CN109396540A - The exciting broacher and its excitation parameter method of adjustment of cavity dynamic pressurization - Google Patents
The exciting broacher and its excitation parameter method of adjustment of cavity dynamic pressurization Download PDFInfo
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- CN109396540A CN109396540A CN201811300624.XA CN201811300624A CN109396540A CN 109396540 A CN109396540 A CN 109396540A CN 201811300624 A CN201811300624 A CN 201811300624A CN 109396540 A CN109396540 A CN 109396540A
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- exciting
- valve
- servo valve
- oil
- oil pressure
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000005284 excitation Effects 0.000 title claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims abstract description 8
- 230000001105 regulatory effect Effects 0.000 claims description 28
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 18
- 239000012530 fluid Substances 0.000 claims description 16
- 239000002828 fuel tank Substances 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000000737 periodic effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000000446 fuel Substances 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000013475 authorization Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D41/00—Broaching machines or broaching devices characterised only by constructional features of particular parts
- B23D41/08—Broaching machines or broaching devices characterised only by constructional features of particular parts of drives; of control devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/04—Accumulators
-
- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- 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
-
- 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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
Abstract
The invention discloses the exciting broachers and its excitation parameter method of adjustment of cavity dynamic pressurization.Existing exciting broacher does not have parameter adjustment capability or parameter adjustment not in time.The exciting broacher of cavity dynamic pressurization of the present invention, including broaching main hydraulic cylinder, broaching tool, rack, electro-hydraulic drive part and signal feedback fraction.Electro-hydraulic drive part includes exciting oil sources, single rod exciting cylinder, the first servo valve, the second servo valve, the first oil pressure adjusts component and the second oil pressure adjusts component.First oil pressure adjusts component, the second oil pressure adjusting component includes stepper motor, disc cam and relief piston.Exciting oil sources includes duplex pump, the first reversal valve, the second reversal valve, check valve, overflow valve and first throttle valve.Signal feedback fraction includes the first oil pressure transmitter, the second oil pressure transmitter, third oil pressure transmitter, laser range sensor and acceleration transducer.The present invention adjusts the cavity volume of cylinder body by dynamic, can adjust excitation parameter in real time.
Description
Technical field
The invention belongs to electrohydraulic servo vibration exciting technical fields, and in particular to one kind is pressurized based on bivalve driving and cavity dynamic
Exciting broacher and its excitation parameter method of adjustment.
Background technique
Electro-hydraulic vibration exciter is usually that small power electric vibration excitor is utilized to drive hydraulic efficiency servo-valve, controls the hydraulic coupling in pipeline
Medium just generates very big exciting force on the piston in hydraulic cylinder, is vibrated to make to be swashed part.Electro-hydraulic vibration exciter belongs to
The new and effective vibration source device improved, its advantage is that processing capacity is big, reliable operation and screening efficiency are high, and
It can manufacture and design according to the demand of user.Electro-hydraulic vibration exciter is widely used in many important engineering fields, as automobile is set
Meter field, aerospace field, high-accuracy exciting broaching, dam, high-rise construction earthquake resistance etc..And in vibrocutting manufacture field
In, effective Electro-hydraulic Servo Oscillate System is relatively fewer, and especially the output performance under load disturbance needs further to grind
Study carefully.Based on heavy load cutting characteristic for the abrasive action of cutter, it is necessary to invent a kind of electricity suitable for vibrocutting processing
Liquid vibration excitor improves the abrasion of cutter, improves processing quality.
Existing electrohydraulic excitation system, such as: Patent No. CN201210218096.X (authorization publication number
CN102734279A authorizes date of publication on October 17th, 2012) disclose a kind of electro-hydraulic vibration exciter.A kind of electro-hydraulic vibration exciter vibration
Waveform controller, including oil sources, high-frequency excitation valve, servo valve in parallel, hydraulic actuating mechanism and load object；Servo valve in parallel
Including with zero bias stepper motor, high-frequency excitation valve is the electro-hydraulic high-frequency excitation valve of 2D, the electro-hydraulic high-frequency excitation valve of 2D includes axial stepping
Motor；It further include position detecting device, data acquisition controller, Electronic-hydraulic Servo Controller and industrial personal computer, Electronic-hydraulic Servo Controller
Connect the zero bias stepper motor and axial stepper motor；Industrial personal computer includes: control execution module, to the exciting wave that will be set
Shape signal decomposition is that zero bias control signal and amplitude control signal, and control signal is output to Electronic-hydraulic Servo Controller；Feedback
Comparison module, zero bias feedback signal and amplitude feedback signal are controlled signal and amplitude control signal ratio with zero bias respectively
Compared with, and the difference signal after comparison is sent to Electronic-hydraulic Servo Controller.But this apparatus structure is excessively cumbersome, and tends to high frequency
Exciting occasion, does not adapt to requirement of the vibrocutting processing for exciting force and exciting amplitude, and purposes has limitation.The patent No.
For a kind of CN200910154594.0 (authorization publication number CN101718291A, authorization date of publication on 06 02nd, 2010) big flow
High-frequency electrohydraulic exciting shock control valve drive system, including large-flow high-frequency electrohydraulic exciting shock valve, the drive system further include to drive
The main valve end hydraulic cylinder and the speed changer to drive Spool rotating of the axial linear sliding of movable valve plug, main valve end are hydraulic
Cylinder includes cylinder body and driving piston, and the driving piston is fixedly mounted on the end of the spool, is lived in the cylinder body with driving
Plug is boundary, and the cylinder body close to spool side is rod chamber, and the cylinder body of the other side is rodless cavity, and the rod chamber and pressure-oil tank connect
Logical, the rodless cavity is connected to by flow valve with pressure-oil tank；The speed changer include hydraulic motor, driving gear, idle pulley and
Driven gear；The speed changer includes hydraulic motor and gear speed increasing mechanism；The output shaft of the hydraulic motor and the gear
The input shaft of speed increasing mechanism couples, and the output shaft of the gear speed increasing mechanism couples with spool.But its driving method is excessively cumbersome,
And excited frequency and exciting amplitude can not be adjusted accurately, and biggish fluctuation, shadow can be generated when exciting oil circuit switches at high speed
Ring exciting performance.
