CN109139584A - Pump valve multiplex control system and method - Google Patents
Pump valve multiplex control system and method Download PDFInfo
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- CN109139584A CN109139584A CN201811307755.0A CN201811307755A CN109139584A CN 109139584 A CN109139584 A CN 109139584A CN 201811307755 A CN201811307755 A CN 201811307755A CN 109139584 A CN109139584 A CN 109139584A
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- Prior art keywords
- valve
- pump
- asymmetrical cylinder
- cylinder
- control unit
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Classifications
-
- 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
-
- 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
- F15B13/024—Pressure relief valves
-
- 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
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
-
- 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
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
-
- 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
- F15B2211/61—Secondary circuits
- F15B2211/613—Feeding circuits
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of pump valve multiplex control systems, comprising: pump control unit, including two-way pump and driving motor, two-way pump one end oil circuit connection is in the rod chamber of asymmetrical cylinder, and other end oil circuit connection is in the rodless cavity of asymmetrical cylinder；Pressure sensor, the real-time pressure of two chambers for monitoring asymmetrical cylinder respectively；Displacement sensor, the real-time displacement of the piston motion for monitoring asymmetrical cylinder；Valve control unit, the bypass pressure release of two chambers for realizing asymmetrical cylinder respectively；Control unit, for controlling the output torque of driving motor and the pressure release flow of valve control unit according to the target component of the monitor value of pressure sensor, the monitor value of displacement sensor and asymmetrical cylinder.The pump valve multiplex control system and method are adjusted with pumping control asymmetrical cylinder and the bypass pressure release of valve control unit, and realizing, there is ideal energy saving efficiency and the composite drive of control precision to control, and enhance the cruising ability and load capacity of system and legged type robot.
Description
Technical field
The invention belongs to technical field of hydraulic, are a kind of pump valve multiplex control system and method specifically.
Background technique
Hydraulic drive is that a kind of kind of drive of energy transmission and control is carried out using liquid as working media, is passed with machinery
Dynamic, Electrified Transmission constitutes three kinds of main Types of transmission side by side.Based on hydraulic transmission technology, hydraulic control system is in industry
It is used widely in field.
Hydraulic control system provides dynamic foundation with motor, converts pressure for mechanical energy using hydraulic pump and pushes hydraulic
Oil changes the flow direction of hydraulic oil by controlling various valves, thus push hydraulic cylinder realize different trips, different directions it is dynamic
Make, completes the different movement needs of various equipment.Hydraulic control system is easy with stepless speed regulation, dynamic property is good, movement is flat
The advantages that stability is good, self is lubricated is studied more deep in robot field.
Currently, the hydraulic system of legged type robot, the throttle-type systems belonged to based on valve-controlled cylinder, by electrohydraulic servo valve more
Carry out hydraulic control.The loss of throttle-type system throttles is very big, and capacity usage ratio is low.Meanwhile the different walking step states of robot make
It obtains each joint to have differences system pressure/flow demand, has been further exacerbated by the energy loss of driving unit, has led to machine
The cruising ability of people's field work is low, constrains the raising of robot load capacity.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of pump valve multiplex control system and methods, to pump control
The bypass pressure release of asymmetrical cylinder and valve control unit is adjusted, and realizes the composite drive for having ideal energy saving efficiency and controlling precision
Control enhances the cruising ability and load capacity of system and legged type robot.
The purpose of the present invention is achieved through the following technical solutions:
A kind of pump valve multiplex control system, comprising:
Pump control unit, including two-way pump and the driving motor for being used to drive the two-way pump work, described two-way pump one end
Oil circuit connection is in the rod chamber of the asymmetrical cylinder, and other end oil circuit connection is in the rodless cavity of the asymmetrical cylinder；
Pressure sensor, the real-time pressure of two chambers for monitoring the asymmetrical cylinder respectively；
Displacement sensor, the real-time displacement of the piston motion for monitoring the asymmetrical cylinder；
Valve control unit, the bypass pressure release of two chambers for realizing the asymmetrical cylinder respectively；
Control unit, for according to the monitor value of the monitor value of the pressure sensor, institute's displacement sensors with it is described
The target component of asymmetrical cylinder controls the output torque of the driving motor and the pressure release flow of the valve control unit.
