulation technologies, by the output size of PID regulation technologies control analog signals, to realize to servomotor rotating speed
Accurate control, and then to the control of the hydraulic cylinder speed of service, suitable for the oil pump drive cylinder of positive and negative Double-directional rotary
Speed, displacement synchronous are precisely controlled.
To achieve the above object, the technical solution used in the present invention is：
A kind of oil cylinder servo synchronization control system, it includes array hydraulic cylinder, and every group of hydraulic cylinder is each equipped with individually watching
It takes motor and controls its oil cylinder working-pressure, the piston end of the hydraulic cylinder is equipped with displacement detecting grating ruler, displacement detecting grating ruler
Output terminal is connected with high speed counting module, and the output terminal of high speed counting module is connected with master controller, and master controller passes through
Digital-to-analogue conversion D/A modules control the rotating speed of servo drive motor；Displacement detecting grating ruler examines the displacement at hydraulic cylinder piston end
Measured value feeds back to master controller by high speed counting module, and the speed of service and positional value that master controller sets hydraulic cylinder are real
After actual value is compared, by digital-to-analogue conversion D/A modules the output size adjusting of analog signals is controlled to watch according to comparative result
Take the rotating speed of motor；The Displacement Ratio setting value for the correspondence hydraulic cylinder that displacement detecting grating ruler detects is big, then master controller leads to
The analog signals that PID adjusts servomotor corresponding to the hydraulic cylinder to be crossed, reduce its rotating speed, hydraulic cylinder slows,
Vice versa, is consistent with the hydraulic cylinder displacement for ensureing each isolated operation, achievees the purpose that synchronous.
Preferably, the master controller is connected with man-machine interface, the man-machine interface setting speed of hydraulic cylinder, position,
Pressure parameter.
Preferably, the foundation of model during the PID is adjusted, using any of which hydraulic cylinder as main shaft, other hydraulic oil
Cylinder is used as from axis, and the physical location of main shaft is as the desired value from axis, and the desired value of main shaft is set in advance, and the control of main shaft is led to
Control command is sent to digital-to-analogue conversion D/A modules by the output valve for crossing PID adjustings in the form of digital quantity, then by digital-to-analogue conversion D/
A module transfers export analog quantity order, the final speed for controlling hydraulic cylinder and position to servo drive motor；Respectively from axis PID
It adjusting using the actual value of main shaft as desired value, the output valve after the output valve after PID is adjusted is adjusted with main shaft PID is added,
It sends obtained digital quantity signal to digital-to-analogue conversion D/A modules, then is exported by digital-to-analogue conversion D/A modules to servo drive motor
Analog quantity order；Should be negative value from the output valve after axis PID adjustings, instead when being more than main shaft physical location from axis physical location
For positive value, then sending the order of the corresponding servo drive motor of the axis after master controller computing to can also be varied from, and make this
Change therewith from the speed of service of axis, reach each group hydraulic cylinder all on the basis of the physical location of main shaft, adjust each corresponding
The speed of service of hydraulic cylinder, to ensure that the hydraulic cylinder of all operations realizes the purpose of high-precise synchronization operation.
Preferably, the master controller is programmable controller PLC.
The present invention controls the course of work of hydraulic cylinder to be：
（1）Master controller controls digital-to-analogue conversion D/A modules to export 0~+10V's according to preset hydraulic cylinder fast parameter
Analog signals, by 0~+10V analog signals driving servomotor rotate forward, servomotor drive oil pump rotate forward, oil pump to
Hydraulic cylinder rodless cavity fuel feeding, the operation of hydraulic cylinder driving load.Load running speed exported by digital-to-analogue conversion D/A modules 0
The size of the analog signals of~+10V determines that the value of the signal mode analog quantity is bigger, and servomotor rotating speed is higher（That is pump speed
It is higher）, fuel feeding is faster in oil cylinder, and load running speed is faster.
（2）After desired value of the load running to setting, digital-to-analogue conversion D/A modules export the analog signals of 0~+10V
No longer control servomotor rotating speed（I.e. servomotor rotating speed is zero at this time）.Master controller is joined according to by the oil cylinder working-pressure of setting
Number control digital-to-analogue conversion D/A modules export the analog signals of 0~+10V, by the Analog control servomotor of 0~+10V
Torque, making servomotor, still holding torque exports in the case where rotating speed is zero, to ensure that oil pump is anti-not by the elastic force of workpiece
Oil cylinder working-pressure is laid down to push-jump.The pressure fuel pump set during pressurize is bigger, and digital-to-analogue conversion D/A modules export the simulation of 0~+10V
Amount signal is bigger, and the output torque of servomotor is bigger, and it is stronger to the reversed push-jump ability of oil pump to resist workpiece elastic force.
