CN109695607A - A kind of pump valve cooperative control method for prestressing force intelligent tensioning equipment - Google Patents
A kind of pump valve cooperative control method for prestressing force intelligent tensioning equipment Download PDFInfo
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- CN109695607A CN109695607A CN201910092792.2A CN201910092792A CN109695607A CN 109695607 A CN109695607 A CN 109695607A CN 201910092792 A CN201910092792 A CN 201910092792A CN 109695607 A CN109695607 A CN 109695607A
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- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/007—Simulation or modelling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
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- 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
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
- F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention provides a kind of pump valve cooperative control methods for prestressing force intelligent tensioning equipment, belong to the Construction Technologies fields such as science of bridge building, highway and high room building.It solves the problems, such as that existing technical controlling precision is not high.This includes the following steps: the model for building pump valve association control system for the pump valve cooperative control method of prestressing force intelligent tensioning equipment；Load flow predictive control algorithm is used to the pump control part in the model of pump valve association control system, obtains pump control signal umOutput；Feedforward compensation pid control algorithm is used to the valve control part in the model of pump valve association control system, obtains valve control signal uvOutput；Pump is controlled into signal umWith valve control signal uvIt is input in pump valve association control system, servo motor controls signal u according to pumpmControl revolving speed matches to adjust oil sources output flow with load flow, and stepper motor is according to valve control signal uvReversal valve work is driven to realize the adjusting of load flow.This pump valve cooperative control method can be improved the dynamic response and control precision of pump valve association control system.
Description
Technical field
The invention belongs to the Construction Technologies fields such as science of bridge building, highway and high room building, are related to one kind and are used for
The pump valve cooperative control method of prestressing force intelligent tensioning equipment.
Background technique
Prestressed structure first achieves rapid development in science of bridge building, oneself penetrates into every field at present, respectively in height
Room building, lifting transport, runway, television tower, road interchange building, liquid storage pool, ocean structure, prestressed concrete
Ship Structure, atomic reactor container, extraordinary labyrinth etc. are applied.Prestressing technique have become greatly across
Degree, large spatial structure, tall and slender structure, heavy load structure, unique construction, an indispensable technology in new structure engineering.
Prestressing force intelligent tensioning equipment is by two jack, two electric hydaulic stations, two pressure sensors, two displacements
The composition such as sensor, servo controller, servo motor, microcomputer, wireless system for transmitting data, it is same can to control two jack simultaneously
Work is walked, the tensioning of balance is constituted.In pre-stress construction, the tensioning of presstressed reinforcing steel is key link, and wherein tensioning precision is
Determine the most important condition of prestressed structure safety and normal operation.The intelligent tensioning equipment of the prior art acquires jack in real time
Pressure and displacement, and these data feedbacks to data processing unit are calculated into elongation automatically, elongation error is checked in time
Whether within the specified scope.And conventional electrohydraulic servo-controlling system is divided into valve control electrohydraulic servo system and pump control electro-hydraulic servo at present
System two major classes.
The advantage of valve control electrohydraulic servo system is in response to that speed is fast, control precision is high, system stiffness is big and flow control
Flexibly.But there is many defects for valve control system: structure is complicated for electrohydraulic servo valve；It is especially quick to the pollution of working media
Sense；Can provide maximum load pressure there was only 2/3rds of oil supply pressure, spill losses is big, eventually lead to system effectiveness it is low,
It generates heat serious etc..
Pump is controlled and the elements such as flow control valve is not present in electrohydraulic servo system, almost without restriction loss and overflow in system
The antifouling property of loss, system is high, high-efficient.But defect is that motor and oil pump rotary inertia are big, is run under the slow-speed of revolution uneven
Surely, therefore the response speed of pump control system is slower, and control precision is relatively low.In addition, pump control system is at work, it is hydraulic to execute member
The Pressure in Back-pressure Cavity of part is small, causes pump control system load stiffness low.It is therefore proposed that a kind of by combining valve control system and pump control system
The advantages of system, realizes that the pump valve association prosecutor method of the high-precision control to load is to be highly desirable.
Summary of the invention
It is a kind of for prestressing force intelligent tensioning the purpose of the present invention is in view of the above-mentioned problems existing in the prior art, proposing
The pump valve cooperative control method of equipment, the pump valve cooperative control method the technical problem to be solved is that: how to improve pump valve association
The dynamic response and control precision of control system.
