CN108397448B - Duplex valve load independent control type electro-hydraulic vibration exciter, electro-hydraulic vibration exciting device and bias control method thereof - Google Patents
Duplex valve load independent control type electro-hydraulic vibration exciter, electro-hydraulic vibration exciting device and bias control method thereof Download PDFInfo
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- CN108397448B CN108397448B CN201810364676.7A CN201810364676A CN108397448B CN 108397448 B CN108397448 B CN 108397448B CN 201810364676 A CN201810364676 A CN 201810364676A CN 108397448 B CN108397448 B CN 108397448B
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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 duplex valve load independent control type electro-hydraulic vibration exciter which comprises a hydraulic actuating element and a vibration exciting control valve, wherein an oil port A and an oil port B are arranged on the hydraulic actuating element; the excitation control valve comprises two rotary valves; the rotary valve comprises a valve body, and an oil inlet group and an oil return port group are arranged on the valve body; the valve body is internally sleeved with a valve sleeve, and a valve core is arranged in the valve sleeve; one end of the valve body is provided with a linear motor; first oil inlets of the two rotary valves are respectively connected with the oil supply oil way, and first oil return ports of the two rotary valves are respectively connected with the oil return oil way; and when the opening degree between the oil inlet group of one rotary valve and the first through-flow valve port is greater than zero, the opening degree between the oil return port group of the other rotary valve and the second through-flow valve port is greater than zero. The invention also discloses a duplex valve control electro-hydraulic vibration excitation device and a bias control method.
Description
Technical Field
The invention belongs to the technical field of fluid pressure actuating mechanisms, and particularly relates to a double-valve load independent control type electro-hydraulic vibration excitation device, an electro-hydraulic vibration exciter thereof and a bias control method.
Background
The exciter obtains corresponding vibration by applying a certain form and magnitude of excitation action, which is an important device utilizing mechanical vibration, and the bias control of the exciter controls the vibration of the exciter around a certain distance deviated from the equilibrium position of a hydraulic actuator (a hydraulic cylinder or a hydraulic motor).
According to different excitation modes, vibration exciters are mainly divided into mechanical type, electrodynamic type, electrostrictive or magnetostrictive effect type and electrohydraulic type, wherein the electrohydraulic vibration exciters are widely applied to heavy-load and high-power occasions due to inherent advantages of high power, high thrust, convenience in operation and the like. The excitation control valve is a core element of the electro-hydraulic vibration exciter, and the performance of the excitation control valve directly determines the working quality of the electro-hydraulic vibration exciter.
The traditional electro-hydraulic vibration exciter usually uses a nozzle-baffle type servo valve as a vibration exciting control valve, so that the vibration exciting control valve is difficult to bias control, and in the occasions with high motion control precision requirements, in order to ensure that the valve and the cylinder have matching performance, independent ordering is required to be connected with manufacturers of the servo valve, so that the manufacturing cost of the servo valve is increased. And the excitation amplitude of the servo valve is difficult to adjust and limited by the frequency response capability of the servo valve, and the working frequency of the electro-hydraulic vibration exciter is always in a lower range and cannot be suitable for the working condition of high-frequency excitation.
A2D valve control electro-hydraulic vibration exciter is provided in 'characteristic analysis of bias control of a 2D valve control electro-hydraulic vibration exciter' (journal of the university of Western Ann traffic, No. 2010, No. 44, No. 9, P82-86,127-128) of Nian Yan, Ruan Jian and Jiawenong at Zhejiang industry university, wherein a 2D vibration excitation control valve adopted by the 2D valve control electro-hydraulic vibration exciter has double freedom of motion, the rotation of a control valve core can realize the control of vibration excitation frequency, and the axial motion of the control valve core can realize the control of vibration excitation amplitude. However, due to the rotary valve characteristic of the 2D excitation control valve, a bias signal cannot be introduced to realize bias control of the excitation center balance position, and a digital servo valve needs to be connected in parallel to the symmetric hydraulic cylinder, so that the bias of the vibration center position of the vibration exciter is realized by changing the opening size and direction of the digital servo valve.
Therefore, no electro-hydraulic vibration exciter which only depends on the vibration exciting control valve to realize bias control, amplitude control and frequency control at the same time exists so far. Without offset control, on the one hand, when the excitation center is offset with respect to the piston equilibrium position, it cannot be corrected; on the other hand, in practical application, some working conditions requiring zero offset vibration cannot be met.
Disclosure of Invention
In view of the above, the present invention provides a dual valve load independent control type electro-hydraulic vibration excitation device, an electro-hydraulic vibration exciter thereof, and a bias control method, which can realize bias control, amplitude control, and frequency control by only depending on a vibration excitation control valve.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention firstly provides a double-valve load independent control type electro-hydraulic vibration exciter, which comprises a hydraulic actuating element and a vibration exciting control valve for controlling the action of the hydraulic actuating element, wherein an oil port A and an oil port B are arranged on the hydraulic actuating element; the excitation control valve comprises two rotary valves;
the rotary valve comprises a valve body and a valve sleeve sleeved in the valve body, a valve core in rotary fit with the valve sleeve is arranged in the valve sleeve, an oil inlet group and an oil return port group are arranged on the valve body and the valve sleeve, and a first through-flow valve port and a second through-flow valve port are respectively arranged on the valve core and correspond to the oil inlet group and the oil return port group; when the opening degree between the first through-flow valve port and the oil inlet group is larger than zero, the opening degree between the second through-flow valve port and the oil return port group is equal to zero; when the opening degree between the second through-flow valve port and the oil return port group is larger than zero, the opening degree between the first through-flow valve port and the oil inlet group is equal to zero; a linear motor for driving the valve core to move axially so as to synchronously increase or reduce the maximum flow area between the oil inlet group and the first through-flow valve port and between the oil return port group and the second through-flow valve port is arranged at one end of the valve body, and the maximum flow area between the oil inlet group and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port are always kept equal;
a driving mechanism for driving the valve cores of the two rotary valves to synchronously rotate is arranged between the two rotary valves, and when the opening degree between the first through-flow valve port of one of the rotary valves and the oil inlet group of the rotary valve is greater than zero, the opening degree between the second through-flow valve port of the other rotary valve and the oil return port group of the rotary valve is greater than zero; when the opening degree between the second through-flow valve port of one of the rotary valves and the oil return port group of the rotary valve is larger than zero, the opening degree between the first through-flow valve port of the other rotary valve and the oil inlet group of the rotary valve is larger than zero;
the oil inlet group comprises a first oil inlet and a second oil inlet, and the oil return port group comprises a first oil return port and a second oil return port; first oil inlets of the two rotary valves are respectively connected with an oil supply path, and first oil return ports of the two rotary valves are respectively connected with an oil return path; and a second oil inlet and a second oil return port of one rotary valve are both connected with the oil port A, and a second oil inlet and a second oil return port of the other rotary valve are both connected with the oil port B.