Summary of the invention
The purpose of the present invention is to provide it is a kind of based on bivalve driving and cavity dynamic pressurization exciting broacher and its
Excitation parameter method of adjustment.
The exciting broacher of cavity dynamic pressurization of the present invention, including broaching main hydraulic cylinder, broaching tool, rack, electro-hydraulic driving
Part and signal feedback fraction.The broaching main hydraulic cylinder is fixed on the rack.The electro-hydraulic drive part includes exciting
Oil sources, single rod exciting cylinder, the first servo valve, the second servo valve, the first oil pressure adjusts component and the second oil pressure adjusts component.Institute
The single rod exciting cylinder stated includes cylinder body and exciting piston rod.The broaching piston rod of the cylinder body and broaching main hydraulic cylinder is solid
It is fixed.Plunger shaft, the first pressure regulating cavity and the second pressure regulating cavity are provided in cylinder body.The exciting piston rod and plunger shaft, which is constituted, to be slided
It is secondary.The outer end of exciting piston rod and the inner end of broaching tool are fixed.Plunger shaft is divided into exciting rod chamber and exciting by exciting piston rod
Rodless cavity.First pressure regulating cavity, the second pressure regulating cavity are separately positioned on the two sides of exciting rod chamber, and are connected to exciting rod chamber.
First oil pressure adjusts component, the second oil pressure adjusting component includes stepper motor, disc cam and pressure regulation
Piston.First oil pressure adjusts component, the second oil pressure adjusts the disc cam difference eccentric support in component in the first pressure regulation
In chamber, the second pressure regulating cavity.First oil pressure adjusts component, the second oil pressure adjusts relief piston and the first pressure regulating cavity, the in component
Two pressure regulating cavities respectively constitute sliding pair.Disc cam is located at side of the relief piston far from plunger shaft, and is driven by stepper motor.
The exciting oil sources includes duplex pump, the first reversal valve, the second reversal valve, check valve, overflow valve and first segment
Flow valve.Two oil inlets of the duplex pump are connected to fuel tank.The oil inlet of the first oil outlet and the first reversal valve of duplex pump
Mouth connection.The oil return opening of first reversal valve is connected to the first actuator port of the second reversal valve.The oil inlet of second reversal valve and
Second actuator port is all closed, and oil return opening is connected to fuel tank.First actuator port of the first reversal valve and main hydraulic cylinder of broaching
Rodless cavity connection, the second actuator port are connect with the rod chamber of broaching main hydraulic cylinder.
Second oil outlet of the duplex pump is connected to the input oil port of check valve.The output oil port and first segment of check valve
Flow the oil inlet connection of the oil inlet and overflow valve of valve.The oil outlet of overflow valve is connected to fuel tank.The oil outlet of first throttle valve
It is connected to the oil inlet of the first servo valve and the second servo valve.The oil return opening of first servo valve and the second servo valve and fuel tank connect
It is logical.First actuator port of first servo valve and the second servo valve is connected to the intracorporal exciting rodless cavity of cylinder, the second work
Make hydraulic fluid port to be connected to the intracorporal exciting rod chamber of cylinder.
The signal feedback fraction includes the first oil pressure transmitter, the second oil pressure transmitter, third oil pressure transmitter, swashs
Ligh-ranging sensor and acceleration transducer.First oil pressure transmitter, the second oil pressure transmitter and third oil pressure transmitter are solid
It is scheduled on cylinder body.The detection hydraulic fluid port of first oil pressure transmitter is connected to the junction of the first pressure regulating cavity, piston cylinder.Second oil pressure becomes
The detection hydraulic fluid port of device is sent to be connected to the junction of the second pressure regulating cavity, piston cylinder.The detection hydraulic fluid port and exciting of third oil pressure transmitter
The connection of rodless cavity.Laser range sensor is fixed on cylinder body.
Further, the exciting broacher of cavity dynamic pressurization of the present invention further includes system state monitoring control section.
The system state monitoring control section includes industrial personal computer, signal picker and motion controller.The signal picker
Five signal input interfaces and the first oil pressure transmitter, the second oil pressure transmitter, third oil pressure transmitter, laser ranging sense
Device, acceleration transducer signal output be separately connected.Four control output interfaces of motion controller and two stepping electricity
Machine, the first servo valve, the second servo valve control input interface be respectively connected with.The signal input interface and signal acquisition of industrial personal computer
The signal output interface of device is connected.The control output interface of industrial personal computer and the input interface of motion controller are respectively connected with.
Further, the system state monitoring control section further includes display.The display and industrial personal computer
Connection.The model IPC-610L of the industrial personal computer.The signal picker is using model CPU314C in S00 series
PLC.The motion controller uses the PLC of model CPU314 in S00 series.
Further, the stepper motor that first oil pressure adjusts component, the second oil pressure is adjusted in component is each attached to cylinder
On body.The output shaft of stepper motor is fixed with corresponding disc cam.
Further, two of the duplex pump are provided with the first oil filter between oil inlet and fuel tank.Check valve with
The second oil filter is provided between first throttle valve.Oil pressure gauge is connected on first oil outlet of duplex pump.
Further, the exciting oil sources further includes oil pressure gauge, the first accumulator, the second accumulator, third accumulator.
The actuator port of first accumulator is connected to the oil inlet of first throttle valve.The actuator port of second accumulator is watched with first
Take the first actuator port connection of valve and the second servo valve.The actuator port and the first servo valve and second of the third accumulator
Second actuator port of servo valve is connected to.
Further, it is provided between the first actuator port of first reversal valve and the rodless cavity for main hydraulic cylinder of broaching
Second throttle.Third throttling is provided between second actuator port of the first reversal valve and the rod chamber for main hydraulic cylinder of broaching
Valve.