（3）After the completion of pressurize, in order to eliminate the impact that hydraulic system pressure reduces suddenly, master controller is according to passing through setting
Oil cylinder off-load state modulator digital-to-analogue conversion D/A modules export 0~-10V analog signals, analog signals control servo electricity
Machine rotates backward, and then oil pump is driven to rotate backward, and in-oil cylinder pressure is made to rotate backward slowly to lay down by oil pump.
Analog value of 0~-10V of digital-to-analogue conversion D/A modules output is smaller during this, and unloading rate is slower, and system shock is smaller.
（4）After the completion of off-load, master controller controls digital-to-analogue conversion D/A modules output 0 according to the oil cylinder return parameters of setting
The analog signals of~-10V, analog signals driving servomotor drive oil pump to rotate backward, and oil pump is supplied to cylinder rod chamber
Oil, oil cylinder drive laod reversal operation.The analog quantity letter for the 0~-10V that load running speed is exported by digital-to-analogue conversion D/A modules
Number size determine, the value of the signal mode analog quantity is bigger, and servomotor rotating speed is higher（I.e. pump speed is higher）, fuel feeding in oil cylinder
Faster, load running speed is faster.
In control system of the present invention, each group of hydraulic cylinder, servo drive motor, displacement detecting grating ruler and
Master controller forms a respective independent closed-loop control system, in addition to master controller is public, hydraulic cylinder, servo-drive
Motor and displacement detecting grating ruler are all one-to-one relations.Since the operation of hydraulic cylinder is all each independent closed loop control
System processed can adjust the bid value of servo drive motor according to the physical location of each hydraulic cylinder, make each group hydraulic cylinder base
Originally same position is tended to, so as to achieve the purpose that high precision velocity and displacement synchronous.
Each group of hydraulic cylinder control system PID adjusting is to ensure that all hydraulic oil cylinder high precision displacement is synchronous in the present invention
Key.
Hydraulic cylinder is synchronously the analog quantity progress that the output of D/A modules is converted by master controller logarithmic mode in the present invention
PID adjusting controls.To ensure that hydraulic cylinder displacement is synchronous, mathematical modeling first is carried out to the deformation trace of each hydraulic cylinder
（It is even acceleration and even deceleration to think hydraulic cylinder, and acceleration time and deceleration time are equal）.The displacement calculation formula of hydraulic cylinder
It is as follows：
In formula, v 0For the maximum speed reached after acceleration（That is the setting speed of load running）, numerical value passes through man-machine interface 2
It is given in advance；
S is the total displacement of hydraulic cylinder, can be determined in advance according to technological requirement；
T is the time of hydraulic cylinder operation（By master controller internal processes timing）；
t1For the acceleration time；
t2The temporal summation to travel at the uniform speed for the acceleration time and after accelerating；
t3For the summation of acceleration time, the time of traveling at the uniform speed and deceleration time.
Hydraulic cylinder run time is by master controller internal processes timing, the timing when hydraulic pressure hydraulic cylinder acts beginning,
Hydraulic cylinder displacement amount S and run time t constituting-functions relations write the function in the program of master controller, in main control
The theoretical value of the moment hydraulic cylinder displacement amount can be calculated in the program of device.Using hydraulic cylinder displacement theoretical value as PID tune
Desired value in section, the measured value during the hydraulic cylinder displacement actual value that grating scale detects is adjusted as PID, then pass through reality
Test the parameters such as gain, the micro-, time of integration debugged out during PID is adjusted, it is possible to draw the output valve that accurate PID is adjusted, use
The output valve is by the analog output values of the programme-control digital-to-analogue conversion D/A modules in master controller, then by digital-to-analogue conversion D/A
The rotating speed of the analog output value control servomotor of module（That is the rotating speed of control oil pump）, finally realize to hydraulic cylinder speed
The control of degree.
