CN108397448A - Dual valve loads independent control type electro-hydraulic vibration exciter and its electro hydraulic exciting system and bias control method - Google Patents
Dual valve loads independent control type electro-hydraulic vibration exciter and its electro hydraulic exciting system and bias control method Download PDFInfo
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- CN108397448A CN108397448A CN201810364676.7A CN201810364676A CN108397448A CN 108397448 A CN108397448 A CN 108397448A CN 201810364676 A CN201810364676 A CN 201810364676A CN 108397448 A CN108397448 A CN 108397448A
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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
- F15B21/12—Fluid oscillators or pulse generators
- F15B21/125—Fluid oscillators or pulse generators by means of a rotating valve
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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
- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
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Abstract
The invention discloses a kind of dual valves to load independent control type electro-hydraulic vibration exciter, including hydraulic actuator and excitation controlling valve, and hydraulic actuator is equipped with A hydraulic fluid ports and B hydraulic fluid ports；Excitation controlling valve includes two rotary valves；Rotary valve includes valve body, and valve body is equipped with oil inlet group and oil return opening group；Valve body inner sleeve is installed with valve pocket, and spool is equipped in valve pocket；One end of valve body is equipped with linear motor；First oil inlet of two rotary valves is connected with oil feeding line respectively, and the first oil return opening of two rotary valves is connected with oil return circuit respectively；The second oil inlet and the second oil return opening of one of rotary valve are connected with A hydraulic fluid ports, the second oil inlet and the second oil return opening of another rotary valve are connected with B hydraulic fluid ports, and when the aperture between the oil inlet group of one of rotary valve and the first through-flow valve port is more than zero, the aperture between the oil return opening group of another rotary valve and the second through-flow valve port is more than zero.The invention also discloses a kind of dual valve control electro hydraulic exciting system and bias control methods.
Description
Technical field
The invention belongs to fluid pressure actuator technical fields, specifically load independent control type electricity for a kind of dual valve
Liquid exciting device and its electro-hydraulic vibration exciter and bias control method.
Background technology
Vibrator makes to be swashed the corresponding vibration of object acquisition by applying the incentive action of certain forms and size, is a kind of profit
With the important device of mechanical oscillation, and the biasing of vibrator control is control vibrator around deviateing hydraulic actuator (hydraulic pressure
Cylinder or hydraulic motor) equilbrium position specific range vibration.
According to the difference of exciting mode, vibrator be broadly divided into mechanical, electrodynamic type, electroluminescent or magnetostrictive effect formula and
Electric-liquid type, wherein electro-hydraulic vibration exciter are because power is big, thrust is big, the Inherent advantages such as easy to operate are widely used in heavy duty, big work(
Rate occasion.And the core element that excitation controlling valve is electro-hydraulic vibration exciter, performance directly determine the work quality of electro-hydraulic vibration exciter.
Traditional electro-hydraulic vibration exciter usually using nozzle-baffle type servo valve as excitation controlling valve, it is difficult to be carried out to it
Biasing control, high occasion is required in motion control accuracy, in order to make valve and cylinder have matching, is many times required and servo
Manufacturer's contact of valve is individually ordered goods, and this adds increased servo valve manufacturing costs.And servo valve exciting amplitude adjusts difficulty, again
It is limited by its frequency response ability, the working frequency of electro-hydraulic vibration exciter is in lower range always, is not applied for high frequency and swashs
The operating mode shaken.
Zhejiang Polytechnical University appoints swallow, Ruan Jian, Jia Wenang to exist《The specificity analysis of 2D valve control electro-hydraulic vibration exciters biasing control》(west
Pacify university of communications journal, in September, 2010 volume 44 the 9th phase P82-86,127-128) in propose a kind of 2D valves control electrohydraulic excitation
There are double freedom of motion, control Spool rotating can realize sharp for device, the 2D excitation controlling valves which uses
Vibration frequency controls, and exciting amplitude control can be achieved to movement in control poppet shaft.But due to the rotary valve characteristic of the 2D excitation controlling valves,
An offset signal can not be introduced and realize that the biasing to exciting center equilbrium position controls, need the parallel connection one on symmetrical hydraulic cylinder
A digital servo valve realizes the biasing of vibrator centre of oscillation position by the openings of sizes and direction that change digital servo valve.
It can be seen that so far, there are no one kind rely solely on excitation controlling valve itself come and meanwhile realize bias control,
Amplitude controls and the electro-hydraulic vibration exciter of FREQUENCY CONTROL.In the case where no biasing controls, on the one hand, when exciting center relative to
When piston equilbrium position has offset, it can not be modified；On the other hand, in practical applications, certain need cannot be met
The operating mode for wanting zero drift to vibrate.
Invention content
In view of this, the purpose of the present invention is to provide a kind of dual valve load independent control type electro hydraulic exciting system and its
Electro-hydraulic vibration exciter and bias control method can rely solely on excitation controlling valve and realize biasing control, amplitude control and frequency control
System.