Furthermore, the hydraulic actuating element adopts a double-acting single-rod hydraulic cylinder or a double-acting double-rod hydraulic cylinder.
Furthermore, the axes of the valve cores of the two rotary valves are parallel, the driving mechanism comprises a rotary motor and synchronous gears which are respectively in transmission connection with the valve cores of the two rotary valves, the two synchronous gears are meshed, the transmission ratio is 1, and an output shaft of the rotary motor is provided with a driving gear meshed with one of the synchronous gears; or the like, or, alternatively,
the axes of the valve cores of the two rotary valves are collinear, the driving mechanism comprises a rotating motor and driven gears, the driven gears are in transmission connection with the valve cores of the two rotary valves, and a driving gear meshed with the driven gears is arranged on an output shaft of the rotating motor.
The invention also provides a double-valve load independent control type electro-hydraulic vibration excitation device which comprises the double-valve load independent control type electro-hydraulic vibration exciter, wherein the oil supply oil path comprises an oil tank and an oil supply pipeline, a hydraulic pump and a motor for driving the hydraulic pump are arranged on the oil supply pipeline, a filter is arranged at an oil inlet of the hydraulic pump, a one-way valve is arranged at an oil return port of the hydraulic pump, and an electromagnetic overflow valve and an electro-hydraulic proportional overflow valve are respectively arranged between two sides of the one-way valve and the oil tank.
The control system comprises a controller, an excitation waveform decoupler, a control signal input module electrically connected with the controller, a motor control circuit used for controlling the linear motors to act, and a drive control circuit used for controlling the drive mechanism to act, wherein the controller respectively sends control instructions to the motor control circuits of the two linear motors according to a bias input signal or an amplitude input signal input by the signal input module, sends control instructions to the drive control circuit according to a frequency input signal input by the signal input module, and sends control instructions to the electro-hydraulic proportional overflow valve according to a pressure input signal input by the signal input module, and the excitation waveform decoupler is electrically connected with the signal input module.
Furthermore, a data acquisition sensor for acquiring the excitation amplitude, the excitation frequency and the excitation thrust of the hydraulic actuating element in real time is arranged on the hydraulic actuating element; and a position sensor for acquiring the axial position of the valve core is arranged on the rotary valve or the linear motor.
The invention also provides a bias control method of the load independent control type electro-hydraulic vibration exciter by adopting the duplex valve, which is characterized by comprising the following steps of: the method comprises the following steps:
1) a rotary valve with a second oil inlet and a second oil return port both connected with the oil port A is a first rotary valve, and a rotary valve with a second oil inlet and a second oil return port both connected with the oil port B is a second rotary valve;
establishing an abscissa by taking the position where the offset of the vibration excitation center of the hydraulic actuating element is zero as an origin, and enabling the vibration excitation center of the hydraulic actuating element to be positive when biased towards the oil port B and negative when biased towards the oil port A;
2) the driving mechanism is utilized to drive the valve cores of the two rotary valves to synchronously rotate; when the opening degree between the oil inlet group of the first rotary valve and the first through-flow valve port of the rotary valve is larger than zero, the opening degree between the oil return port group of the second rotary valve and the second through-flow valve port of the rotary valve is larger than zero, and the amplitude of the hydraulic actuating element towards the side of the oil port B is a1(ii) a When the opening degree between the oil inlet group of the second rotary valve and the first through-flow valve port of the rotary valve is larger than zero, the opening degree between the oil return port group of the first rotary valve and the second through-flow valve port of the rotary valve is larger than zero, and the amplitude of the hydraulic actuating element towards the side of the oil port A is b1(ii) a Namely, after the oil inlet group and the oil return port group of the first rotary valve and the oil inlet group and the oil return port group of the second rotary valve are alternately communicated with the hydraulic actuating element once, the vibration excitation center offset c of the hydraulic actuating element1＝a1-b1(ii) a And by analogy, after the oil inlet group and the oil return port group of the first rotary valve and the oil inlet group and the oil return port group of the second rotary valve are alternately communicated with the hydraulic actuating element for n times, the hydraulic actuating element is driven to rotate to drive the first rotary valve to rotateThe accumulated value of the vibration excitation center offset of the hydraulic actuating element is en＝en-1+cn＝c1+c2+……+cn，n＝1,2,3……；
3) Setting the offset of the vibration excitation center of the hydraulic actuating element as d;
if d > enControlling the maximum flow area between the oil inlet groups of the first rotary valve and the second rotary valve and the corresponding first through-flow valve port and the maximum flow area between the oil return port group and the corresponding second through-flow valve port through the linear motor, so that the amplitude of the hydraulic actuating element facing the side with the oil port B is larger than the amplitude of the hydraulic actuating element facing the side with the oil port A, and executing the step 2), wherein n is n + 1;
if d < enControlling the maximum flow area between the oil inlet groups of the first rotary valve and the second rotary valve and the corresponding first through-flow valve port and the maximum flow area between the oil return port group and the corresponding second through-flow valve port through the linear motor, so that the amplitude of the hydraulic actuating element facing the side with the oil port B is smaller than the amplitude of the hydraulic actuating element facing the side with the oil port A, and executing the step 2), wherein n is n + 1;
if d ═ enAnd controlling the maximum flow area between the oil inlet group and the corresponding first through-flow valve port of the first rotary valve and the second rotary valve and the maximum flow area between the oil return port group and the corresponding second through-flow valve port of the second rotary valve through the linear motor, so that the amplitude of the hydraulic actuating element facing the side of the oil port B is equal to the amplitude of the hydraulic actuating element facing the side of the oil port A, and then, the hydraulic actuating element is kept at the set excitation center offset position for excitation.
