CN108374809B - A kind of method for building up of servo-controlled hydraulic synchronization circuit correction rule - Google Patents
A kind of method for building up of servo-controlled hydraulic synchronization circuit correction rule Download PDFInfo
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- CN108374809B CN108374809B CN201810432359.4A CN201810432359A CN108374809B CN 108374809 B CN108374809 B CN 108374809B CN 201810432359 A CN201810432359 A CN 201810432359A CN 108374809 B CN108374809 B CN 108374809B
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- servo
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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
- 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
- F15B11/22—Synchronisation of the movement of two or more servomotors
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of using the regular method for building up of servo-controlled hydraulic synchronization circuit correction, is to be driven deviation delta x using the regular method for building up of hydraulic synchronization circuit correction of servo valve controlpWith servo valve spool displacement xvAccurate transmission function, the present invention feeds back hydraulic cylinder using rack and pinion assembly and servo-actuated valve module, and the synchronous journey error for offsetting hydraulic cylinder, realizes the reverse sync effect of hydraulic cylinder, synchronous precision is higher, and being applicable to seek common ground walks reverse sync hydraulic circuit with high accuracy.
Description
Technical field
The present invention relates to hydraulic system synchronous control technique field, specifically a kind of servo-controlled hydraulic synchronization is returned
The method for building up of road correction rule.
Background technique
In hydraulic system, can usually encounter two hydraulic actuators with the displacement of identical (or opposite) or it is identical (or
Speed on the contrary) carries out operation, it is necessary to synchronization loop is used, currently, realizing the same of two hydraulic cylinders in hydraulic system
The measure in step circuit mainly has a mechanical forced synchronism and two kinds of hydraulic synchronization: the synchronous biggest advantage of mechanical forced is that synchronization can
Lean on, but the hydraulic cylinders that its disadvantage is exactly two synchronous operations will receive the influence of another hydraulic cylinder, when work can generate compared with
Big mechanicals efforts bring the failure pulled etc to hydraulic cylinder；
Hydraulic synchronization is mainly the speed sync realized between two hydraulic cylinders using hydraulic control, so that it is same to reach position
The purpose of step, but hydraulic cylinder leakage, foozle will appear using hydraulic control synchronization loop and block the problems such as uneven, so that
Synchronization accuracy is not high, and synchronous effect is undesirable.
Summary of the invention
According to the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to propose a kind of servo-controlled liquid
Press the method for building up of synchronization loop correction rule.
The present invention solves its technical problem using following technical scheme to realize:
A kind of method for building up of servo-controlled hydraulic synchronization circuit correction rule, the hydraulic synchronization circuit includes hydraulic
Power Component, No.1 hydraulic cylinder, No. two hydraulic cylinders, rack and pinion assembly and servo-actuated valve module, hydraulic power pack are No.1 liquid
The work of cylinder pressure, No. two hydraulic cylinders, servo-actuated valve module provides power, and rack and pinion assembly includes No.1 rack gear and No. two rack gears,
No.1 rack gear and No. two rack gears are reversely setting up and down, and No.1 rack gear is connected with the load end of No.1 hydraulic cylinder, No. two rack gears with
The load end of No. two hydraulic cylinders is connected, and gear is equipped between No.1 rack gear and No. two rack gears, servo-actuated valve module includes two-way point
Servo valve and connecting rod are flowed, bidirectional shunt servo valve includes valve block and servo-actuated spool, and servo-actuated spool is slidably connected in valve block, connecting rod
Middle part installed on the support by hinged mode, one end of connecting rod and gear are rotatablely connected, and the other end of connecting rod passes through hinge
The mode connect is connected with servo-actuated spool, valve block be equipped with oil inlet, No.1 oil outlet and No. two oil outlets, No.1 oil outlet and
No.1 hydraulic cylinder is connected, and No. two oil outlets are connected with No. two hydraulic cylinders, and oil inlet is connected with hydraulic power pack, correction
What rule was established method particularly includes:
(1) flow equation that bidirectional shunt servo valve is established according to the flow of No.1 hydraulic cylinder and No. two hydraulic cylinders, obtains
A kind of expression-form of load flow；
(2) expression formula of load flow is linearized；
(3) the Flow continuity equation for establishing No.1 hydraulic cylinder and No. two hydraulic cylinders obtains another table of load flow
Up to form；
(4) equilibrium equation of hydraulic cylinder and load is established；
(5) two kinds of expression-forms of load flow and hydraulic cylinder and the equilibrium equation of load are subjected to pull-type transformation, obtained
It is driven the input quantity expression formula of deviation out；
(6) the input quantity expression formula of transmission deviation is simplified, obtains transmission deviation to the accurate of servo-actuated spool displacement
Transmission function.