Object of the invention can be realized by the following technical scheme: a kind of pump valve for prestressing force intelligent tensioning equipment
Cooperative control method, which is characterized in that the pump valve cooperative control method includes the following steps:
Build the model of pump valve association control system；
Load flow predictive control algorithm is used to the pump control part in the model of pump valve association control system, by establishing grey
Prediction model G (1,1) obtains the predicted value of hydraulic cylinder displacementAnd then differential obtains the predicted value of hydraulic cylinder speedAnd it counts
Calculate the predicted value Q of load flowL, according to the predicted value Q of load flowLObtain the predicted value Q of oil sources output flowp, finally count
Calculate the expectation revolving speed n of servo motorrAnd then rear pump control signal u (t),m；
Feedforward compensation pid control algorithm is used to the valve control part in the model of pump valve association control system, according to desired speed
Value vr, oil supply pressure PsAnd two cavity pressure P of hydraulic cylinder1、P2Obtain feedforward control amount uf, by feedforward control amount ufWith PID control
Measure upIt is superimposed, as valve control signal uvOutput；
Pump is controlled into signal umWith valve control signal uvIt is input in pump valve association control system, servo motor controls signal u according to pumpmControl
Revolving speed processed matches to adjust oil sources output flow with load flow, and stepper motor is according to valve control signal uvDrive reversal valve work
Realize the adjusting of load flow；The shift value of the piston rod movement acquired by displacement sensor is input to pump valve association control system
In, and the predicted value with hydraulic cylinder displacementIt is compared, signal u is controlled to pump according to differencemWith valve control signal uvIt is adjusted.
This is used for the working principle of the pump valve cooperative control method of prestressing force intelligent tensioning equipment are as follows: builds control system, pump valve association
The mathematical model of system uses load flow predictive control algorithm to the pump control part in the model of pump valve association control system, to oil pump
The control of output flow mainly realizes that control algolithm uses grey forecasting model algorithm by the prediction to load flow,
Grey forecasting model G (1,1) is established, after the prediction signal for obtaining hydraulic cylinder displacement, by can be calculated servo motor
It is expected that revolving speed, and then rear pump control signal um, pump control signal umTo servo motor, servo motor be converted to angular displacement on axis or
Angular speed, servo motor connect oil pump, and since the discharge capacity of oil pump is certain, the more fast then flow of servo motor revolving speed is bigger, pump control portion
Point load flow predictive control algorithm is used, the accurate right of load flow demand and oil pump output flow is realized by the algorithm
It connects, significantly reduces spill losses, improve energy utilization efficiency；Hydraulic cylinder displacement is predicted, and then differential obtains liquid
The predicted value of cylinder pressure speed, and the predicted value of system load flow is calculated, it is adjusted according to calculated load flow predicted value
Fuel-economizing source flux size is realized to reduce the influence of delayed phase and amplitude attenuation present in the control of servo motor revolving speed
Reduce system spill losses under the premise of oil supply pressure is stablized.Valve control part uses feedforward compensation pid control algorithm, to system
Present in interference carry out feedforward compensation, using outer interference signal controlled variable generate deviation before to control signal adjust
Section, therefore its adjustment effect is timely, can reduce influence of the interference to circuit, feedforward control before feedback loop generates role of correcting
Amount not only with desired speed value vrIt is related, at the same also with oil supply pressure PsAnd two cavity pressure of hydraulic cylinder is related, this illustrates the feedforward
Control amount can adaptively compensate for hydraulic cylinder piston rod motion state and oil supply pressure variation interference to system control precision
It influences, Front Feed Compensation is superimposed with PID control amount, the valve control signal u final as servo valvev, the valve control signal master of sending
If direction and the size of voltage and current, the slide opening size and input current in reversal valve are directly proportional, the two of reversal valve
Interface output flow size is again and slide opening size is directly proportional, and two interfaces of reversal valve are separately connected hydraulic cylinder or so chamber, band
The movement of hydrodynamic pressure cylinder piston rod, realizes the accurate adjustment section of load flow.This pump valve cooperative control method effectively combines valve control system
And the advantages of pump control system.Pump control part adjusts the output flow and load flow phase of oil pump by adjusting servo motor revolving speed
Matching realizes that the accurate adjustment of load flow is whole by valve control part control reversal valve at once later, so that the two is formed linkage, realize oil pump
The precision adjustment that how many flow valve control parts just execute the flow in real time is exported, the dynamic for effectively increasing pump valve association control system is rung
It should be with control precision.
