CN109681495A - A kind of electro-hydraulic actuator control system - Google Patents

A kind of electro-hydraulic actuator control system Download PDF

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Publication number
CN109681495A
CN109681495A CN201811555498.2A CN201811555498A CN109681495A CN 109681495 A CN109681495 A CN 109681495A CN 201811555498 A CN201811555498 A CN 201811555498A CN 109681495 A CN109681495 A CN 109681495A
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China
Prior art keywords
signal
control
input
alternating current
module
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Granted
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CN201811555498.2A
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CN109681495B (en
Inventor
田中山
井健
赖少川
董珊珊
杨昌群
张书荣
刘维国
徐中节
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China Petroleum and Chemical Corp
Xian Aerospace Propulsion Institute
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China Petroleum and Chemical Corp
Xian Aerospace Propulsion Institute
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08Servomotor systems incorporating electrically operated control means
    • F15B21/087Control strategy, e.g. with block diagram
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/20Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205Systems with pumps
    • F15B2211/20507Type of prime mover
    • F15B2211/20515Electric motor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/20Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205Systems with pumps
    • F15B2211/2053Type of pump
    • F15B2211/20538Type of pump constant capacity
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/665Methods of control using electronic components
    • F15B2211/6656Closed loop control, i.e. control using feedback

Abstract

The invention discloses a kind of electro-hydraulic actuator control systems, including power module, signal acquisition module, signal processing module and drive module;Power module provided by the invention; it exchanges side and overcurrent protection is carried out using fuse; surge suppressor realizes lightning protection and surge protection; alternating current filter realizes exchange side filter function; AC-DC transformation is realized by linear power source circuit again, DC supply input DC filter is realized into filtering and signal stabilization function, multi-channel dc power supply is transformed to using DC-DC and voltage adjuster; it realizes the power-supply system for being applied to complex working condition, stable working power is provided to electro-hydraulic actuator control system.

Description

A kind of electro-hydraulic actuator control system
Technical field
The present invention relates to electrical control gears, and in particular to a kind of electro-hydraulic actuator control system.
Background technique
Electro-hydraulic actuator is a kind of Direct Drive Electro-hydraulic Servo System, is also valveless servo-control system, is exchanged by control The revolving speed of servo motor turns to control displacement, speed and the direction of motion of hydraulic cylinder, to realize high thrust, high speed Motion control.
Intelligence electro-hydraulic actuator only has matured product, such as U.S. REXA, Japan KOSO in foreign countries at present, in recent years, domestic Ye You producer researches and develops similar products, such as Anshan Baeyer, Sino-German petrochemical industry, Ai Luo company, Heng Chun company, but all not formed matured product With mature technology, the practical index of external product is had not exceeded in performance indicator.
The electro-hydraulic actuator product of U.S. REXA company represents the advanced level in the world at present, but sell at home In REXA main product, the technical level of control system falls behind relatively, a large amount of electronics member devices for using the last century 80-90 age Part and circuit engineering, Product Precision are essentially 0.15% or so at normal temperature, and cannot accomplish that full warm area control precision meets 0.15%, for the linearity 0.05% or so, repeatable accuracy, and can only be in the environment of -20 DEG C~+50 DEG C 0.10% or so Operation, if being more than that the temperature is run, product can lock automatically, cisco unity malfunction.And domestic visible electro-hydraulic actuator at present Precision is controlled under control system room temperature substantially 0.2% or so, can not accomplish that full warm area control precision meets within 0.2%, Operating temperature section is also smaller, and it is quasi- cannot to reach industrial wide temperature scale.
Summary of the invention
The purpose of the present invention is to provide a kind of electro-hydraulic actuator control system, to solve in the prior art electro-hydraulic hold The problems such as control precision of row device control system is not high, and temperature applicable range is not wide.
In order to realize above-mentioned task, the invention adopts the following technical scheme:
A kind of electro-hydraulic actuator control system, for generating execution amount control action system, the control system includes Power module, signal acquisition module, signal processing module and drive module;
The alternating current that power grid accesses for being converted to stable alternating current by the power module, then by stable exchange Electricity is converted to the direct current of multiple voltage grade, will be described by the stable alternating current supply drive module Direct current supply drive module, signal acquisition module and the signal processing module;
The signal acquisition module is for accurately acquiring in control signal and moving system in communication system Feedback signal, obtain digital quantity form control signal and feedback signal;
The signal processing module, for the control signal and feedback signal according to the digital quantity form, benefit Control amount is obtained with closed loop control method;
The drive module is used to the control amount being converted to execution amount;
The power module includes sequentially connected AC power source input submodule, AC-DC conversion submodule and straight Stream filtering submodule;
The AC power source input submodule is used to after the alternating current that power grid accesses is carried out pressure stabilizing filter again, obtains steady Fixed alternating current supplies the drive module;
The AC-DC conversion submodule filters again for being depressured, being rectified by the stable alternating current, obtains Direct current is obtained, the drive module is supplied;
The DC filtering submodule is used to carry out multichannel isolation again after the direct current is carried out DC filtering, obtains The direct current for obtaining a variety of voltage class supplies the signal acquisition module and signal processing module.
Further, the AC power source input submodule include sequentially connected fuse, surge suppressor and Alternating current filter, the alternating current of power grid access input surge suppressor after inputting fuse again, the alternating current after obtaining pressure stabilizing, institute Alternating current filter described in alternating current input after stating pressure stabilizing is filtered, and obtains stable alternating current;
The AC-DC conversion submodule includes linear power supply and DC filter, the stable alternating current input It is rectified again after being depressured after linear power supply and obtains intermediate dc electricity, carried out after the intermediate dc electricity input direct-current filter Filtering obtains direct current;
The DC filtering submodule includes DC filter and multiple DC voltage-stabilizing isolation circuits, the direct current After electric input direct-current filter, filtered direct current, the filtered multiple DC voltage-stabilizing isolation of DC supply input are obtained After circuit, the direct current of multiple voltage grade is obtained;
The DC voltage-stabilizing isolation circuit includes dc-dc boost submodule and voltage adjuster, the filtering After DC supply input dc-dc boost submodule afterwards, the direct current after being depressured, the DC supply input after the decompression After voltage adjuster, the direct current of required voltage grade is obtained.