In order to achieve the above objectives, the present invention provides the following technical solutions：
Present invention firstly provides a kind of dual valve load independent control type electro-hydraulic vibration exciter, including hydraulic actuator and
Excitation controlling valve for controlling the hydraulic actuator action, the hydraulic actuator are equipped with A hydraulic fluid ports and B hydraulic fluid ports；
The excitation controlling valve includes two rotary valves；
The rotary valve includes valve body and the valve pocket that is sleeved in the valve body, and the valve pocket inner sleeve, which is installed with to rotate, matches
The spool of conjunction, the valve body and valve pocket are equipped with oil inlet group and oil return opening group, on the spool with the oil inlet group and time
Hydraulic fluid port group is correspondingly provided with the first through-flow valve port and the second through-flow valve port respectively；When the described first through-flow valve port and the oil inlet group
Between aperture when being more than zero, aperture between the second through-flow valve port and the oil outlet group is equal to zero；When described second
When aperture between through-flow valve port and the oil outlet group is more than zero, between the first through-flow valve port and the oil inlet group
Aperture is equal to zero；One end of the valve body is equipped with for driving the spool to be axially moveable and then making the oil inlet group and institute
State that the maximum slotted density between the first through-flow valve port and between the oil return opening group and the described second through-flow valve port is synchronous to be increased
Linear motor that is big or reducing, and maximum slotted density between the oil inlet group and the first through-flow valve port and described
Maximum slotted density between oil return opening group and the described second through-flow valve port remains equal；
The driving mechanism for driving the spool of two rotary valves to rotate synchronously is equipped between two rotary valves, and
When aperture is more than zero between the first through-flow valve port of one of them rotary valve and the oil inlet group of the rotary valve, described in another
Aperture between the second through-flow valve port and the oil return opening group of the rotary valve of rotary valve is more than zero；When the second of one of them rotary valve
When aperture between through-flow valve port and the oil return opening group of the rotary valve is more than zero, the first through-flow valve port of another rotary valve with should
Aperture is more than zero between the oil inlet group of rotary valve；
The oil inlet group includes the first oil inlet and the second oil inlet, and the oil return opening group includes the first oil return opening and the
Two oil return openings；First oil inlet of two rotary valves is connected with oil feeding line respectively, the first oil return opening of two rotary valves
It is connected respectively with oil return circuit；The second oil inlet and the second oil return opening of one of them rotary valve are connected with the A hydraulic fluid ports,
The second oil inlet and the second oil return opening of another rotary valve are connected with the B hydraulic fluid ports.
Further, the hydraulic actuator is using double acting asymmetric servo cylinder or the double outlet-rod hydraulic cylinders of double acting.
Further, the axis of the spool of two rotary valves is parallel, and the driving mechanism includes electric rotating machine and divides
The synchromesh gear not being sequentially connected with the spool of two rotary valves, two synchromesh gears engage and transmission ratio is 1, and institute
The output shaft for stating electric rotating machine is equipped with the driving gear engaged with synchromesh gear described in one of them；Or,
The axis collinear of the spool of two rotary valves, the driving mechanism include electric rotating machine and driven gear,
It is sequentially connected between the driven gear and the spool of two rotary valves, and the output shaft of the electric rotating machine is equipped with
The driving gear engaged with the driven gear.
The invention also provides a kind of dual valves to load independent control type electro hydraulic exciting system, including dual valve as described above
Independent control type electro-hydraulic vibration exciter is loaded, the oil feeding line includes fuel tank and oil supply pipe, and the oil supply pipe is equipped with liquid
Press pump and the motor for driving the hydraulic pump are equipped with filter, the oil return opening of the hydraulic pump at the oil inlet of the hydraulic pump
Place is equipped with check valve, and is respectively equipped with electromagnetic relief valve and electricity liquid ratio relief valve between the both sides and fuel tank of the check valve.
Further, further include control system, the control system includes controller, exciting waveform decoupler and the control
The control signal input module of device processed electrical connection, for controlling circuit for controlling motor that the linear motor acts, for controlling
The drive control circuit of the driving mechanism action, the controller input letter according to the biasing that the signal input module inputs
Number or amplitude input signal send out control instruction, according to the signal to the circuit for controlling motor of two linear motors respectively
The frequency input signal of input module input sends out control instruction to the drive control circuit and is inputted according to the signal
The pressure input signals of module input send out control instruction, the exciting waveform decoupler and institute to the electricity liquid ratio relief valve
State signal input module electrical connection.
Further, the hydraulic actuator is equipped with pushes away for acquiring its exciting amplitude, excited frequency and exciting in real time
The data sampling sensor of power；The rotary valve or the linear motor are equipped with the position for acquiring the spool axial position
Sensor.
The invention also provides a kind of dual valves loading independent control type electro-hydraulic vibration exciter using dual valve as described above
Load the bias control method of independent control type electro-hydraulic vibration exciter, it is characterised in that：Include the following steps：
1) the first rotary valve of the rotary valve that the second oil inlet and the second oil return opening be connected with the A hydraulic fluid ports, the second oil inlet are enabled
Second rotary valve of the rotary valve that mouth and the second oil return opening are connected with the B hydraulic fluid ports；
Exciting center offset using the hydraulic actuator is that abscissa is established in the position at zero as origin, and enables institute
It states when the exciting center of hydraulic actuator is biased towards the B hydraulic fluid ports to be negative when being biased towards the A hydraulic fluid ports just；
2) spool of two rotary valves is driven to rotate synchronously using the driving mechanism；Described in first rotary valve
When aperture between first through-flow valve port described in oil inlet group and the rotary valve is more than zero, the oil outlet group of second rotary valve
Aperture between the second through-flow valve port described in the rotary valve is more than zero, and side shakes where the hydraulic actuator towards B hydraulic fluid ports
Width is a1；When the aperture between the first through-flow valve port described in the oil inlet group of second rotary valve and the rotary valve is more than zero
When, the aperture between the second through-flow valve port described in the oil outlet group of first rotary valve and the rotary valve is more than zero, the liquid
The amplitude of side where pressing executive component towards A hydraulic fluid ports is b1；I.e. when the oil inlet group of first rotary valve and oil return opening group and
The oil inlet group of second rotary valve replace with oil return opening group be connected to the hydraulic actuator it is primary after, the hydraulic pressure is held
The exciting center offset c of units1=a1-b1；And so on, when first rotary valve oil inlet group and oil return opening group with
And after the oil inlet group of second rotary valve replaces with oil return opening group and is connected to n times with the hydraulic actuator, the hydraulic pressure
The accumulated value of the exciting center offset of executive component is en=en-1+cn=c1+c2+……+cn, n=1,2,3 ...；
3) enable the exciting center offset of the hydraulic actuator set as d；
If d ＞ en, then controlled by the linear motor oil inlet group of first rotary valve and the second rotary valve with it is corresponding
The described first through-flow valve port between maximum slotted density and oil return opening group and the corresponding second through-flow valve port between
Maximum slotted density, so that hydraulic actuator is more than towards the amplitude of side where the B hydraulic fluid ports towards side where the A hydraulic fluid ports
Amplitude, execute step 2), n=n+1；
If d ＜ en, then controlled by the linear motor oil inlet group of first rotary valve and the second rotary valve with it is corresponding
The described first through-flow valve port between maximum slotted density and oil return opening group and the corresponding second through-flow valve port between
Maximum slotted density, so that hydraulic actuator is less than towards the amplitude of side where the B hydraulic fluid ports towards side where the A hydraulic fluid ports
Amplitude, execute step 2), n=n+1；
If d=en, then controlled by the linear motor oil inlet group of first rotary valve and the second rotary valve with it is corresponding
The described first through-flow valve port between maximum slotted density and oil return opening group and the corresponding second through-flow valve port between
Maximum slotted density, so that hydraulic actuator is equal to towards the amplitude of side where the B hydraulic fluid ports towards side where the A hydraulic fluid ports
Amplitude, hereafter, hydraulic actuator will remain in exciting at the exciting center offset of the setting.