Further, first reversal valve uses O-shaped three position four-way directional control valve.Second reversal valve uses H
Type three position four-way directional control valve.
The excitation parameter method of adjustment of the exciting broacher of cavity dynamic pressurization is specific as follows:
Step 1: setting target equilibrium displacement xs, target amplitude as, intended vibratory cycle Ts。
Step 2: the first servo valve and the second servo valve synchronization action, the first servo valve and the second servo valve input voltage
Absolute value be U, the transformation period of the and positive and negative checker of input voltage, the first servo valve and the second servo valve input voltage is
Ts, so that exciting piston rod moves back and forth.N displacement data for detecting to laser range sensor constant duration broaching tool, obtains
To n displacement data [x (t1),x(t2),…,x(tn)]。
Step 3: calculating real balance displacementWherein, A is Laser Measuring under original state
The distance value detected away from sensor；Under original state, the broaching piston rod for main hydraulic cylinder of broaching is pushed out to extreme position, singly goes out
The exciting piston rod of bar exciting cylinder is located at the center position of cylinder body inner piston chamber；l(ti) it is that laser range sensor detects i-th
The broaching piston rod of broaching main hydraulic cylinder retracts distance when displacement data.
Step 4: calculating piston vibration equilbrium position deviation ex=xs-xm；If | ex|≤0.5mm, then be directly entered step
Five.
If ex> 0.5mm, then to the first servo valve and the second servo valve input negative voltage when, by voltage value be reduced to g (-
U), 0.8≤g≤0.95.Meanwhile two stepper motor rotations, disc cam drive relief piston to the direction far from plunger shaft
Sliding reduces the oil pressure in exciting rod chamber.Persistently calculate exSize, until | exStep motor stop after |≤0.3mm, the
Voltage value when one servo valve and the second servo valve input positive voltage, negative voltage becomes U ,-U respectively, and enters step 5.
If exVoltage value is promoted to g' when then inputting negative voltage to the first servo valve and the second servo valve by < -0.5mm
(- U), 1.05≤g'≤1.3.Meanwhile two stepper motor rotations, disc cam drive relief piston to the side close to plunger shaft
To sliding, increase the oil pressure in exciting rod chamber.Persistently calculate exSize, until | exStep motor stop after |≤0.3mm,
Voltage value when the first servo valve and the second servo valve input positive voltage, negative voltage becomes U ,-U respectively.
Further, after step 4 executes, step 5 is executed to step 11.
Step 5: calculating actual vibration amplitude am。
5.1, a step 2 is repeated.I=2,3 ..., n-1 successively execute step 5.2.Obtain c wave crest displacement
Value and d trough shift value.
If 5.2, x (ti-1) < x (ti) and x (ti) > x (ti+1), then x (ti) it is a wave crest shift value；If x (ti-1) > x
(ti) and x (ti) < x (ti+1), then x (ti) it is a trough shift value.
5.3, the average value of c wave crest shift value is calculatedWith the average value of d trough shift valueCalculate practical vibration
Dynamic amplitude
Step 6: piston vibration amplitude deviation e is calculateda=as-am；If | ea|≤0.1mm, then be directly entered step 9；If
|ea| >=0.3mm, then be directly entered step 7.If 0.1mm < | ea| < 0.3mm is then directly entered step 8.In step 7 and
During eight execute, e is persistently calculatedxSize, if | ex| > 0.5mm then interrupts current procedures, executes step 4.
Step 7: if ea> 0.3mm then persistently increases the input voltage absolute value U of the first servo valve and the second servo valve.
Persistently calculate eaSize, until | eaAfter |≤0.2mm, stops increasing the first servo valve and the input voltage of the second servo valve is exhausted
To value U, eight are entered step.
If ea< -0.3mm then persistently reduces the input voltage absolute value U of the first servo valve and the second servo valve.Lasting meter
Calculate eaSize, until | eaAfter |≤0.2mm, stop the input voltage absolute value U for reducing the first servo valve and the second servo valve,
Enter step eight.
Step 8: if 0.1mm < ea< 0.3mm, then two stepper motors rotation, disc cam drive relief piston to leaning on
The direction sliding of nearly plunger shaft, increases the oil pressure in exciting rod chamber.Persistently calculate eaSize, until | eaIt is walked after |≤0.1mm
It is stalled into motor, enters step nine.
If -0.3mm < ea< -0.1mm, then two stepper motor rotations, disc cam drive relief piston to far from living
The direction sliding for filling in chamber, reduces the oil pressure in exciting rod chamber.Persistently calculate eaSize, until | eaStepping electricity after |≤0.1mm
Machine stalling, enters step nine.
Step 9: repeating a step 2 and five.Calculate the actual piston vibration periodWherein,
tiFor the time difference between i-th of wave crest shift value and i+1 wave crest shift value；tj' it is j-th of trough shift value and jth+1
Time difference between a trough shift value.Ten are entered step later.
Step 10: calculating piston vibration periodic deviation eT=Ts-Tm；If | eT|≤5ms, then be directly entered step 11.If
|eT| > 5ms, then two stepping motor synchronous rotations, and revolving speed is 1/TsRevolution per second；
During step 10 executes, e is persistently calculatedxAnd eaSize.If | ex| > 0.5mm then interrupts current step
Suddenly, step 4 is executed.If | ea| > 0.5mm then interrupts current procedures, executes Step 6: seven and eight.
Step 11: step 2 is repeated to ten.
The invention has the advantages that:
1, the present invention adjusts the cavity volume of cylinder body by dynamic, can be realized the real-time dynamic regulation to excitation parameter.