Further, in the step 3), after the offset of the excitation center of the hydraulic actuating element is equal to a set value, the linear motor is used to control the ratio of the variation of the flow area between the oil inlet group of the first rotary valve and the corresponding first flow valve port to the variation of the flow area between the oil inlet group of the second rotary valve and the corresponding first flow valve port to be equal to the ratio of the sectional area of the cavity on the side where the oil port a of the hydraulic actuating element is located to the sectional area of the cavity on the side where the oil port B of the hydraulic actuating element is located, so that the excitation amplitude of the hydraulic actuating element is equal to the set excitation amplitude.
Further, in the step 3), after the offset of the excitation center of the hydraulic actuator is equal to the set value, the driving mechanism is used for controlling the rotating speed of the valve cores of the two rotary valves, so that the excitation frequency of the hydraulic actuator is equal to the set excitation frequency.
The invention has the beneficial effects that:
according to the double-valve load independent control type electro-hydraulic vibration exciter, two rotary valves are adopted respectively, first oil inlets of the two rotary valves are connected with an oil supply oil way respectively, and first oil return ports of the two rotary valves are connected with an oil return oil way respectively; a second oil inlet and a second oil return port of one of the rotary valves are connected with the oil port A; a second oil inlet and a second oil return port of the other rotary valve are both connected with the oil port B; in this way, the linear motor drives the corresponding valve core to move axially, so that the maximum flow area between the oil inlet group and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port of the two rotary valves can be adjusted; when the vibration excitation device is started, the maximum flow area between the oil inlet groups of the two rotary valves and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port are controlled, so that the amplitudes of the hydraulic actuating element towards the oil ports A and B are equal, and the hydraulic actuating element can realize zero-offset vibration excitation; when the linear motor is used for controlling the maximum overflowing area between the oil inlet groups of the two rotary valves and the first through-flow valve port and the maximum overflowing area between the oil return port group and the second through-flow valve port, so that the amplitudes of the hydraulic actuating element facing the oil ports A and B are unequal, the vibration excitation center of the hydraulic actuating element is biased, and the maximum overflowing area between the oil inlet groups of the two rotary valves and the first through-flow valve port and the maximum overflowing area between the oil return port group and the second through-flow valve port can be controlled again after the bias reaches a set value, so that the amplitudes of the hydraulic actuating element facing the oil ports A and B are equal, and thus, the hydraulic actuating element can excite vibration at a new bias position to realize bias control; in addition, the amplitude of the hydraulic actuating element can be controlled by synchronously controlling the maximum flow area between the oil inlet group and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port of the two rotary valves, and the vibration excitation frequency of the hydraulic actuating element can be controlled by controlling the rotating speed of the valve cores of the two rotary valves; the double-valve load independent control type electro-hydraulic vibration exciter does not need to introduce additional equipment such as a digital servo valve, adopts a load port independent control mode, and can realize bias control, amplitude control and frequency control only by virtue of the vibration exciting control valve.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural diagram of an embodiment of a double-valve load independent control type electro-hydraulic excitation device according to the invention;
fig. 2 is a schematic structural diagram of a double-valve load independent control type electro-hydraulic vibration exciter in the embodiment;
fig. 3 is a schematic diagram of an oil circuit connection line of the double-link valve load independent control type electro-hydraulic vibration exciter in the embodiment;
FIG. 4 is a cross-sectional view taken on the rotary valve through a radial cross-section of an axis of the inlet port set when an opening between the inlet port set and the first through-flow valve port is greater than zero;
fig. 5 is a cross-section of a radial section through the axis of the set of return ports on the rotary valve, when the opening between the set of return ports and the second vent port is equal to zero.
FIG. 6 is a diagram of the position of a piston rod of a double-acting single-rod hydraulic cylinder during the adjustment of the offset of the excitation center;
FIG. 7 is a functional block diagram of a control system of the present embodiment;
fig. 8 is a schematic structural diagram of a double-valve load independent control type electro-hydraulic vibration exciter when the axes of two rotary valves are collinear.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
As shown in fig. 1, it is a schematic structural diagram of an embodiment of the dual-valve control electro-hydraulic excitation device system of the present invention. The double-valve load independent control type electro-hydraulic vibration excitation device comprises a double-valve load independent control type electro-hydraulic vibration exciter. As shown in fig. 2, the double-valve load independent control type electro-hydraulic vibration exciter of the embodiment includes a hydraulic actuator 1 and a vibration excitation control valve for controlling the hydraulic actuator to operate, wherein the hydraulic actuator is provided with an oil port a and an oil port B; the shock excitation control valve comprises two rotary valves. The hydraulic executive component 1 adopts a double-acting single-rod hydraulic cylinder or a double-acting double-rod hydraulic cylinder, and the hydraulic executive component 1 of the embodiment adopts a double-acting single-rod hydraulic cylinder.
