CN109058214B - Load contact force control device and method based on hydraulic drive - Google Patents

Load contact force control device and method based on hydraulic drive Download PDF

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CN109058214B
CN109058214B CN201811217619.2A CN201811217619A CN109058214B CN 109058214 B CN109058214 B CN 109058214B CN 201811217619 A CN201811217619 A CN 201811217619A CN 109058214 B CN109058214 B CN 109058214B
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load
oil
gear pump
cylinder
proportional valve
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CN109058214A (en
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吴庆勋
杜晓东
崔翔
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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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
    • F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20538—Type of pump constant capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/65—Methods of control of the load sensing pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8646—Control during or prevention of abnormal conditions the abnormal condition being hysteresis

Abstract

The invention relates to a load contact force control device and method based on hydraulic drive, belongs to the technical field of hydraulic drive control, and solves the problem of tracking delay of the existing load contact force. The device comprises: motor, two-way gear pump, proportional valve, choke valve, load cylinder, controller, wherein: the motor is used for driving the bidirectional gear pump to rotate, an oil inlet of the gear pump is connected to an oil source, an oil outlet of the gear pump is connected to an oil inlet of the proportional valve, an oil outlet of the proportional valve and an oil outlet of the throttle valve are connected to an oil inlet of the load oil cylinder, and an oil inlet of the throttle valve is connected to the oil source; and the controller is used for obtaining a proportional valve opening result and a motor rotating speed result according to the load contact force of the load oil cylinder, the obtained proportional valve opening result is used for controlling the opening of the proportional valve, and the obtained motor rotating speed result is used for controlling the rotating speed of the motor. And the rapid tracking of the load contact force is realized.