Further, the signal acquisition module includes multiple sensors, multiple analog quantity acquisition circuits and simulation Amount-digital quantity conversion circuit;
The sensor is used to acquire the feedback signal in moving system;
The analog quantity acquisition circuit is used for from the control signal in communication system and the feedback in the sensor The feedback signal of analog quantity form is accurately acquired in signal;
The analog quantity-digital quantity conversion circuit is used for the control signal and feedback letter of the analog quantity form Number be converted to the control signal and feedback signal of digital quantity form.
Further, the analog quantity acquisition circuit includes sequentially connected isolation amplification sub-circuit and second-order filter Sub-circuit;
The isolation amplification sub-circuit is used for the control signal in communication system and the feedback signal in sensor It is isolated and is amplified again after carrying out the inhibition of interference signal, obtains the control signal and feedback letter of intermediate analog quantity form Number;
The second-order filter sub-circuit is used to carry out two to the control signal and feedback signal of intermediate analog quantity form Secondary low-pass filtering obtains the control signal and feedback signal of analog quantity form.
Further, when control signal and feedback signal enter the isolation amplification sub-circuit, pass through signal first After input anode and signal input cathode, carried out by being connected in parallel on the first capacitor that input anode and signal input on cathode After the isolation for controlling signal and feedback signal, control signal and feedback signal after being isolated, by the control after isolation Signal and feedback signal are input in isolated amplifier by the signal input part of isolated amplifier to be amplified, and is amplified Control signal and feedback signal afterwards;
It is logical first when the amplified control signal and feedback signal are input to the second-order filter sub-circuit The the first signal input anode for crossing concatenated 3rd resistor and the 4th resistance and first amplifier is put into first Big device, and first time low-pass filtering is carried out in the 7th capacitor by being connected in parallel on the first amplifier, obtain first time low pass Filtered control signal and feedback signal;By after first time low-pass filtering control signal and feedback signal pass through series connection The 5th resistance and the second signal input anode of the 6th resistance and second amplifier input the interior of the second amplifier Portion, and second of low-pass filtering is carried out by the 8th capacitor being connected in parallel on the second amplifier and the 9th capacitor, obtain mould The control signal and feedback signal of analog quantity form.
Further, the moving system includes sequentially connected servo motor and executing agency;
For the servo motor for being rotated according to the execution amount, the execution amount includes servo motor Revolving speed and steering;
The executing agency according to the rotation of servo motor for being acted.
The present invention has following technical effect that compared with prior art
1, the quadratic distribution formula power module in electro-hydraulic actuator control system provided by the invention, exchange side is using fusing Device carries out overcurrent protection, and surge suppressor realizes lightning protection and surge protection, and alternating current filter realizes exchange side filter function, then leads to It crosses linear power source circuit and realizes AC-DC transformation, DC supply input DC filter is realized into filtering and signal stabilization function, is adopted It is transformed to multi-channel dc power supply with DC-DC and voltage adjuster, realizes the power-supply system for being applied to complex working condition, gives electro-hydraulic execution Device control system provides stable working power;
2, the analog quantity acquisition circuit in electro-hydraulic actuator control system provided by the invention, can be compatible with 4~20mA, 0 The unlike signal mode of~20mA, 4~24mA, 0~5V can be realized low-pass filtering adjusting, to periodical AC influence signal There is effective inhibition function, can be realized the isolation and amplification of signal, entire Acquisition Circuit transmission error is no more than full scale 0.01%, realize the high precision collecting function of diversification analog signal;
3, analog quantity-digital quantity conversion module has 16 high-precisions in electro-hydraulic actuator control system provided by the invention Output, has the ability of anti-backward voltage and reverse current, has TVS pipe and surge protector to ensure that circuit is not rushed by outside Influence is hit, ensure that the job stability of circuit.
Detailed description of the invention
Fig. 1 is electro-hydraulic actuator control system general structure schematic diagram provided by the invention;
Fig. 2 is the power module provided in one embodiment of the present of invention and other module connection diagrams;
Fig. 3 is the analog quantity acquisition circuit structural schematic diagram provided in one embodiment of the present of invention;
Fig. 4 is fixed at normal temperature using electro-hydraulic actuator control system provided by the invention in one embodiment of the present of invention Position precision curve;
Fig. 5 is to utilize electro-hydraulic actuator control system provided by the invention under high/low temperature in one embodiment of the present of invention Positioning accuracy curve.
Figure label represents: the first signal output end of 1-, 2- the first signal input negative terminal, and the first signal of 3- inputs anode, 4- third ground terminal, 5- second signal input anode, 6- second signal input negative terminal, 7- second signal output end, 8- second connect Ground terminal, 9- second source input anode, 10- second source input cathode, and the first power input of 11- is positive, and the first power supply of 12- is defeated Enter cathode, 13- third signal output end, 14- power access end, 15- signal input part, the first ground terminal of 16-, (XH+)-signal Input anode, (XH-)-signal input cathode, C46- first capacitor, the second capacitor of C142-, C143- third capacitor, C144- the Four capacitors, the 5th capacitor of C145-, the 6th capacitor of C48-, the 7th capacitor of C47-, the 8th capacitor of C50-, the 9th capacitor of C51-, The tenth capacitor of C146-, R25- first resistor, R33- second resistance, R26- 3rd resistor, the 4th resistance of R27-, the 5th electricity of R28- Resistance, the 6th resistance of R29-, the 7th resistance of R30-, the 8th resistance of R31-, the 9th resistance of R32-, bis- wire jumpers of J1-, U6- isolation are put Big device, the first amplifier of U7A-, the second amplifier of U7B-, AGND-.