In the present invention, the displacement S of main axle hydraulic pressure oil cylinder is calculated by above formula, and main shaft is used as in PID adjustings
Desired value be written into program, from axis PID adjusting in using the measured value of main shaft displacement for PID adjusting in desired value, this
Sample reduces the error in the pilot process such as measurement, calculating, more accurately gives respectively from axis hydraulic cylinder in PID adjustings
Target value parameter so that PID adjust output valve it is more accurate, preferably ensure respectively from axis hydraulic cylinder and main axle hydraulic pressure oil
The synchronism of cylinder.
The present invention provides a kind of oil pump drive cylinder speed, displacement synchronous that can be widely applied for positive and negative Double-directional rotary
Control system and its control method, when thoroughly solving oil cylinder speed, displacement high-precision control must use ratio servo valve,
The problem of high precise hydraulic element such as proportional pressure valve, hydraulic system is made to become simple, cost is greatly lowered.Ensureing equipment
While precision, the applicability and opening of equipment are enhanced, considerably reduces device fabrication and use cost.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is the control system block diagram of the present invention.
Specific embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings.
A kind of oil cylinder servo synchronization control system as shown in Figure 1, it includes array hydraulic cylinder 6, every group of hydraulic cylinder 6
It is each equipped with individual servomotor 5 and controls its oil cylinder working-pressure, the piston end of hydraulic cylinder 6 is equipped with displacement detecting grating ruler 7, position
The output terminal for moving detection grating scale 7 is connected with high speed counting module 3, output terminal and 1 phase of master controller of high speed counting module 3
Connection, master controller 1 control the rotating speed of servo drive motor 5 by digital-to-analogue conversion D/A modules 4；Displacement detecting grating ruler 7 is by liquid
The displacement detecting value of 6 piston end of compressing cylinder feeds back to master controller 1 by high speed counting module 3, and master controller 1 is by hydraulic cylinder
After the speed of service and positional value actual value of setting are compared, mould is controlled by digital-to-analogue conversion D/A modules 4 according to comparative result
The output size of analog quantity signal adjusts the rotating speed of servomotor 5；The correspondence hydraulic cylinder 6 that displacement detecting grating ruler 7 detects
Displacement Ratio setting value is big, then master controller 1 adjusts the analog signals of servomotor 5 corresponding to the hydraulic cylinder 6 by PID,
Reduce its rotating speed, hydraulic cylinder 6 slows, and vice versa, to ensure that 6 displacement of hydraulic cylinder of each isolated operation is kept
Unanimously, achieve the purpose that synchronous.
Master controller 1 is connected with man-machine interface 2, the speed of the setting hydraulic cylinder of man-machine interface 2, position, pressure parameter.
The foundation of model during PID is adjusted, using any of which hydraulic cylinder 6 as main shaft, other hydraulic cylinders are used as from axis,
The physical location of main shaft is set in advance as the desired value from axis, the desired value of main shaft by man-machine interface 2, and the control of main shaft is led to
Control command is sent to digital-to-analogue conversion D/A modules 4 by the output valve for crossing PID adjustings in the form of digital quantity, then by digital-to-analogue conversion
D/A modules 4 are transferred to servo drive motor 5 and export analog quantity order, the final speed for controlling hydraulic cylinder 6 and position；Respectively from
Axis PID is adjusted using the actual value of main shaft as desired value, the output valve after PID is adjusted and the output valve after main shaft PID adjustings
It is added, sends obtained digital quantity signal to digital-to-analogue conversion D/A modules 4, then servo-drive is given by digital-to-analogue conversion D/A modules 4
Motor 5 exports analog quantity order；It, should be from the output valve after axis PID adjustings when being more than main shaft physical location from axis physical location
For negative value, on the contrary for positive value, then the order for sending the corresponding servo drive motor 5 of the axis after 1 computing of master controller to also has
Changed, this made to change therewith from the speed of service of axis, reach each group hydraulic cylinder 6 all on the basis of the physical location of main shaft,
Adjustment each corresponds to the speed of service of hydraulic cylinder 6, to ensure that the hydraulic cylinder 6 of all operations realizes high-precise synchronization operation
Purpose.
Master controller 1 is programmable controller PLC.
In control system of the present invention, each group of hydraulic cylinder 6, servo drive motor 5, displacement detecting grating ruler
7 and master controller 1 form each independent closed-loop control system, in addition to master controller 1 is public, hydraulic cylinder 6 is watched
It is all one-to-one relation to take driving motor 5 and displacement detecting grating ruler 7.Since the operation of hydraulic cylinder 6 is all to be each only
Vertical closed-loop control system can adjust the bid value of servo drive motor 5 according to the physical location of each hydraulic cylinder 6, make each
Group hydraulic cylinder 6 tends to same position substantially, so as to achieve the purpose that high precision velocity and displacement synchronous.