Description

Load contact force control device and method based on hydraulic drive
Technical Field
The invention relates to the technical field of hydraulic drive control, in particular to a load contact force control device and method based on hydraulic drive.
Background
The load contact force control generally adopts the idea of feedback control to perform accurate load contact force control, but the feedback control has the disadvantage that the existence of an error is required to obtain the input of a control signal, so that the control output theoretically must lag behind the contact force given.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide a load contact force control apparatus and method based on a hydraulic drive system model, so as to solve the problem of the conventional load contact force tracking delay.
The purpose of the invention is mainly realized by the following technical scheme:
in one embodiment of the present invention, there is provided a load contact force control apparatus based on hydraulic driving, the apparatus including: motor, two-way gear pump, proportional valve, choke valve, load cylinder, controller, wherein:
the motor is used for driving the bidirectional gear pump to rotate, an oil inlet of the gear pump is connected to an oil source, an oil outlet of the gear pump is connected to an oil inlet of the proportional valve, an oil outlet of the proportional valve and an oil outlet of the throttle valve are connected to an oil inlet of the load oil cylinder, and an oil inlet of the throttle valve is connected to the oil source;
the controller is used for obtaining a proportional valve opening result and a motor rotating speed result according to the load contact force of the load oil cylinder, the obtained proportional valve opening result is used for controlling the opening of the proportional valve, and the obtained motor rotating speed result is used for controlling the rotating speed of the motor.
The invention has the following beneficial effects: in the device provided by the embodiment, the controller obtains the opening result of the proportional valve and the rotating speed result of the motor according to the load contact force of the load oil cylinder, and the opening result of the proportional valve and the rotating speed result of the motor are respectively acted on the proportional valve and the motor, so that the feedforward control is realized, and the problem of contact force tracking delay is solved.
On the basis of the scheme, the invention is further improved as follows:
further, when the load contact force of the load oil cylinder is F, the controller obtains the opening result a of the proportional valve by using a formula (1):
Figure BDA0001833950820000021
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdIs the flow coefficient of the throttle valve, b is the throttle valve opening degree, g is the gravity acceleration, rho is the hydraulic oil density, PSIs the gear pump oil outlet pressure.
Further, when the load contact force of the load oil cylinder is F, the controller obtains the motor speed n by using a formula (2):
Figure BDA0001833950820000022
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficient of the throttle valve, b the opening degree of the throttle valve, g the gravity acceleration, rho the hydraulic oil density, q the gear pump displacement and η the gear pump efficiency.
Further, the device also comprises a position sensor, wherein the position sensor is used for measuring the liquid level position of the load oil cylinder;
and the movement speed V of the load oil cylinder is obtained by difference of the measurement results of the position sensors which are continuously measured twice.
Further, the device also comprises a pressure sensor which is arranged at the oil outlet of the bidirectional gear pump and used for measuring and obtaining the pressure P of the oil outlet of the gear pumpS。
In another embodiment of the present invention, there is provided a load contact force control method based on hydraulic driving, including the steps of:
controlling the throttle valve to be in a certain opening degree, so that the hydraulic oil is input to the load oil cylinder through the throttle valve;
obtaining a motor rotating speed result and a proportional valve opening result according to the load contact force of the load oil cylinder;
adjusting the rotating speed of the motor by using the rotating speed result of the motor to drive the bidirectional gear pump to rotate;
and adjusting the opening degree of the proportional valve by using the opening degree result of the proportional valve.
The invention has the following beneficial effects: in the method provided by the invention, a part of hydraulic oil is controlled to be input into the load oil cylinder through the throttle valve, so that the initial flow is provided for the load oil cylinder, and the resistance of the load oil cylinder in the process of starting from a static state to a dynamic state is reduced. The motor rotating speed result and the proportional valve opening result are obtained by utilizing the load contact force of the load oil cylinder, and the proportional valve opening result and the motor rotating speed result are respectively acted on the proportional valve and the motor, so that the feedforward control is realized, and the problem of contact force tracking delay is solved.
On the basis of the scheme, the invention is further improved as follows:
further, the opening result a of the proportional valve is obtained according to the load contact force F of the load oil cylinder, and the following operations are specifically executed:
Figure BDA0001833950820000041
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdIs the flow coefficient of the throttle valve, b is the throttle valve opening degree, g is the gravity acceleration, rho is the hydraulic oil density, PSIs the gear pump oil outlet pressure.
Further, the motor rotating speed result n is obtained according to the load contact force F of the load oil cylinder, and the following operations are specifically executed:
Figure BDA0001833950820000042
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficient of the throttle valve, b the opening degree of the throttle valve, g the gravity acceleration, rho the hydraulic oil density, q the gear pump displacement and η the gear pump efficiency.
Further, the movement speed V of the load oil cylinder is obtained by difference of measurement results of the position sensors which are continuously measured twice.
Further, the pressure P of the oil outlet of the gear pumpSAnd the pressure is measured by a pressure sensor arranged at an oil outlet of the bidirectional gear pump.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic diagram of a load contact force control device based on hydraulic driving according to a first embodiment of the invention;
FIG. 2 is a flowchart of a load contact force control method based on hydraulic driving according to a second embodiment of the present invention;
reference numerals:
1-a motor; 2-a bidirectional gear pump; 3-a proportional valve; 4-a throttle valve; 5-loading the oil cylinder; 6-a controller.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
In an embodiment of the present invention, a load contact force control apparatus based on hydraulic driving is disclosed, as shown in fig. 1, the apparatus including: motor (1), two-way gear pump (2), proportional valve (3), choke valve (4), load cylinder (5), controller (6), wherein:
the motor is used for driving a bidirectional gear pump to rotate, an oil inlet of the gear pump is connected to an oil source, an oil outlet of the gear pump is connected to an oil inlet of the proportional valve, an oil outlet of the proportional valve and an oil outlet of the throttle valve are connected to an oil inlet of the load oil cylinder, and an oil inlet of the throttle valve is connected to the oil source;
the controller is used for obtaining a proportional valve opening result and a motor rotating speed result according to the load contact force of the load oil cylinder, the obtained proportional valve opening result is used for controlling the opening of the proportional valve, and the obtained motor rotating speed result is used for controlling the rotating speed of the motor.
Compared with the prior art, the device that this embodiment provided, the controller obtains proportional valve opening result and motor speed result according to the load contact force of load hydro-cylinder to act on proportional valve, motor with proportional valve opening result and motor speed result respectively, realized feedforward control, solved the delayed problem of contact force tracking.
Preferably, when the load contact force of the load cylinder is F, the controller obtains the proportional valve opening result a by using formula (1):
Figure BDA0001833950820000061
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficient of the proportional valve and the throttle valve, b the opening degree of the throttle valve, g the gravity acceleration, rho the hydraulic oil density, PSIs the gear pump oil outlet pressure.
And one output end of the controller is connected with the proportional valve and used for adjusting the opening degree of the proportional valve. When a is greater than 0, adjusting the opening degree of the proportional valve according to the value of a; otherwise, the opening degree of the proportional valve is 0.
Preferably, when the load contact force of the load cylinder is F, the controller obtains the motor speed n by using a formula (2):
Figure BDA0001833950820000071
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficient of the proportional valve and the throttle valve, b is the opening degree of the throttle valve, g is the gravity acceleration, rho is the density of the hydraulic oil, and q is the displacement of the gear pumpη is the gear pump efficiency.
The first output end of the controller is connected with the input end of the motor and used for adjusting the rotating speed of the motor; when n is greater than 0, the motor drives the gear pump to rotate positively, and when n is less than 0, the motor drives the gear pump to rotate reversely.
The calculation formula of the opening result of the proportional valve and the motor rotating speed result is obtained by combining a specific device structure and a control principle, and is used for calculating the opening of the proportional valve and the motor rotating speed in advance according to the load contact force of a load oil cylinder, so that the purpose of advanced control is achieved, and the problem of contact force tracking delay is solved.
Preferably, the device further comprises a position sensor for measuring the liquid level position of the load cylinder; and the movement speed V of the load oil cylinder is obtained by difference of the measurement results of the position sensors which are continuously measured twice.
Preferably, the device further comprises a pressure sensor for measuring and obtaining the pressure P of the oil outlet of the gear pumpS。
In the specific implementation process of the other parameters related to the calculation formula provided by the present invention, the specific values of the parameters can be obtained by using the existing measuring instrument and technical means, so as to complete the calculation of the opening result of the proportional valve and the rotation speed result of the motor.
In the device provided by the invention, the throttle valve has the necessity, if the throttle valve loop is not provided, only the proportional valve loop is provided, and in the initial state, the motion speed V of the load cylinder is 0, and the leakage flow Q of the load cylinder isygThe opening degree b of the throttle valve is 0, so that the opening degree result of the proportional valve and the rotating speed result of the motor which are obtained according to the calculation formula provided by the invention are both 0, and the whole device is very laborious to start from a static state to a dynamic state.
In another embodiment of the present invention, a load contact force control method based on hydraulic driving is disclosed, and a flowchart is shown in fig. 2, and includes the following steps:
step S1: controlling the throttle valve to be in a certain opening degree, so that the hydraulic oil is input to the load oil cylinder through the throttle valve;
and part of hydraulic oil is input into the load oil cylinder through the throttle valve control, so that initial flow is provided for the load oil cylinder, and the resistance of the load oil cylinder in the process of starting from a static state to a dynamic state is reduced.
Step S2: according to the load contact force of the load oil cylinder, obtaining a motor rotating speed result and a proportional valve opening result;
preferably, the proportional valve opening result a is obtained according to the load contact force F of the load cylinder, and the following operations are specifically executed:
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficient of the proportional valve and the throttle valve, b the opening degree of the throttle valve, g the gravity acceleration, rho the hydraulic oil density, PSIs the gear pump oil outlet pressure.
Preferably, the motor speed result n is obtained according to the load contact force F of the load cylinder, and the following operations are specifically executed:
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficients of the proportional valve and the throttle valve, b is the opening degree of the throttle valve, g is the gravity acceleration, rho is the hydraulic oil density, q is the gear pump displacement, and η is the gear pump efficiency.
Wherein, the movement speed V of the load oil cylinder is measured by the position sensor twice continuously to obtain the differenceObtaining the products through separation; the pressure P of the oil outlet of the gear pumpSAnd the pressure is measured by a pressure sensor arranged at an oil outlet of the bidirectional gear pump.
Step S3: adjusting the rotating speed of the motor by using the rotating speed result of the motor to drive the bidirectional gear pump to rotate;
when n is greater than 0, the motor drives the gear pump to rotate positively, and when n is less than 0, the motor drives the gear pump to rotate reversely.
Step S4: and adjusting the opening degree of the proportional valve by using the opening degree result of the proportional valve.
When a is greater than 0, adjusting the opening degree of the proportional valve according to the value of a; otherwise, the opening degree of the proportional valve is 0.
The motor rotating speed result and the proportional valve opening result are obtained by utilizing the load contact force of the load oil cylinder, and the proportional valve opening result and the motor rotating speed result are respectively acted on the proportional valve and the motor, so that the feedforward control is realized, and the problem of contact force tracking delay is solved.
The method embodiment and the device embodiment are based on the same principle, and the related parts can be referenced mutually, and the same technical effect can be achieved.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (8)