Specific embodiment
Electro-hydraulic actuator: the control signal for being sent according to field control host is acted, including sequentially connected Communication system, control system and moving system, communication system are used to receive the control signal of control host, and control system is used for The control signal of communication system and the feedback signal of moving system are acquired, and is generated according to control signal and feedback signal Control amount, reconvert are acted at execution amount, moving system according to execution amount.
Voltage class: the voltage rating rank series of electric system and power equipment, wherein DC voltage level is according to flat The electrical equipment required voltage often powered, can be divided into ± 15V,
± 12V, ± 5V and ± 3.3V etc..
Field control host: generally programmable in factory or operation scene for sending the processing unit of control signal Logic controller (PLC) is acted by exporting the various types of actuators of Analog control.
Communication system: connecting the system for transmitting control signal, generally fieldindustrybus with field control host, To realize that digital communication between the field devices such as intelligent instrumentation, controller, executing agency and these field controls are set The standby information transmitting between advanced control system (ACS).
Control system: can be kept and be changed according to desired mode by control system machine, mechanism or other set Standby interior amount any interested or variable, control system are divided into open-loop control system and closed-loop control system, closed-loop control system System refers to the system controlled using closed loop control method.
Moving system: it is the system of direct execution movement, generally comprises motor and executing agency.
Servo motor: servo motor (servo motor) refers to controls starting for mechanical organ operating in servo-system Machine, is a kind of indirect speed change gear of subsidy motor, and servo motor can make to control speed, and position precision is very accurate, can will be electric Pressure signal is converted into torque and revolving speed with drive control object.
Executing agency: receiving the control signal that controller is sent, and changes the size of controlled medium, so that controlled variable be tieed up Hold in required range numerically or centainly, in the present invention executing agency be gear pump hydraulic cylinder, gear pump be according to Swept volume variation and movement are formed by between pumping cylinder and meshing gear to convey liquid or be allowed to the drum pump being pressurized, gear The rotation of pump is conducted to hydraulic cylinder and carries out displacement action.
Drive module: it is usually motor driver, refers to motor servo driver in the present invention, be for controlling servo A kind of controller of motor, effect are similar to frequency converter and act on common alternating current motor, belong to a part of servo-system, main To be applied to high-precision positioning system.Servo motor is controlled generally by three kinds of position, speed and torque modes, Realize high-precision transmission system positioning, the power input of motor servo driver needs DC power supply and AC power source.
Closed loop control method: closed-loop control refers to that controlled output returns to the input terminal as control in a certain way, It is to be fed back according to control object output come corrected control mode, is to measure practical control amount and plan control amount hair It when raw deviation, is corrected by quota or standard, closed-loop control is common negative feedback control, is controlled according to practical control amount and plan Difference between amount is controlled, such as adjustable tap: having a desired flow, tap to water flow first in brains Existing uninterrupted is observed by eyes after opening to be compared with desired value, and constantly is adjusted to form one instead with hand Present closed-loop control.
PID closed loop control method: PID is ratio (Proportion), is integrated (Integral), differential The abbreviation of (Differential coefficient) has respectively represented three kinds of control algolithms, is joined according to the three of PID controller The output of number adjustment control method, at Tuning PID Controller parameter (scale parameter Kp, integral parameter Ki and differential parameter Kd) When, it can experimentally be come according to the qualitative relationships between the parameter and dynamic performance and steady-state performance of controller The parameter of adjusting controller.
Fuse: fuse (fuse) refers to when electric current is more than specified value, so that melt is fused with the heat that itself is generated, A kind of electric appliance of disconnecting circuit.
Surge suppressor: also referred to as Surge Suppressors (surge suppressor), Surge Protector, lightning protection are also Device is a kind of to provide the electronic device of security protection for various electronic equipments, instrument and meter, communication line.When electric loop or Because Surge Protector can be in the extremely short time when extraneous interference generates peak current or voltage suddenly in person's communication line Interior conducting shunts, to avoid damage of the surge to other equipment in circuit.
Ac filter circuit: for being filtered out to the interference in alternating current circuit, it can be capacitor filter, utilize electricity The characteristic that the voltage at appearance both ends is unable to transition when circuit state changes is filtered, and can also be RC filter circuit.
Linear power supply: linear power supply (Linear power supply) is that alternating current is first reduced voltage by transformer Amplitude obtains pulse direct current after rectifier circuit rectifies, obtains the direct current with small ripple voltage by filtering The electric product of pressure.
It is the specific embodiment that inventor provides below, for making solution further to technical solution of the present invention It releases.
Embodiment one
A kind of electro-hydraulic actuator control system is disclosed in the present embodiment, for raw according to the control signal of communication system At execution amount control action system, the control system include power module, signal acquisition module, signal processing module and Drive module;
Electro-hydraulic actuator is used for according to field control host, generally PLC host, and the control signal of sending executes movement, In general execution movement be hydraulic cylinder movement, that is to say, that in the present embodiment, PLC field control host will control signal hair Electro-hydraulic actuator is given, in general control signal is the displacement of hydraulic cylinder, command displacement amount is sent to electro-hydraulic actuator, Electro-hydraulic actuator is acted according to this command displacement amount, therefore electro-hydraulic actuator needs to include communication system, control system With the system of execution, wherein communication system is used for and PLC host communication, communication system obtain the command displacement amount that PLC host is sent, Communication system is generally fieldindustrybus, can be PROFIBUS bus, CAN bus etc..Control system is used for control bit Shifting amount is handled, and command displacement amount is converted to the execution amount that execution system can identify, executes system for realizing final Hydraulic cylinder movement, but the control precision of existing electro-hydraulic actuator is not high, and the reason for causing control precision not high has: electro-hydraulic Interfered in actuator it is excessive cause signal acquisition inaccurate, the precision of signal acquisition is inadequate, the precision of signal processing not enough etc., Interference in middle electro-hydraulic actuator has the greatly interference from power supply.