Further, it in the step 3), after the exciting center offset of hydraulic actuator is equal with setting value, utilizes
The linear motor controls the change of the area of passage between the oil inlet group and corresponding first flowing valve mouth of first rotary valve
Ratio between change amount and the oil inlet group of second rotary valve and the variable quantity of the area of passage of corresponding first flowing valve mouth
Equal between the sectional area of the cavity of side where the cavity cross-section product and B hydraulic fluid ports of side where the A hydraulic fluid ports of the hydraulic actuator
Ratio, make the hydraulic actuator exciting amplitude be equal to setting exciting amplitude.
Further, it in the step 3), after the exciting center offset of hydraulic actuator is equal with setting value, utilizes
The rotating speed of the spool of two rotary valves of the driving mechanisms control makes the excited frequency of hydraulic actuator be equal to swashing for setting
Vibration frequency.
The beneficial effects of the present invention are：
The dual valve of the present invention loads independent control type electro-hydraulic vibration exciter, by the way that two rotary valves are respectively adopted, and by two
First oil inlet of rotary valve is connected with oil feeding line respectively, and the first oil return opening of two rotary valves is connected with oil return circuit respectively；It will
The second oil inlet and the second oil return opening of one of rotary valve are connected with A hydraulic fluid ports；Second oil inlet of another rotary valve and
Two oil return openings are connected with the B hydraulic fluid ports；In this way, driving corresponding spool to move axially by linear motor, you can adjustment two
Maximum slotted density and oil return opening group between the oil inlet group of a rotary valve and the first through-flow valve port and the second through-flow valve port it
Between maximum slotted density；The maximum overcurrent between the oil inlet group and the first through-flow valve port of two rotary valves is controlled when initial
Maximum slotted density between area and oil return opening group and the second through-flow valve port makes hydraulic actuator towards A hydraulic fluid ports and B oil
The amplitude of mouth is equal, then hydraulic actuator can realize zero offset exciting；When the oil inlet for controlling two rotary valves using linear motor
The maximum overcurrent between maximum slotted density and oil return opening group and the second through-flow valve port between mouth group and the first through-flow valve port
Area, after the amplitude that makes hydraulic actuator towards A hydraulic fluid ports and B hydraulic fluid ports is unequal, then the exciting center hair of hydraulic actuator
Raw biasing, amount of bias reach maximum that can again between the oil inlet group and the first through-flow valve port of two rotary valves of secondary control after setting value
Maximum slotted density between area of passage and oil return opening group and the second through-flow valve port, makes hydraulic actuator towards A hydraulic fluid ports
It is equal with the amplitude of B hydraulic fluid ports, in this way, hydraulic actuator can realize biasing control in new offset position exciting；In addition,
By maximum slotted density between the oil inlet group and the first through-flow valve port of two rotary valves of synchronous control and oil return opening group with
Maximum slotted density size between second through-flow valve port, you can the amplitude for controlling hydraulic actuator is turned by controlling two
The rotating speed of valve core, you can control the excited frequency of hydraulic actuator；Dual valve load independent control type electricity i.e. of the invention
Liquid vibrator need not introduce such as digital servo valve additional equipment, by the way of load port independent control, rely solely on sharp
The control valve that shakes can also realize biasing control, amplitude control and FREQUENCY CONTROL.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is the structural schematic diagram that dual valve of the present invention loads independent control type electro hydraulic exciting system embodiment；
Fig. 2 is the structural schematic diagram that the present embodiment dual valve loads independent control type electro-hydraulic vibration exciter；
Fig. 3 is the oil circuit line schematic diagram that the present embodiment dual valve loads independent control type electro-hydraulic vibration exciter；
Fig. 4 was the sectional view that the radial section of oil inlet group axis intercepts on rotary valve, at this time oil inlet group and first
Aperture between through-flow valve port is more than zero；
Fig. 5 was the sectional view that the radial section of oil return opening group axis intercepts on rotary valve, at this time oil return opening group and second
Aperture between through-flow valve port is equal to zero.
Fig. 6 is the double acting asymmetric servo cylinder piston rod position figure in exciting center offset adjustment process；
Fig. 7 is the functional block diagram of the control system of the present embodiment；
Dual valve when Fig. 8 is the axis collinear of two rotary valves loads the structural representation of independent control type electro-hydraulic vibration exciter
Figure.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It is better understood from the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, the structural schematic diagram for embodiment of uniting for dual valve control electro hydraulic exciting system of the present invention.The present embodiment
Dual valve loads independent control type electro hydraulic exciting system, including dual valve loads independent control type electro-hydraulic vibration exciter.Such as Fig. 2 institutes
Show, the dual valve of the present embodiment loads independent control type electro-hydraulic vibration exciter, including hydraulic actuator 1 and is held for controlling hydraulic pressure
The excitation controlling valve of units action, hydraulic actuator are equipped with A hydraulic fluid ports and B hydraulic fluid ports；Excitation controlling valve includes two rotary valves.
Hydraulic actuator 1 executes member using double acting asymmetric servo cylinder or the double outlet-rod hydraulic cylinders of double acting, the hydraulic pressure of the present embodiment
Part 1 uses double acting asymmetric servo cylinder.