The rotary valve comprises a valve body 2 and a valve sleeve 2a sleeved in the valve body 2, a valve core 3 which is rotatably matched with the valve sleeve 2a is sleeved in the valve sleeve 2a, an oil inlet group and an oil return port group are arranged on the valve body 2 and the valve sleeve 2a, and a first through-flow valve port 3a and a second through-flow valve port 3b are respectively arranged on the valve core 3 and correspond to the oil inlet group and the oil return port group; in the same rotary valve, when the opening degree between the first through-flow valve port 3a and the oil inlet group is larger than zero, the opening degree between the second through-flow valve port 3b and the oil return port group is equal to zero; when the opening degree between the second through-flow valve port 3b and the oil return port group is larger than zero, the opening degree 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 provided with a linear motor 4 which is used for driving the valve core 3 to move along the axial direction so as to synchronously increase or reduce the maximum flow area between the oil inlet group and the first flow valve port 3a and between the oil return port group and the second flow valve port 3b, and the maximum flow area between the oil inlet group and the first flow valve port 3a and the maximum flow area between the oil return port group and the second flow valve port 3b of the same rotary valve are always kept equal;
a driving mechanism for driving the valve cores 3 of the two rotary valves to synchronously rotate is arranged between the two rotary valves, and when the opening degree between the first through-flow valve port 3a of one rotary valve and the oil inlet group of the rotary valve is greater than zero, the opening degree between the second through-flow valve port 3b of the other rotary valve and the oil return group of the rotary valve is greater than zero; when the opening degree between the second through-flow valve port 3b of one rotary valve and the oil return port group of the rotary valve is larger than zero, the opening degree between the first through-flow valve port 3a of the other rotary valve and the oil inlet group of the rotary valve is larger than zero;
the oil inlet group comprises a first oil inlet 21 and a second oil inlet 22, and the oil return port group comprises a first oil return port 23 and a second oil return port 24; first oil inlets 21 of the two rotary valves are respectively connected with the oil supply path, and first oil return ports 23 of the two rotary valves are respectively connected with the oil return path; the second oil inlet 22 and the second oil return port 24 of one of the rotary valves are both connected with the oil port a, and the second oil inlet 22 and the second oil return port 24 of the other rotary valve are both connected with the oil port B, so that an oil inlet and oil return hydraulic circuit is formed on the hydraulic actuating element 1.
Specifically, the structure of the valve core 3 of the rotary valve and the matching relationship among the rotary valve body 2, the valve sleeve 2a and the valve core 3 refer to a 2D valve disclosed in research on resonant electro-hydraulic vibration exciters (university of Zhejiang university, Master academic paper, author: Nixinglong, instructor: Shuzheqing, P13-18).
The shape, structure and geometric dimensions of the two rotary valves of this embodiment are completely the same, that is, the sizes and positions of the first oil inlet 21, the second oil inlet 22, the first oil return port 23, the second oil return port 24, the first through-flow valve port 3a and the second through-flow valve port 3b of the two rotary valves and the structure of the valve core 3 are all the same, and when the linear motor 4 controls the maximum flow area between the oil inlet group and the first through-flow valve port 3a of the two rotary valves to be equal or equal to a set ratio, it indicates that the flow area between the oil inlet group and the first through-flow valve port 3a of the two rotary valves is always equal or equal to the set ratio.
Specifically, the oil supply path of this embodiment includes an oil tank 5 and an oil supply pipeline 6, the oil supply pipeline 6 is provided with a hydraulic pump 7 and a motor 8 for driving the hydraulic pump 7, an oil inlet of the hydraulic pump 7 is provided with a filter 9, an oil return port of the hydraulic pump 7 is provided with a check valve 10, and an electromagnetic overflow valve 11 and an electro-hydraulic proportional overflow valve 12 are respectively arranged between two sides of the check valve 10 and the oil tank 5, so as to provide hydraulic oil with a constant pressure for the hydraulic actuator 1.
The axes of the valve cores of the two rotary valves of the embodiment are parallel, the driving mechanism of the embodiment comprises a rotary motor 13 and synchronous gears 14 and 15 which are respectively in transmission connection with the valve cores 3 of the two rotary valves, the two synchronous gears 14 and 15 are meshed, the transmission ratio is 1, a driving gear 16 meshed with one of the synchronous gears is arranged on an output shaft of the rotary motor 13, the gear transmission mechanism can be used for accurately controlling the synchronous rotation of the valve cores 3 of the two rotary valves, and the gear transmission mechanism can be used for accurately controlling the synchronous rotation of the valve cores 3 of the two rotary valves. Of course, the axes of the valve cores of the two rotary valves can be arranged to be collinear, the driving mechanism at this time comprises a rotating motor 4 and a driven gear 17, the driven gear 17 is in transmission connection with the valve cores 3 of the two rotary valves, and a driving gear 18 meshed with the driven gear 17 is arranged on an output shaft of the rotating motor 4, so that the technical purpose can be achieved, as shown in fig. 8.
The dual-valve control electro-hydraulic excitation device further comprises a control system, the control system comprises a controller, an excitation waveform decoupler, a control signal input module electrically connected with the controller, a motor control circuit used for controlling the linear motors to act, and a drive control circuit used for controlling the drive mechanism to act, the controller respectively sends control instructions to the motor control circuits of the two linear motors according to a bias input signal or an amplitude input signal input by the signal input module, sends control instructions to the drive control circuit according to a frequency input signal input by the signal input module, and sends control instructions to an electro-hydraulic proportional relief valve according to a pressure input signal input by the signal input module, and the excitation waveform decoupler is electrically connected with the signal input module. The hydraulic actuating element of the embodiment is provided with a data acquisition sensor for acquiring the excitation amplitude, the excitation frequency and the excitation thrust in real time. And a position sensor for acquiring the axial position of the valve core is arranged on the rotary valve or the linear motor.