As an improvement of the above technical solution, the valve control unit includes the first electrohydraulic servo valve and the second electro-hydraulic servo
Valve:
First electrohydraulic servo valve is set to the side bypass of the asymmetrical cylinder, described asymmetric for discharging
The extra oil liquid of the rodless cavity of hydraulic cylinder；
Second electrohydraulic servo valve is set to the other side bypass of the asymmetrical cylinder, described non-right for discharging
Claim the extra oil liquid of the rod chamber of hydraulic cylinder.
It as a further improvement of the above technical scheme, further include oil return box, for receiving first electrohydraulic servo valve
With the extra oil liquid of second electrohydraulic servo valve release.
It as a further improvement of the above technical scheme, further include confluence element, the two-way pump, the pressure sensor
With the valve control unit integrated installation on the confluence element.
It as a further improvement of the above technical scheme, further include oil feeding reservoirs, liquid needed for being used to provide the described two-way pump
Pressure oil.
As a further improvement of the above technical scheme, described oil feeding reservoirs one end is by check valve oil circuit connection in described non-
The rodless cavity of symmetrical hydraulic cylinder, the other end is by another check valve oil circuit connection in the rod chamber of the asymmetrical cylinder.
As a further improvement of the above technical scheme, institute's displacement sensors are integrated in the asymmetrical cylinder
On.
A kind of pump valve composite control method, applied to pump valve multiplex control system described in any of the above item, comprising:
Obtain the real-time pressure of two chambers of asymmetrical cylinder and the real-time displacement of piston motion；
The output of the driving motor is controlled according to the real-time pressure of the target component of the asymmetrical cylinder and two chambers
Torque controls institute according to the real-time displacement of the target component of the asymmetrical cylinder, the real-time pressure of two chambers and piston motion
State the pressure release flow of valve control unit.
As an improvement of the above technical solution, described " according to the real-time pressure and mesh of two chambers of the asymmetrical cylinder
Mark the output torque of driving motor described in state modulator " include:
The feedforward control of the driving motor is calculated according to the target power output of the asymmetrical cylinder and target velocity
Amount；
The reality output power of the asymmetrical cylinder is calculated according to the real-time pressure of two chambers of the asymmetrical cylinder,
The feedback control amount of the driving motor is calculated according to the reality output power and the target power output；
The output torque of the driving motor is controlled according to the feedforward control amount of the driving motor and feedback control amount.
As a further improvement of the above technical scheme, described " according to the reality of the piston motion of the asymmetrical cylinder
Shi Weiyi controls the pressure release flow of the valve control unit with target component " include:
The valve control unit is calculated according to the target power output of the asymmetrical cylinder and the target velocity of piston motion
Feedforward control amount；
The valve control unit is calculated according to the real-time displacement of the piston motion of the asymmetrical cylinder and displacement of targets
Feedback control amount；
The pressure release flow of the valve control unit is controlled according to the feedforward control amount of the valve control unit and feedback control amount.
The beneficial effects of the present invention are:
(1) the pump control unit with volumetric speed control ability is formed with two-way pump and driving motor, drives asymmetrical cylinder
Movement is executed, volumetric void fraction mode reduces restriction loss, reduces the system energy consumption of system, improves the capacity usage ratio of system, increases
The cruising ability and load capacity of strong system and legged type robot；
(2) the bypass pressure release that two chambers of asymmetrical cylinder are realized with valve control unit, solves existing for asymmetrical cylinder
Asymmetric drift flow characteristic problem, improves the controllability of pump control asymmetrical cylinder, and matching closed system pumps both-end flow；
(3) by the actual pressure of two chambers of pressure sensor monitoring asymmetrical cylinder, it is non-right to be monitored by displacement sensor
Claim the real-time displacement of the piston motion of hydraulic cylinder, control unit is according to the target component control of aforementioned detected value and asymmetrical cylinder
The output torque of driving motor processed and the hydraulic flow of valve control unit, the composite attribute with feedforward control and closed-loop control increase
The compliance of strong control system inhibits influence of the position disturbance to the power control precision of system, guarantees ideal control precision and spirit