Control amount is servo-actuated spool displacement, and controlled variable is transmission deviation, when the position of No.1 hydraulic cylinder and No. two hydraulic cylinders
When moving of different sizes, displacement deviation is generated to servo-actuated spool by rack and pinion assembly, is changed by being servo-actuated the displacement of spool
The valve port orifice size of No.1 oil outlet and No. two oil outlets, and then change the stream for entering No.1 hydraulic cylinder and No. two hydraulic cylinders
Amount, finally makes the displacement of two hydraulic cylinders identical.
Hydraulic power pack includes fuel tank, filter, constant displacement pump, motor, overflow valve and hand-operated direction valve, motor
Output end is connected with constant displacement pump, provides power for the work of constant displacement pump, fuel tank, constant displacement pump, overflow valve, changes filter manually
Oil pipe is passed sequentially through to valve to be connected.
The beneficial effects of the present invention are:
The present invention feeds back hydraulic cylinder using rack and pinion assembly, and the synchronous journey error for offsetting hydraulic cylinder, real
Show the reverse sync effect of hydraulic cylinder, synchronous precision is higher, and being applicable to seek common ground walks reverse sync with high accuracy hydraulic time
Road.
Detailed description of the invention
Content expressed by this specification attached drawing and the label in figure are briefly described below:
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is control system block diagram of the invention.
Specific embodiment
Below by the description to embodiment, the shape of for example related each component of a specific embodiment of the invention, structure
It makes, the mutual alignment between each section and connection relationship, the effect of each section and working principle, manufacturing process and the side of operating with
Method etc., is described in further detail, completeer to help those skilled in the art to have inventive concept of the invention, technical solution
Whole, accurate and deep understanding.
A kind of method for building up of servo-controlled hydraulic synchronization circuit correction rule, the specific steps are that:
(1) flow equation of bidirectional shunt servo valve is established
qL=q1+q2 (1)
In formula (1) (2) (3) (4), qL: load flow；Q1: into the flow of hydraulic cylinder 1；Q2: into the stream of hydraulic cylinder 2
Amount；Cd: discharge coefficient；A1: the flow area of restriction 1；A2: the flow area of restriction 2；ρ: the density of hydraulic oil；ps: it supplies
Oil pressure；p1: the pressure of No.1 hydraulic cylinder；p2The pressure of No. two hydraulic cylinders.
(2) formula (4) are linearized
qL=Kqxv-KcpL (5)
In formula (5), Kq: definitionReferred to as flow gain
Coefficient, Kc: definitionReferred to as flow-pressure coefficient；
xv: servo valve spool displacement；pL: load pressure.
(3) hydraulic cylinder Flow continuity equation is established
qL=q1+q2；Δ xp=xp1-xp2；Vt=V1+V2 (8)
After arrangement
In formula (6) (7) (8) (9) (10), Ap: hydraulic cylinder piston rod rodless cavity effective area；xp1: No.1 hydraulic cylinder piston
The displacement of bar；V1: the volume of No.1 hydraulic cylinder oil suction chamber；Cip: the hydraulic cylinder interior leakage coefficient of leakage；V1: No.1 hydraulic cylinder oil suction chamber
Volume (including valve, connecting pipe and oil suction chamber)；β e: the effective volume elasticity modulus (machine including oil liquid, connecting pipe and cylinder body
Tool flexibility)；xp2: the displacement of No. two hydraulic cylinder piston rods；V2: the volume of No. two hydraulic cylinder oil suction chambers；Δxp: transmission deviation；Vt:
Total compression volume.
(4) equilibrium equation of hydraulic cylinder and load is established
The dynamic characteristic of Hydraulic power units is influenced by load characteristic.Load force generally comprises inertia force, viscous damping
Power, elastic force and any outer load force.
The power output of hydraulic cylinder and the equilibrium equation of load force are
M in formula (7)t: piston and load are converted to the gross mass on piston；Bp: piston and the viscous damping coefficient of load；
K: spring loaded rigidity；FL: act on any outer load force on piston.
(5) Laplace transformation is carried out to equation (5) (10) (11)
QL=KqXv-KcPL (12)
ApPL=mts2ΔXp+BpsΔXp+KΔXp+FL (14)
(6) simultaneous equations (12) (13) (14) eliminate intermediate variable QLAnd PLObtain formula (15)
(7) transmission function simplifies
The load of servo-system is based on inertia load, very without elastic load or elastic load in many cases
It is small to ignore.In addition, by hydraulic cylinder interior leakage coefficient of leakage CipAnd viscous damping coefficient BpGenerated speedThan the movement velocity s Δ X of pistonpSmall is more, therefore above formula can be ignored.