2, the present invention is based on the common drive characteristic of bivalve, it can be achieved that guaranteeing to effectively improve exciting amplitude under control precision；
3, the present invention integrates monitoring running state and motion control, effectively improves and is adapted to what tradition cutting was equipped
Property and the adaptability of itself multitask；
4, the present invention uses cylinder-valve integrated type modular construction form, effectively reduces hammer vibration energy loss, improves sharp
The stability of vibration wave shape.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of electro-hydraulic drive part in the present invention；
Fig. 3 is the schematic top plan view of electro-hydraulic drive part in the present invention；
Fig. 4 is the partial schematic sectional view of electro-hydraulic drive part in the present invention；
Fig. 5 is oil circuit schematic diagram of the invention；
Fig. 6 is the connection schematic diagram of electro-hydraulic drive part and system state monitoring control section in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, the exciting broacher of cavity dynamic pressurization, including broaching main hydraulic cylinder 1, broaching tool 2, rack 3, electricity
Liquid drive part, signal feedback fraction and system state monitoring control section.Broaching main hydraulic cylinder 1 is fixed in rack 3.
As shown in Fig. 2,3 and 4, electro-hydraulic drive part includes exciting oil sources, single rod exciting cylinder, connection sleeve 4, first watches
It takes valve 5, the second servo valve 6, the first oil pressure and adjusts component 7 and the second oil pressure adjusting component 8.Single rod exciting cylinder includes cylinder body 9
With exciting piston rod 10.Cylinder body 9 and rack constitute sliding pair, and fix with the broaching piston rod of broaching main hydraulic cylinder 1.
As shown in Fig. 2,3 and 4, plunger shaft, the first pressure regulating cavity and the second pressure regulating cavity are provided in cylinder body 9.Exciting piston rod
10 constitute sliding pair with plunger shaft.The outer end of exciting piston rod 10 is stretched out outside cylinder body 9, and passes through connector sleeve with the inner end of broaching tool 2
Cylinder 4 is fixed.Rack 3 is stretched out in the outer end of broaching tool 2.Plunger shaft is divided into exciting rod chamber and exciting without bar by exciting piston rod 10
Chamber.First pressure regulating cavity, the second pressure regulating cavity are separately positioned on the two sides of exciting rod chamber, and are connected to exciting rod chamber.With
The movement of exciting piston rod 10, exciting rod chamber, exciting rodless cavity volume change, but exciting rodless cavity and two pressure regulation
Chamber perseverance is not connected to.
Fuel feeding oil duct and oil return oil duct are offered in cylinder body 9.The oil inlet of fuel feeding oil duct is provided with fuel inlet fitting, oil outlet
It is connected to the oil inlet (P mouthfuls) of the first servo valve 5 and the second servo valve 6.The oil outlet of oil return oil duct is provided with back leakage connection, into
Hydraulic fluid port is connected to the oil return opening (T mouthfuls) of the first servo valve 5 and the second servo valve 6.The of first servo valve 5 and the second servo valve 6
One actuator port (A mouthfuls) is connected to the exciting rodless cavity in cylinder body 9, the second actuator port (B mouthfuls) with the exciting in cylinder body 9
Rod chamber connection.
First oil pressure adjusts component 7, the second oil pressure adjusts component 8 and lives including stepper motor, disc cam 7-1 and pressure regulation
Fill in 7-2.First oil pressure adjusts component 7, the second oil pressure adjusts the disc cam 7-1 difference eccentric support in component 8 and adjusts first
In pressure chamber, the second pressure regulating cavity.First oil pressure adjusts component 7, the second oil pressure adjusts the relief piston 7-2 and first in component 8 and adjusts
Pressure chamber, the second pressure regulating cavity respectively constitute sliding pair.First oil pressure adjusts component 7, the second oil pressure adjusts the stepper motor in component 8
It is each attached on cylinder body 9.The output shaft of stepper motor is fixed with corresponding disc cam 7-1.It is living that disc cam 7-1 is located at pressure regulation
Fill in side of the 7-2 far from plunger shaft.In piston cylinder under the action of oil pressure, disc cam 7-1 is against corresponding disc cam 7-1's
On working profile.When disc cam 7-1 movement, relief piston 7-2 is slid, so that the first pressure regulating cavity or the second pressure regulating cavity
It changes with the volume of piston cylinder connected component, to have the function that adjust oil pressure in exciting rod chamber.
As shown in figure 5, exciting oil sources includes the first oil filter 11, the second oil filter 12, duplex pump 13, the first reversal valve
30, the second reversal valve 31, check valve 14, overflow valve 15, oil pressure gauge 16, the first accumulator 17, the second accumulator, third accumulation of energy
Device, first throttle valve 18, second throttle 19 and third throttle valve 20.First reversal valve 30 uses O-shaped three position four-way directional control valve.
Second reversal valve 31 uses H-type three position four-way directional control valve.Two oil inlets of duplex pump 13 and two the first oil filters 11 go out
Hydraulic fluid port is respectively communicated with.The oil inlet of two the first oil filters 11 is connected to fuel tank.The first oil outlet and oil pressure of duplex pump 13
(P mouthfuls) of oil inlet connections of the detection hydraulic fluid port and the first reversal valve 30 of table 16.The oil return opening (T mouthfuls) and second of first reversal valve 30
(A mouthfuls) of first actuator port connections of reversal valve 31.The oil inlet (P mouthfuls) and the second actuator port (B mouthfuls) of second reversal valve 31
It is all closed, oil return opening (T mouthfuls) is connected to fuel tank.The first actuator port (A mouthfuls) of first reversal valve 30 and main hydraulic cylinder 1 of broaching
Rodless cavity is connected by second throttle 19, and the rod chamber of the second actuator port (B mouthfuls) and broaching main hydraulic cylinder 1 passes through third section
Valve 20 is flowed to connect.
Second oil outlet of duplex pump 13 is connected to the input oil port of check valve 14.The output oil port of check valve 14 and second
The oil inlet connection of the oil inlet and overflow valve 15 of oil filter 12.The oil outlet of overflow valve 15 is connected to fuel tank.Second oil filter
12 oil outlet is connected to the oil inlet of the actuator port of the first accumulator 17 and first throttle valve 18.First throttle valve 18 goes out
Hydraulic fluid port is connected to the oil inlet of fuel feeding oil duct by fuel inlet fitting.The oil outlet and fuel tank of oil return oil duct are connected by back leakage connection
It is logical.The actuator port of second accumulator is connected to the first actuator port (A mouthfuls) of the first servo valve and the second servo valve.Third stores
The actuator port of energy device is connected to the second actuator port (B mouthfuls) of the first servo valve and the second servo valve.