Sensitivity.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the system principle schematic diagram for the pump valve multiplex control system that the embodiment of the present invention 1 provides；
Fig. 2 is the control principle schematic diagram for the pump valve multiplex control system that the embodiment of the present invention 1 provides；
Fig. 3 is the control principle block diagram of the first controller of the pump valve multiplex control system that the embodiment of the present invention 1 provides；
Fig. 4 is the control principle block diagram of the second controller for the pump valve multiplex control system that the embodiment of the present invention 1 provides；
Fig. 5 is the control principle block diagram of the third controller for the pump valve multiplex control system that the embodiment of the present invention 1 provides；
Fig. 6 is that the pump valve for the pump valve multiplex control system that the embodiment of the present invention 2 provides integrates the first axle survey of flow control module
Schematic diagram；
Fig. 7 is that the pump valve for the pump valve multiplex control system that the embodiment of the present invention 2 provides integrates the second axis survey of flow control module
Schematic diagram；
Fig. 8 is that the pump valve for the pump valve multiplex control system that the embodiment of the present invention 2 provides integrates the main view part of flow control module
Schematic diagram；
Fig. 9 is the A-A schematic cross-sectional view that pump valve integrates flow control module in Fig. 8；
Figure 10 is the B-B schematic cross-sectional view that pump valve integrates flow control module in Fig. 8；
Figure 11 is the overall procedure schematic diagram for the pump valve composite control method that the embodiment of the present invention 3 provides；
Figure 12 is the flow diagram of the step B1 for the pump valve composite control method that the embodiment of the present invention 3 provides；
Figure 13 is the flow diagram of the step B2 for the pump valve composite control method that the embodiment of the present invention 3 provides.
Main element symbol description:
100- pump valve multiplex control system, 1- two-way pump, the first hydraulic fluid port of 11-, the second hydraulic fluid port of 12-, 2- driving motor, 31-
First pressure sensor, 32- second pressure sensor, 4- displacement sensor, the first electrohydraulic servo valve of 51-, 52- second is electro-hydraulic to be watched
Take valve, the first controller of 61-, 62- second controller, 63- third controller, the first check valve of 71-, 72- second one-way valve, 8-
Oil feeding reservoirs, 9- oil return box, 91- oil liquid cooler, 10- asymmetrical cylinder, 20- confluence element, 21- sprue, 21a- first
Runner, 21b- second flow channel, 22- branch flow passage, the Drainage Section 22a-, 22b- aerial drainage section, 23- change of current end, 30- quick coupling.
Specific embodiment
To facilitate the understanding of the present invention, pump valve multiplex control system and method are carried out below with reference to relevant drawings more complete
The description in face.The preferred embodiment of pump valve multiplex control system and method is given in attached drawing.But pump valve multiplex control system
And method can be realized by many different forms, however it is not limited to embodiment described herein.On the contrary, providing these
The purpose of embodiment is to keep the disclosure to pump valve multiplex control system and method more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Herein in pump valve multiplex control system and the art used in the description of method
Language, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term " and or " used herein packet
Include any and all combinations of one or more related listed items.
Embodiment 1
Referring to Fig. 1, the present embodiment discloses a kind of pump valve multiplex control system 100, including pump control unit, pressure sensing
Device, displacement sensor 4, valve control unit and control unit, for realizing the pump valve complex controll to asymmetrical cylinder 10.First
Illustrate, the inner cavity of asymmetrical cylinder 10 is divided into rod chamber and rodless cavity by piston, and piston rod is located in rod chamber.
Pump control unit includes two-way pump 1 and the driving motor 2 for driving two-way pump 1 to work, for realizing volumetric void fraction
Purpose.1 one end oil circuit connection of two-way pump is in the rodless cavity of asymmetrical cylinder 10, and other end oil circuit connection is in asymmetrical cylinder
10 rod chamber.
Wherein, there are two direction of rotation for the tool of two-way pump 1, realize different output purposes by positive and negative rotation switching.Not
Under equidirectional rotation output driving, asymmetrical cylinder 10 realizes flexible move back and forth.Exemplarily, two-way pump 1 have can
Become discharge capacity as two-way variable displacement pump, realizes that discharge capacity is adjusted by volume variation, there is volumetric void fraction characteristic.1 type of two-way pump
It is numerous, exemplarily, it can be double-direction gearpump.It is appreciated that by the drive control of driving motor 2, two-way pump 1 can be realized
Quick direction switching is adjusted with discharge capacity.2 huge number of driving motor is exemplarily servo motor.