In the double-valve load independent control type electro-hydraulic vibration exciter of the embodiment, two rotary valves are respectively adopted, first oil inlets of the two rotary valves are respectively connected with an oil supply oil way, and first oil return ports of the two rotary valves are respectively connected with an oil return oil way; a second oil inlet and a second oil return port of one of the rotary valves are connected with the oil port A; a second oil inlet and a second oil return port of the other rotary valve are both connected with the oil port B; in this way, the linear motor drives the corresponding valve core to move axially, so that the maximum flow area between the oil inlet group and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port of the two rotary valves can be adjusted; when the vibration excitation device is started, the maximum flow area between the oil inlet groups of the two rotary valves and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port are controlled, so that the amplitudes of the hydraulic actuating element towards the oil ports A and B are equal, and the hydraulic actuating element can realize zero-offset vibration excitation; when the linear motor is used for controlling the maximum overflowing area between the oil inlet groups of the two rotary valves and the first through-flow valve port and the maximum overflowing area between the oil return port group and the second through-flow valve port, so that the amplitudes of the hydraulic actuating element facing the oil ports A and B are unequal, the vibration excitation center of the hydraulic actuating element is biased, and the maximum overflowing area between the oil inlet groups of the two rotary valves and the first through-flow valve port and the maximum overflowing area between the oil return port group and the second through-flow valve port can be controlled again after the bias reaches a set value, so that the amplitudes of the hydraulic actuating element facing the oil ports A and B are equal, and thus, the hydraulic actuating element can excite vibration at a new bias position to realize bias control; in addition, the amplitude of the hydraulic actuating element can be controlled by synchronously controlling the maximum flow area between the oil inlet group and the first through-flow valve port and the maximum flow area between the oil return port group and the second through-flow valve port of the two rotary valves, and the vibration excitation frequency of the hydraulic actuating element can be controlled by controlling the rotating speed of the valve cores of the two rotary valves; the double-valve load independent control type electro-hydraulic vibration exciter does not need to introduce additional equipment such as a digital servo valve, adopts a load port independent control mode, and can realize bias control, amplitude control and frequency control only by virtue of the vibration exciting control valve.
Specifically, the bias control method for the dual-valve load independent control type electro-hydraulic vibration exciter adopting the dual-valve control electro-hydraulic vibration excitation device of the embodiment includes the following steps:
1) a rotary valve, in which a second oil inlet 22 and a second oil return port 24 are both connected with the oil port A, is a first rotary valve, and a rotary valve, in which a second oil inlet 22 and a second oil return port 24 are both connected with the oil port B, is a second rotary valve;
establishing an abscissa by taking the position where the offset of the vibration excitation center of the hydraulic actuating element 1 is zero as an origin, and enabling the vibration excitation center of the hydraulic actuating element 1 to be positive when biased towards the oil port B and negative when biased towards the oil port A;
2) the valve cores 3 of the two rotary valves are driven to synchronously rotate by a driving mechanism; when the opening degree between the oil inlet group of the first rotary valve and the first through-flow valve port 3a of the rotary valve is larger than zero, the opening degree between the oil return port group of the second rotary valve and the second through-flow valve port 3B of the rotary valve is larger than zero, and the amplitude of the hydraulic actuator 1 towards the side of the oil port B is a1(ii) a When the opening degree between the oil inlet group of the second rotary valve and the first through-flow valve port 3a of the rotary valve is larger than zero, the opening degree between the oil return port group of the first rotary valve and the second through-flow valve port 3b of the rotary valve is larger than zero, and the amplitude of the hydraulic actuating element on the side facing the oil port A is b1(ii) a Namely, after the oil inlet group and the oil return port group of the first rotary valve and the oil inlet group and the oil return port group of the second rotary valve are alternately communicated with the hydraulic actuating element 1 once, the vibration excitation center offset c of the hydraulic actuating element 11＝a1-b1(ii) a By analogy, after the oil inlet group and the oil return port group of the first rotary valve and the oil inlet group and the oil return port group of the second rotary valve are alternately communicated with the hydraulic actuating element 1 for n times, the accumulated value of the vibration excitation center offset of the hydraulic actuating element is en＝en-1+cn＝c1+c2+……+cn，n＝1,2,3……；
3) Setting the offset of the excitation center of the hydraulic actuating element as d;
if d > enControlling the maximum flow area between the oil inlet groups of the first rotary valve and the second rotary valve and the corresponding first through-flow valve port 3a and the maximum flow area between the oil return port group and the corresponding second through-flow valve port 3B through the linear motor 4, so that the amplitude of the hydraulic actuating element facing the side with the oil port B is larger than the amplitude of the hydraulic actuating element facing the side with the oil port A, and executing the step 2, wherein n is n + 1;
if d < enThen the linear motor 4 is used for controlling the maximum overflowing between the oil inlet groups of the first rotary valve and the second rotary valve and the corresponding first through-flow valve port 3aThe area and the maximum flow area between the oil return port group and the corresponding second flow through valve 3B enable the amplitude of the hydraulic actuator towards the side with the oil port B to be smaller than the amplitude towards the side with the oil port A, and step 2 is executed, wherein n is n + 1;
if d ═ enThen, the linear motor 4 controls the maximum flow area between the oil inlet group and the corresponding first through-flow valve port 3a of the first rotary valve and the second rotary valve and the maximum flow area between the oil return port group and the corresponding second through-flow valve port 3B, so that the amplitude of the hydraulic actuator towards the side of the oil port B is equal to the amplitude towards the side of the oil port a, and then the hydraulic actuator keeps exciting at the set excitation center offset.
When the offset of the excitation center of the hydraulic actuating element 1 is equal to a set value, the linear motor 4 is utilized to control the ratio of the variation of the flow area between the oil inlet group of the first rotary valve and the corresponding first flow valve port 3a to the variation of the flow area between the oil inlet group of the second rotary valve and the corresponding first flow valve port 3a to be equal to the ratio of the sectional area of the cavity on the side where the oil port A of the hydraulic actuating element is located to the sectional area of the cavity on the side where the oil port B of the hydraulic actuating element is located, so that the excitation amplitude of the hydraulic actuating element 1 is equal to the set excitation amplitude. When the offset of the excitation center of the hydraulic actuator 1 is equal to the set value, the driving mechanism is used for controlling the rotating speed of the valve cores 3 of the two rotary valves, so that the excitation frequency of the hydraulic actuator 1 is equal to the set excitation frequency.