In the above-mentioned pump valve cooperative control method for prestressing force intelligent tensioning equipment, pump valve association control system
Model is
In formula, KvFor the open-loop gain coefficient of system, ωnFor system frequency, ζnFor system damping ratio, KtcFor system
Equivalent leadage coefficient；
Wherein,In formula, Kq1For flow gain coefficient, KtFor the gain coefficient of valve core of servo valve displacement, A1
For the effective active area of hydraulic cylinder rodless cavity；
In formula, λ is the ratio between hydraulic cylinder rod chamber and the effective area of rodless cavity, βeIt is hydraulic
The bulk modulus of oil, VtFor hydraulic cylinder volume, M is inertia load quality；
In formula, Kce1=Kc1+Ctc,Kc1For flow rate pressure gain coefficient, CicFor the leakage system between two chamber of hydraulic cylinder or so
Number, CecThe coefficient that leaks of two chamber of hydraulic cylinder or so, b are the damping loads coefficient of hydraulic cylinder；
In formula, CicFor the leadage coefficient between two chamber of hydraulic cylinder or so；
Wherein,
KL=ζpKR+ζxAR+KcpKR, in formula, BR=A2R,
KmFor motor speed gain coefficient, D is the rated discharge of oil pump, τmFor time constant, s is Laplace transform, mR
For relief valve spool quality, KRFor overflow valve spring equivalent stiffness, ARFor the equivalent area of relief valve spool, KcpFor letting out for oil pump
The coefficient of leakage, A are relief valve spool sectional area；W is valve port area gradient, x0For spring displacement at equalization point, Qr0For spillway discharge
Steady-state value, Ps0System pressure at equalization point, KsFor spring rate.
In the above-mentioned pump valve cooperative control method for prestressing force intelligent tensioning equipment, the Grey models GM
The definition of (1,1) are as follows: y(0)(k)+az(1)(k)=b,
In formula, y(0)It (k) is original data series；z(1)It (k) is albefaction background value sequence；A is development coefficient；B is gray scale effect
Amount.
In this step, since system spill losses in the ideal situation is zero, load flow and hydraulic pump output flow
It is identical, but in systems in practice, load flow is a time variable function, and hydraulic pump, hydraulic cylinder, solenoid valve, oil circuit etc. are all
There are leakages, in addition can have certain delayed phase and amplitude attenuation between actual speed and expectation revolving speed, lead to oil sources stream
Amount is unable to satisfy the demand of load flow, therefore establishing a prediction model come the size for deriving required oil sources flow is very
It is necessary.
In the above-mentioned pump valve cooperative control method for prestressing force intelligent tensioning equipment, in Grey models GM
(1,1) after constructing, include the following steps:
Step 1: the displacement signal x of acquisition hydraulic cylinder piston or piston rodt, construct ordered series of numbers y(0)={ y(0)(1),y(0)
(2),……y(0)(n) }, wherein n >=4；
Step 2: to { y(0)Ordered series of numbers carry out it is cumulative after obtain ordered series of numbers { y(1),
Step 3: generating { y(1)Albefaction background value sequence { z(1),
z(1)(k)=0.5y(1)(k)+0.5y(1)(k-1), k=2 ..., n；
Step 4: solving the parameter a and b in GM (1,1) model.By y(0)(k)+az(1)(k)=b is write as matrix form:
It enables:
It can then obtain:
Because the generalized inverse matrix of B is (BTB)-1BT, then
Step 5: solving the albinism differential equation of GM (1,1) model, expression formula are as follows:
Solution obtains { y(1)Predicted value
For prediction step；
Step 6: rightRegressive obtains { y(0)Predicted valueIt is shown below:
Step 7: acquisition subsequent time initial data y(0)(n+1) to update original data series { y(0), it is shown below:
{y(0)}={ y(0)(2),y(0)(3)…y(0)(n+1) },
Step 8: return step 2, into next prediction process,
After the prediction signal for obtaining piston or piston rod displacement, the expectation revolving speed of motor is calculated according to the following formula,
nr(t)=QL(t+p)/D+n0；
In formula, nr(t) in the expectation revolving speed of t moment motor；QLIt (t+p) is in t moment, after p prediction step
Load flow predicted value；n0For the minimum speed of motor.