Rotary valve includes valve body 2 and the valve pocket 2a that is sleeved in valve body 2, and valve pocket 2a inner sleeves are installed with the valve for rotating cooperation
Core 3, valve body 2 and valve pocket 2a are equipped with oil inlet group and oil return opening group, corresponding respectively with oil inlet group and oil return opening group on spool 3
Equipped with the first through-flow through-flow valve port 3b of valve port 3a and second；In the same rotary valve, when the first through-flow valve port 3a and oil inlet group it
Between aperture when being more than zero, aperture between the second through-flow valve port 3b and oil outlet group is equal to zero；When the second through-flow valve port 3b with
When aperture between oil outlet group is more than zero, the aperture between the first through-flow valve port 3a and oil inlet group is equal to zero；The one of valve body 2
End be equipped with for drive spool 3 be axially moveable so that make between oil inlet group and the first through-flow valve port 3a and oil return opening group with
Maximum slotted density between second through-flow valve port 3b synchronizes the linear motor 4 increased or reduced, and the oil inlet of the same rotary valve
The maximum between maximum slotted density and oil return opening group and the second through-flow valve port 3b between mouth group and the first through-flow valve port 3a
Area of passage remains equal；
The driving mechanism for driving the spool 3 of two rotary valves to rotate synchronously is equipped between two rotary valves, and ought be wherein
When aperture is more than zero between the first through-flow valve port 3a and the oil inlet group of the rotary valve of one rotary valve, the second of another rotary valve is logical
The aperture flowed between valve port 3b and the oil return opening group of the rotary valve is more than zero；As the second through-flow valve port 3b of one of rotary valve and this
When aperture between the oil return opening group of rotary valve is more than zero, the oil inlet group of the first through-flow valve port 3a and the rotary valve of another rotary valve
Between aperture be more than zero；
Oil inlet group includes the first oil inlet 21 and the second oil inlet 22, and oil return opening group includes the first oil return opening 23 and the
Two oil return openings 24；First oil inlet 21 of two rotary valves is connected with oil feeding line respectively, and the first oil return opening 23 of two rotary valves divides
It is not connected with oil return circuit；The second oil inlet 22 and the second oil return opening 24 of one of rotary valve are connected with A hydraulic fluid ports, another
The second oil inlet 22 and the second oil return opening 24 of rotary valve are connected with B hydraulic fluid ports, in this way, forming oil inlet on hydraulic actuator 1
With the hydraulic circuit of oil return.
Specifically, the structure and rotary valve valve body 2 of the spool 3 of rotary valve, the matching relationship between valve pocket 2a and spool 3 can be with
With reference to《The research of resonant mode electro-hydraulic vibration exciter》(Zhejiang Polytechnical University's master thesis, author：Ni Xinglong, instructor：Yu
Zhejiang is green, P13-18) disclosed in a kind of 2D valves.
The shape and structure and geometric dimension of two rotary valves of the present embodiment are identical, i.e., the first oil inlet of two rotary valves
21, the second oil inlet 22, the first oil return opening 23, the second oil return opening 24, the first through-flow through-flow valve port 3b of valve port 3a and second it is big
The structure all same of small and position and spool 3, when linear motor 4 controls the oil inlet group and the first venting valve of two rotary valves
When maximum slotted density between mouth 3a is equal or is equal to setting ratio, show the oil inlet group and the first venting valve of two rotary valves
Area of passage between mouth 3a remains equal or equal to setting ratio.
Specifically, the oil feeding line of the present embodiment includes fuel tank 5 and oil supply pipe 6, oil supply pipe 6 is equipped with hydraulic pump 7
With the motor 8 of driving hydraulic pump 7, it is equipped with filter 9 at the oil inlet of hydraulic pump 7, is equipped at the oil return opening of hydraulic pump 7 unidirectional
Valve 10, and electromagnetic relief valve 11 and electricity liquid ratio relief valve 12, Neng Gouwei are respectively equipped between the both sides of check valve 10 and fuel tank 5
Hydraulic actuator 1 provides pressure constant hydraulic oil.
The axis of the spool of two rotary valves of the present embodiment is parallel, and the driving mechanism of the present embodiment includes 13 He of electric rotating machine
The synchromesh gear 14 being sequentially connected respectively with the spool of two rotary valves 3,15, two synchromesh gears 14,15 engage and transmission ratio is
1, and the output shaft of electric rotating machine 13 is equipped with the driving gear 16 engaged with one of synchromesh gear, utilizes gear drive machine
The spool 3 that structure can accurately control two rotary valves rotates synchronously, and two rotary valves can be accurately controlled using gear drive
Spool 3 rotates synchronously.It is, of course, also possible to which the axis of the spool of two rotary valves is set as conllinear, driving mechanism at this time includes
It is sequentially connected between the spool 3 of electric rotating machine 4 and driven gear 17, driven gear 17 and two rotary valves, and electric rotating machine 4 is defeated
Shaft is equipped with the driving gear 18 engaged with driven gear 17, can also realize technical purpose, as shown in Figure 8.
The dual valve control electro hydraulic exciting system of the present embodiment further includes control system, and the control system of the present embodiment includes control
Device processed, exciting waveform decoupler, the control signal input module being electrically connected with the controller, the electricity for controlling linear motor action
Machine control circuit, the drive control circuit for controlling driving mechanism action, controller inputs inclined according to signal input module
It sets input signal or amplitude input signal sends out control instruction, according to signal to the circuit for controlling motor of two linear motors respectively
The frequency input signal of input module input sends out control instruction to drive control circuit and is inputted according to signal input module
Pressure input signals send out control instruction to electricity liquid ratio relief valve, the exciting waveform decoupler inputs mould with the signal
Block is electrically connected.The hydraulic actuator of the present embodiment is equipped with to be pushed away for acquiring its exciting amplitude, excited frequency and exciting in real time
The data sampling sensor of power.Rotary valve or the linear motor are equipped with the position sensing for acquiring the spool axial position
Device.