Specifically, as shown in fig. 2 and 3, the oil path represented by the solid line in fig. 3 is exactly the position state of the shock excitation control valve in fig. 2, at this time, the first rotary valve located above is connected to the rodless cavity of the hydraulic cylinder, the opening degree between the oil inlet group and the corresponding first through-flow valve port 3a is greater than zero, the second rotary valve located below is connected to the rod cavity of the hydraulic cylinder, the opening degree between the oil return port group and the corresponding second through-flow valve port 3b is greater than zero, and at this time, the oil inlet flow rate is Q1The return oil flow is Q1TWhen the P is connected to the A and the B is connected to the T, the piston of the hydraulic cylinder moves rightwards; along with the rotation of the rotating motor 4 through the gear transmission, the valve core 3 is driven to rotate by a certain angle, and the oil return port group of the first rotary valve positioned above and the corresponding second passageThe opening degree between the flow valve ports 3b is larger than zero, the opening degree between the oil inlet group of the second rotary valve positioned below and the corresponding first flow valve port 3a is larger than zero, and the oil inlet flow is Q at the moment2The return oil flow is Q2TAt the moment, P is connected to B, A is connected to T, and the piston of the hydraulic cylinder moves leftwards;
with the continuous rotation of the rotating motor, the oil way is continuously switched between the solid line oil way and the dotted line oil way in fig. 3, and at the moment, the hydraulic cylinder is continuously reversed at a high speed to generate vibration; if the flow area between the oil inlet group and the first through-flow valve port 3a and the flow area between the oil return port group and the second through-flow valve port 3b of the two rotary valves are always kept equal, but the sectional area of the rod cavity of the single-action hydraulic cylinder is smaller than that of the rodless cavity, the same amount of hydraulic oil is introduced into the rod cavity and the rodless cavity of the single-action hydraulic cylinder, the amplitude of the rodless cavity to the rod cavity is larger, and the hydraulic cylinder is biased to excite towards the rodless cavity at the moment;
if the hydraulic cylinder is kept to vibrate at a set position, the volume ratio of hydraulic oil introduced into the rodless cavity and the rod cavity needs to be equal to the sectional area ratio of the rodless cavity and the rod cavity of the hydraulic cylinder, and the sectional area ratio k of the rodless cavity and the rod cavity of the hydraulic cylinder needs to be set, so that when Q is equal to the sectional area ratio k of the rodless cavity and the rod cavity of the hydraulic cylinder2/Q1When k is obtained, the hydraulic cylinder can be set to be at the position for exciting the vibration center to excite vibration; namely, when the ratio of the flow area between the oil inlet group of the second rotary valve connected with the rod cavity and the corresponding first through-flow valve port 3a to the flow area between the oil inlet group of the first rotary valve connected with the rodless cavity and the corresponding first through-flow valve port 3a is k, the hydraulic cylinder can be set to be at the excitation center.
If the exciting center of the hydraulic cylinder is offset to the rod cavity, the flow area between the oil inlet group and the corresponding first through-flow valve port 3a and the flow area between the oil return group and the corresponding second through-flow valve port 3b of the two rotary valves are adjusted by adjusting the linear motor 4, so that the Q value is adjusted2/Q1And k, the displacement of the piston of the double-acting hydraulic cylinder to the rod cavity is larger than that to the rodless cavity, and an offset amount exists rightward relative to the initial excitation center at the moment, as shown in figure 4.
As shown in FIG. 4, column A is Q2/Q1When k is equal to k, the hydraulic cylinder is in a vibration excitation state; column B is Q2/Q1And (k) the hydraulic cylinder is in a vibration excitation state. The first row represents the position state of the hydraulic cylinder piston in the excitation initial state; the second row represents the position state of the double-acting hydraulic cylinder piston after the oil inlet group and the oil return port group of the first rotary valve are alternately communicated with the hydraulic cylinder for 1 time; the third row represents the position state of the piston of the double-acting hydraulic cylinder after the oil inlet group and the oil return port group of the first rotary valve are alternately communicated with the double-acting hydraulic cylinder for 2 times under the condition of keeping the inconvenient flow area of the oil inlet group and the oil return port group of the two rotary valves; as can be seen from the figure, the offset of the excitation center is not only related to the flow area between the oil inlet group and the corresponding first through-flow valve port 3a and the flow area between the oil return port group and the corresponding second through-flow valve port 3b of the two rotary valves, but also related to the number of rotation cycles of the valve element 3, and it can be found that the offset of the excitation center to the right is larger as the number of rotation cycles of the valve element is increased under the condition that the difference between the flow area between the oil inlet group and the corresponding first through-flow valve port 3a and the flow area between the oil return port group and the corresponding second through-flow valve port 3b is fixed.
Similarly, when the excitation center of the double-acting hydraulic cylinder is biased to the rodless cavity, the Q is required to be enabled2/Q1And the method and the principle are equivalent to those described above, and the description is not repeated.
After the control of the vibration excitation center offset is finished, the flow areas between the oil inlet groups of the two rotary valves and the corresponding first through-flow valve ports 3a and between the oil return port groups and the corresponding second through-flow valve ports 3b can be kept synchronous again by controlling the two linear motors 4 at the moment, even if Q is equal to Q2/Q1K is; through the above bias control, the excitation center is already at a predetermined position, and at this time, the valve cores 3 of the two rotary valves are driven to synchronously rotate through the driving of the rotary motor 13 and the gear transmission, so that the hydraulic cylinder is continuously reversed to generate excitation. Under the condition, the flow area between the oil inlet groups of the two rotary valves and the corresponding first through-flow valve ports 3a and the oil return port groups and the corresponding first through-flow valve ports 3a can be enabled to be synchronous controlled by the two linear motors 4The flow area between the corresponding second through-flow valve ports 3b is changed according to the proportion k, namely the flow area between the oil inlet group of the rotary valve and the corresponding first through-flow valve port 3a and the flow area between the oil return port group and the corresponding second through-flow valve port 3b are simultaneously increased according to the proportion k or are simultaneously reduced according to the proportion k, the displacement of the piston of the hydraulic cylinder to the rod cavity and the rodless cavity is increased or reduced, namely the vibration amplitude of the hydraulic cylinder is increased or reduced along with the displacement, and the vibration amplitude is controlled.