In the above-mentioned pump valve cooperative control method for prestressing force intelligent tensioning equipment, the feedforward control amount uf's
Steps are as follows for calculating:
Step 1: calculating the working flow of hydraulic cylinder rodless cavity
Q1=A1V,
In formula, A1For the effective active area of hydraulic cylinder rodless cavity, v is the movement velocity of hydraulic cylinder piston rod；
Step 2: calculating servo valve A mouthfuls of output flow
In formula, △ PNPoor, the Q for servo valve rated pressureNFor the metered flow of servo valve；
Step 3, servo valve feedforward control amount u is calculatedf,
When hydraulic cylinder piston stretches out:
When hydraulic cylinder piston retracts:
With desired speed value vrInstead of v, can obtain:
In formula, PsFor oil supply pressure, P1For hydraulic cylinder rodless cavity oil pressure, P2For hydraulic cylinder rod chamber oil pressure, A2For hydraulic cylinder
The effective active area of rod chamber.
By carrying out feedforward compensation to interference present in system, feedforward control amount u is obtainedf, can further increase and be
The control precision of system.
In the above-mentioned pump valve cooperative control method for prestressing force intelligent tensioning equipment, the PID control amount up's
Steps are as follows for calculating:
Wherein, upOutput valve when being sampled for kth time；K is sampling sequence number；T is the period；TiFor integration time constant；KpFor
Proportionality coefficient；ekWhen for kth time sampling and the deviation of input；TdFor derivative time.
Compared with prior art, this is combined with valve control for the pump valve cooperative control method of prestressing force intelligent tensioning equipment
The advantages of system and pump control system, establishes the model of pump valve association control system, adjusts oil pump output flow by pump control part, from
And reduce system spill losses, it improves efficiency；Realize the accurate adjustment section of load flow, using flow control valve to improve the dynamic of system
State response and control precision；Oil sources output flow is adjusted by controlling discharge capacity or the revolving speed of two-way variable displacement pump, at the same time,
Reversal valve realizes the high-precision control to load flow, and the two is made to form linkage, realizes that oil pump exports how many flow valve control parts
The precision adjustment for just executing the flow in real time effectively increases the dynamic response and control precision of pump valve association control system.
Detailed description of the invention
Fig. 1 is the schematic block diagram of the model of pump valve association control system in the present invention.
Fig. 2 is the schematic block diagram of load flow predictive control algorithm in the present invention.
Fig. 3 is the schematic block diagram of feedforward compensation pid control algorithm in the present invention.
Fig. 4 is the structural schematic diagram of present hydraulic system.
In figure, 1, jack；2, displacement sensor；3, pressure sensor；4, overflow valve；5, reversal valve；6, stepper motor；
7, pressure gauge；8, high-pressure safety valve；9, high-pressure filter；10, oil pump；11, servo motor；12, oil sump；13, steel strand wires.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
As shown in Figure 1-3, this pump valve cooperative control method for prestressing force intelligent tensioning equipment includes the following steps:
Build the model of pump valve association control system；
Load flow predictive control algorithm is used to the pump control part in the model of pump valve association control system, by establishing grey
Prediction model G (1,1) obtains the predicted value of hydraulic cylinder displacementAnd then differential obtains the predicted value of hydraulic cylinder speed, and calculates
The predicted value Q of load flow outL, according to the predicted value Q of load flowLObtain the predicted value Q of oil sources output flowp, finally calculate
The expectation revolving speed n of servo motor 11 outrAnd then rear pump control signal u (t),m；
Feedforward compensation pid control algorithm is used to the valve control part in the model of pump valve association control system, according to desired speed
Value vr, oil supply pressure PsAnd two cavity pressure P of hydraulic cylinder1、P2Obtain feedforward control amount uf, by feedforward control amount ufWith PID control
Measure upIt is superimposed, as valve control signal uvOutput；
Pump is controlled into signal umWith valve control signal uvIt is input in pump valve association control system, servo motor 11 controls signal u according to pumpm
Control revolving speed matches to adjust 10 output flow of oil pump with load flow, and stepper motor 6 is according to valve control signal uvDrive commutation
The adjusting of load flow is realized in the work of valve 5；The shift value of the piston rod movement acquired by displacement sensor 3 is input to pump valve
It assists in control system, and the predicted value with hydraulic cylinder displacementIt is compared, signal u is controlled to pump according to differencemWith valve control signal uvInto
Row is adjusted.