The real-time pressure of two chambers of the pressure sensor for monitoring asymmetrical cylinder 10 respectively.In other words, pressure sensing
The quantity of device is at least two, wherein first pressure sensor 31 is used to monitor the real-time pressure of rodless cavity, second pressure sensor
32 for monitoring the real-time pressure of rod chamber.Exemplarily, first pressure sensor 31 is installed on the hydraulic fluid port oil circuit of rodless cavity,
Second pressure sensor 32 is installed on the hydraulic fluid port oil circuit of rod chamber.
Displacement sensor 4 is used to monitor the real-time displacement of the piston motion of asymmetrical cylinder 10.The kind of displacement sensor 4
Class is numerous, including linear displacement transducer, magnetostrictive displacement sensor, LVDT displacement sensor, displacement sensor for pull rope etc.
Type.Exemplarily, displacement sensor 4 is magnetostrictive displacement sensor.
Exemplarily, displacement sensor 4 is integrated in asymmetrical cylinder 10, with the piston of asymmetrical cylinder 10
The piston motion of bar and real-time measurement piston displacement.It is appreciated that it is non-right to calculate according to the measured value of displacement sensor 4
Claim the kinematic parameters such as piston movement speed, the acceleration of hydraulic cylinder 10.
The bypass pressure release of two chambers of the valve control unit for realizing asymmetrical cylinder 10 respectively, solves asymmetrical cylinder 10
Existing asymmetric drift flow characteristic problem.Specifically, due to two cavity areas of asymmetrical cylinder 10 it is asymmetric caused by stream
Amount is asymmetric, when rodless cavity is fuel-displaced, rod chamber oil inlet when, extra oil liquid forces two intracavitary pressure to rise, generate pressure with
Position disturbance and cause system power control accuracy decline.Valve control unit let out the extra oil liquid except two chambers from bypass valve type in real time and
It realizes that by-pass throttle is adjusted, eliminates pressure disturbance and the position disturbance of rodless cavity and rod chamber, to guarantee ideal power control
Precision.
Exemplarily, valve control unit includes the first electrohydraulic servo valve 51 and the second electrohydraulic servo valve 52.First electro-hydraulic servo
Valve 51 is set to the side bypass of asymmetrical cylinder 10, the extra oil liquid of the rodless cavity for discharging asymmetrical cylinder 10；
Second electrohydraulic servo valve 52 is set to the other side bypass of asymmetrical cylinder 10, has bar for discharge asymmetrical cylinder 10
The extra oil liquid of chamber.
Exemplarily, pump valve multiplex control system 100 further includes oil return box 9, for receive the first electrohydraulic servo valve 51 with
The extra oil liquid of second electrohydraulic servo valve 52 release.In other words, the oil inlet (P mouthfuls) of the first electrohydraulic servo valve 51 is connected to non-right
Claim the rodless cavity of hydraulic cylinder 10, control mouth (A mouthfuls or B mouthfuls) is connected to oil return box 9；Oil inlet (the P of second electrohydraulic servo valve 52
Mouthful) it is connected to the rod chamber of asymmetrical cylinder 10, control mouth (A mouthfuls or B mouthfuls) is connected to oil return box 9.Exemplarily, oil return box
9 be normal pressure fuel tank.Exemplarily, the first electrohydraulic servo valve 51 and the second electrohydraulic servo valve 52 pass through oil liquid cooler 91 respectively
Oil circuit connection is in oil return box 9.
Referring to Fig. 2, control unit be used for according to the monitor value of pressure sensor, displacement sensor 4 monitor value with it is non-
The output torque of the target component control driving motor 2 of symmetrical hydraulic cylinder 10 and the pressure release flow of valve control unit.Wherein, asymmetric
The target component of hydraulic cylinder 10 refers to the dynamic object value reached desired by it, including target power output, the target of piston motion
The different motions parameter such as speed and displacement of targets.
According to aforementioned parameters numerical value, control unit is corresponding to be realized to driving motor 2 (indirectly to two-way pump 1) and valve control list
The feedforward control and feedback control of first (can be specially the first electrohydraulic servo valve 51 and the second electrohydraulic servo valve 52) reduce power control
Rigidly enhance flexibility, inhibits influence of the position disturbance to power control precision, reduce time lag and improve control sensitivity.