The excitation frequency is mainly related to the rotating speed of the valve core 3, namely the frequency of the rotating motor 13 driving the valve cores 3 of the two rotary valves to rotate through gear transmission, so that the control of the excitation frequency can be easily realized through the control of the rotating speed of the rotating motor 13.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (9)
1. A duplex valve load independent control type electro-hydraulic vibration exciter comprises a hydraulic actuating element (1) and a vibration exciting control valve used for controlling the action of the hydraulic actuating element (1), wherein an oil port A and an oil port B are arranged on the hydraulic actuating element (1); the method is characterized in that: the excitation control valve comprises two rotary valves;
the rotary valve comprises a valve body (2) and a valve sleeve (2a) sleeved in the valve body (2), a valve core (3) which is in rotary fit with the valve sleeve (2a) is sleeved in the valve sleeve (2a), an oil inlet group and an oil return port group are arranged on the valve body (2) and the valve sleeve (2a), and a first through-flow valve port (3a) and a second through-flow valve port (3b) are respectively arranged on the valve core (3) and correspond to the oil inlet group and the oil return port group; when the opening degree between the first through-flow valve port (3a) and the oil inlet group is larger than zero, the opening degree between the second through-flow valve port (3b) and the oil return port group is equal to zero; when the opening degree between the second through-flow valve port (3b) and the oil return port group is larger than zero, the opening degree 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 provided with a linear motor (4) which is used for driving the valve core (3) to move along the axial direction so as to enable the maximum flow area between the oil inlet group and the first flow valve port (3a) and between the oil return port group and the second flow valve port (3b) to be synchronously increased or reduced, and the maximum flow area between the oil inlet group and the first flow valve port (3a) and the maximum flow area between the oil return port group and the second flow valve port (3b) are always kept equal;
a driving mechanism for driving the valve cores of the two rotary valves to synchronously rotate is arranged between the two rotary valves, and when the opening degree between the first through-flow valve port (3a) of one of the rotary valves and the oil inlet group of the rotary valve is larger than zero, the opening degree between the second through-flow valve port (3b) of the other rotary valve and the oil return port group of the rotary valve is larger than zero; when the opening degree between the second through-flow valve port (3b) of one rotary valve and the oil return port group of the rotary valve is larger than zero, the opening degree between the first through-flow valve port (3a) of the other rotary valve and the oil inlet group of the rotary valve is larger than zero;
the oil inlet group comprises a first oil inlet (21) and a second oil inlet (22), and the oil return opening group comprises a first oil return opening (23) and a second oil return opening (24); first oil inlets (21) of the two rotary valves are respectively connected with an oil supply oil way, and first oil return ports (23) of the two rotary valves are respectively connected with an oil return oil way; and a second oil inlet (22) and a second oil return port (24) of one rotary valve are connected with the oil port A, and a second oil inlet (22) and a second oil return port (24) of the other rotary valve are connected with the oil port B.
2. The double valve load independent control type electro-hydraulic vibration exciter according to claim 1, wherein: the hydraulic actuating element (1) adopts a double-acting single-rod hydraulic cylinder or a double-acting double-rod hydraulic cylinder.
3. The double-valve load independent control type electro-hydraulic vibration exciter according to claim 1 or 2, characterized in that: the axes of the valve cores (3) of the two rotary valves are parallel, the driving mechanism comprises a rotary motor (13) and synchronous gears (14,15) which are respectively in transmission connection with the valve cores of the two rotary valves, the two synchronous gears (14,15) are meshed, the transmission ratio is 1, and an output shaft of the rotary motor (13) is provided with a driving gear (16) meshed with one synchronous gear (14, 15); or the like, or, alternatively,
the axes of the valve cores (3) of the two rotary valves are collinear, the driving mechanism comprises a rotary motor (13) and driven gears (17), the driven gears (17) are in transmission connection with the valve cores (3) of the two rotary valves, and driving gears (18) meshed with the driven gears (17) are arranged on output shafts of the rotary motor (13).
4. The utility model provides a pair valve load independent control formula electricity liquid excitation device which characterized in that: the dual-valve load independent control type electro-hydraulic vibration exciter comprises the dual-valve load independent control type electro-hydraulic vibration exciter according to any one of claims 1 to 3, wherein the oil supply path comprises an oil tank (5) and an oil supply pipeline (6), a hydraulic pump (7) and a motor (8) for driving the hydraulic pump (7) are arranged on the oil supply pipeline (6), a filter (9) is arranged at an oil inlet of the hydraulic pump (7), a one-way valve (10) is arranged at an oil return port of the hydraulic pump (7), and an electromagnetic overflow valve (11) and an electro-hydraulic proportional overflow valve (12) are respectively arranged between two sides of the one-way valve (10) and the oil.
5. The double valve load independent control type electro-hydraulic excitation device as claimed in claim 4, wherein: the control system comprises a controller, an excitation waveform decoupler, a control signal input module electrically connected with the controller, a motor control circuit used for controlling the linear motors to act, and a drive control circuit used for controlling the drive mechanism to act, wherein the controller respectively sends control instructions to the motor control circuits of the two linear motors according to a bias input signal or an amplitude input signal input by the signal input module, sends control instructions to the drive control circuit according to a frequency input signal input by the signal input module, and sends control instructions to the electro-hydraulic proportional overflow valve according to a pressure input signal input by the signal input module, and the excitation waveform decoupler is electrically connected with the signal input module.