Preferably, model foundation is as shown in Figure 1, obtain control system, pump valve association for model schematic block diagram progress abbreviation
The transmission function of system are as follows:
K in formulace1=Kc1+Ctc
BecauseAbove formula can be simplified to:
K in formulavFor the open-loop gain coefficient of system, ωnFor system frequency, ζnFor system damping ratio, KtcFor system
Equivalent leadage coefficient, PsIt is about UsTransmission function.
Then
Wherein:
KL=ζpKR+ζxAR+KcpKR；
In formula, Kq1For flow gain coefficient, KtFor the gain coefficient of valve core of servo valve displacement, A1For hydraulic cylinder rodless cavity
Effective active area, λ are the ratio between hydraulic cylinder rod chamber and the effective area of rodless cavity, βeFor the bulk modulus of hydraulic oil, Vt
For hydraulic cylinder volume, M is inertia load quality, Kce1=Kc1+Ctc,Kc1For flow rate pressure
Gain coefficient, CicFor the leadage coefficient between two chamber of hydraulic cylinder or so, CecThe coefficient that leaks of two chamber of hydraulic cylinder or so, b are hydraulic cylinder
Damping loads coefficient, CicFor the leadage coefficient between two chamber of hydraulic cylinder or so, KmFor motor speed gain coefficient, D is oil pump
Rated discharge, τmFor time constant, s is Laplace transform, mRFor 4 spool quality of overflow valve, BR=A2R, KRFor overflow valve bullet
Spring equivalent stiffness,ARIt is excessive
Flow the equivalent area of valve core, KcpFor the leadage coefficient of hydraulic pump, A is relief valve spool sectional area.W is valve port area gradient,
x0For spring displacement at equalization point, Qr0For the steady-state value of spillway discharge, Ps0System pressure at equalization point, KsFor spring rate.
Preferably, the definition of Grey models GM (1,1) are as follows: y(0)(k)+az(1)(k)=b.In formula, y(0)
It (k) is original data series；z(1)It (k) is albefaction background value sequence；A is development coefficient；B is gray scale actuating quantity.
Preferably, after Grey models GM (1,1) building, include the following steps:
Step 1: the displacement signal x of acquisition hydraulic cylinder piston or piston rodt, construct ordered series of numbers y(0)={ y(0)(1),y(0)
(2),……y(0)(n) }, wherein n >=4；
Step 2: to { y(0)Ordered series of numbers carry out it is cumulative after obtain ordered series of numbers { y(1),
Step 3: generating { y(1)Albefaction background value sequence { z(1),
z(1)(k)=0.5y(1)(k)+0.5y(1)(k-1), k=2 ..., n；
Step 4: solving the parameter a and b in GM (1,1) model.By y(0)(k)+az(1)(k)=b is write as matrix form:
It enables:
It can then obtain:
Because the generalized inverse matrix of B is (BTB)-1BT, then
Step 5: solving the albinism differential equation of GM (1,1) model, expression formula are as follows:
Solution obtains { y(1)Predicted value
For prediction step；
Step 6: rightRegressive obtains { y(0)Predicted valueIt is shown below:
Step 7: acquisition subsequent time initial data y(0)(n+1) to update original data series { y(0), it is shown below:
{y(0)}={ y(0)(2),y(0)(3)…y(0)(n+1) },
Step 8: return step 2, into next prediction process,
After the prediction signal for obtaining piston or piston rod displacement, the expectation revolving speed of motor is calculated according to the following formula,
nr(t)=QL(t+p)/D+n0。
Preferably, feedforward control amount ufCalculating steps are as follows:
Step 1: calculating the working flow of hydraulic cylinder rodless cavity
Q1=A1V,
In formula, A1For the effective active area of hydraulic cylinder rodless cavity, v is the movement velocity of hydraulic cylinder piston rod；
Step 2: calculating servo valve A mouthfuls of output flow
In formula, △ PNPoor, the Q for servo valve rated pressureNFor the metered flow of servo valve；
Step 3, servo valve feedforward control amount u is calculatedf,
When hydraulic cylinder piston stretches out:
When hydraulic cylinder piston retracts:
With desired speed value vrInstead of v, can obtain:
In formula, PsFor oil supply pressure, P1For hydraulic cylinder rodless cavity oil pressure, P2For hydraulic cylinder rod chamber oil pressure, A2For hydraulic cylinder
The effective active area of rod chamber.
