CN108506251B - Electric hydrostatic actuator of asymmetric pump-controlled asymmetric hydraulic cylinder - Google Patents
Electric hydrostatic actuator of asymmetric pump-controlled asymmetric hydraulic cylinder Download PDFInfo
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- CN108506251B CN108506251B CN201810178711.6A CN201810178711A CN108506251B CN 108506251 B CN108506251 B CN 108506251B CN 201810178711 A CN201810178711 A CN 201810178711A CN 108506251 B CN108506251 B CN 108506251B
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- F15B13/0401—Valve members; Fluid interconnections therefor
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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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
- F15B21/001—Servomotor systems with fluidic control
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- Fluid-Pressure Circuits (AREA)
Abstract
The utility model provides an electronic hydrostatic actuator of asymmetric hydraulic cylinder of asymmetric pump accuse, including servo motor, asymmetric hydraulic pump, asymmetric hydraulic cylinder, force sensor and controller. The servo motor drives the asymmetric hydraulic pump to rotate forwards and backwards to control the action of the asymmetric hydraulic cylinder; the asymmetric hydraulic cylinder is connected with the force sensor; the force sensor detects the acting force output by the asymmetric hydraulic cylinder, generates a force feedback signal according to the acting force and sends the force feedback signal to the controller; the controller generates a motor control signal according to the force feedback signal and sends the motor control signal to the servo motor.
Description
Technical Field
The disclosure relates to the technical field of electro-hydraulic servo control, in particular to an electric hydrostatic actuating system for controlling an asymmetric hydraulic cylinder by an asymmetric hydraulic pump.
Background
The hydraulic actuator has very wide application in industry, and especially, the asymmetric hydraulic cylinder has more obvious advantages due to more compact structure, and asymmetric hydraulic actuators are required to load in the fields of structure loading tests, industrial robots, machine tools, exoskeleton robots and the like.
The traditional asymmetric hydraulic cylinder loading mostly adopts a hydraulic pipeline to carry out energy transfer and the valve-controlled hydraulic cylinder to control the actuation loading, but the energy consumption is larger due to throttling loss; the volumes of the cavities on the two sides of the hydraulic cylinder are asymmetric, so that the dynamic bandwidth of a system is greatly limited, and the design requirement is difficult to meet in a high-dynamic application scene.
In order to solve the problems, the disclosure provides an electric hydrostatic actuator of an asymmetric pump-controlled asymmetric hydraulic cylinder, which is an integrated actuator that energy transfer is performed by replacing a hydraulic pipeline with a cable, and the asymmetric hydraulic cylinder is directly controlled by an asymmetric hydraulic pump to be loaded.
Disclosure of Invention
In order to solve the problems, according to the disclosure, a high-rotation-speed driving servo system of an aviation pump with throttling volume compound control is provided, and is realized by the following technical scheme.
The electric hydrostatic actuator of the asymmetric pump-controlled asymmetric hydraulic cylinder comprises a servo motor, an asymmetric hydraulic pump, an asymmetric hydraulic cylinder, a force sensor and a controller; the servo motor drives the asymmetric hydraulic pump to rotate forwards and backwards to control the action of the asymmetric hydraulic cylinder; the asymmetric hydraulic cylinder is connected with the force sensor; the force sensor detects the acting force output by the asymmetric hydraulic cylinder, generates a force feedback signal according to the acting force and sends the force feedback signal to the controller; the controller generates a motor control signal according to the force feedback signal and sends the motor control signal to the servo motor.
Further, the asymmetric hydraulic pump includes a large displacement output and a small displacement output.
Further, the asymmetric hydraulic cylinder includes a rodless chamber and a rod chamber.
Further, the large-displacement output end of the asymmetric hydraulic pump is communicated with a rodless cavity of the asymmetric hydraulic cylinder; the small-displacement output end of the asymmetric hydraulic pump is communicated with a rod cavity of the asymmetric hydraulic cylinder.
Further, the hydraulic rod of the asymmetric hydraulic cylinder is connected with a force sensor.
Furthermore, the electric hydrostatic actuator also comprises a valve block, an energy accumulator and a valve group; the servo motor is fixedly connected with the asymmetric hydraulic pump; the servo motor and the asymmetric hydraulic pump are arranged above the valve block; the energy accumulator and the valve group are arranged on the side of the valve block; the asymmetric hydraulic cylinder is arranged below the valve block.
Further, the valve bank comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve, an overflow valve and a bypass valve.
