CN109297546A - It is a kind of electricity hydrostatic system displacement, speed flexible measurement method - Google Patents
It is a kind of electricity hydrostatic system displacement, speed flexible measurement method Download PDFInfo
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- CN109297546A CN109297546A CN201811506311.XA CN201811506311A CN109297546A CN 109297546 A CN109297546 A CN 109297546A CN 201811506311 A CN201811506311 A CN 201811506311A CN 109297546 A CN109297546 A CN 109297546A
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- displacement
- hydraulic cylinder
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- oil liquid
- servo motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses a kind of electric hydrostatic system displacements, speed flexible measurement method, 1) measurement method from servo-driver the following steps are included: read revolving speed and the torque of servo motor internal feedback；2) correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak is obtained；3) after obtaining the correlation model that system always leaks, the displacement and speed of hydraulic cylinder piston rod are obtained using calculating.The present invention realizes the displacement of hydraulic cylinder piston rod and the measurement of speed by servo motor internal rotation and the feedback of torque, without using sensor, it reduces costs, reduces failure risk, wiring, installation etc., be conducive to the automation of multi-execution component mechanized equipment.
Description
Technical field
The present invention relates to electric hydrostatic system regions more particularly to a kind of electric hydrostatic system displacements, speed flexible measurement method.
Background technique
What the problems such as rapid economic development and energy shortages, environmental pollution, human cost rise in China got worse
Under situation, in conjunction with fast-developing AC servomotor control technology, a kind of achievable low energy consumption, high efficient and reliable operation are researched and developed
Novel hydraulic energy-conserving control technology, promote hybrid power, motorized and the automation of mechanized equipment, be domestic mechanical dress
One of the problem of standby manufacturing enterprise adapts to social development institute urgent need to resolve and whole world scientific research institution and mechanized equipment manufacture enterprise
One of research hotspot of industry.
The speed of existing electricity hydrostatic system, position measurement need additional sensors (such as speed, displacement sensor), above-mentioned side
Formula will increase extra cost, in addition also will increase failure risk, wiring, installation etc., be particularly disadvantageous for the machinery of multi-execution component
The automation of equipment.
Summary of the invention
The object of the present invention is to provide a kind of sensorless electric hydrostatic system displacements, speed flexible measurement method.
To achieve the above object, the invention adopts the following technical scheme:
It is a kind of electricity hydrostatic system displacement, speed flexible measurement method, electric hydrostatic system include servo motor, servo-driver, pump and
Hydraulic cylinder, servo motor drive pump work, and the flow for pumping generation is supplied to hydraulic cylinder to push piston rod to act, and the servo is driven
Dynamic device is electrically connected with servo motor；The measurement method the following steps are included:
1) revolving speed and the torque of servo motor internal feedback are read from servo-driver；
2) correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak is obtained；
3) after obtaining the correlation model that system always leaks, theoretical stream is found out further according to the product of the discharge capacity of servo motor revolving speed and pump
Amount, it is the actual flow for pushing hydraulic cylinder piston rod that theoretical flow, which deducts after system always leaks, and actual flow is divided by hydraulic
Effective work area of cylinder is to get the speed for arriving hydraulic cylinder piston rod；In addition, being converted into pump according to the rotating cycle of servo motor
The theoretical oil liquid volume of output, which, which deducts, obtains the reality for being input to hydraulic cylinder acting after system always leaks
Oil liquid volume, practical oil liquid volume arrive the displacement of hydraulic cylinder piston rod divided by the effective work area of hydraulic cylinder again.
In step 2, the preparation method for the correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak
As follows: revolving speed, torque, oil liquid temperature, viscosity and displacement data by testing and emulating the electric hydrostatic system of acquisition recycle mind
Model Distinguish is carried out through network, obtains the correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak.
The invention adopts the above technical scheme, has the advantages that through servo motor internal rotation and torque
Feedback, without using sensor, reduces costs to realize the displacement of hydraulic cylinder piston rod and the measurement of speed, reduces failure wind
Danger, wiring, installation etc., are conducive to the automation of the mechanized equipment of multi-execution component.
Specific embodiment
A kind of electric hydrostatic system displacement of the present invention, speed flexible measurement method, electric hydrostatic system include servo motor, servo drive
Dynamic device, pump and hydraulic cylinder, servo motor drive pump work, and the flow for pumping generation is supplied to hydraulic cylinder to push piston rod to act,
The servo-driver is electrically connected with servo motor；The measurement method the following steps are included:
1) revolving speed and the torque of servo motor internal feedback are read from servo-driver；
2) correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak is obtained；
3) after obtaining the correlation model that system always leaks, theoretical stream is found out further according to the product of the discharge capacity of servo motor revolving speed and pump
Amount, it is the actual flow for pushing hydraulic cylinder piston rod that theoretical flow, which deducts after system always leaks, and actual flow is divided by hydraulic
Effective work area of cylinder is to get the speed for arriving hydraulic cylinder piston rod；In addition, being converted into pump according to the rotating cycle of servo motor
The theoretical oil liquid volume of output, which, which deducts, obtains the reality for being input to hydraulic cylinder acting after system always leaks
Oil liquid volume, practical oil liquid volume arrive the displacement of hydraulic cylinder piston rod divided by the effective work area of hydraulic cylinder again.