As shown in Figure 1, a kind of electro-hydraulic actuator control system is disclosed in the present embodiment, by wherein control system It is improved, so that control system has strong anti-interference ability, improves the precision of signal acquisition and processing, the present embodiment In electro-hydraulic actuator control system include power module, signal acquisition module, signal processing module and drive module.
It wherein,, will by the stable alternating current supply drive module as shown in Fig. 2, power module is secondary power supply The direct current supply drive module, supplies signal acquisition module and signal for the direct current of the multiple voltage grade Processing module;
A kind of power module is disclosed in the present embodiment, and the alternating current for accessing power grid is converted to stable exchange Electricity, then stable alternating current is converted to the direct current of multiple voltage grade.
Often have that power type is more, and the insulation request of different electrical power and internal circuit is higher in electrical system, that Power module is just needed to be capable of providing a variety of outputs, to meet the needs of industry spot application, with power supply in the prior art Unlike module, the power module in the present embodiment can export multiple voltage grade direct current and stable exchange Electricity can be applied to the power-supply system of complex working condition, rather than can only export a kind of direct current of voltage class, in the present embodiment In, power module is improved, DC power supply type needed for control system reaches 10 kinds.
The power module includes sequentially connected AC power source input submodule, AC-DC conversion submodule and straight Stream filtering submodule;
The AC power source input submodule is used to after the alternating current that power grid accesses is carried out pressure stabilizing filter again, obtains steady Fixed alternating current supplies the drive module;
The AC-DC conversion submodule is used to that the stable alternating current to be depressured, rectified and be filtered, Obtain direct current;
The DC filtering submodule is used to carry out multichannel isolation again after the direct current is carried out DC filtering, obtains Obtain the direct current of a variety of voltage class.
The power supply inputted in the present embodiment from power grid is AC 220V, filters again after carrying out pressure stabilizing, obtains stable AC 220V alternating current;Stable AC 220V alternating current can need the electrical equipment of alternating current to supply to motor, motor driver etc. Electricity.
After stable AC 220V alternating current is depressured using AC-DC conversion submodule, 24V alternating current is obtained, then It is 24V direct current by 24V AC rectification;24V direct current can be to some direct currents for needing larger current such as motor driver Power electrical apparatus.
After 24V direct current carries out DC filtering using DC filtering submodule, stable 24V direct current is obtained, then by 24V Direct current carries out multichannel isolation, can obtain 5V direct current ,+12V DC electricity, -12V DC electricity ,+15V direct current or -15V Direct current etc., wherein 5V direct current can power for miniature control chip, and 12V can power to small modules such as MCU, and 15V can With to module for power supply such as sensor, signal acquisition circuits.
Specifically, power module include sequentially connected AC power source input submodule, AC-DC conversion submodule and DC filtering submodule;
The AC power source input submodule includes sequentially connected fuse, surge suppressor and ac filter Device, the alternating current of power grid access input surge suppressor after inputting fuse again, the alternating current after obtaining pressure stabilizing, after the pressure stabilizing The alternating current input alternating current filter be filtered, obtain stable alternating current;
The AC-DC conversion submodule includes linear power supply and DC filter, the stable alternating current input It is rectified again after being depressured after linear power supply and obtains intermediate dc electricity, carried out after the intermediate dc electricity input direct-current filter Filtering obtains direct current;
The DC filtering submodule includes DC filter and multiple DC voltage-stabilizing isolation circuits, the direct current After electric input direct-current filter, filtered direct current, the filtered multiple DC voltage-stabilizing isolation of DC supply input are obtained After circuit, the direct current of multiple voltage grade is obtained;
The DC voltage-stabilizing isolation circuit includes dc-dc boost submodule and voltage adjuster, the filtering After DC supply input dc-dc boost submodule afterwards, the direct current after being depressured, the DC supply input after the decompression After voltage adjuster, the direct current of required voltage grade is obtained.
The power module module most as interference volume source in entire electro-hydraulic actuator control system, it is necessary to have relatively strong Anti-interference ability, power module in the present embodiment must have ac filter processing, DC filtering processing, surge suppression System, the output of multichannel isolated DC, supply cell from, DC ripple processing, anti-electrostatic discharging, anti-RF magnetic field, anti-power frequency magnetic field, The function of antisurge impact, reactance voltage fluctuation.
In the present embodiment, as shown in Fig. 2, input into electro-hydraulic actuator control system power supply be alternating current 220V power supply, Therefore it is provided with AC power source input submodule first, overcurrent protection is carried out using fuse in alternating current 220V side, using surge Suppressor realizes lightning protection and surge protection, realizes exchange side filter function using alternating current filter later, simultaneous mainly for electromagnetism Requirement of the capacitive power side to power-supply fluctuation and interference signal selects alternating current filter, handles by AC power source input submodule Afterwards, stable 220V AC power source is obtained, which is used to provide 220V alternating current for drive module Source;
Then, it is provided with DC filtering submodule, AC-DC is realized by linear power source circuit in the submodule (AC-DC) it converts, alternating current 220V power supply signal is converted into direct current 24V power supply signal, while linear power supply has compared with Switching Power Supply Lower ripple and more stable signal output performance.DC supply input DC filter is realized into filtering and signal stabilization function Can, DC filter here mainly completes the stabilization of the reduction of signal ripple, the inhibition of transient pulse signal, direct current supply Etc. functions, direct current 24V power supply signal can be accessed in motor driver, provide DC power supply for motor driver.