By carrying out feedforward compensation to interference present in system, feedforward control amount u is obtainedf, can further increase and be
The control precision of system.
Preferably, PID control amount upCalculating steps are as follows:
Wherein, upOutput valve when being sampled for kth time；K is sampling sequence number；T is the period；TiFor integration time constant；KpFor
Proportionality coefficient；ekWhen for kth time sampling and the deviation of input；TdFor derivative time.
This is used for the working principle of the pump valve cooperative control method of prestressing force intelligent tensioning equipment are as follows: this is used for prestressing force intelligence
The pump valve cooperative control method of energy tensioning equipment is applied to hydraulic system, as shown in figure 4, hydraulic system includes being arranged in steel strand wires
The jack 1 of 13 two sides, pressure sensor 3, Superimposed relief valve 4, reversal valve 5, is connect displacement sensor 2 with reversal valve 5
Stepper motor 6, high-pressure safety valve 8, pressure gauge 7, high-pressure filter 9, oil pump 10, the servo motor 11 being connect with oil pump 10 and oil
The oil sump 12 that pump 10, high-pressure safety valve 8 and Superimposed relief valve 4 and reversal valve 5 connect, the jack that steel strand wires 13 pass through two sides
1 realizes outside tensioning.This is in the pump valve cooperative control method of prestressing force intelligent tensioning equipment, electrohydraulic servo-controlling system to be adopted
Control system is assisted with the pump valve for being combined pump control system and valve control system, initially sets up the mathematical model of pump valve association control system,
Separately design the control algolithm of pump control part and valve control part.It is right to reduce system spill losses and guaranteeing that oil supply pressure is stablized
Pump control part uses load flow predictive control algorithm.Valve control part uses feedforward pid control algorithm, by system
Existing interference carries out feedforward compensation, to further increase the control precision of system.It is this that pump valve, which assists the mathematical model of control system,
The basis of method is just able to achieve the network analysis that control system is assisted to pump valve, including control characteristic after only establishing mathematical model
With two aspect of system effectiveness, wherein control characteristic mainly includes intrinsic frequency, damping ratio, open-loop gain and system stability.
It can show that the pump valve assists control system to have more compared with general valve control system or pump control system by the network analysis to model
Excellent control characteristic and higher system effectiveness.Different control algolithms is used to pump control part and valve control part respectively, and
It establishes in the foundation of mathematical model, therefore, building for mathematical model is very important.
Specifically, as shown in Fig. 2, pump control part uses load flow predictive control algorithm, load flow QLIt is to pass through liquid
Cylinder pressure movement velocity v is calculated and is obtained, and the movement velocity of hydraulic cylinder is obtained by the displacement signal differential to hydraulic cylinder, therefore
Using hydraulic cylinder displacement signal as initial data, by reducing the signal sampling time, initial data is made to meet quasi-optical sliding discrete series
Condition.Hydraulic cylinder displacement is predicted by establishing grey forecasting model G (1,1), and then differential obtains hydraulic cylinder speed
Predicted valueAnd calculate the predicted value Q of load flowL.According to calculated load flow predicted value QLTo adjust oil sources stream
Size is measured, to reduce the influence of delayed phase and amplitude attenuation present in the control of 11 revolving speed of servo motor, is realized in oil sources
Pressure reduces system spill losses under the premise of stablizing.After the prediction signal for obtaining hydraulic cylinder displacement, watched by can be calculated
Take the expectation revolving speed n of motor 11r(t), the closed-loop control to motor speed, photoelectricity and by 11 driver of servo motor are realized
Encoder detection servo motor revolving speed is simultaneously converted to electric impulse signal.