As shown in Fig. 3,4 and 6, signal feedback fraction includes the first oil pressure transmitter 21, the second oil pressure transmitter 22, third
Oil pressure transmitter 23, laser range sensor 24 and acceleration transducer 25.First oil pressure transmitter 21, the second oil pressure transmitter
22 and third oil pressure transmitter 23 be each attached on cylinder body 9.The detection hydraulic fluid port and the first pressure regulating cavity, work of first oil pressure transmitter 21
The junction of plug cylinder is connected to.The detection hydraulic fluid port of second oil pressure transmitter 22 is connected to the junction of the second pressure regulating cavity, piston cylinder.The
The connection of the detection hydraulic fluid port and exciting rodless cavity of three oil pressure transmitters 23.
Laser range sensor 24 is fixed on cylinder body 9.Direction and the piston rod of 24 detector of laser range sensor
Axis is parallel.Inner sidewall of 24 detector of laser range sensor towards rack 3.It is detected by laser range sensor 24
The spacing of itself and 3 inner sidewall of rack, can calculate the position of broaching tool 2.Acceleration transducer 25 is fixed on piston rod outer end
Connection sleeve 4 on.
As shown in fig. 6, system state monitoring control section includes display 26, industrial personal computer 27, signal picker 28 and fortune
Movement controller 29.The model IPC-610L of industrial personal computer 27.Signal picker 28 is using model CPU314C in S7-300 series
PLC.Motion controller 29 uses the PLC of model CPU314 in S7-300 series.Five signals of signal picker 28 are defeated
Incoming interface and the first oil pressure transmitter 21, the second oil pressure transmitter 22, third oil pressure transmitter 23, laser range sensor 24,
The signal output of acceleration transducer 25 is separately connected.Four control output interfaces of motion controller 29 and two stepping electricity
Machine, the first servo valve 5, the second servo valve 6 control input interface be respectively connected with.The signal input interface and signal of industrial personal computer 27
The signal output interface of collector 28 is connected.The control output interface of industrial personal computer 27 and the input interface of motion controller 29 are distinguished
It is connected.Industrial personal computer 27 is connect with display 26.
Industrial personal computer 27 is carried out for reading the data that signal picker 28 is converted and stored, and with the control instruction of setting
It compares, the control instruction of the first servo valve 5, the second servo valve 6 is distributed via the algorithm of motion-control module, and be transmitted to movement
Controller 29 converts corresponding electric signal for respective control instruction, realizes exciting amplitude, the adjusting of excited frequency.
In order to improve the stability and accuracy of excitation system, a kind of cavity that binary channels confluence is lower dynamically pressurization side is provided
The method of method and excited frequency, the accurate on-line tuning of exciting amplitude.
The excitation parameter method of adjustment of the exciting broacher of cavity dynamic pressurization is specific as follows:
Step 1: setting target equilibrium displacement xs, target amplitude as, intended vibratory cycle Ts。
Step 2: 6 synchronization action of the first servo valve 5 and the second servo valve, the first servo valve 5 and the input of the second servo valve 6
The absolute value of voltage is U, and the positive and negative checker of input voltage (i.e. input voltage value between U and-U alternately change), first
The transformation period of 6 input voltage of servo valve 5 and the second servo valve is Ts, so that exciting piston rod moves back and forth.Laser ranging passes
Sensor 24 detects to constant duration n displacement data (i.e. laser range sensor 24 and the rack of broaching tool 2 within the Tz time
The distance of inner sidewall), obtain n displacement data [x (t1),x(t2),…,x(tn)].N=Tzf, Tz are sampling duration；F is
The sample frequency of laser range sensor 24.Tz=10s；F=500Hz.
Step 3: calculating real balance displacementWherein, A is Laser Measuring under original state
The distance value detected away from sensor 24 (i.e. laser range sensor 24 is at a distance from 3 inner sidewall of rack)；Under original state, draw
The broaching piston rod for cutting main hydraulic cylinder 1 is pushed out to extreme position, the sliding plunger position of the exciting piston rod 10 of single rod exciting cylinder
In the center position of 9 inner piston chamber of cylinder body；l(ti) it is main liquid of broaching when laser range sensor 24 detects i-th of displacement data
The broaching piston rod of cylinder pressure 1 retracts the distance (position for piston rod of broaching under the position for piston rod of currently broaching and original state
The distance between).Since the present invention is for movement of broaching, in broaching movement, inward direction is positive direction, therefore in the present invention
Using the direction of exciting piston rod retraction cylinder body 9 as positive direction.
Step 4: calculating piston vibration equilbrium position deviation ex=xs-xm；If | ex|≤0.5mm, then be directly entered step
Five.
If ex> 0.5mm, i.e. exciting piston rod 10 are deviated to the direction close to exciting rodless cavity in cylinder body, at this point, to first
When servo valve 5 and the second servo valve 6 input negative voltage, voltage value is reduced to g (- U), g=0.9, reducing input exciting has
The flow of rod cavity.Meanwhile two stepper motor rotations, disc cam 7-1 drive relief piston 7-2 to the direction far from plunger shaft
Sliding reduces the oil pressure in exciting rod chamber, reduces exciting rod chamber oil liquid rigidity, so that the real balance of exciting piston rod 10
Displacement is under exciting rod chamber, the effect of exciting rodless cavity balance pressure power, to target equilibrium displacement xsLasting adjustment.According to step 2
E is persistently calculated with the method in threexSize, until | exStep motor stop after |≤0.3mm, the first servo valve 5 are watched with second
Take voltage value when valve 6 inputs positive voltage, negative voltage becomes U ,-U respectively, and enters step 5.