Finally, due to which the power supply in electrical control is numerous, the requirement of every kind of power supply is different, such as signal processing module It is required that power supply is 12V, it is 15V that signal acquisition module, which requires power supply, therefore is provided with DC filtering submodule, by direct current 24V electricity Source signal is isolated into multi-channel DC out-put supply, such as direct current 12V or direct current 15V etc..
In DC filtering submodule, dc-dc boost submodule and voltage adjuster are further comprised, wherein directly For stream-DC decompression submodule for voltage class needed for direct current 24V power supply is reduced to modules, voltage adjuster is used for will Voltage after decompression carries out steady pressure treatment, wherein the output of dc-dc boost submodule directly with signal processing module, signal Acquisition module connection, the output of voltage adjuster are connect with control parameter input module.
Power module in the present embodiment forms distributed power supply module, and such design has stronger exchange side Power compatibility energy is able to bear voltage short interruption and fluctuation, has stable multi-channel dc power supply fan-out capability, lower DC power supply ripple, higher to the isolation degree of exchange side interference in electric control system, final realize is applied to complicated work The power-supply system of condition provides stable working power for electro-hydraulic actuator control system.
In the present embodiment, as shown in Fig. 2, stable 220V alternating current is supplied drive module, 24V direct current is supplied + 15V direct current and -15V direct current are supplied signal acquisition module by drive module, general+12V DC is electric, -12V DC is electric ,+ 5V direct current and -5V direct current supply signal processing module.
Wherein, signal acquisition module for accurately acquire control signal in electro-hydraulic actuator in communication system and Feedback signal in moving system obtains the control signal and feedback signal of digital quantity form;
In the present embodiment, signal acquisition module is connect with moving system, communication system and signal processing module, is used for Acquire communication system in control signal and moving system in feedback signal, obtain digital quantity form control signal and Feedback signal, and the control signal and feedback signal of digital quantity form are sent to signal processing module;
Signal acquisition module is mainly used for acquiring two signals, and one is the control in communication system for controlling host and sending Signal processed, there are one being feedback signal in moving system, in the present embodiment, control signal is command displacement amount, is fed back Signal is feedback displacement, the two displacements are all analog signals in acquisition, and can only be handled in signal processing module Digital quantity, therefore there are two functions for signal acquisition module tool, first is that the signal of analog quantity is acquired, second is that the signal of analog quantity is turned It is changed to digital quantity signal.
In addition, signal acquisition module is when acquiring the control signal of the analog quantity in communication system, it is to be adopted by analog quantity Collector directly acquires, and when acquiring the feedback signal of the analog quantity in moving system, it needs to be acquired by sensor. And when acquiring the feedback signal of these analog quantitys, high-precision acquisition need to be realized to control signal and feedback, be from control Guarantee signal acquisition precision on system hardware, while certain filtering and processing are carried out to control signal and feedback signal, it is high-precision Degree signal acquisition is the basis of high-precision control effect.
Optionally, the signal acquisition module includes multiple sensors, multiple analog quantity acquisition circuits and analog quantity- Digital quantity conversion circuit;
The sensor is used to acquire the feedback signal in moving system;
The analog quantity acquisition circuit is used for from the control signal in communication system and the feedback in the sensor The feedback signal of analog quantity form is accurately acquired in signal;
The analog quantity-digital quantity conversion circuit is used for the control signal and feedback letter of the analog quantity form Number be converted to the control signal and feedback signal of digital quantity form.
In the present embodiment, signal acquisition module includes multiple sensors, multiple analog quantity acquisition circuits and analog quantity- Digital quantity conversion circuit, sensor are connect with moving system, for acquiring the feedback signal in moving system, and by feedback signal It is sent to analog quantity acquisition circuit, analog quantity acquisition circuit is connect with communication system, for acquiring analog quantity shape in communication system The control signal of formula, is also used to acquire the feedback signal of analog quantity form in the sensor, analog quantity acquisition circuit also with mould Analog quantity-digital quantity conversion circuit connection, for the control signal and feedback signal of analog quantity form to be sent to analog quantity-number Word amount conversion circuit;
Analog quantity-digital quantity conversion circuit is connect with signal processing module, for by the control signal of analog quantity form with And after feedback signal is converted to control signal and the feedback signal of digital quantity form, it is then forwarded to signal processing module.
In the present embodiment, using the feedback displacement in sensor acquisition moving system, when acquisition, will feed back displacement Electric signal is converted to, analog quantity acquisition circuit acquires the feedback displacement of analog quantity from the feedback displacement of the electric signal again, The feedback displacement of the analog quantity is sent in analog quantity-digital quantity conversion circuit again and is converted, the anti-of digital quantity is obtained Signal processing module is sent to after feedback displacement.
In the present embodiment, sensor is displacement sensor, for acquiring feedback displacement, displacement sensor output signal For 25bit digital quantity (SSI), which has many advantages, such as strong antijamming capability, noiseless accumulation, is convenient for data processing.
When acquiring the command displacement amount in communication system, the control of analog quantity acquisition circuit acquisition analog quantity is directlyed adopt Displacement, then the command displacement amount of the analog quantity is converted, the command displacement amount of digital quantity is obtained, by the control of digital quantity Displacement is sent to signal processing module.
In the present embodiment, analog quantity acquisition circuit is firstly the need of the precision for guaranteeing control signal and acquisition signal Guarantee precision needs multiple filter circuits are set on analog quantity acquisition circuit with realize low-pass filtering adjust, to interference signal into Row inhibits, and keeps signal more preferably stable.
Optionally, the analog quantity acquisition circuit includes sequentially connected isolation amplification sub-circuit and second-order filter Circuit;
The isolation amplification sub-circuit is used for the control signal in communication system and the feedback signal in sensor It is isolated and is amplified again after carrying out the inhibition of interference signal, obtains the control signal and feedback letter of intermediate analog quantity form Number;
The second-order filter sub-circuit is used to carry out two to the control signal and feedback signal of intermediate analog quantity form Secondary low-pass filtering obtains the control signal and feedback signal of analog quantity form.