The dual valve of the present embodiment loads independent control type electro-hydraulic vibration exciter, by being respectively adopted two rotary valves, and by two
First oil inlet of a rotary valve is connected with oil feeding line respectively, and the first oil return opening of two rotary valves is connected with oil return circuit respectively；
Second oil inlet of one of rotary valve and the second oil return opening are connected with A hydraulic fluid ports；Second oil inlet of another rotary valve and
Second oil return opening is connected with the B hydraulic fluid ports；In this way, driving corresponding spool to move axially by linear motor, you can adjustment
Maximum slotted density and oil return opening group between the oil inlet group and the first through-flow valve port of two rotary valves and the second through-flow valve port
Between maximum slotted density；The most serious offense between the oil inlet group and the first through-flow valve port of two rotary valves is controlled when initial
Maximum slotted density between flow area and oil return opening group and the second through-flow valve port, makes hydraulic actuator towards A hydraulic fluid ports and B
The amplitude of hydraulic fluid port is equal, then hydraulic actuator can realize zero offset exciting；When using linear motor control two rotary valves into
The most serious offense between maximum slotted density and oil return opening group and the second through-flow valve port between hydraulic fluid port group and the first through-flow valve port
Flow area, after the amplitude that makes hydraulic actuator towards A hydraulic fluid ports and B hydraulic fluid ports is unequal, then the exciting center of hydraulic actuator
Bias, amount of bias reach after setting value can again between the oil inlet group and the first through-flow valve port of two rotary valves of secondary control most
Maximum slotted density greatly between area of passage and oil return opening group and the second through-flow valve port makes hydraulic actuator towards A oil
Mouth is equal with the amplitude of B hydraulic fluid ports, in this way, hydraulic actuator can realize biasing control in new offset position exciting；Separately
Outside, pass through the maximum slotted density and oil return opening group between the oil inlet group and the first through-flow valve port of two rotary valves of synchronous control
With the maximum slotted density size between the second through-flow valve port, you can the amplitude for controlling hydraulic actuator, by controlling two
The rotating speed of rotary valve spool, you can control the excited frequency of hydraulic actuator；I.e. dual valve of the invention loads independent control type
Electro-hydraulic vibration exciter need not introduce such as digital servo valve additional equipment and be relied solely on by the way of load port independent control
Excitation controlling valve can also realize biasing control, amplitude control and FREQUENCY CONTROL.
Specifically, the dual valve using the present embodiment dual valve control electro hydraulic exciting system as described above loads independent control type
The bias control method of electro-hydraulic vibration exciter, includes the following steps：
1) the first rotary valve of the rotary valve that the second oil inlet 22 and the second oil return opening 24 be connected with A hydraulic fluid ports, the second oil inlet are enabled
Second rotary valve of the rotary valve that mouth 22 and the second oil return opening 24 are connected with B hydraulic fluid ports；
Exciting center offset using hydraulic actuator 1 is that abscissa is established in the position at zero as origin, and enables hydraulic pressure
It is negative when being biased towards A hydraulic fluid ports just to be when the exciting center of executive component 1 is biased towards B hydraulic fluid ports；
2) spool 3 that driving mechanism drives two rotary valves is utilized to rotate synchronously；When the oil inlet group and this turn of the first rotary valve
When aperture between the first through-flow valve port 3a of valve is more than zero, the oil outlet group of the second rotary valve and the second through-flow valve port 3b of the rotary valve it
Between aperture be more than zero, the amplitude of hydraulic actuator 1 towards side where B hydraulic fluid ports is a1；When the second rotary valve oil inlet group with
When aperture between the first through-flow valve port 3a of the rotary valve is more than zero, the oil outlet group of the first rotary valve and the second through-flow valve port of rotary valve
Aperture between 3b is more than zero, and the amplitude of side where hydraulic actuator towards A hydraulic fluid ports is b1；I.e. when the oil inlet of the first rotary valve
Group replace with oil return opening group and the oil inlet group of the second rotary valve with oil return opening group be connected to hydraulic actuator 1 once after,
The exciting center offset c of hydraulic actuator 11=a1-b1；And so on, when oil inlet group and the oil return opening group of the first rotary valve
And second rotary valve oil inlet group replace with oil return opening group and be connected to n times with hydraulic actuator 1 after, hydraulic actuator
The accumulated value of exciting center offset is en=en-1+cn=c1+c2+……+cn, n=1,2,3 ...；
3) enable the exciting center offset of the hydraulic actuator set as d；
If d ＞ en, then led to corresponding first by the oil inlet group of the first rotary valve of control of linear motor 4 and the second rotary valve
Flow the maximum flow-passing surface between maximum slotted density and oil return opening group and the corresponding second through-flow valve port 3b between valve port 3a
Product, the amplitude of side is more than the amplitude towards side where A hydraulic fluid ports where making hydraulic actuator towards B hydraulic fluid ports, executes step 2, n=
n+1；
If d ＜ en, then led to corresponding first by the oil inlet group of the first rotary valve of control of linear motor 4 and the second rotary valve
Flow the maximum flow-passing surface between maximum slotted density and oil return opening group and the corresponding second through-flow valve port 3b between valve port 3a
Product, the amplitude of side is less than the amplitude towards side where A hydraulic fluid ports where making hydraulic actuator towards B hydraulic fluid ports, executes step 2, n=
n+1；
If d=en, then led to corresponding first by the oil inlet group of the first rotary valve of control of linear motor 4 and the second rotary valve
Flow the maximum flow-passing surface between maximum slotted density and oil return opening group and the corresponding second through-flow valve port 3b between valve port 3a
Product, the amplitude of side is equal to the amplitude towards side where A hydraulic fluid ports where making hydraulic actuator towards B hydraulic fluid ports, and hereafter, hydraulic pressure executes
Element will remain in exciting at the exciting center offset of the setting.
