CN109297546B - Soft measurement method for displacement and speed of electro-hydrostatic system - Google Patents
Soft measurement method for displacement and speed of electro-hydrostatic system Download PDFInfo
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- CN109297546B CN109297546B CN201811506311.XA CN201811506311A CN109297546B CN 109297546 B CN109297546 B CN 109297546B CN 201811506311 A CN201811506311 A CN 201811506311A CN 109297546 B CN109297546 B CN 109297546B
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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
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Abstract
The invention discloses a soft measurement method for displacement and speed of an electro-hydrostatic system, which comprises the following steps: 1) reading the rotating speed and the torque fed back from the servo motor from the servo driver; 2) obtaining a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total leakage of the system; 3) and after obtaining a correlation model of the total leakage of the system, calculating to obtain the displacement and the speed of the piston rod of the hydraulic cylinder. According to the invention, the displacement and the speed of the piston rod of the hydraulic cylinder are measured by the feedback of the rotating speed and the torque in the servo motor, a sensor is not needed, the cost is reduced, the fault risk, the wiring, the installation and the like are reduced, and the automation of multi-execution-element mechanical equipment is facilitated.
Description
Technical Field
The invention relates to the field of an electro-hydrostatic system, in particular to a soft measurement method for displacement and speed of the electro-hydrostatic system.
Background
Under the increasingly serious conditions of the rapid economic development and the problems of energy shortage, environmental pollution, labor cost rise and the like in China, a novel hydraulic energy-saving control technology capable of realizing low energy consumption, high efficiency and reliable operation is developed by combining the rapidly developed alternating current servo motor control technology, the hybrid power, the electromotion and the automation of mechanical equipment are promoted, and the hydraulic energy-saving control technology is one of the problems which need to be solved urgently in adapting to the social development of the manufacturing enterprises of the mechanical equipment in China and is also one of the research hotspots of the scientific research institutions and the manufacturing enterprises of the mechanical equipment all over the world.
The speed and position measurement of the existing electro-hydrostatic system requires additional sensors (such as speed and displacement sensors), which increases additional cost, and in addition, increases the risk of failure, wiring, installation, etc., and is particularly not conducive to the automation of mechanical equipment with multiple actuators.
Disclosure of Invention
The invention aims to provide a displacement and speed soft measurement method of an electro-hydrostatic system without a sensor.
In order to achieve the purpose, the invention adopts the following technical scheme:
a displacement and speed soft measurement method for an electro-hydrostatic system comprises a servo motor, a servo driver, a pump and a hydraulic cylinder, wherein the servo motor drives the pump to work, the flow generated by the pump is provided for the hydraulic cylinder to push a piston rod to act, and the servo driver is electrically connected with the servo motor; the measuring method comprises the following steps:
1) reading the rotating speed and the torque fed back from the servo motor from the servo driver;
2) obtaining a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total leakage of the system;
3) after a correlation model of the total leakage of the system is obtained, the theoretical flow is calculated according to the product of the rotating speed of the servo motor and the displacement of the pump, the theoretical flow is the actual flow for pushing the piston rod of the hydraulic cylinder after the total leakage of the system is deducted, and the actual flow is divided by the effective working area of the hydraulic cylinder to obtain the speed of the piston rod of the hydraulic cylinder; in addition, the theoretical oil volume output by the pump is converted according to the number of rotation turns of the servo motor, the theoretical oil volume deducts the total leakage of the system to obtain the actual oil volume input into the hydraulic cylinder for doing work, and the actual oil volume is divided by the effective working area of the hydraulic cylinder to obtain the displacement of the piston rod of the hydraulic cylinder.
In the step 2), the method for obtaining the correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total system leakage is as follows: the method comprises the steps of obtaining rotation speed, torque, oil temperature, viscosity and displacement data of an electro-hydrostatic system through experiments and simulation, and then carrying out model identification by utilizing a neural network to obtain a correlation model of the rotation speed, the torque, the oil temperature, the viscosity and the displacement and total leakage of the system.
By adopting the technical scheme, the invention has the following beneficial effects: the displacement and the speed of the piston rod of the hydraulic cylinder are measured by the feedback of the rotating speed and the torque in the servo motor, a sensor is not needed, the cost is reduced, the fault risk, the wiring, the installation and the like are reduced, and the automation of mechanical equipment with multiple execution elements is facilitated.