Capacitor wherein is bridged between the signal ground of front and back in isolation amplification sub-circuit, the characteristic of friendship is led using the blocking of capacitor The inhibition function to periodical AC influence signal is realized, the isolation and amplification of signal are realized by isolated amplifier.Pass through Second-order filter circuit realizes low-pass filtering twice, and it is adjustable to realize frequency filtering.
Optionally, it is defeated by signal first when control signal and feedback signal enter the isolation amplification sub-circuit After entering positive XH+ and signal input cathode XH-, by being connected in parallel on input on anode XH+ and signal input cathode XH- two Position wire jumper J1 and second resistance R33 and first capacitor C46 carry out control signal and feedback signal isolation after, obtain every Control signal and feedback signal from after will control the letter of signal and feedback signal by isolated amplifier U6 after isolation Number input terminal 15, which is input in isolated amplifier U6, to be amplified, and amplified control signal and feedback signal are obtained;
When the amplified control signal and feedback signal are input to the second-order filter sub-circuit, first Anode is inputted by the first signal of concatenated 3rd resistor R26 and the 4th resistance R27 and the first amplifier U7A 3 enter the first amplifier U7A, and first time low pass is carried out in the 7th capacitor C47 by being connected in parallel on the first amplifier U7A Filtering, control signal and feedback signal after obtaining first time low-pass filtering;By the control signal after first time low-pass filtering And the second letter that feedback signal passes through concatenated 5th resistance R28 and the 6th resistance R29 and second amplifier U7B Number input anode 5 inputs the inside of the second amplifier U7B, and the 8th capacitor C50 by being connected in parallel on the second amplifier U7B And the 9th capacitor C51 carry out second of low-pass filtering, obtain analog quantity form control signal and feedback signal.
In the present embodiment, as shown in figure 3, analog quantity acquisition circuit include sequentially connected isolation amplification sub-circuit and Second-order filter sub-circuit, isolation amplification sub-circuit include signal input anode XH+ and signal input cathode XH-, signal input Positive XH+ is connect by first resistor R25 with the signal input part 15 of isolated amplifier U6, signal input cathode XH- be isolated The first ground terminal 16 of amplifier U6 connects, and inputs between anode XH+ and signal input cathode XH- in signal and is successively parallel with Two wire jumper J1 and second resistance R33, input anode XH+ and signal and input between cathode XH- and be also parallel with the in signal One capacitor C46 is respectively connected with directly in the first power input anode 11 of isolated amplifier U6 and the first power input cathode 12 Stream filtering submodule, the first power input anode 11 of isolated amplifier U6 also pass through the second capacitor C142 and isolated amplifier U6 The connection of the first ground terminal 16, the first ground terminal 16 also connect with the first power input cathode 12 by third capacitor C143;? The second source input anode 9 and second source input cathode 10 of isolated amplifier U6 is respectively connected with DC filtering submodule, Second source input anode 9 is connect by the 4th capacitor C144 with the second ground terminal 8 of isolated amplifier U6, the second ground terminal 8 Also cathode 10 is inputted with second source by the 5th capacitor C145 to connect;
Second-order filter sub-circuit includes the first amplifier U7A and the second amplifier U7B, and the first of the first amplifier U7A Signal inputs anode 3 and is exported by the third signal of concatenated 3rd resistor R26 and the 4th resistance R27 and isolated amplifier U6 The first signal input anode 3 of 13 connection of end, the first amplifier U7A is connect by the 6th capacitor C48 with ground AGND, the first amplification The first signal input negative terminal 2 of device U7A is connect by the 7th capacitor C47 with the 4th resistance R27, and the first of the first amplifier U7A Signal input negative terminal 2 is also connect with the first signal output end 1 of the first amplifier U7A, the third ground terminal of the first amplifier U7A 4 ground connection AGND, the power access end 14 of the first amplifier U7A are connect with DC filtering submodule, the power supply of the first amplifier U7A Incoming end 14 is also grounded AGND by the tenth capacitor C146, and the first signal output end 1 of the first amplifier U7A is by being sequentially connected in series The 5th resistance R28 and the second signal input anode 5 of the 6th resistance R29 and the second amplifier U7B connect, the 5th resistance R28 also passes through the 7th resistance R30 and connect with the second signal output end 7 of the second amplifier U7B, and the 6th resistance R29 also passes through The second signal input negative terminal 6 of eight capacitor C50 ground connection, the second amplifier U7B passes through the electricity of the 9th capacitor C51 in parallel and the 8th Resistance R31 is connect with the 7th resistance R30, and the 7th resistance R30 also passes through the 9th resistance R32 ground connection AGND, the second amplifier U7B second Signal output end 7 is connect by the 7th resistance R30 with analog quantity-digital quantity conversion circuit.
In the present embodiment, as shown in figure 3, the isolated amplifier U6 the first power input anode 11, second Power input anode 9, the first power input cathode 12 and second source input cathode 10 and the DC filtering submodule When connection, inputting 9 access of anode in the first power input anode 11 and second source of the isolated amplifier U6 has+ 15V DC power supply, the first power input cathode 12 and second source input cathode 10 are connected with -15V DC power supply.
When the power access end 14 of the first amplifier U7A is connect with DC filtering submodule, power access end 14 is connected to+ 5V DC power supply.
In the present embodiment, analog quantity acquisition circuit includes sequentially connected isolation amplification sub-circuit and second-order filter Circuit, pass through input port and realized by way of meeting second resistance R33 and two wire jumper J1 4~20mA, 0~20mA, 4~ 24mA, 0~5V unlike signal acquire function, and experiment measures analog quantity acquisition circuit transmission error and is no more than full scale 0.01%.