1. A load contact force control apparatus based on hydraulic driving, characterized in that the apparatus comprises: motor, two-way gear pump, proportional valve, choke valve, load cylinder, controller, wherein:
the motor is used for driving the bidirectional gear pump to rotate, an oil inlet of the gear pump is connected to an oil source, an oil outlet of the gear pump is connected to an oil inlet of the proportional valve, an oil outlet of the proportional valve and an oil outlet of the throttle valve are connected to an oil inlet of the load oil cylinder, and an oil inlet of the throttle valve is connected to the oil source;
the controller is used for obtaining a proportional valve opening result and a motor rotating speed result according to the load contact force of the load oil cylinder, the obtained proportional valve opening result is used for controlling the opening of the proportional valve, and the obtained motor rotating speed result is used for controlling the rotating speed of the motor;
when the load contact force of the load oil cylinder is F, the controller obtains the opening result a of the proportional valve by using a formula (1):
Figure FDA0002184621820000011
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdIs the flow coefficient of the throttle valve, b is the throttle valve opening degree, g is the gravity acceleration, rho is the hydraulic oil density, PSIs the gear pump oil outlet pressure.
2. The apparatus of claim 1, wherein when the load contact force of the load cylinder is F, the controller obtains the motor speed n using formula (2):
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdIs the flow coefficient of the throttle valve, b is the throttle opening degree, g is gravity accelerationAnd the degree is rho, the hydraulic oil density, q, the gear pump discharge capacity and η, the gear pump efficiency.
3. The apparatus of claim 2, further comprising a position sensor for measuring a position of a fluid level of the load cylinder;
and the movement speed V of the load oil cylinder is obtained by difference of the measurement results of the position sensors which are continuously measured twice.
4. The device of claim 3, further comprising a pressure sensor mounted at the oil outlet of the bidirectional gear pump for measuring the pressure P at the oil outlet of the gear pumpS。
5. A load contact force control method based on hydraulic drive is characterized by comprising the following steps:
controlling the throttle valve to be in a certain opening degree, so that the hydraulic oil is input to the load oil cylinder through the throttle valve;
obtaining a motor rotating speed result and a proportional valve opening result according to the load contact force of the load oil cylinder;
adjusting the rotating speed of the motor by using the rotating speed result of the motor to drive the bidirectional gear pump to rotate;
adjusting the opening degree of the proportional valve according to the opening degree result of the proportional valve;
and obtaining a proportional valve opening result a according to the load contact force F of the load oil cylinder, and specifically executing the following operations:
Figure FDA0002184621820000021
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdIs the flow coefficient of the throttle valve, b is the throttle valve opening degree, g is the gravity acceleration, rho is the hydraulic oil density, PSIs the toothWheel pump oil outlet pressure.
6. The method according to claim 5, wherein the motor speed result n is obtained according to the load contact force F of the load cylinder, and the following operations are specifically performed:
Figure FDA0002184621820000031
wherein m is the mass of the load block, A is the area of the rodless cavity of the load oil cylinder, V is the movement speed of the load oil cylinder, and Q isygFor load cylinder leakage flow, CdThe flow coefficient of the throttle valve, b the opening degree of the throttle valve, g the gravity acceleration, rho the hydraulic oil density, q the gear pump displacement and η the gear pump efficiency.
7. The method of claim 6, wherein the load cylinder movement velocity V is obtained by differentiating the position sensor measurements of two consecutive times.
8. Method according to claim 6, characterized in that the gear pump oil outlet pressure PSAnd the pressure is measured by a pressure sensor arranged at an oil outlet of the bidirectional gear pump.
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CN105502234A (en) * 2015-09-17 2016-04-20 浙江大学宁波理工学院 Speed-adjustable high-thrust hydraulic lifting table

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CN102588360A (en) * 2012-03-08 2012-07-18 四川华通工程技术研究院 Hydraulic system for exoskeleton suit
CN105502234A (en) * 2015-09-17 2016-04-20 浙江大学宁波理工学院 Speed-adjustable high-thrust hydraulic lifting table

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