If ex< -0.5mm, i.e. exciting piston rod 10 are deviated to the direction far from exciting rodless cavity in cylinder body, at this point, to the
When one servo valve 5 and the second servo valve 6 input negative voltage, voltage value is promoted to g'(-U), g'=1.1 improves input and swashs
The flow of vibration rod chamber.Meanwhile two stepper motor rotations, disc cam 7-1 drive relief piston 7-2 to close to plunger shaft
Direction sliding, increases the oil pressure in exciting rod chamber, so that the real balance of exciting piston rod 10 is displaced in exciting rod chamber, swashs
Under rodless cavity balance pressure power of shaking effect, to target equilibrium displacement xsLasting adjustment.It is persistently counted according to the method in step 2 and three
Calculate exSize, until | exStep motor stop after |≤0.3mm, the first servo valve 5 and the second servo valve 6 input positive voltage are born
Voltage value when voltage becomes U ,-U respectively, and enters step 5.
Step 5: calculating actual vibration amplitude am。
5.1, a step 2 is repeated.I=2,3 ..., n-1 successively execute step 5.2.Obtain c wave crest displacement
Value and d trough shift value.
If 5.2, x (ti-1) < x (ti) and x (ti) > x (ti+1), then x (ti) it is a wave crest shift value；If x (ti-1) > x
(ti) and x (ti) < x (ti+1), then x (ti) it is a trough shift value.
5.3, the average value of step 5.1 and 5.2 resulting c wave crest shift values is calculatedIt is flat with d trough shift value
Mean valueCalculate actual vibration amplitude
Step 6: piston vibration amplitude deviation e is calculateda=as-am；If | ea|≤0.1mm, then be directly entered step 9；If
|ea| >=0.3mm, then be directly entered step 7.If 0.1mm < | ea| < 0.3mm is then directly entered step 8.Amplitude mainly by
Servo threshold voltage determines, when there is little deviation, just adjusts component 7 by the first oil pressure, the second oil pressure adjusts component 8 and carries out
Adjustment relies primarily on and changes the realization of exciting rod chamber oil liquid rigidity, will not since amplitude deviation is generally between 0.1-0.3mm
More than the adjustment threshold value of equilbrium position, so will not generally trigger step 4, once more than 0.3mm, then first on-line tuning servo
Threshold voltage, then be finely adjusted.During step 7 and eight execute, according to Step 2: the method in three and four persistently calculates
exSize, if | ex| > 0.5mm then interrupts current procedures, executes step 4.
Step 7: if ea> 0.3mm then persistently increases the input voltage absolute value of the first servo valve 5 and the second servo valve 6
U.According to Step 2: the method in five and six persistently calculates eaSize, until | eaAfter |≤0.2mm, stop increasing the first servo
The input voltage absolute value U of valve 5 and the second servo valve 6, enters step eight.
If ea< -0.3mm then persistently reduces the input voltage absolute value U of the first servo valve 5 and the second servo valve 6.According to
Step 2: the method in five and six persistently calculates eaSize, until | eaAfter |≤0.2mm, stop reduce the first servo valve 5 and
The input voltage absolute value U of second servo valve 6, enters step eight.
Step 8: if 0.1mm < ea< 0.3mm, then two stepper motor rotations, disc cam 7-1 drive relief piston
7-2 is slided to the direction close to plunger shaft, increases the oil pressure in exciting rod chamber.According to Step 2: the method in five and six is held
It is continuous to calculate eaSize, until | eaStep motor stop after |≤0.1mm, enters step nine.
If -0.3mm < ea< -0.1mm, then two stepper motors rotation, disc cam 7-1 drive relief piston 7-2 to
Direction far from plunger shaft is slided, and the oil pressure in exciting rod chamber is reduced.According to Step 2: method in five and six and continuing to count
Calculate eaSize, until | eaStep motor stop after |≤0.1mm, enters step nine.
Step 9: repeating a step 2 and five.Calculate the actual piston vibration periodWherein,
tiFor the time difference between i-th of wave crest shift value and i+1 wave crest shift value, i.e. ti=mi+1/f；miFor i-th of wave crest
The number of sampled point between shift value and i+1 wave crest shift value；tj' it is j-th of trough shift value and+1 trough position of jth
Time difference between shifting value, i.e. t 'j=m ' j+1/f；m′jIt is adopted between+1 trough shift value of j-th of trough shift value and jth
The number of sampling point.Ten are entered step later.
Step 10: calculating piston vibration periodic deviation eT=Ts-Tm；If | eT|≤5ms, then be directly entered step 11.If
|eT| > 5ms, then two stepping motor synchronous rotations, and revolving speed is 1/TsRevolution per second；
During step 10 executes, according to Step 2: the method in three and four persistently calculates exSize, according to step
Method in rapid two, five and six persistently calculates eaSize.If | ex| > 0.5mm then interrupts current procedures, executes step 4.If
|ea| > 0.5mm then interrupts current procedures, executes Step 6: seven and eight.
The principle for adjusting the cavity stereomutation actual piston vibration period is as follows:
Under the premise of piston cross-section is constant, the active force and chamber pressure on piston are proportional.And according toWherein qLFor cavity flow, pLFor chamber pressure, V cavity volume, βeFor fluid displacement modulus, s table
It gives instructions in reply number field.In the case that flow is constant, cavity volume size and rate of pressure change inversely, so when exciting has bar
When the reciprocal variation of some cycles is presented in chamber volume, mechanical periodicity can be also presented in the active force being superimposed upon on piston.And the period transports
Dynamic relief piston 7-2 just provides the reciprocal variation in period for exciting rod chamber volume.Again since cavity variation is that week is presented
Phase property, its amplitude of averagely getting off is constant, so to exAnd eaInfluence it is smaller.
Step 11: step 2 is repeated to ten.