Further, the control method of the asymmetric pump-controlled asymmetric hydraulic cylinder of the electro-hydrostatic actuator comprises the following steps:
when the servo motor is rotated in the forward direction,
s11, transmitting energy to the servo motor through a cable;
s12 the servo motor rotates forwards to drive the asymmetric hydraulic pump to rotate forwards;
s13, oil in the rod cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the small-displacement output end of the asymmetric hydraulic pump;
the oil liquid of the S14 accumulator enters the asymmetric hydraulic pump through the second hydraulic control one-way valve and the small-displacement output end of the asymmetric hydraulic pump;
and S15, inputting the oil output by the large-displacement output end of the asymmetric hydraulic pump into a rodless cavity of the asymmetric hydraulic cylinder.
When the servo motor is rotated in the reverse direction,
s21, transmitting energy to the servo motor through a cable;
s22 the servo motor rotates reversely to drive the asymmetric hydraulic pump to rotate reversely;
s23, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the large-displacement output end of the asymmetric hydraulic pump;
s24, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the energy accumulator through the first hydraulic control one-way valve;
and S25, inputting the oil output by the small-displacement output end of the asymmetric hydraulic pump into a rod cavity of the asymmetric hydraulic cylinder.
The terms "first" and "second" in the above technical solutions are merely used for identification, and do not limit the structures of the related components.
The beneficial effect of this disclosure:
the electric hydrostatic actuator of the asymmetric hydraulic cylinder controlled by the asymmetric pump transfers energy through a cable, the servo motor drives the asymmetric hydraulic pump to control the asymmetric hydraulic cylinder, and the sensor detects output displacement, speed, force and the like to form closed-loop control.
The integrated pump control loading system based on power telex can realize that a cable replaces a hydraulic pipeline, improve the flexibility of system arrangement, and simultaneously, the pump control system can improve the utilization rate of energy, thereby reducing the heating of the system.
The frequency width of the actuating system can be further improved by ensuring the symmetry of the rotating speed of the servo motor during positive and negative rotation and adopting the asymmetric pump-controlled asymmetric hydraulic cylinder compared with the traditional symmetric pump-controlled asymmetric cylinder.
The asymmetric pump-controlled asymmetric actuator based on power electric transmission replaces a traditional valve control system, the electric hydrostatic actuator is used for energy transmission through a cable, and the servo motor, the asymmetric hydraulic pump, the asymmetric hydraulic cylinder, the energy accumulator and the valve block and valve group are integrally designed, so that the dynamic characteristic, the arrangement flexibility and the loading efficiency of the loading system are improved.
The asymmetric pump displacement is matched with the asymmetric hydraulic cylinder in parameters, so that the aim of rotating speed symmetry is fulfilled when the positive and negative force output of the asymmetric actuator is the same by the servo motor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of an electro-hydrostatic actuator of an asymmetric pump-controlled asymmetric hydraulic cylinder according to an embodiment of the present disclosure.
Fig. 2 is a flow pattern of the electro-hydrostatic actuator of the asymmetric pump-controlled asymmetric hydraulic cylinder in the forward direction according to the embodiment of the present disclosure.
FIG. 3 is a flow pattern of an electro-hydrostatic actuator of an asymmetric pump-controlled asymmetric hydraulic cylinder according to an embodiment of the present disclosure during reverse rotation.
Fig. 4 is a structural diagram of an asymmetric pump-controlled asymmetric hydraulic cylinder integrated electro-hydrostatic pump-controlled actuator according to an embodiment of the present disclosure.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant disclosure and not restrictive of the disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1-4, the electro-hydrostatic actuator of the asymmetric pump-controlled asymmetric hydraulic cylinder comprises a servo motor, an asymmetric hydraulic pump, an asymmetric hydraulic cylinder, a force sensor and a controller; the servo motor drives the asymmetric hydraulic pump to rotate forwards and backwards to control the action of the asymmetric hydraulic cylinder; the asymmetric hydraulic cylinder is connected with the force sensor; the force sensor detects the acting force output by the asymmetric hydraulic cylinder, generates a force feedback signal according to the acting force and sends the force feedback signal to the controller; the controller generates a motor control signal according to the force feedback signal and sends the motor control signal to the servo motor.
The asymmetric hydraulic pump includes a large displacement output and a small displacement output.
The asymmetric hydraulic cylinder comprises a rodless chamber and a rod chamber.
The large-displacement output end of the asymmetric hydraulic pump is communicated with a rodless cavity of the asymmetric hydraulic cylinder; the small-displacement output end of the asymmetric hydraulic pump is communicated with a rod cavity of the asymmetric hydraulic cylinder.