Detailed Description
The invention relates to a displacement and speed soft measurement method of an electro-hydrostatic system, wherein the electro-hydrostatic system comprises a servo motor, a servo driver, a pump and a hydraulic cylinder, the servo motor drives the pump to work, the flow generated by the pump is provided for the hydraulic cylinder to push a piston rod to act, and the servo driver is electrically connected with the servo motor; the measuring method comprises the following steps:
1) reading the rotating speed and the torque fed back from the servo motor from the servo driver;
2) obtaining a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total leakage of the system;
3) after a correlation model of the total leakage of the system is obtained, the theoretical flow is calculated according to the product of the rotating speed of the servo motor and the displacement of the pump, the theoretical flow is the actual flow for pushing the piston rod of the hydraulic cylinder after the total leakage of the system is deducted, and the actual flow is divided by the effective working area of the hydraulic cylinder to obtain the speed of the piston rod of the hydraulic cylinder; in addition, the theoretical oil volume output by the pump is converted according to the number of rotation turns of the servo motor, the theoretical oil volume deducts the total leakage of the system to obtain the actual oil volume input into the hydraulic cylinder for doing work, and the actual oil volume is divided by the effective working area of the hydraulic cylinder to obtain the displacement of the piston rod of the hydraulic cylinder.
In the step 2), the method for obtaining the correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total system leakage is as follows: and simulating to obtain the data of the rotating speed, the torque, the oil temperature, the viscosity and the displacement of the electro-hydrostatic system, and then carrying out model identification by utilizing a neural network to obtain a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total leakage of the system.
The invention utilizes the internal rotating speed and torque feedback of the servo motor to carry out the displacement and speed soft measurement of the piston rod of the hydraulic cylinder, thereby realizing the automatic and intelligent control of an electro-hydrostatic system without a displacement sensor, such as the track control of working devices (such as a bucket and a dozer blade) of an excavator, promoting the construction automation and the intelligence of mechanical equipment to improve the productivity, such as the automatic leveling, the flat slope and the excavation of the excavator, the lifting cylinder and the deflection cylinder of the dozer blade, the automatic loading and unloading of a loader and the like.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (1)
1. A displacement and speed soft measurement method for an electro-hydrostatic system comprises a servo motor, a servo driver, a pump and a hydraulic cylinder, wherein the servo motor drives the pump to work, the flow generated by the pump is provided for the hydraulic cylinder to push a piston rod to act, and the servo driver is electrically connected with the servo motor; the method is characterized in that: the measuring method comprises the following steps:
1) reading the rotating speed and the torque fed back from the servo motor from the servo driver;
2) obtaining a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total leakage of the system; in the step, a method for obtaining a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total system leakage is as follows: obtaining the data of the rotating speed, the torque, the oil temperature, the viscosity and the displacement of the electro-hydrostatic system through experiments and simulation, and then carrying out model identification by utilizing a neural network to obtain a correlation model of the rotating speed, the torque, the oil temperature, the viscosity, the displacement and the total leakage of the system;
3) after a correlation model of the total leakage of the system is obtained, the theoretical flow is calculated according to the product of the rotating speed of the servo motor and the displacement of the pump, the theoretical flow is the actual flow for pushing the piston rod of the hydraulic cylinder after the total leakage of the system is deducted, and the actual flow is divided by the effective working area of the hydraulic cylinder to obtain the speed of the piston rod of the hydraulic cylinder; in addition, the theoretical oil volume output by the pump is converted according to the number of rotation turns of the servo motor, the theoretical oil volume deducts the total leakage of the system to obtain the actual oil volume input into the hydraulic cylinder for doing work, and the actual oil volume is divided by the effective working area of the hydraulic cylinder to obtain the displacement of the piston rod of the hydraulic cylinder.
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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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| 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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| CN109297546B true CN109297546B (en) | 2021-01-05 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111351523B (en) * | 2019-12-04 | 2022-06-28 | 福建工程学院 | Hydraulic cylinder displacement and speed soft measurement method of single-pump open system |
| CN110939617A (en) * | 2019-12-12 | 2020-03-31 | 福建工程学院 | Hydraulic actuator position control method without displacement sensor |
| CN111396400B (en) * | 2020-01-12 | 2022-04-29 | 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 |
| CN111237292B (en) * | 2020-01-12 | 2022-07-12 | 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 |
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