In the case where K=0 above formula is ignored, formula (15) can be reduced to
Or
ω in formulah- hydraulic natural frequency
ζh- hydraulic damping ratio
It is to the transmission function for inputting instruction Xv
To exogenous disturbances FLTransmission function be
Working principle is:
Fuel feeding branch drives hydraulic pump 3 that the hydraulic oil in fuel tank 1 is supplied hand-operated direction valve 6 by motor 4, presses hand
The handle of dynamic reversal valve 6, makes the left end station of hand-operated direction valve 6 access circuit, and hydraulic oil is entered two-way by hand-operated direction valve 6
In the cavity for shunting servo valve 13, the spool 16 of bidirectional shunt servo valve 13 is in the middle position of cavity at this time, i.e. No.1 goes out
Hydraulic fluid port 14 and No. two 15 valve port areas of section of oil outlet are equal, flow into No.1 liquid by No.1 oil outlet 14 and No. two oil outlets 15
The flow of cylinder pressure 8 and No. two hydraulic cylinders 7 is equal, since the specification of two hydraulic cylinders is identical, so when two hydraulic cylinders movement
Velocity magnitude is equal, contrary, the movement velocity size with two hydraulic cylinders joining No.1 rack gear 9 and No. two rack gears 11
Equal, contrary, band moving gear 10 moves, reversed on the contrary, therefore tooth since the movement velocity of two rack gears at this time is equal in magnitude
There is no displacements in the axle center of wheel 10.
When the speed of No.1 hydraulic cylinder 8 is greater than the speed of No. two hydraulic cylinders 7, the axle center of No.1 rack drives gear 10 to
A left side is subjected to displacement, and by the effect of connecting rod 12, so that servo-actuated spool 16 is moved right, is reduced the valve port section of No.1 oil outlet 14
Area increases the valve port area of section of No. two oil outlets 15, so that the flow into No.1 hydraulic cylinder 8 reduces, No.1 is hydraulic
The speed of cylinder 8 reduces, and the flow into No. two hydraulic cylinders 7 increases, and the speed of No. two hydraulic cylinders 7 increases, until two hydraulic cylinders
Velocity magnitude it is equal until.
Similarly, when speed of the speed of No.1 hydraulic cylinder 8 less than No. two hydraulic cylinders 7, No. two rack gears 11 are with moving gear 10
Axle center be subjected to displacement to the right, by the effect of connecting rod 12, be moved to the left servo-actuated spool 16, increase No.1 oil outlet 14
Valve port area of section reduces the valve port area of section of No. two oil outlets 15, so that the flow into No.1 hydraulic cylinder 8 increases,
The speed of No.1 hydraulic cylinder 8 increases, and the flow into No. two hydraulic cylinders 7 reduces, and the speed of No. two hydraulic cylinders 7 reduces, until two
Until the velocity magnitude of a hydraulic cylinder is equal.
As shown in Figure 1, the displacement of No.1 hydraulic cylinder 8 is xp1, to the left, the displacement of No. two hydraulic cylinders 7 is x in directionp2, direction
To the right, work as xp1>xp2When, the axle center of gear 10 will be subjected to displacement to the left, can acquire transmission deviation delta x according to theory of mechanicsp:
Δxp=xp1-xp2 (23)
Further according to the flow equation of bidirectional shunt servo valve, hydraulic cylinder Flow continuity equation, the power of hydraulic cylinder and load
Servo valve flow equation after equilibrium equation and Laplace transformation, hydraulic cylinder Flow continuity equation and hydraulic cylinder and load
Equilibrium equation, thus obtain transmission deviation delta xpWith with servo-actuated spool displacement xvThe accurate transmission function.
The present invention is exemplarily described above, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out, or not improved this is sent out
Bright conception and technical scheme directly apply to other occasions, within the scope of the present invention.Protection of the invention
Range should be determined by the scope of protection defined in the claims.