Claims (10)
1. the exciting broacher of cavity dynamic pressurization, including broaching main hydraulic cylinder, broaching tool, rack, electro-hydraulic drive part and letter
Number feedback fraction；It is characterized by: the broaching main hydraulic cylinder is fixed on the rack；The electro-hydraulic drive part includes swashing
Shake oil sources, single rod exciting cylinder, the first servo valve, the second servo valve, the first oil pressure adjusting component and the second oil pressure adjusting component；
Single rod exciting cylinder includes cylinder body and exciting piston rod；The broaching piston rod of the cylinder body and broaching main hydraulic cylinder is solid
It is fixed；Plunger shaft, the first pressure regulating cavity and the second pressure regulating cavity are provided in cylinder body；The exciting piston rod and plunger shaft, which is constituted, to be slided
It is secondary；The outer end of exciting piston rod and the inner end of broaching tool are fixed；Plunger shaft is divided into exciting rod chamber and exciting by exciting piston rod
Rodless cavity；First pressure regulating cavity, the second pressure regulating cavity are separately positioned on the two sides of exciting rod chamber, and are connected to exciting rod chamber；
First oil pressure adjusts component, the second oil pressure adjusting component includes stepper motor, disc cam and relief piston；
First oil pressure adjusts component, the second oil pressure adjusts the disc cam difference eccentric support in component in the first pressure regulating cavity, the
In two pressure regulating cavities；First oil pressure adjusts component, the second oil pressure adjusts relief piston and the first pressure regulating cavity, the second pressure regulation in component
Chamber respectively constitutes sliding pair；Disc cam is located at side of the relief piston far from plunger shaft, and is driven by stepper motor；
The exciting oil sources includes duplex pump, the first reversal valve, the second reversal valve, check valve, overflow valve and first throttle valve；
Two oil inlets of the duplex pump are connected to fuel tank；First oil outlet of duplex pump and the oil inlet of the first reversal valve connect
It is logical；The oil return opening of first reversal valve is connected to the first actuator port of the second reversal valve；The oil inlet of second reversal valve and second
Actuator port is all closed, and oil return opening is connected to fuel tank；First actuator port of the first reversal valve is with broaching main hydraulic cylinder without bar
Chamber connection, the second actuator port are connect with the rod chamber of broaching main hydraulic cylinder；
Second oil outlet of the duplex pump is connected to the input oil port of check valve；The output oil port and first throttle valve of check valve
Oil inlet and overflow valve oil inlet connection；The oil outlet of overflow valve is connected to fuel tank；The oil outlet of first throttle valve and
The connection of the oil inlet of one servo valve and the second servo valve；The oil return opening of first servo valve and the second servo valve is connected to fuel tank；Institute
The first actuator port for stating the first servo valve and the second servo valve is connected to the intracorporal exciting rodless cavity of cylinder, the second actuator port
It is connected to the intracorporal exciting rod chamber of cylinder；
The signal feedback fraction includes the first oil pressure transmitter, the second oil pressure transmitter, third oil pressure transmitter, Laser Measuring
Away from sensor and acceleration transducer；First oil pressure transmitter, the second oil pressure transmitter and third oil pressure transmitter are each attached to
On cylinder body；The detection hydraulic fluid port of first oil pressure transmitter is connected to the junction of the first pressure regulating cavity, piston cylinder；Second oil pressure transmitter
Detection hydraulic fluid port be connected to the junction of the second pressure regulating cavity, piston cylinder；The detection hydraulic fluid port and exciting of third oil pressure transmitter are without bar
The connection of chamber；Laser range sensor is fixed on cylinder body.
2. the exciting broacher of cavity dynamic pressurization according to claim 1, it is characterised in that: further include system mode
Monitor control section；The system state monitoring control section includes industrial personal computer, signal picker and motion controller；It is described
Five signal input interfaces of signal picker and the first oil pressure transmitter, third oil pressure transmitter, swash at the second oil pressure transmitter
Ligh-ranging sensor, acceleration transducer signal output be separately connected；Four control output interfaces of motion controller with
Two stepper motors, the first servo valve, the second servo valve control input interface be respectively connected with；The signal input interface of industrial personal computer
It is connected with the signal output interface of signal picker；The control output interface of industrial personal computer and the input interface of motion controller are distinguished
It is connected.
3. the exciting broacher of cavity dynamic pressurization according to claim 2, it is characterised in that: the system mode
Monitoring control section further includes display；The display is connect with industrial personal computer；The model IPC-610L of the industrial personal computer；
The signal picker uses the PLC of model CPU314C in S00 series；The motion controller is using in S00 series
The PLC of model CPU314.
4. the exciting broacher of cavity dynamic pressurization according to claim 1, it is characterised in that: the first oil pressure tune
The stepper motor that section component, the second oil pressure are adjusted in component is each attached on cylinder body；The output shaft of stepper motor and corresponding disk
Shape cam is fixed.
5. the exciting broacher of cavity dynamic pressurization according to claim 1, it is characterised in that: the two of the duplex pump
The first oil filter is provided between a oil inlet and fuel tank；The second oil filter is provided between check valve and first throttle valve；
Oil pressure gauge is connected on first oil outlet of duplex pump.
6. the exciting broacher of cavity dynamic pressurization according to claim 1, it is characterised in that: the exciting oil sources
It further include oil pressure gauge, the first accumulator, the second accumulator, third accumulator；The actuator port and first throttle of first accumulator
The oil inlet of valve is connected to；The actuator port and the first servo valve of second accumulator and the first actuator port of the second servo valve
Connection；The actuator port of the third accumulator is connected to the second actuator port of the first servo valve and the second servo valve.
7. the exciting broacher of cavity dynamic pressurization according to claim 1, it is characterised in that: first reversal valve
The first actuator port and broach main hydraulic cylinder rodless cavity between be provided with second throttle；Second work of the first reversal valve
Third throttle valve is provided between hydraulic fluid port and the rod chamber for main hydraulic cylinder of broaching.
8. the exciting broacher of cavity dynamic pressurization according to claim 1, it is characterised in that: first commutation
Valve uses O-shaped three position four-way directional control valve；Second reversal valve uses H-type three position four-way directional control valve.