As shown in figure 3, valve control part uses feedforward compensation pid control algorithm, feedforward compensation controller is believed using outer interference
Number control signal is adjusted before controlled variable generates deviation, therefore its adjustment effect is timely, can generate in feedback loop
Influence of the interference to circuit is reduced before role of correcting.Feedforward compensation controller is with desired speed vr, oil supply pressure PsFluctuation and liquid
Two cavity pressure of cylinder pressure is inputted as outer interference signal, derives feedforward control amount u according to valve-controlled cylinder system performancef, valve-controlled cylinder system
System includes jack 1, displacement sensor 2, pressure sensor 3, Superimposed relief valve 4, reversal valve 5 and stepper motor 6.Feedforward control
Amount u processedfNot only with desired speed value vrIt is related, at the same also with oil supply pressure PsAnd two cavity pressure of hydraulic cylinder is related, this explanation should
Feedforward control amount can adaptively compensate for hydraulic cylinder piston rod motion state and oil supply pressure variation interference controls essence to system
The influence of degree.Finally, by feedforward control amount ufWith PID control amount upSuperimposed, final as reversal valve valve control signal uv.Pump
The pump control of valve association control system is partially completed the coarse adjustment of oil sources output flow, and system is made to possess preferable energy conservation characteristic, valve
The high-precision control of system is realized in control part, i.e. pump control part adjusts the output flow of oil pump by adjusting servo motor revolving speed
Match with load flow, realizes that the accurate adjustment of load flow is whole by valve control part control reversal valve at once later, form the two
Linkage realizes that oil pump exports the precision adjustment that how many flow valve control parts just execute the flow in real time, effectively increases pump valve association
The dynamic response and control precision of control system.
Pump control signal is issued to servo motor 11 by controller, and servo motor 11 is converted to angular displacement or angle speed on axis
Degree, servo motor 11 connect oil pump 10, and since the discharge capacity of oil pump 10 is certain, the more fast then flow of 11 revolving speed of servo motor is bigger.Pump
Control part uses load flow predictive control algorithm, realizes load flow demand and oil pump output flow by the algorithm model
Accurate docking, significantly reduce spill losses, improve energy utilization efficiency；Issuing valve control signal by controller is mainly
The direction of voltage and current and size, the slide opening size and input current in reversal valve 5 are directly proportional, A, B mouth of reversal valve 5
Output flow size is again and slide opening size is directly proportional, and A, B mouth of reversal valve 5 are separately connected hydraulic cylinder or so chamber, band hydrodynamic
The movement of pressure cylinder piston bar.Displacement sensor 2 is installed in hydraulic cylinder and pressure sensor 3 acquires the displacement of piston rod movement
The calculation of load flow PREDICTIVE CONTROL is carried out in controller as feedback signal back to controller with hydraulic in-cylinder pressure size
Method and feedforward compensation pid control algorithm calculate the good pump that issues again later and control signal and valve control signal, realize that so one feedback is followed
Ring.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (6)
1. a kind of pump valve cooperative control method for prestressing force intelligent tensioning equipment, which is characterized in that the pump valve collaboration control
Method processed includes the following steps:
Build the model of pump valve association control system；
Load flow predictive control algorithm is used to the pump control part in the model of pump valve association control system, by establishing gray prediction
Model G (1,1) obtains the predicted value of hydraulic cylinder displacementAnd then differential obtains the predicted value of hydraulic cylinder speedAnd it calculates
The predicted value Q of load flowL, according to the predicted value Q of load flowLObtain the predicted value Q of oil sources output flowp, finally calculate
The expectation revolving speed n of servo motor (11)rAnd then rear pump control signal u (t),m；
Feedforward compensation pid control algorithm is used to the valve control part in the model of pump valve association control system, according to desired speed value vr、
Oil supply pressure PsAnd two cavity pressure P of hydraulic cylinder1、P2Obtain feedforward control amount uf, by feedforward control amount ufWith PID control amount upPhase
Superposition, as valve control signal uvOutput；
Pump is controlled into signal umWith valve control signal uvIt is input in pump valve association control system, servo motor (11) controls signal u according to pumpmControl
Revolving speed processed matches to adjust oil pump (10) output flow with load flow, and stepper motor (6) is according to valve control signal uvBand is moved
It works to valve (5) and realizes the adjusting of load flow；It will be inputted by the shift value for the piston rod movement that displacement sensor (3) acquire
Into pump valve association control system, and the predicted value with hydraulic cylinder displacementIt is compared, signal u is controlled to pump according to differencemBelieve with valve control
Number uvIt is adjusted.