Each group of 6 control system PID of hydraulic cylinder adjusting is to ensure that all hydraulic oil cylinder high precision displacement is same in the present invention
The key of step.
The present invention provides a kind of oil pump drive cylinder speed, displacement synchronous that can be widely applied for positive and negative Double-directional rotary
Control system and its control method, when thoroughly solving oil cylinder speed, displacement high-precision control must use ratio servo valve,
The problem of high precise hydraulic element such as proportional pressure valve, hydraulic system is made to become simple, cost is greatly lowered.Ensureing equipment
While precision, the applicability and opening of equipment are enhanced, considerably reduces device fabrication and use cost.
Claims (4)
1. a kind of oil cylinder servo synchronization control system, it includes array hydraulic cylinder（6）, every group of hydraulic cylinder（6）It is each equipped with
Individual servomotor（5）Control its oil cylinder working-pressure, it is characterised in that：The hydraulic cylinder（6）Piston end equipped with displacement examine
Survey grating scale（7）, displacement detecting grating ruler（7）Output terminal and high speed counting module（3）It is connected, high speed counting module（3）
Output terminal and master controller（1）It is connected, master controller（1）Pass through digital-to-analogue conversion D/A modules（4）Control servo drive motor
（5）Rotating speed；Displacement detecting grating ruler（7）By hydraulic cylinder（6）The displacement detecting value of piston end passes through high speed counting module（3）
Feed back to master controller（1）, master controller（1）The speed of service of hydraulic cylinder setting and positional value actual value are compared
Afterwards, digital-to-analogue conversion D/A modules are passed through according to comparative result（4）The output size of analog signals is controlled to adjust servomotor（5）
Rotating speed；Displacement detecting grating ruler（7）The correspondence hydraulic cylinder detected（6）Displacement Ratio setting value it is big, then master controller（1）
The hydraulic cylinder is adjusted by PID（6）Corresponding servomotor（5）Analog signals, make its rotating speed reduce, hydraulic cylinder
（6）It slows, vice versa, to ensure the hydraulic cylinder of each isolated operation（6）Displacement is consistent, and reaches synchronous mesh
's.
2. a kind of oil cylinder servo synchronization control system according to claim 1, it is characterised in that：The master controller（1）
With man-machine interface（2）It is connected, man-machine interface（2）The speed of setting hydraulic cylinder, position, pressure parameter.
3. a kind of oil cylinder servo synchronization control system according to claim 1 or 2, it is characterised in that：During the PID is adjusted
The foundation of model, with any of which hydraulic cylinder（6）As main shaft, other hydraulic cylinders are used as from axis, the physical location of main shaft
As the desired value from axis, the desired value of main shaft is set in advance, and the control of main shaft will be controlled by the output valve that PID is adjusted orders
Order sends digital-to-analogue conversion D/A modules in the form of digital quantity（4）, then by digital-to-analogue conversion D/A modules（4）It is transferred to servo-drive
Motor（5）Analog quantity order is exported, finally controls hydraulic cylinder（6）Speed and position；Respectively adjusted from axis PID with the reality of main shaft
Actual value is as desired value, and the output valve after the output valve after PID is adjusted is adjusted with main shaft PID is added, the digital quantity that will be obtained
Signal sends digital-to-analogue conversion D/A modules to（4）, then by digital-to-analogue conversion D/A modules（4）To servo drive motor（5）Output simulation
Amount order；When being more than main shaft physical location from axis physical location, it should be negative value from the output valve after axis PID adjustings, otherwise be
Positive value, then master controller（1）Send the corresponding servo drive motor of the axis after computing to（5）Order can also be varied from, make
This changes therewith from the speed of service of axis, reaches each group hydraulic cylinder（6）All on the basis of the physical location of main shaft, adjustment is respective
Corresponding hydraulic cylinder（6）The speed of service, to ensure the hydraulic cylinder of all operations（6）Realize the mesh of high-precise synchronization operation
's.
4. a kind of oil cylinder servo synchronization control system according to claim 3, it is characterised in that：The master controller（1）
For programmable controller PLC.
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