And a hydraulic rod of the asymmetric hydraulic cylinder is connected with the force sensor.
The electric hydrostatic actuator also comprises a valve block, an energy accumulator and a valve group; the servo motor is fixedly connected with the asymmetric hydraulic pump; the servo motor and the asymmetric hydraulic pump are arranged above the valve block; the energy accumulator and the valve group are arranged on the side of the valve block; the asymmetric hydraulic cylinder is arranged below the valve block.
The valve group comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve, an overflow valve and a bypass valve.
The control method of the asymmetric pump-controlled asymmetric hydraulic cylinder of the electro-hydrostatic actuator comprises the following steps:
when the servo motor is rotated in the forward direction,
s11, transmitting energy to the servo motor through a cable;
s12 the servo motor rotates forwards to drive the asymmetric hydraulic pump to rotate forwards;
s13, oil in the rod cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the small-displacement output end of the asymmetric hydraulic pump;
the oil liquid of the S14 accumulator enters the asymmetric hydraulic pump through the second hydraulic control one-way valve and the small-displacement output end of the asymmetric hydraulic pump;
and S15, inputting the oil output by the large-displacement output end of the asymmetric hydraulic pump into a rodless cavity of the asymmetric hydraulic cylinder.
When the servo motor is rotated in the reverse direction,
s21, transmitting energy to the servo motor through a cable;
s22 the servo motor rotates reversely to drive the asymmetric hydraulic pump to rotate reversely;
s23, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the large-displacement output end of the asymmetric hydraulic pump;
s24, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the energy accumulator through the first hydraulic control one-way valve;
and S25, inputting the oil output by the small-displacement output end of the asymmetric hydraulic pump into a rod cavity of the asymmetric hydraulic cylinder.
In more detail, as shown in fig. 1, the electro-hydrostatic actuator of the asymmetric pump-controlled asymmetric hydraulic cylinder comprises a servo motor, an asymmetric hydraulic pump, an asymmetric hydraulic cylinder, a force sensor and a controller; the servo motor drives the asymmetric hydraulic pump to rotate forwards and backwards to control the action of the asymmetric hydraulic cylinder; the asymmetric hydraulic cylinder is connected with the force sensor; the force sensor detects the acting force output by the asymmetric hydraulic cylinder, generates a force feedback signal according to the acting force and sends the force feedback signal to the controller; the controller generates a motor control signal according to the force feedback signal and sends the motor control signal to the servo motor. The asymmetric hydraulic pump includes a large displacement output and a small displacement output. The asymmetric hydraulic cylinder comprises a rodless chamber and a rod chamber. The large-displacement output end of the asymmetric hydraulic pump is communicated with a rodless cavity of the asymmetric hydraulic cylinder; the small-displacement output end of the asymmetric hydraulic pump is communicated with a rod cavity of the asymmetric hydraulic cylinder. And a hydraulic rod of the asymmetric hydraulic cylinder is connected with the force sensor.
The asymmetric hydraulic pump-controlled asymmetric hydraulic cylinder electro-hydrostatic actuator can perform closed-loop control on force, speed, position and the like. The asymmetric hydraulic pump carries out oil output at one end with large displacement when rotating positively and at one end with small displacement when rotating negatively, and the two ends with large displacement and the two ends with small displacement of the asymmetric pump are respectively connected with a rod cavity and a rodless cavity of the asymmetric hydraulic cylinder. The servo motor transmits energy through a cable and controls the asymmetric hydraulic pump to rotate forwards and backwards to achieve force output of the actuator, the force sensor detects acting force and transmits the acting force to the controller, and closed-loop control of the system is achieved.
As shown in fig. 1, the electro-hydrostatic actuator according to the present embodiment further includes a relief valve disposed between the large displacement output oil passage and the small displacement output oil passage of the asymmetric hydraulic pump, and a bypass valve also disposed between the large displacement output oil passage and the small displacement output oil passage of the asymmetric hydraulic pump. The bypass valve is used for quick unloading, and the overflow valve is used for pressure protection. When the pressure in the hydraulic pipeline of the electro-hydrostatic actuator system shown in fig. 1 exceeds the set pressure of the overflow valve, the overflow valve is opened, so that the system pressure is not too high and the system is not damaged. The bypass valve is normally open, the bypass valve is powered on and off, the electric hydrostatic actuator system can only work, and when the power is off, the two cavities of the asymmetric hydraulic cylinder are communicated, and the hydraulic cylinder does not output power, so that the safety and the reliability of the system are ensured.