Fig. 2~5 are please referred to, exemplarily, control unit includes the first controller 61, second controller 62 and third
Controller 63.Wherein, the first controller 61 is used for the real-time pressure control of target component and two chambers according to asymmetrical cylinder 10
The output torque of driving motor 2 processed, second controller 62 be used for according to the target component of asymmetrical cylinder 10, two chambers it is real-time
The real-time displacement of pressure and piston motion controls the opening degree of the first electrohydraulic servo valve 51, and third controller 63 is used for according to non-right
The real-time displacement of the target component of hydraulic cylinder 10, the real-time pressure of two chambers and piston motion is claimed to control the second electrohydraulic servo valve 52
Opening degree.
Exemplarily, pump valve multiplex control system 100 further includes oil feeding reservoirs 8, the liquid for pumping needed for providing two-way pump 1
Pressure oil.8 one end of oil feeding reservoirs is connected to rodless cavity, and the other end is connected to rod chamber.Under the pump action of two-way pump 1, oil feeding reservoirs 8
Hydraulic oil be correspondingly outputting to rodless cavity or rod chamber.Exemplarily, oil feeding reservoirs 8 is pressurized reservoir, guarantees to stop in two-way pump 1
System oil-way is full of oil liquid when work, and air is prevented to be mixed into, and provides oil liquid when two-way pump 1 works.
Exemplarily, 8 one end of oil feeding reservoirs by 71 oil circuit connection of the first check valve in the rodless cavity of asymmetrical cylinder 10,
The other end is back to by oil liquid of 72 oil circuit connection of second one-way valve in the rod chamber of asymmetrical cylinder 10, anti-locking system
Oil feeding reservoirs 8.
Embodiment 2
Fig. 6~10 are please referred to, on the basis of embodiment 1, the present embodiment discloses a kind of integrated flow control module of pump valve,
Including confluence element 20 and difference integrated installation in two-way pump 1, electrohydraulic servo valve and pressure sensor on confluence element 20, use
In providing a kind of highly integrated pump valve complex controll device, compression arrangement space reduces number of lines, improves installation maintenance effect
Rate reduces production maintenance cost.
Element 20 converge for realizing the integrated installation of pump valve fluidic in fluid circuit, and makes these pump valves flow controls member
Part correspondence fluidly connects to form required flow control circuit.Based on this, the integrated flow control module formation of pump valve has high intensity and can
The integral unit of fast assembling-disassembling, without being connected to by pipeline between each pump valve fluidic in module, prevent pipeline wind it is complicated
Drawback, installation maintenance are very convenient.Multiple structural forms can be used in confluence element 20, i.e. such as plate, bulk type, demonstration
Property, confluence element 20 is confluence block structure.
The inside of confluence element 20 has sprue 21 and branch flow passage 22, for realizing between corresponding pump valve fluidic
Fluid communication.Wherein, sprue 21 forms output main road for connecting two-way pump 1 and asymmetrical cylinder 10, provides non-
Symmetrical hydraulic cylinder 10 works required main driving force；Branch flow passage 22 is for connecting electrohydraulic servo valve and asymmetrical cylinder 10 and shape
At throttled bypass, the flow restriction control to asymmetrical cylinder 10 is realized；Pressure sensor is connected to sprue 21, realizes to output
The pressure monitoring of main road.
Exemplarily, sprue 21 and branch flow passage 22 are respectively provided with a plurality of change of current ends 23, and change of current end 23 is opened on
The surface of confluence element 20.Stream is realized for realizing the fluid communication of confluence element 20 and other flow elements in change of current end 23
The connection of body path.Diversified forms realization, including the types such as threaded hole, through-hole, connector can be used in change of current end 23.
Exemplarily, different change of current ends 23 install respectively two-way pump 1, electrohydraulic servo valve, pressure sensor and quickly
Connector 30, quick coupling 30 is for realizing external piping connection.Wherein, quick coupling 30 integrates flow control mould for realizing pump valve
The quick connection of the flow elements such as block and asymmetrical cylinder 10, oil feeding reservoirs 8, oil return box 9.Exemplarily, quick coupling 30 is
Articulated joint is allowed to guarantee that pipeline is compact in preferable link position, it can be achieved that convenient rotation adjusting.