6. The double valve load independent control type electro-hydraulic excitation device as claimed in claim 5, wherein: the hydraulic actuating element is provided with a data acquisition sensor for acquiring the excitation amplitude, the excitation frequency and the excitation thrust of the hydraulic actuating element in real time; and a position sensor for acquiring the axial position of the valve core is arranged on the rotary valve or the linear motor.
7. A bias control method of a double valve load independent control type electro-hydraulic vibration exciter according to any one of claims 1 to 3, characterized in that: the method comprises the following steps:
1) a rotary valve, in which a second oil inlet (22) and a second oil return port (24) are both connected with the oil port A, is a first rotary valve, and a rotary valve, in which a second oil inlet (22) and a second oil return port (24) are both connected with the oil port B, is a second rotary valve;
establishing an abscissa by taking the position where the offset of the vibration excitation center of the hydraulic actuating element (1) is zero as an origin, and enabling the vibration excitation center of the hydraulic actuating element (1) to be positive when biased towards the oil port B and negative when biased towards the oil port A;
2) the valve cores (3) of the two rotary valves are driven to synchronously rotate by the driving mechanism; when the opening degree between the oil inlet group of the first rotary valve and the first through-flow valve port (3a) of the rotary valve is larger than zero, the opening degree between the oil return port group of the second rotary valve and the second through-flow valve port (3B) of the rotary valve is larger than zero, and the amplitude of the hydraulic actuating element (1) towards the side of the oil port B is a1(ii) a When the opening degree between the oil inlet group of the second rotary valve and the first through-flow valve port (3a) of the rotary valve is larger than zero, the opening degree between the oil return port group of the first rotary valve and the second through-flow valve port (3b) of the rotary valve is larger than zero, and the amplitude of the hydraulic actuating element towards the side of the oil port A is b1(ii) a Namely, after the oil inlet group and the oil return port group of the first rotary valve and the oil inlet group and the oil return port group of the second rotary valve are alternately communicated with the hydraulic actuating element (1) once, the hydraulic actuating element (1) is driven to rotate by the first rotary valve and the second rotary valveA vibration center offset c of the hydraulic actuator (1)1＝a1-b1(ii) a By analogy, after the oil inlet group and the oil return port group of the first rotary valve and the oil inlet group and the oil return port group of the second rotary valve are communicated with the hydraulic actuating element (1) for n times alternately, the accumulated value of the vibration excitation center offset of the hydraulic actuating element is en＝en-1+cn＝c1+c2+……+cn，n＝1,2,3……；
3) Setting the offset of the vibration excitation center of the hydraulic actuating element as d;
if d > enControlling the maximum flow area between the oil inlet group and the corresponding first through-flow valve port (3a) and the maximum flow area between the oil return port group and the corresponding second through-flow valve port (3B) of the first rotary valve and the second rotary valve through the linear motor (4), so that the amplitude of the hydraulic actuator towards the side where the oil port B is located is larger than the amplitude towards the side where the oil port A is located, and executing the step 2), wherein n is n + 1;
if d < enControlling the maximum flow area between the oil inlet group and the corresponding first through-flow valve port (3a) and the maximum flow area between the oil return port group and the corresponding second through-flow valve port (3B) of the first rotary valve and the second rotary valve through the linear motor (4), so that the amplitude of the hydraulic actuator towards the side where the oil port B is located is smaller than the amplitude towards the side where the oil port A is located, and executing the step 2), wherein n is n + 1;
if d ═ enAnd controlling the maximum flow area between the oil inlet group and the corresponding first through-flow valve port (3a) and the maximum flow area between the oil return port group and the corresponding second through-flow valve port (3B) of the first rotary valve and the second rotary valve through the linear motor (4), so that the amplitude of the hydraulic executive component facing the side with the oil port B is equal to the amplitude facing the side with the oil port A, and then, the hydraulic executive component is kept at the set excitation center offset for excitation.
8. The bias control method of the double-valve load independent control type electro-hydraulic vibration exciter according to claim 7, characterized in that: in the step 3), after the offset of the excitation center of the hydraulic actuating element (1) is equal to a set value, the linear motor (4) is used for controlling the ratio of the variation of the flow area between the oil inlet group of the first rotary valve and the corresponding first flow-through valve port (3a) to the variation of the flow area between the oil inlet group of the second rotary valve and the corresponding first flow-through valve port (3a) to be equal to the ratio of the sectional area of the cavity on the side where the oil port A of the hydraulic actuating element is located to the sectional area of the cavity on the side where the oil port B is located, so that the excitation amplitude of the hydraulic actuating element (1) is equal to the set excitation amplitude.
9. The bias control method of the double-valve load independent control type electro-hydraulic vibration exciter according to claim 7 or 8, characterized in that: in the step 3), after the offset of the excitation center of the hydraulic actuating element (1) is equal to the set value, the driving mechanism is used for controlling the rotating speed of the valve cores (3) of the two rotary valves, so that the excitation frequency of the hydraulic actuating element (1) is equal to the set excitation frequency.
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| JPH10288273A (en) * | 1997-04-15 | 1998-10-27 | I Ee H:Kk | Valve opening/closing mechanism |
| DE19839427A1 (en) * | 1998-08-29 | 2000-03-02 | Zahnradfabrik Friedrichshafen | Multi-way rotary valve |
| CN100565158C (en) * | 2007-12-14 | 2009-12-02 | 浙江工业大学 | Electrohydraulic excitation controlling valve |
| CN101718291B (en) * | 2009-11-13 | 2012-12-19 | 浙江工业大学 | Large-flow high-frequency electrohydraulic exciting shock control valve drive system |
| CN102061646B (en) * | 2010-10-26 | 2012-04-18 | 浙江大学 | Hydraulic excitation system of tamping device |
| CN102829010B (en) * | 2012-08-16 | 2015-11-04 | 北京润菲利德科技有限公司 | Direct acting type large discharge directional flow servovalve and apply the control system of this servovalve |
| EP2789862B1 (en) * | 2013-04-10 | 2015-11-04 | ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH | Oscillation exciter for construction machines |
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