After the exciting center offset of hydraulic actuator 1 is equal with setting value, linear motor 4, control first are utilized
The oil inlet of the variable quantity and the second rotary valve of area of passage between the oil inlet group of rotary valve and corresponding first flowing valve mouth 3a
Ratio between group and the variable quantity of the area of passage of corresponding first flowing valve mouth 3a is equal to the A hydraulic fluid ports institute of hydraulic actuator
Ratio between the sectional area of the cavity of side where cavity cross-section product and B hydraulic fluid ports in side, makes the exciting of hydraulic actuator 1 shake
Width is equal to the exciting amplitude of setting.After the exciting center offset of hydraulic actuator 1 is equal with setting value, driving machine is utilized
Structure controls the rotating speed of the spool 3 of two rotary valves, and the excited frequency of hydraulic actuator 1 is made to be equal to the excited frequency of setting.
Specifically, as shown in Figures 2 and 3, the oil circuit that solid line in Fig. 3 represents is exactly in Fig. 2 residing for excitation controlling valve
Location status, the first rotary valve for being now placed in top are connected with the rodless cavity of hydraulic cylinder, and oil inlet group is logical with corresponding first
The aperture flowed between valve port 3a is more than zero, and underlying second rotary valve is connected with the rod chamber of hydraulic cylinder, oil return opening group and
Aperture between corresponding second through-flow valve port 3b is more than zero, is at this time Q into oil stream amount1, return flow Q1T, at this time P lead to A, B
Logical T, hydraulic cylinder piston move right；As electric rotating machine 4 is by gear drive, band movable valve plug 3 rotates a certain angle, is located at
Aperture between the oil return opening group of first rotary valve of top and corresponding second through-flow valve port 3b is more than zero, underlying second
Aperture between the oil inlet group of rotary valve and corresponding first through-flow valve port 3a is more than zero, is at this time Q into oil stream amount2, oil return stream
Amount is Q2T, at this time P lead to B, A leads to T, and hydraulic cylinder piston moves downward；
With the continuous rotation of electric rotating machine, oil circuit just constantly switches between solid line oil circuit and dotted line oil circuit in figure 3, this
When, hydraulic cylinder constantly commutates at a high speed to generate exciting；If the mistake between the oil inlet group and the first through-flow valve port 3a of two rotary valves
Area of passage between flow area and oil return opening group and the second through-flow valve port 3b remains equal, but due to single-acting hydraulic
The rod chamber sectional area of cylinder is less than rodless cavity sectional area, therefore is passed through same amount to the rod chamber of single-action hydraulic cylinder and rodless cavity
The amplitude of hydraulic oil, rodless cavity to rod chamber is larger, and hydraulic cylinder biases exciting towards rodless cavity at this time；
To keep hydraulic cylinder exciting at the position of setting, then the hydraulic oil for making to be passed through in rodless cavity and rod chamber is needed
The ratio between volume be equal to the ratio between the sectional area of hydraulic cylinder rodless cavity and rod chamber, if the sectional area of hydraulic cylinder rodless cavity and rod chamber
The ratio between k, then work as Q2/Q1When=k, hydraulic cylinder can be using setting position as exciting center exciting；I.e. when second to be connected with rod chamber
The first rotary valve that area of passage between the oil inlet group of rotary valve and corresponding first through-flow valve port 3a is connected with rodless cavity
When the ratio between area of passage between oil inlet group and corresponding first through-flow valve port 3a is k, hydraulic cylinder can be with setting position
Exciting center exciting.
If wanting that cylinder vibrator center is made to bias to rod chamber, it is necessary to by adjusting linear motor 4, two rotary valves of adjusting
Area of passage and oil return opening group between oil inlet group and corresponding first through-flow valve port 3a and corresponding second through-flow valve port
Area of passage between 3b, makes Q2/Q1＜ k, at this time double-action hydraulic the cylinder piston be more than to the displacement of rod chamber to the position of rodless cavity
Move, it is opposite at this time with initial exciting center can there are one offsets to the right, as shown in Figure 4.
As shown in figure 4, A row are Q2/Q1When=k, the state of cylinder vibrator；B row are Q2/Q1＜ k, cylinder vibrator
State.Wherein the first row represents the location status that hydraulic cylinder piston is under exciting original state；What the second row represented is when the
After the oil inlet group and oil return opening group of one rotary valve are alternately connected to 1 time with hydraulic cylinder, the location status of double-action hydraulic the cylinder piston；The
Under conditions of what three rows represented is the area of passage inconvenience in the oil inlet group of two rotary valves of holding and oil return opening group, when first turn
After the oil inlet group and oil return opening group of valve are alternately connected to 2 times with double acting hydraulic cylinder, the location status of double-action hydraulic the cylinder piston；
From this figure it can be seen that the amount of bias at the exciting center not only and oil inlet group of two rotary valves and corresponding first through-flow valve port
Area of passage and oil return opening group between 3a is related with the area of passage between corresponding second through-flow valve port 3b, and also and spool
3 revolution numbers are related, it can be found that the flow-passing surface between the oil inlet group and corresponding first through-flow valve port 3a of two rotary valves
In the case of product and the difference of the area of passage between oil return opening group and corresponding second through-flow valve port 3b are fixed, as spool revolves
The increase of turn-week number, the amount of bias of exciting center to the right are bigger.
Similarly, when double acting hydraulic cylinder exciting center being made to be biased to rodless cavity, Q need to be made2/Q1＞ k, method and principle with
It is above-mentioned suitable, it is not repeated.
After exciting center offset, which controls, to be completed, the control to two linear motors 4 can be passed through at this time so that two
Area of passage between the oil inlet group of a rotary valve and corresponding first through-flow valve port 3a and oil return opening group and corresponding second
Area of passage between through-flow valve port 3b keeps synchronous again, even if Q2/Q1=k；It is controlled by above-mentioned biasing, exciting center
It is in scheduled position, at this point, the valve of two rotary valves can be driven by gear drive by the drive of electric rotating machine 13
3 synchronous rotary of core so that hydraulic cylinder constantly commutation is to generate exciting.It in this case, can be by two linear motors 4
Synchronous control so that the area of passage between the oil inlet group of two rotary valves and corresponding first through-flow valve port 3a and oil return
K changes area of passage between mouthful group and corresponding second through-flow valve port 3b in proportion, i.e., the oil inlet group of rotary valve with it is corresponding
The area of passage between area of passage and oil return opening group and corresponding second through-flow valve port 3b between first through-flow valve port 3a
Simultaneously in proportion k increase or simultaneously in proportion k reduce, displacement of the hydraulic cylinder piston to rod chamber and rodless cavity just will increase or
Reduce, i.e. the amplitude of cylinder vibrator increases or reduces therewith, and which achieves the controls of exciting amplitude.