Exemplarily, sprue 21 includes first runner 21a and second flow channel 21b.Wherein, first runner 21a is for connecting
One end hydraulic fluid port of two-way pump 1 and a chamber of hydraulic cylinder are connect, other end hydraulic fluid port is used to connect oil feeding reservoirs 8 and input hydraulic pressure is oily；Second
Runner 21b is used to connect one end hydraulic fluid port of two-way pump 1 and another chamber of hydraulic cylinder, other end hydraulic fluid port for connecting oil feeding reservoirs 8 and
Input hydraulic pressure oil.Correspondingly, the first hydraulic fluid port 11 of two-way pump 1 is connect with first runner 21a, the second hydraulic fluid port 12 and second flow channel
21b connection.
Exemplarily, first runner 21a is connected to the one end second flow channel 21b and is commonly connected to oil feeding reservoirs 8, further letter
Change the structure of sprue 21.Exemplarily, one end setting check valve that sprue 21 is used to connect with oil feeding reservoirs 8, prevents hydraulic
It is oily to be surprisingly back to oil feeding reservoirs 8.For example, the first check valve 71 is installed in one end that first runner 21a is used to connect oil feeding reservoirs 8, the
Two runner 21b are used to connect one end installation second one-way valve 72 of oil feeding reservoirs 8.Exemplarily, first is installed on first runner 21a
Pressure sensor 31 installs second pressure sensor 32 on second flow channel 21b.
Exemplarily, branch flow passage 22 includes mutually isolated Drainage Section 22a and aerial drainage section 22b.Wherein, Drainage Section 22a mono-
End is connected to asymmetrical cylinder 10, and the other end is connected to the oil inlet (P mouthfuls) of electrohydraulic servo valve；Aerial drainage one end section 22b difference
It is connected to the control port (A mouthfuls or B mouthfuls) of electrohydraulic servo valve, the other end is connected to oil return box 9.Electrohydraulic servo valve can be real as a result,
Now throttling control.It is appreciated that having the change of current for corresponding respectively to the T (fuel-displaced) of electrohydraulic servo valve/A/B mouthfuls in aerial drainage section 22b
End 23.
It is appreciated that sprue 21 can be connected to asymmetrical cylinder by different change of current ends 23 from branch flow passage 22
10, it can also share identical change of current end 23 and be connected to asymmetrical cylinder 10.Exemplarily, Drainage Section 22a is watched far from electro-hydraulic
The one end for taking the oil inlet of valve is connected to sprue 21, and sprue 21 and branch flow passage 22 is made to share change of current end 23, reduces the change of current
The quantity of end 23 simplifies the structure of confluence element 20.
Exemplarily, branch flow passage 22 is arranged in pairs and is connected to two chambers of hydraulic cylinder, electrohydraulic servo valve and branch flow passage
22 are arranged correspondingly.In other words, the quantity of branch flow passage 22 is at least two.Each branch flow passage 22 installs an electro-hydraulic servo respectively
Valve, for realizing the by-pass throttle of the chamber to hydraulic cylinder.Since hydraulic cylinder has two chambers, then the first electrohydraulic servo valve 51 is used for
Realize the by-pass throttle of the first chamber, the second electrohydraulic servo valve 52 for realizing the second chamber by-pass throttle.
Exemplarily, driving motor 2 can be directly mounted on two-way pump 1 by shaft coupling, have integrated fastening structure.
Embodiment 3
Figure 11 is please referred to, the present embodiment discloses a kind of pump valve composite control method, introduced applied to embodiment 1 or 2
Pump valve multiplex control system 100, comprising the following steps:
Step A: the real-time pressure of two chambers of asymmetrical cylinder 10 and the real-time displacement of piston motion are obtained.It can manage
Solution, by pressure sensor, (first pressure sensor 31 and second pressure sense the real-time pressure of two chambers of asymmetrical cylinder 10
Device 32) monitoring obtains, and the real-time displacement of piston motion is obtained by the monitoring of displacement sensor 4.
Step B: according to the output of the real-time pressure of the target component of asymmetrical cylinder 10 and two chambers control driving motor 2
Torque (B1) is controlled according to the real-time displacement of the target component of asymmetrical cylinder 10, the real-time pressure of two chambers and piston motion
The pressure release flow (B2) of valve control unit.