In step 2, the preparation method for the correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak
As follows: and emulation obtains revolving speed, torque, oil liquid temperature, viscosity and the displacement data of electric hydrostatic system, recycle neural network into
Row Model Distinguish obtains the correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak.
It is soft that the present invention carries out the displacement of hydraulic cylinder piston rod, speed using the internal rotation of servo motor, torque feedback
Measurement, to realize automation, the intelligentized control method of electric hydrostatic system without gap sensors, such as digger operating device (such as scraper bowl
And dozer) TRAJECTORY CONTROL, promote mechanized equipment construction automate and intelligence to improve productivity, as excavator is automatic
Smooth, flat slope and excavation, bulldozer blade lift cylinder and deflection cylinder, loading machine automatic loading and unloading etc..
Above the preferred embodiment of the patent is described in detail, but this patent is not limited to above-mentioned embodiment party
Formula within the knowledge of one of ordinary skill in the art can also be under the premise of not departing from this patent objective
It makes a variety of changes.
Claims (2)
1. a kind of electricity hydrostatic system displacement, speed flexible measurement method, electric hydrostatic system includes servo motor, servo-driver, pump
And hydraulic cylinder, servo motor drive pump work, the flow for pumping generation is supplied to hydraulic cylinder to push piston rod to act, the servo
Driver is electrically connected with servo motor；It is characterized by: the measurement method the following steps are included:
1) revolving speed and the torque of servo motor internal feedback are read from servo-driver；
2) correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak is obtained；
3) after obtaining the correlation model that system always leaks, theoretical stream is found out further according to the product of the discharge capacity of servo motor revolving speed and pump
Amount, it is the actual flow for pushing hydraulic cylinder piston rod that theoretical flow, which deducts after system always leaks, and actual flow is divided by hydraulic
Effective work area of cylinder is to get the speed for arriving hydraulic cylinder piston rod；In addition, being converted into pump according to the rotating cycle of servo motor
The theoretical oil liquid volume of output, which, which deducts, obtains the reality for being input to hydraulic cylinder acting after system always leaks
Oil liquid volume, practical oil liquid volume arrive the displacement of hydraulic cylinder piston rod divided by the effective work area of hydraulic cylinder again.
2. a kind of electric hydrostatic system displacement according to claim 1, speed flexible measurement method, it is characterised in that: step 2
In, the preparation method for the correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak is as follows: passing through experiment
Revolving speed, torque, oil liquid temperature, viscosity and the displacement data that electric hydrostatic system is obtained with emulation, recycle neural network to carry out mould
Type identification, obtains the correlation model that revolving speed, torque, oil liquid temperature, viscosity, displacement and system always leak.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811506311.XA CN109297546B (en) | 2018-12-10 | 2018-12-10 | Soft measurement method for displacement and speed of electro-hydrostatic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811506311.XA CN109297546B (en) | 2018-12-10 | 2018-12-10 | Soft measurement method for displacement and speed of electro-hydrostatic system |
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| CN109297546A true CN109297546A (en) | 2019-02-01 |
| CN109297546B CN109297546B (en) | 2021-01-05 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110939617A (en) * | 2019-12-12 | 2020-03-31 | 福建工程学院 | Hydraulic actuator position control method without displacement sensor |
| CN111237292A (en) * | 2020-01-12 | 2020-06-05 | 福建工程学院 | Speed closed-loop control method of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition |
| CN111351523A (en) * | 2019-12-04 | 2020-06-30 | 福建工程学院 | Hydraulic cylinder displacement and speed soft measurement method of single-pump open system |
| CN111396400A (en) * | 2020-01-12 | 2020-07-10 | 福建工程学院 | Soft measurement method for speed and displacement of hydraulic cylinder of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110939617A (en) * | 2019-12-12 | 2020-03-31 | 福建工程学院 | Hydraulic actuator position control method without displacement sensor |
| CN111237292A (en) * | 2020-01-12 | 2020-06-05 | 福建工程学院 | Speed closed-loop control method of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition |
| CN111396400A (en) * | 2020-01-12 | 2020-07-10 | 福建工程学院 | Soft measurement method for speed and displacement of hydraulic cylinder of variable-rotation-speed single-pump cylinder control closed system under four-quadrant working condition |
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| CN109297546B (en) | 2021-01-05 |
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