9. the excitation parameter method of adjustment of the exciting broacher of cavity dynamic pressurization as described in claim 1, feature exist
In: Step 1: setting target equilibrium displacement xs, target amplitude as, intended vibratory cycle Ts；
Step 2: the first servo valve and the second servo valve synchronization action, the first servo valve and the second servo valve input voltage is exhausted
It is U to value, the transformation period of the and positive and negative checker of input voltage, the first servo valve and the second servo valve input voltage is Ts,
So that exciting piston rod moves back and forth；N displacement data for detecting to laser range sensor constant duration broaching tool, obtains n
A displacement data [x (t1),x(t2),…,x(tn)]；
Step 3: calculating real balance displacementWherein, A is laser ranging sensing under original state
The distance value that device detects；Under original state, the broaching piston rod for main hydraulic cylinder of broaching is pushed out to extreme position, single rod exciting
The exciting piston rod of cylinder is located at the center position of cylinder body inner piston chamber；l(ti) it is that laser range sensor detects i-th of displacement number
According to when broaching main hydraulic cylinder broaching piston rod retract distance；
Step 4: calculating piston vibration equilbrium position deviation ex=xs-xm；If | ex|≤0.5mm, then be directly entered step 5；
If exVoltage value is reduced to g (- U) when then inputting negative voltage to the first servo valve and the second servo valve by > 0.5mm,
0.8≤g≤0.95；Meanwhile two stepper motor rotations, disc cam drive relief piston sliding to the direction far from plunger shaft
It is dynamic, reduce the oil pressure in exciting rod chamber；Persistently calculate exSize, until | exStep motor stop after |≤0.3mm, first
Voltage value when servo valve and the second servo valve input positive voltage, negative voltage becomes U ,-U respectively, and enters step 5；
If exVoltage value is promoted to g'(-U when then inputting negative voltage to the first servo valve and the second servo valve by < -0.5mm),
1.05≤g'≤1.3；Meanwhile two stepper motor rotations, disc cam drive relief piston to slide to the direction close to plunger shaft
It is dynamic, increase the oil pressure in exciting rod chamber；Persistently calculate exSize, until | exStep motor stop after |≤0.3mm, first
Voltage value when servo valve and the second servo valve input positive voltage, negative voltage becomes U ,-U respectively.
10. the excitation parameter method of adjustment of the exciting broacher of cavity dynamic pressurization according to claim 9, feature
It is: after step 4 executes, executes step 5 to step 11；
Step 5: calculating actual vibration amplitude am；
5.1, a step 2 is repeated；I=2,3 ..., n-1 successively execute step 5.2；Obtain c wave crest shift value and d
A trough shift value；
If 5.2, x (ti-1) < x (ti) and x (ti) > x (ti+1), then x (ti) it is a wave crest shift value；If x (ti-1) > x (ti)
And x (ti) < x (ti+1), then x (ti) it is a trough shift value；
5.3, the average value of c wave crest shift value is calculatedWith the average value of d trough shift valueCalculate actual vibration width
Value
Step 6: piston vibration amplitude deviation e is calculateda=as-am；If | ea|≤0.1mm, then be directly entered step 9；If | ea|
>=0.3mm, then be directly entered step 7；If 0.1mm < | ea| < 0.3mm is then directly entered step 8；It is held in step 7 and eight
In capable process, e is persistently calculatedxSize, if | ex| > 0.5mm then interrupts current procedures, executes step 4；
Step 7: if ea> 0.3mm then persistently increases the input voltage absolute value U of the first servo valve and the second servo valve；Continue
Calculate eaSize, until | eaAfter |≤0.2mm, stop the input voltage absolute value for increasing the first servo valve and the second servo valve
U enters step eight；
If ea< -0.3mm then persistently reduces the input voltage absolute value U of the first servo valve and the second servo valve；Persistently calculate ea
Size, until | eaAfter |≤0.2mm, stops the input voltage absolute value U for reducing the first servo valve and the second servo valve, enter
Step 8；
Step 8: if 0.1mm < ea< 0.3mm, then two stepper motor rotations, disc cam drive relief piston to close to living
The direction sliding for filling in chamber, increases the oil pressure in exciting rod chamber；Persistently calculate eaSize, until | eaStepping electricity after |≤0.1mm
Machine stalling, enters step nine；
If -0.3mm < ea< -0.1mm, then two stepper motor rotations, disc cam drive relief piston to separate plunger shaft
Direction sliding, reduces the oil pressure in exciting rod chamber；Persistently calculate eaSize, until | eaStepper motor stops after |≤0.1mm
Turn, enters step nine；
Step 9: repeating a step 2 and five；Calculate the actual piston vibration periodWherein, tiFor
Time difference between i-th of wave crest shift value and i+1 wave crest shift value；tj' it is j-th of trough shift value and jth+1
Time difference between trough shift value；Ten are entered step later；
Step 10: calculating piston vibration periodic deviation eT=Ts-Tm；If | eT|≤5ms, then be directly entered step 11；If | eT|
> 5ms, then two stepping motor synchronous rotations, and revolving speed is 1/TsRevolution per second；
During step 10 executes, e is persistently calculatedxAnd eaSize；If | ex| > 0.5mm then interrupts current procedures, holds
Row step 4；If | ea| > 0.5mm then interrupts current procedures, executes Step 6: seven and eight；
Step 11: step 2 is repeated to ten.
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| CN110153493B (en) * | 2019-04-22 | 2020-06-16 | 杭州电子科技大学 | Plane broaching active vibration suppression clamp based on electro-hydraulic servo excitation and vibration suppression method thereof |
| CN110242635A (en) * | 2019-07-19 | 2019-09-17 | 湖北万测试验设备有限公司 | A kind of oil cylinder minute movement control system |
| CN111577686A (en) * | 2020-05-18 | 2020-08-25 | 广东志成电液科技有限公司 | Stepping hydraulic equipment and control method thereof |
| CN111577686B (en) * | 2020-05-18 | 2022-03-29 | 广东志成电液科技有限公司 | Stepping hydraulic equipment and control method thereof |
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