Excited frequency is mainly related with 3 rotary rpm of spool, i.e., drives two to turn by gear drive with electric rotating machine 13
The frequency that the spool 3 of valve rotates is related, so can easily be realized to excited frequency by the control to 13 rotating speed of electric rotating machine
Control.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (9)
1. a kind of dual valve loads independent control type electro-hydraulic vibration exciter, including hydraulic actuator (1) and for controlling the liquid
The excitation controlling valve for pressing executive component (1) to act, the hydraulic actuator (1) are equipped with A hydraulic fluid ports and B hydraulic fluid ports；Its feature exists
In：The excitation controlling valve includes two rotary valves；
The rotary valve includes valve body (2) and the valve pocket (2a) being sleeved in the valve body (2), and valve pocket (2a) inner sleeve is installed with
The spool (3) of cooperation is rotated, the valve body (2) and valve pocket (2a) are equipped with oil inlet group and oil return opening group, the spool
(3) the first through-flow valve port (3a) and the second through-flow valve port (3b) are correspondingly provided on respectively with the oil inlet group and oil return opening group；
When the aperture between the described first through-flow valve port (3a) and the oil inlet group be more than zero when, the second through-flow valve port (3b) with
Aperture between the oil outlet group is equal to zero；When the aperture between the described second through-flow valve port (3b) and the oil outlet group is big
When zero, the aperture between the first through-flow valve port (3a) and the oil inlet group is equal to zero；One end of the valve body (2) is set
Be useful for driving the spool (3) to be axially moveable so make between the oil inlet group and the first through-flow valve port (3a) with
And the maximum slotted density between the oil return opening group and the described second through-flow valve port (3b) synchronize the straight-line electric that increases or reduces
Machine (4), and the maximum slotted density between the oil inlet group and the first through-flow valve port (3a) and the oil return opening group
Maximum slotted density between the described second through-flow valve port (3b) remains equal；
It is equipped with the driving mechanism for driving the spool of two rotary valves to rotate synchronously between two rotary valves, and works as it
In a rotary valve the first through-flow valve port (3a) and the oil inlet group of the rotary valve between aperture when being more than zero, described in another
Aperture between second through-flow valve port (3b) of rotary valve and the oil return opening group of the rotary valve is more than zero；When one of them rotary valve
When aperture between second through-flow valve port (3b) and the oil return opening group of the rotary valve is more than zero, the first of another rotary valve is through-flow
Aperture is more than zero between valve port (3a) and the oil inlet group of the rotary valve；
The oil inlet group includes the first oil inlet (21) and the second oil inlet (22), and the oil return opening group includes the first oil return opening
(23) and the second oil return opening (24)；The first oil inlet (21) of two rotary valves is connected with oil feeding line respectively, described in two
The first oil return opening (23) of rotary valve is connected with oil return circuit respectively；The second oil inlet (22) of one of them rotary valve and second
Oil return opening (24) is connected with the A hydraulic fluid ports, and the second oil inlet (22) and the second oil return opening (24) of another rotary valve are equal
It is connected with the B hydraulic fluid ports.
2. dual valve according to claim 1 loads independent control type electro-hydraulic vibration exciter, it is characterised in that：The hydraulic pressure is held
Units (1) are using double acting asymmetric servo cylinder or the double outlet-rod hydraulic cylinders of double acting.
3. dual valve according to claim 1 or 2 loads independent control type electro-hydraulic vibration exciter, it is characterised in that：Two institutes
The axis for stating the spool (3) of rotary valve is parallel, and the driving mechanism includes electric rotating machine (13) and turns respectively with described in two
The synchromesh gear (14,15) that the spool of valve is sequentially connected, two synchromesh gears (14,15) are engaged and transmission ratio is 1, and institute
The output shaft for stating electric rotating machine (13) is equipped with the driving gear (16) engaged with synchromesh gear described in one of them (14,15)；
Or,
The axis collinear of the spool (3) of two rotary valves, the driving mechanism include electric rotating machine (13) and passive tooth
It takes turns (17), is sequentially connected between the driven gear (17) and the spool (3) of two rotary valves, and the electric rotating machine
(13) output shaft is equipped with the driving gear (18) engaged with the driven gear (17).
4. a kind of dual valve loads independent control type electro hydraulic exciting system, it is characterised in that：Including any one of such as claim 1-3
The dual valve loads independent control type electro-hydraulic vibration exciter, and the oil feeding line includes fuel tank (5) and oil supply pipe (6), described
Oil supply pipe (6) is equipped with the motor (8) of hydraulic pump (7) and the driving hydraulic pump (7), the oil inlet of the hydraulic pump (7)
Place is equipped with filter (9), and check valve (10), and the both sides of the check valve (10) are equipped at the oil return opening of the hydraulic pump (7)
Electromagnetic relief valve (11) and electricity liquid ratio relief valve (12) are respectively equipped between fuel tank (5).
5. dual valve according to claim 4 loads independent control type electro hydraulic exciting system, it is characterised in that：It further include control
System processed, the control system include controller, exciting waveform decoupler, the control signal input being electrically connected with the controller
Module, the circuit for controlling motor for controlling the linear motor action, the driving control for controlling the driving mechanism action
Circuit processed, the biasing input signal or amplitude input signal that the controller is inputted according to the signal input module are respectively to two
The circuit for controlling motor of a linear motor sends out control instruction, inputs letter according to the frequency that the signal input module inputs
Number send out control instruction to the drive control circuit and the pressure input signals that are inputted according to the signal input module to
The electricity liquid ratio relief valve sends out control instruction, and the exciting waveform decoupler is electrically connected with the signal input module.