2. the pump valve cooperative control method according to claim 1 for prestressing force intelligent tensioning equipment, which is characterized in that
The model of pump valve association control system is
In formula, KvFor the open-loop gain coefficient of system, ωnFor system frequency, ζnFor system damping ratio, KtcFor system etc.
Imitate leadage coefficient；
Wherein,
Wherein,
KL=ζpKR+ζxAR+KcpKR, in formula,
KmFor motor speed gain coefficient, D is the rated discharge of oil pump, τmFor time constant, s is Laplace transform, mRIt is excessive
Flow valve core quality, KRFor overflow valve spring equivalent stiffness, ARFor the equivalent area of relief valve spool, KcpFor the leakage system of oil pump
Number, A are relief valve spool sectional area；W is valve port area gradient, x0For spring displacement at equalization point, Qr0For the stable state of spillway discharge
Value, Ps0System pressure at equalization point, KsFor spring rate.
3. the pump valve cooperative control method according to claim 1 for prestressing force intelligent tensioning equipment, which is characterized in that
The definition of the Grey models GM (1,1) are as follows: y(0)(k)+az(1)(k)=b, in formula, y(0)It (k) is original data series；z(1)
It (k) is albefaction background value sequence；A is development coefficient；B is gray scale actuating quantity.
4. the pump valve cooperative control method according to claim 3 for prestressing force intelligent tensioning equipment, which is characterized in that
After Grey models GM (1,1) building, include the following steps:
Step 1: the displacement signal x of acquisition hydraulic cylinder piston or piston rodt, construct ordered series of numbers y(0)={ y(0)(1),y(0)(2),……y(0)(n) }, wherein n >=4；
Step 2: to { y(0)Ordered series of numbers carry out it is cumulative after obtain ordered series of numbers { y(1),
Step 3: generating { y(1)Albefaction background value sequence { z(1),
z(1)(k)=0.5y(1)(k)+0.5y(1)(k-1), k=2 ..., n；
Step 4, the parameter a and b in GM (1,1) model are solved.By y(0)(k)+az(1)(k)=b
Write as matrix form:
It enables:
It can then obtain:
Because the generalized inverse matrix of B is (BTB)-1BT, then
Step 5: solving the albinism differential equation of GM (1,1) model, expression formula are as follows:
Solution obtains { y(1)Predicted value
K=0,1,2 ... n+p-1, p are prediction step；
Step 6: rightRegressive obtains { y(0)Predicted valueIt is shown below:
Step 7: acquisition subsequent time initial data y(0)(n+1) to update original data series { y(0),
It is shown below:
{y(0)}={ y(0)(2),y(0)(3)…y(0)(n+1) },
Step 8: return step 2, into next prediction process,
After the prediction signal for obtaining piston or piston rod displacement, the expectation revolving speed of motor is calculated according to the following formula,
nr(t)=QL(t+p)/D+n0；
In formula, nr(t) in the expectation revolving speed of t moment motor；QLIt (t+p) is the load in t moment, after p prediction step
Traffic prediction value；n0For the minimum speed of motor.
5. the pump valve cooperative control method according to claim 1 for prestressing force intelligent tensioning equipment, which is characterized in that
The feedforward control amount ufCalculating steps are as follows:
Step 1: calculating the working flow of hydraulic cylinder rodless cavity
Q1=A1V,
In formula, A1For the effective active area of hydraulic cylinder rodless cavity, v is the movement velocity of hydraulic cylinder piston rod；
Step 2: calculating servo valve A mouthfuls of output flow
In formula, △ PNPoor, the Q for servo valve rated pressureNFor the metered flow of servo valve；
Step 3: calculating servo valve feedforward control amount uf,
When hydraulic cylinder piston stretches out:
When hydraulic cylinder piston retracts:
With desired speed value vrInstead of v, can obtain:
In formula, PsFor oil supply pressure, P1For hydraulic cylinder rodless cavity oil pressure, P2For hydraulic cylinder rod chamber oil pressure, A2There is bar for hydraulic cylinder
The effective active area of chamber.
6. the pump valve cooperative control method according to any one of claims 1 to 5 for prestressing force intelligent tensioning equipment,
It is characterized in that, the PID control amount upCalculating steps are as follows:
Wherein, upOutput valve when being sampled for kth time；K is sampling sequence number；T is the period；TiFor integration time constant；KpFor ratio
Coefficient；ekWhen for kth time sampling and the deviation of input；TdFor derivative time.
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