In addition, being also required to high-precision processing in analog quantity-digital quantity conversion circuit, therefore simulate in the present embodiment Amount-digital quantity conversion circuit includes 16 high-precision DA pio chips, and the analog quantity for providing measured precision 0.02% or more is defeated Signal out, DA pio chip are connect with double voltage stabilizing tube, it is ensured that output voltage is limited in safe range, ensure that external output Safety, DA pio chip also with diode counnter attack circuit connection so that output signal has anti-backward voltage and reversed electricity The ability of stream since the fluctuation and impact of external signal can also impact control system circuit, while damaging analog quantity again The possibility of pio chip further includes TVS pipe and surge protector in analog quantity-digital quantity conversion circuit, it is ensured that internal control The safety of circuit.
The signal processing module, for the control signal and feedback signal according to the digital quantity form, benefit Control amount is obtained with closed loop control method;
In the present embodiment, signal processing module is connect with drive module, is used for according to control signal and feedback signal, Control amount is obtained using closed loop control method, and control amount is sent to drive module, wherein closed loop control method can be PID Control method, using the collected displacement of displacement sensor as feedback displacement, the control signal that PLD is sent is as control Displacement is input in closed loop control method, the control amount exported, which is the displacement of executing agency.
Signal processing module is believed for running entire control method, comparison control signal and feedback signal according to control Number and the difference of feedback signal adjust control amount, signal processing module can be the equipment such as microprocessor, DSP.
Control system further includes control parameter input module, and control parameter input module is connect with signal processing module, is used In the control parameter for exporting the closed loop control method into signal processing module.
Control parameter input module is also connect with power module, and power module is to control parameter input submodule offer+12V Direct current and -12V DC electricity, control parameter input module include display screen and keyboard, and wherein keyboard is used for and inputs parameter, Display screen is for checking whether parameter inputs correctly.
The drive module is used to the control amount being converted to execution amount.
In the present embodiment, drive module is connect with moving system, for control amount to be converted to execution amount drive actions System acting;Drive module generally refers to motor servo driver, and also access control system is electric for the alarm signal of servo-driver Lu Zhong, and the alarm signal of driver does not realize preferable isolation inside it, has been superimposed a large amount of switches on signal ground yet and has made an uproar Acoustic jamming signal will affect the normal operation of control system.It is increased in the alarm signal of servo-driver in the present embodiment Light MOS isolation circuit, solves the interference problem of the signal.Simultaneously on servo-driver Setting signal increase capacitance-resistance filter and Anti- circnit NOT has effectively completely cut off servo-driver internal circuit to the interference effect of control system circuit, has reached system and stablized Purpose.
In the present embodiment, motor servo driver is connect with servo motor, should for providing execution amount for servo motor Execution amount includes revolving speed and the steering of servo motor;Servo motor starts turning after receiving execution amount, due to servo motor and holds Row mechanism links together, and when servo motor rotation, executing agency is driven to be acted.
In the present embodiment, executing agency be gear pump hydraulic cylinder, i.e., by gear pump drive hydraulic cylinder, gear pump with The rotation of servo motor is rotated, thus the adjustment for driving hydraulic cylinder to be displaced.
The explosion-proof cabinet of the control system provided in the present embodiment must accomplish minimum in volume, utilize lesser Plate suqare is installed to realize compact and reasonably be laid out.In the controls by alternating current component distribution in the left side of control cabinet, DC component is distributed in the right side of control cabinet, realizes alternating current-direct current separation, then crucial signal wire is shielded using multiple twin Conducting wire, including the rotation of Analog control signal, servo motor become acquisition signal, displacement sensor acquisition signal etc..To important external Interface signal uses two point two-wire, including valve setting signal and position feed back signal etc..Connecting terminal block is arranged in cabinet Lower section makes more frequent patching operations have more spaces to obtain maximum operating space, personnel's operation of being more convenient for. It since servo-driver is high power components, can largely radiate in the course of work, in order to avoid its heat influences control system Circuit, therefore servo-driver is arranged in the top of cabinet, the cold plate and cabinet inner wall for so that its power device is radiated It realizes adherent heat dissipation, hot transmitting is carried out using flexible insulation heat conductive pad CHTL between servo-driver and cabinet wall, by servo The heat that driver generates is passed directly on only entire explosion-proof case box, generates maximum heat dissipation area and heat transfer effect, The effective solution heat dissipation problem of servo-driver power device, makes the operating temperature of servo-driver improve 20 DEG C, makes Electro-hydraulic actuator control system operating temperature reaches -40 DEG C~+80 DEG C of key point.
In the design of control system circuit printed board by the way of hierarchical layout, circuit is divided into three layers, lower layer is Power circuit, middle layer are interface circuit, and upper layer is processor minimum system, and display screen is mounted on processor minimum system circuit On plate, it is at display screen on the central axes of cabinet or so in this way, and internal operation button is in middle level on interface circuit, place Reason machine minimum system circuit board reduces area, concedes the key on interface circuit, make key and display screen realize be dislocated and High infraversion malposition meets human factor engineering principle, operates convenient for operator.
Embodiment two
In the present embodiment, to a kind of electro-hydraulic actuator control system progress accuracy testing provided by the invention, test point It is tested for cold test and high and low temperature.
By the PID control side of electro-hydraulic actuator control system provided by the invention and existing electro-hydraulic actuator control system Method combines, cold test process are as follows:
Step 1: device power, is arranged power output;Electro-hydraulic actuator control system powers on, and operation keyboard carries out control ginseng Number setting, including control precision;
Step 2: setting motor minimum speed, the maximum high speed (rated speed cannot be exceeded) of motor;Be arranged system position and The parameters such as signal;
Step 3: setting target position with standard signal source simulation DCS, controller responds the signal and adjusting actuator arrives Up to corresponding position, the position is recorded;
Step 4: signal source setting value increases to 20mA since 4mA, with the interval 2mA upwards under different loads, then 4mA is reduced to downwards with the interval 2mA to be tested.