6. dual valve according to claim 5 loads independent control type electro hydraulic exciting system, it is characterised in that：The hydraulic pressure
Executive component is equipped with the data sampling sensor for acquiring its exciting amplitude, excited frequency and exciting thrust in real time；It is described
Rotary valve or the linear motor are equipped with the position sensor for acquiring the spool axial position.
7. a kind of dual valve using the dual valve load independent control type electro-hydraulic vibration exciter as described in claim any one of 1-3 is negative
Carry the bias control method of independent control type electro-hydraulic vibration exciter, it is characterised in that：Include the following steps：
1) the first rotary valve of the rotary valve that the second oil inlet (22) and the second oil return opening (24) be connected with the A hydraulic fluid ports is enabled, second
Second rotary valve of the rotary valve that oil inlet (22) and the second oil return opening (24) are connected with the B hydraulic fluid ports；
Exciting center offset using the hydraulic actuator (1) is that abscissa is established in the position at zero as origin, and enables institute
It states when the exciting center of hydraulic actuator (1) is biased towards the B hydraulic fluid ports to be negative when being biased towards the A hydraulic fluid ports just；
2) spool (3) of two rotary valves is driven to rotate synchronously using the driving mechanism；Described in first rotary valve
When aperture between first through-flow valve port (3a) described in oil inlet group and the rotary valve is more than zero, second rotary valve it is described fuel-displaced
Mouthful group is with the aperture described in the rotary valve between the second through-flow valve port (3b) more than zero, and the hydraulic actuator (1) is towards B hydraulic fluid ports
The amplitude of place side is a1；When between the first through-flow valve port (3a) described in the oil inlet group of second rotary valve and the rotary valve
Aperture when being more than zero, opening between the second through-flow valve port (3b) described in the oil outlet group of first rotary valve and the rotary valve
Degree is more than zero, and the amplitude of side where the hydraulic actuator towards A hydraulic fluid ports is b1；I.e. when the oil inlet group of first rotary valve
Replace with oil return opening group with oil return opening group and the oil inlet group of second rotary valve and is connected to the hydraulic actuator (1)
After primary, the exciting center offset c of the hydraulic actuator (1)1=a1-b1；And so on, when first rotary valve
Oil inlet group replaces with the oil inlet group of oil return opening group and second rotary valve with oil return opening group executes member with the hydraulic pressure
After part (1) is connected to n times, the accumulated value of the exciting center offset of the hydraulic actuator is en=en-1+cn=c1+c2
+……+cn, n=1,2,3 ...；
3) enable the exciting center offset of the hydraulic actuator set as d；
If d ＞ en, then controlled by the linear motor (4) the oil inlet group of first rotary valve and the second rotary valve with it is corresponding
Maximum slotted density and oil return opening group between the first through-flow valve port (3a) and the corresponding second through-flow valve port
Maximum slotted density between (3b) makes hydraulic actuator be more than towards the amplitude of side where the B hydraulic fluid ports towards A oil
The amplitude of side where mouthful, executes step 2), n=n+1；
If d ＜ en, then controlled by the linear motor (4) the oil inlet group of first rotary valve and the second rotary valve with it is corresponding
Maximum slotted density and oil return opening group between the first through-flow valve port (3a) and the corresponding second through-flow valve port
Maximum slotted density between (3b) makes hydraulic actuator be less than towards the amplitude of side where the B hydraulic fluid ports towards A oil
The amplitude of side where mouthful, executes step 2), n=n+1；
If d=en, then controlled by the linear motor (4) the oil inlet group of first rotary valve and the second rotary valve with it is corresponding
Maximum slotted density and oil return opening group between the first through-flow valve port (3a) and the corresponding second through-flow valve port
Maximum slotted density between (3b) makes hydraulic actuator be equal to towards the amplitude of side where the B hydraulic fluid ports towards A oil
The amplitude of side where mouthful, hereafter, hydraulic actuator will remain in exciting at the exciting center offset of the setting.
8. the bias control method of dual valve load independent control type electro-hydraulic vibration exciter, feature exist according to claim 7
In：In the step 3), after the exciting center offset of hydraulic actuator (1) is equal with setting value, the straight line is utilized
Motor (4) controls the change of the area of passage between the oil inlet group and corresponding first flowing valve mouth (3a) of first rotary valve
Between change amount and the oil inlet group of second rotary valve and the variable quantity of the area of passage of corresponding first flowing valve mouth (3a)
The sectional area of the cavity cross-section product and the cavity of side where B hydraulic fluid ports of side where ratio is equal to the A hydraulic fluid ports of the hydraulic actuator
Between ratio, make the hydraulic actuator (1) exciting amplitude be equal to setting exciting amplitude.
9. loading the bias control method of independent control type electro-hydraulic vibration exciter, feature according to the dual valve of claim 7 or 8
It is：In the step 3), after the exciting center offset of hydraulic actuator (1) is equal with setting value, the drive is utilized
The rotating speed of the spool (3) of two rotary valves of dynamic mechanism controls makes the excited frequency of hydraulic actuator (1) be equal to swashing for setting
Vibration frequency.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364676.7A CN108397448B (en) | 2018-04-23 | 2018-04-23 | Duplex valve load independent control type electro-hydraulic vibration exciter, electro-hydraulic vibration exciting device and bias control method thereof |
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| CN201810364676.7A CN108397448B (en) | 2018-04-23 | 2018-04-23 | Duplex valve load independent control type electro-hydraulic vibration exciter, electro-hydraulic vibration exciting device and bias control method thereof |
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| CN110307143A (en) * | 2019-06-21 | 2019-10-08 | 江苏恒立液压科技有限公司 | A kind of variable servo valve, power servo valve and variable pump |
| CN111365314A (en) * | 2020-03-26 | 2020-07-03 | 浙江大学宁波理工学院 | Fault tolerant reversing valve |
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