Please refer to Figure 12, exemplarily, step B1 the following steps are included:
Step B11: the feedforward control of driving motor 2 is calculated according to the target power output of asymmetrical cylinder 10 and target velocity
Amount processed.Due to two chamber asymmetric properties of asymmetrical cylinder 10, the direction of target power output is first determined whether, according to judging result
And carry out feedforward compensation.
For example, when target power output is consistent with the stretching direction of asymmetrical cylinder 10, it is specified that the value of target power output
It is positive；When target power output is consistent with the shrinkage direction of asymmetrical cylinder 10, it is specified that the value of target power output is negative.Before then
A kind of approximate calculation equation for setting control signal is as follows:
In formula, F is target power output, and v is target velocity, A1For the active area of rodless cavity, A2For the acting surface of rod chamber
Product, Fr are reality output power, P1 is realFor the real-time pressure of rodless cavity, P2 is realFor the real-time pressure of rod chamber.
Step B12: the reality for calculating asymmetrical cylinder 10 according to the real-time pressure of two chambers of asymmetrical cylinder 10 is defeated
Power output calculates the feedback control amount of driving motor 2 according to the reality output power and the target power output.Specifically, its
For closed-loop control.According to the difference between reality output power and target power output, required feedback control amount can be calculated, thus
Realize the feedback regulation of driving motor 2.
Step B13: according to the output torque of the feedforward control amount of driving motor 2 and feedback control amount control driving motor 2.
The adjusting time lag of combination based on feedforward control and feedback control, driving motor 2 is effectively controlled, and has preferably sensitive
Degree.Meanwhile feedforward control, before controlled variable not yet change after disturbance occurs, inhibition position disturbance is to system force control precision
Influence, effectively improve the tracking performance of system.
Please refer to Figure 13, exemplarily, step B2 the following steps are included:
Step B21: valve control list is calculated according to the target power output of asymmetrical cylinder 10 and the target velocity of piston motion
The feedforward control amount of member.Due to two chamber asymmetric properties of asymmetrical cylinder 10, first according to target power output and target speed
The direction of degree judges the operating condition of asymmetrical cylinder 10, carries out corresponding feedforward compensation according to different operating conditions.
For example, pump control cylinder can be divided into four-quadrant movement work in the target velocity according to target power output and piston motion
Condition.Meanwhile along stretching out, direction is positive restriction target power output, the target velocity of piston motion edge stretches out direction and is positive.It is then preposition
A kind of approximate calculation equation for controlling signal is as follows:
Wherein, P1It is the feedforward input pressure of the first electrohydraulic servo valve 51, x1It is the feedforward opening of the first electrohydraulic servo valve 51
Degree, P2It is the feedforward input pressure of the second electrohydraulic servo valve 52, x2It is the feedforward opening degree of the second electrohydraulic servo valve 52.
Step B22: valve control unit is calculated according to the real-time displacement of the piston motion of asymmetrical cylinder 10 and displacement of targets
Feedback control amount.Specifically, it is closed-loop control.According to difference between the real-time displacement and displacement of targets of piston motion,
Required feedback control amount can be calculated, to realize valve control unit (concretely the first electrohydraulic servo valve 51 and second electro-hydraulic
Servo valve 52) feedback regulation.
Step B23: according to the pressure release flow of the feedforward control amount of valve control unit and feedback control control valve control unit.Base
It is effectively controlled in the adjusting time lag of the combination of feedforward control and feedback control, valve control unit, there is preferable sensitivity.Together
When, feedforward control is before controlled variable not yet change after disturbance occurs, shadow of the inhibition position disturbance to system force control precision
It rings, effectively improves the tracking performance of system.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitation of the scope of the invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of pump valve multiplex control system characterized by comprising
Pump control unit, including two-way pump and the driving motor for being used to drive the two-way pump work, described two-way pump one end oil circuit
It is connected to the rod chamber of asymmetrical cylinder, other end oil circuit connection is in the rodless cavity of the asymmetrical cylinder；
Pressure sensor, the real-time pressure of two chambers for monitoring the asymmetrical cylinder respectively；
Displacement sensor, the real-time displacement of the piston motion for monitoring the asymmetrical cylinder；
Valve control unit, the bypass pressure release of two chambers for realizing the asymmetrical cylinder respectively；
Control unit, for according to the monitor value of the monitor value of the pressure sensor, institute's displacement sensors with it is described non-right
The target component of hydraulic cylinder is claimed to control the output torque of the driving motor and the pressure release flow of the valve control unit.