According to above-mentioned test procedure, under different loads operating condition (zero load, 20000N, 45000N, -2000N, -45000N) Positioning accuracy test is carried out, test result is as shown in Figure 4.
Conclusion: being supported on when changing between -45000N to 45000N, and system accuracy is less than rated travel under room temperature ± 0.07%.
High and low temperature test: being put into high-low temperature test chamber for the control system, carries out positioning accuracy under high and low temperature environment and tries It tests, step is identical as test procedure under room temperature, and test result is as shown in Figure 5.
Conclusion: system light condition, under -20 DEG C and 50 DEG C of environment, system accuracy be less than rated travel ± 0.15%.

Claims (5)

1. a kind of electro-hydraulic actuator control system, the control signal for being sent according to communication system generates execution amount control action System, which is characterized in that including power module, signal acquisition module, signal processing module and drive module;
The power module turns for the alternating current that power grid accesses to be converted to stable alternating current, then by stable alternating current It is changed to the direct current of multiple voltage grade, by the stable alternating current supply drive module, by the direct current Electricity supply drive module, signal acquisition module and the signal processing module;
The signal acquisition module for accurately acquire communication system in control signal and moving system in it is anti- Feedback signal obtains the control signal and feedback signal of digital quantity form;
The signal processing module, for the control signal and feedback signal according to the digital quantity form, using closing Ring control method obtains control amount;
The drive module is used to the control amount being converted to execution amount;
The power module includes sequentially connected AC power source input submodule, AC-DC conversion submodule and direct current filter Marble module;
The AC power source input submodule is used to after the alternating current that power grid accesses is carried out pressure stabilizing filter again, obtains stable Alternating current supplies the drive module;
The AC-DC conversion submodule filters again for being depressured, being rectified by the stable alternating current, obtains straight Galvanic electricity supplies the drive module;
The DC filtering submodule is used to carry out multichannel isolation again after the direct current is carried out DC filtering, obtains more The direct current of kind voltage class supplies the signal acquisition module and signal processing module.
2. electro-hydraulic actuator control system as described in claim 1, which is characterized in that the AC power source input submodule Including sequentially connected fuse, surge suppressor and alternating current filter, the alternating current of power grid access is inputted after fuse again Surge suppressor is inputted, the alternating current after obtaining pressure stabilizing, the alternating current after the pressure stabilizing inputs the alternating current filter and carries out Filtering, obtains stable alternating current;
The AC-DC conversion submodule includes linear power supply and DC filter, the stable alternating current input linear It is rectified again after being depressured after power supply and obtains intermediate dc electricity, filtered after the intermediate dc electricity input direct-current filter Wave obtains direct current;
The DC filtering submodule includes that DC filter and multiple DC voltage-stabilizing isolation circuits, the direct current are defeated After entering DC filter, filtered direct current, the filtered multiple DC voltage-stabilizing isolation circuits of DC supply input are obtained Afterwards, the direct current of multiple voltage grade is obtained;
The DC voltage-stabilizing isolation circuit includes dc-dc boost submodule and voltage adjuster, described filtered After DC supply input dc-dc boost submodule, the direct current after being depressured, the DC supply input voltage after the decompression After adjuster, the direct current of required voltage grade is obtained.
3. electro-hydraulic actuator control system as claimed in claim 2, which is characterized in that the signal acquisition module includes more A sensor, multiple analog quantity acquisition circuits and analog quantity-digital quantity conversion circuit;
The sensor is used to acquire the feedback signal in moving system;
The analog quantity acquisition circuit is used for from the control signal in communication system and the feedback signal in the sensor In accurately acquire the feedback signal of analog quantity form;
The analog quantity-digital quantity conversion circuit is used to turn the control signal of the analog quantity form and feedback signal It is changed to the control signal and feedback signal of digital quantity form.
4. electro-hydraulic actuator control system as claimed in claim 3, which is characterized in that the analog quantity acquisition circuit includes Sequentially connected isolation amplification sub-circuit and second-order filter sub-circuit;
The isolation amplification sub-circuit is used to carry out the control signal in communication system and the feedback signal in sensor It is isolated and is amplified again after the inhibition of interference signal, obtains the control signal and feedback signal of intermediate analog quantity form;
The second-order filter sub-circuit is used to carry out the control signal and feedback signal of intermediate analog quantity form low twice Pass filter obtains the control signal and feedback signal of analog quantity form.
5. electro-hydraulic actuator control system as claimed in claim 4, which is characterized in that control signal and feedback signal enter When sub-circuit is amplified in the isolation, after inputting positive (XH+) and signal input cathode (XH-) by signal first, pass through It is connected in parallel on the first capacitor (C46) inputted in positive (XH+) and signal input cathode (XH-) and carries out control signal and feedback After the isolation of signal, control signal and feedback signal after being isolated, by the control signal and feedback signal after isolation It is input in isolated amplifier (U6) and is amplified by the signal input part (15) of isolated amplifier (U6), obtained amplified Control signal and feedback signal;
When the amplified control signal and feedback signal are input to the second-order filter sub-circuit, pass through string first First signal of the 3rd resistor (R26) of connection and the 4th resistance (R27) and first amplifier (U7A) inputs anode (3) enter the first amplifier (U7A), and carry out the in the 7th capacitor (C47) by being connected in parallel on the first amplifier (U7A) Low-pass filtering, control signal and feedback signal after obtaining first time low-pass filtering;After first time low-pass filtering It controls signal and feedback signal and passes through concatenated 5th resistance (R28) and the 6th resistance (R29) and second amplification The inside of second signal input anode (5) input the second amplifier (U7B) of device (U7B), and by being connected in parallel on the second amplification The 8th capacitor (C50) and the 9th capacitor (C51) on device (U7B) carry out second of low-pass filtering, obtain analog quantity form Control signal and feedback signal.
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