Claims (3)
1. a kind of method for building up of servo-controlled hydraulic synchronization circuit correction rule, it is characterised in that: the hydraulic synchronization returns
Road includes hydraulic power pack, No.1 hydraulic cylinder, No. two hydraulic cylinders, rack and pinion assembly and servo-actuated valve module, hydraulic power group
Part is No.1 hydraulic cylinder, the work of No. two hydraulic cylinders, servo-actuated valve module provides power, rack and pinion assembly include No.1 rack gear with
No. two rack gears, No.1 rack gear and No. two rack gears are reversely setting up and down, and No.1 rack gear is connected with the load end of No.1 hydraulic cylinder, and two
Number rack gear is connected with the load end of No. two hydraulic cylinders, and gear is equipped between No.1 rack gear and No. two rack gears, is servo-actuated valve module packet
Bidirectional shunt servo valve and connecting rod are included, bidirectional shunt servo valve includes valve block and servo-actuated spool, and servo-actuated spool slides in valve block
Connection, the middle part of connecting rod installed on the support by hinged mode, and one end of connecting rod and gear are rotatablely connected, connecting rod it is another
End is connected by hinged mode with servo-actuated spool, and valve block is equipped with oil inlet, No.1 oil outlet and No. two oil outlets, No.1
Oil outlet is connected with No.1 hydraulic cylinder, and No. two oil outlets are connected with No. two hydraulic cylinders, oil inlet and hydraulic power pack phase
Connection rectifies a deviation what rule was established method particularly includes:
(1) flow equation that bidirectional shunt servo valve is established according to the flow of No.1 hydraulic cylinder and No. two hydraulic cylinders, obtains load
A kind of expression-form of flow；
(2) expression formula of load flow is linearized；
(3) the Flow continuity equation for establishing No.1 hydraulic cylinder and No. two hydraulic cylinders obtains another expression shape of load flow
Formula；
(4) equilibrium equation of hydraulic cylinder and load is established；
(5) two kinds of expression-forms of load flow and hydraulic cylinder and the equilibrium equation of load are subjected to pull-type transformation, obtain biography
The input quantity expression formula of dynamic deviation；
(6) the input quantity expression formula of transmission deviation is simplified, obtains transmission deviation to the accurate transmission of servo-actuated spool displacement
Function.
2. the method for building up of servo-controlled hydraulic synchronization circuit correction rule according to claim 1, it is characterised in that:
The control amount of the method is servo-actuated spool displacement Xv, and controlled variable is transmission deviation delta Xp, when No.1 hydraulic cylinder and No. two liquid
When the displacement difference of cylinder pressure, displacement deviation is generated to servo-actuated spool by rack and pinion assembly, by the position for being servo-actuated spool
In-migration changes the valve port orifice size of No.1 oil outlet and No. two oil outlets, and then changes hydraulic into No.1 hydraulic cylinder and No. two
The flow of cylinder finally makes the displacement of two hydraulic cylinders identical.
3. the method for building up of servo-controlled hydraulic synchronization circuit correction rule according to claim 1, it is characterised in that:
The hydraulic power pack includes fuel tank, filter, constant displacement pump, motor, overflow valve and hand-operated direction valve, the output of motor
End is connected with constant displacement pump, provides power, fuel tank, filter, constant displacement pump, overflow valve and hand-operated direction valve for the work of constant displacement pump
Oil pipe is passed sequentially through to be connected.
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| CN201810432359.4A CN108374809B (en) | 2018-05-08 | 2018-05-08 | A kind of method for building up of servo-controlled hydraulic synchronization circuit correction rule |
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| CN108374809B true CN108374809B (en) | 2019-07-30 |
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| JP7206995B2 (en) * | 2019-02-19 | 2023-01-18 | 株式会社豊田自動織機 | Ship steering gear |
| CN113431814B (en) * | 2021-06-17 | 2022-12-30 | 江苏科技大学 | Synchronous control method based on parallel motion of multiple hydraulic cylinders of heave compensation platform |
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| CN202411164U (en) * | 2011-12-29 | 2012-09-05 | 黄石华信机械设备有限公司 | Servo synchronous control device for slide block balancing machine liquid of hydraulic bending machine |
| US10087958B2 (en) * | 2012-04-19 | 2018-10-02 | Cascade Corporation | Fluid power control system for mobile load handling equipment |
| DE102013207934A1 (en) * | 2013-04-30 | 2014-10-30 | Bayerische Motoren Werke Aktiengesellschaft | Switch pilot and method for operating a switch pilot |
| CN103920839B (en) * | 2014-01-14 | 2016-06-08 | 中南大学 | Large-scale stamp forging hydraulic press mixed synchronization balance control system |
| CN104405733B (en) * | 2014-09-19 | 2017-10-20 | 江苏大学 | A kind of slider of bender balances electro-hydraulic servo synchronous control system |
| CN204486733U (en) * | 2015-03-19 | 2015-07-22 | 攀钢集团攀枝花钢钒有限公司 | The vibrating device of slab caster mould |
| CN206845568U (en) * | 2017-05-08 | 2018-01-05 | 沈阳建筑大学 | One kind control two-tank method action hydraulic system |
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