2. pump valve multiplex control system according to claim 1, which is characterized in that the valve control unit includes first electro-hydraulic
Servo valve and the second electrohydraulic servo valve:
First electrohydraulic servo valve is set to the side bypass of the asymmetrical cylinder, described asymmetric hydraulic for discharging
The extra oil liquid of the rodless cavity of cylinder；
Second electrohydraulic servo valve is set to the other side bypass of the asymmetrical cylinder, for discharging the asymmetric liquid
The extra oil liquid of the rod chamber of cylinder pressure.
3. pump valve multiplex control system according to claim 2, which is characterized in that further include oil return box, for receiving
State the extra oil liquid of the first electrohydraulic servo valve and second electrohydraulic servo valve release.
4. pump valve multiplex control system according to claim 1, which is characterized in that it further include confluence element, it is described two-way
Pump, the pressure sensor and the valve control unit integrated installation are on the confluence element.
5. pump valve multiplex control system according to claim 1, which is characterized in that further include oil feeding reservoirs, for providing
Hydraulic oil needed for stating two-way pump.
6. pump valve multiplex control system according to claim 5, which is characterized in that described oil feeding reservoirs one end passes through check valve
Oil circuit connection is in the rodless cavity of the asymmetrical cylinder, and the other end is by another check valve oil circuit connection in the asymmetric liquid
The rod chamber of cylinder pressure.
7. pump valve multiplex control system according to claim 1, which is characterized in that institute's displacement sensors integrate in
In the asymmetrical cylinder.
8. a kind of pump valve composite control method is applied to the described in any item pump valve multiplex control systems of claim 1-7, special
Sign is, comprising:
Obtain the real-time pressure of two chambers of asymmetrical cylinder and the real-time displacement of piston motion；
The output torque of the driving motor is controlled according to the real-time pressure of the target component of the asymmetrical cylinder and two chambers,
The valve control is controlled according to the real-time displacement of the target component of the asymmetrical cylinder, the real-time pressure of two chambers and piston motion
The pressure release flow of unit.
9. pump valve composite control method according to claim 8, which is characterized in that described " according to described asymmetric hydraulic
The real-time pressure of two chambers of cylinder controls the output torque of the driving motor with target component " include:
The feedforward control amount of the driving motor is calculated according to the target power output of the asymmetrical cylinder and target velocity；
The reality output power that the asymmetrical cylinder is calculated according to the real-time pressure of two chambers of the asymmetrical cylinder, according to
The reality output power and the target power output calculate the feedback control amount of the driving motor；
The output torque of the driving motor is controlled according to the feedforward control amount of the driving motor and feedback control amount.
10. pump valve composite control method according to claim 8, which is characterized in that described " according to described asymmetric hydraulic
The real-time displacement of the piston motion of cylinder controls the pressure release flow of the valve control unit with target component " include:
Before calculating the valve control unit according to the target velocity of the target power output of the asymmetrical cylinder and piston motion
Present control amount；
The feedback of the valve control unit is calculated according to the real-time displacement of the piston motion of the asymmetrical cylinder and displacement of targets
Control amount；
The pressure release flow of the valve control unit is controlled according to the feedforward control amount of the valve control unit and feedback control amount.
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| CN201811307755.0A CN109139584A (en) | 2018-11-05 | 2018-11-05 | Pump valve multiplex control system and method |
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| CN109695607A (en) * | 2019-01-30 | 2019-04-30 | 台州职业技术学院 | A kind of pump valve cooperative control method for prestressing force intelligent tensioning equipment |
| CN111649018A (en) * | 2020-06-04 | 2020-09-11 | 南京理工大学 | Pump-controlled hydraulic cylinder integrated with external rotor motor |
| CN111687219A (en) * | 2020-06-08 | 2020-09-22 | 首钢集团有限公司 | Hydraulic system and method for controlling tension of cold rolling single-rack simulator |
| CN113669310A (en) * | 2021-08-25 | 2021-11-19 | 广东电网有限责任公司广州供电局 | Active damping control method, device, equipment and medium based on hydraulic system |
| CN114704516A (en) * | 2022-04-22 | 2022-07-05 | 中国航发控制系统研究所 | Gear type pump pressure regulating system |
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Application publication date: 20190104 |