As shown in fig. 2 to 3, the method for controlling an asymmetric pump-controlled asymmetric hydraulic cylinder of an electro-hydrostatic actuator according to the present embodiment includes the steps of:
when the servo motor is rotated in the forward direction,
s11, transmitting energy to the servo motor through a cable;
s12 the servo motor rotates forwards to drive the asymmetric hydraulic pump to rotate forwards;
s13, oil in the rod cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the small-displacement output end of the asymmetric hydraulic pump;
the oil liquid of the S14 accumulator enters the asymmetric hydraulic pump through the second hydraulic control one-way valve and the small-displacement output end of the asymmetric hydraulic pump;
and S15, inputting the oil output by the large-displacement output end of the asymmetric hydraulic pump into a rodless cavity of the asymmetric hydraulic cylinder.
When the servo motor is rotated in the reverse direction,
s21, transmitting energy to the servo motor through a cable;
s22 the servo motor rotates reversely to drive the asymmetric hydraulic pump to rotate reversely;
s23, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the large-displacement output end of the asymmetric hydraulic pump;
s24, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the energy accumulator through the first hydraulic control one-way valve;
and S25, inputting the oil output by the small-displacement output end of the asymmetric hydraulic pump into a rod cavity of the asymmetric hydraulic cylinder.
As shown in fig. 4, the electro-hydrostatic actuator of the asymmetric hydraulic pump-controlled asymmetric hydraulic cylinder includes a servo motor, an asymmetric hydraulic pump, an asymmetric hydraulic cylinder, a force sensor, a valve block, an accumulator and a valve group. The servo motor is fixedly connected with the asymmetric hydraulic pump; the servo motor and the asymmetric hydraulic pump are arranged above the valve block; the energy accumulator and the valve group are arranged on the side of the valve block; the asymmetric hydraulic cylinder is arranged below the valve block; the large-displacement output end of the asymmetric hydraulic pump is communicated with a rodless cavity of the asymmetric hydraulic cylinder; the small-displacement output end of the asymmetric hydraulic pump is connected with a rod cavity of the asymmetric hydraulic cylinder; and a hydraulic rod of the asymmetric hydraulic cylinder is connected with the force sensor.
The electric hydrostatic actuator of the asymmetric hydraulic pump-controlled asymmetric hydraulic cylinder disclosed by the invention improves the dynamic bandwidth of an actuating system by ensuring the symmetry of the rotating speed of the servo motor during positive and negative rotation. And the asymmetric hydraulic pump has the characteristic of different displacement when rotating positively and negatively. The electric hydrostatic actuator is used for transmitting energy through a cable, and the servo motor, the asymmetric hydraulic pump, the asymmetric hydraulic cylinder, the energy accumulator, the valve block and the valve group are integrally designed, so that the arrangement is flexible and convenient, and the application is wide.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (4)
1. The electric hydrostatic actuator of the asymmetric pump-controlled asymmetric hydraulic cylinder is characterized by comprising a servo motor, an asymmetric hydraulic pump, an asymmetric hydraulic cylinder, a force sensor, a controller, a valve block, an energy accumulator and a valve group;
the servo motor is fixedly connected with the asymmetric hydraulic pump;
the servo motor and the asymmetric hydraulic pump are arranged above the valve block;
the accumulator and the valve group are arranged on the side of the valve block;
the asymmetric hydraulic cylinder is arranged below the valve block;
the servo motor drives the asymmetric hydraulic pump to rotate forwards and backwards to control the action of the asymmetric hydraulic cylinder;
the asymmetric hydraulic pump comprises a large-displacement output end and a small-displacement output end;
the asymmetric hydraulic cylinder comprises a rodless cavity and a rod cavity;
the large-displacement output end of the asymmetric hydraulic pump is communicated with a rodless cavity of the asymmetric hydraulic cylinder;
the small-displacement output end of the asymmetric hydraulic pump is communicated with a rod cavity of the asymmetric hydraulic cylinder;
the asymmetric hydraulic cylinder is connected with the force sensor;
the force sensor detects the acting force output by the asymmetric hydraulic cylinder, generates a force feedback signal according to the acting force and sends the force feedback signal to the controller;
the controller generates a motor control signal according to the force feedback signal and sends the motor control signal to the servo motor;
the asymmetric hydraulic pump is matched with the asymmetric hydraulic cylinder in parameters, so that when the positive and negative force output of the actuator is the same, the rotating speeds of the servo motor are symmetrical; and
the valve group comprises two overflow valves and two bypass valves, the overflow valves are arranged between the large-displacement output end and the small-displacement output end, the arrangement directions of the two overflow valves are opposite, the bypass valves are arranged between the large-displacement output end and the small-displacement output end, and the bypass valves are normally open.
2. The electro-hydrostatic actuator of claim 1, wherein the hydraulic rod of the asymmetric hydraulic cylinder is coupled to the force sensor.
3. The electro-hydrostatic actuator of claim 1, wherein the valve block includes a first hydraulically controlled check valve and a second hydraulically controlled check valve.
4. A method of controlling an asymmetric pump-controlled asymmetric hydraulic cylinder of an electro-hydrostatic actuator using the electro-hydrostatic actuator of claim 3, comprising the steps of:
when the servo motor is rotated in the forward direction,
s11, transmitting energy to the servo motor through a cable;
s12, the servo motor rotates forwards to drive the asymmetric hydraulic pump to rotate forwards;
s13, oil in the rod cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the small-displacement output end of the asymmetric hydraulic pump;
s14, oil of the accumulator enters the asymmetric hydraulic pump through the second hydraulic control one-way valve and the small-displacement output end of the asymmetric hydraulic pump;
s15, inputting oil output by a large-displacement output end of the asymmetric hydraulic pump into a rodless cavity of the asymmetric hydraulic cylinder;
when the servo motor is rotated in the reverse direction,
s21, transmitting energy to the servo motor through a cable;
s22, driving the asymmetric hydraulic pump to reversely rotate by reversely rotating the servo motor;
s23, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the asymmetric hydraulic pump through the large-discharge output end of the asymmetric hydraulic pump;
s24, part of oil in the rodless cavity of the asymmetric hydraulic cylinder enters the accumulator through the first hydraulic control one-way valve;
s25, inputting the oil output by the small-displacement output end of the asymmetric hydraulic pump into a rod cavity of the asymmetric hydraulic cylinder.
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| CN201810178711.6A CN108506251B (en) | 2018-03-05 | 2018-03-05 | Electric hydrostatic actuator of asymmetric pump-controlled asymmetric hydraulic cylinder |
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| CN201810178711.6A CN108506251B (en) | 2018-03-05 | 2018-03-05 | Electric hydrostatic actuator of asymmetric pump-controlled asymmetric hydraulic cylinder |
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| CN108506251B true CN108506251B (en) | 2020-03-24 |
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| CN110307195B (en) * | 2019-07-09 | 2021-02-23 | 燕山大学 | Hydraulic bending machine electro-hydraulic control system of closed pump-controlled asymmetric cylinder |
| CN111219372B (en) * | 2020-01-16 | 2022-02-22 | 太原科技大学 | Pump valve composite loop and control method |
| CN111649018B (en) * | 2020-06-04 | 2022-02-18 | 南京理工大学 | Pump-controlled hydraulic cylinder integrated with external rotor motor |
| CN111734699B (en) * | 2020-07-09 | 2022-08-16 | 四川航天烽火伺服控制技术有限公司 | Electric hydrostatic actuator |
| CN112049786B (en) * | 2020-09-04 | 2022-07-26 | 佛山聚辉森林液压科技有限公司 | Robot directly links bypass type hydraulic pump control device |
| IT202100009980A1 (en) * | 2021-04-20 | 2022-10-20 | Cnh Ind Italia Spa | METHOD AND APPARATUS FOR CHECKING THE FLOW RATE OF A VEHICLE PUMP |
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| JP4263072B2 (en) * | 2003-11-04 | 2009-05-13 | 豊興工業株式会社 | Hydraulic drive device |
| CN100424361C (en) * | 2006-03-07 | 2008-10-08 | 太原理工大学 | Closed electrohydraulic controlling system |
| CN103423218B (en) * | 2013-05-17 | 2018-11-20 | 北京航空航天大学 | The valve control integration load charger and its control method of load-sensitive |
| CN103790874B (en) * | 2014-02-28 | 2016-01-20 | 南通大学 | Valveless Hydrauservo System and controlling method thereof |
| CN204512079U (en) * | 2015-01-28 | 2015-07-29 | 北京航空航天大学 | A kind of two remaining Electrical hydrostatic actuator |
| CN104564915B (en) * | 2015-01-28 | 2016-10-05 | 太原理工大学 | Pump valve Composite Double degree of freedom electrohydraulic motion loading control method |
| CN205677896U (en) * | 2015-12-29 | 2016-11-09 | 哈尔滨恒誉名翔科技有限公司 | EHA VPVM drives helm gear |
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