CN110043519B - High-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance - Google Patents
High-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance Download PDFInfo
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- CN110043519B CN110043519B CN201910193566.3A CN201910193566A CN110043519B CN 110043519 B CN110043519 B CN 110043519B CN 201910193566 A CN201910193566 A CN 201910193566A CN 110043519 B CN110043519 B CN 110043519B
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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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
- F15B9/04—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 varying the output of a pump with variable capacity
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
Abstract
The invention provides a high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance, which comprises an energy conversion driving mechanism with adjustable rigidity, a hydraulic system, an energy accumulator and a mechanical load feedback mechanism. The rigidity-adjustable energy conversion driving mechanism utilizes an alternating magnetic field generated by an electromagnetic coil wound on the GMM rod to excite the GMM rod to generate magnetostrictive motion, and utilizes a bias direct current coil arranged around the GMM rod to generate corresponding control voltage according to a feedback signal of the mechanical load feedback mechanism to adjust the Young modulus of the GMM rod; the mechanical load feedback mechanism calculates load impedance according to the detected displacement and the mechanical load, generates control voltage required by the bias direct current coil, and realizes matching of mechanical internal resistance and the load impedance to achieve maximum energy transfer efficiency. The implementation of the invention can continuously adjust the mechanical internal resistance and adaptively match the load resistance, thereby achieving the optimal energy conversion efficiency and integrally solving the problems of frequency response and transmission efficiency in the traditional electro-hydrostatic actuator.
Description
Technical Field
The invention relates to the technical field of mechanical structures, in particular to a high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance.
Background
An Electro Hydrostatic Actuator (EHA) is a highly integrated pump-controlled hydrostatic transmission system, and force and displacement are transmitted by means of mechanisms such as a motor, hydrostatic, a pump valve and a hydraulic cylinder. At present, a commercial electro-hydrostatic actuator mainly adopts a rotary or linear motor to drive a plunger pump, generates high-pressure fluid and then pushes a hydraulic cylinder to output power, has the advantages of flexible layout, high transmission power, high power density and the like, and has important application in the fields of multi-electric airplanes, unmanned planes, robots and the like. However, the development of high performance EHAs has been severely limited for a long time by narrow frequency bandwidth and low energy transfer efficiency due to the physical characteristics of the motor and the natural frequency of the oil.
The intelligent material is combined with the EHA device, a novel intelligent EHA system with smaller volume and higher response speed is researched, and the intelligent EHA system is an effective way for improving the working bandwidth and the response speed of the EHA.
At present, the driving element of the EHA integrated with the smart material driving generally adopts piezoelectric ceramics, Giant Magnetostrictive Materials (GMM), shape memory alloys, magnetorheological materials, and the like. The shape memory alloy and the magneto-rheological fluid can generate larger displacement, but the driving frequency is lower, and the shape memory alloy and the magneto-rheological fluid are only suitable for static or low-frequency occasions; both piezoelectric ceramics and GMM can be used for EHA driving, but in the output stroke, GMM is 5-8 times that of piezoelectric ceramics, and in the power density, GMM is more than 10 times that of piezoelectric ceramics, so that the performance of GMM is better than that of piezoelectric ceramics in the large-stroke and dynamic driving occasions.
As shown in FIG. 1, the structure of the EHA driven by the GMM mainly comprises a magnetostrictive pump 1/Excitation coil 2/ GMM rod 3/ Pump piston 4/Check valve 5/ Pipeline 6/Hydraulic cylinder 7/ Pump chamber 8/And an accumulator 9/And the like; wherein the magnetostrictive pump 1/Excitation coil 2/ GMM rod 3/Forming an energy conversion driving mechanism, and converting electromagnetic energy into mechanical energy for driving; pump piston 4/Check valve 5/ Pipeline 6/Hydraulic cylinder 7/ Pump chamber 8/Forming a hydraulic system, and connecting the GMM rod 3/Is converted into a hydraulic cylinder 7/ Internal output piston 10/Large displacement output of (2); energy accumulator 9/Provides biasing pressure and counteracts shock generated during EHA operation and compensates for leakage. The EHA operates on the principle that,magnetostrictive pump 1/At the exciting coil 2/Driven by a magnetic field and utilizes a GMM rod 3/The generated mechanical energy pushes the pump piston 4/To drive the pump chamber 8/Producing high pressure fluid which then passes through the check valve 5/Commutate and then push the hydraulic cylinder 7/Generating a power output.
However, due to the influence of factors such as dynamic characteristics of driving elements and a solid-liquid mutual fusion working mode, the problem of low energy transfer efficiency caused by load impedance imbalance and the influence of oil natural frequency in the EHA quick response process is not solved well because the mechanical internal resistance cannot be changed.
Therefore, the key to fundamentally solve the problems of EHA frequency response and transmission efficiency is to change the working mode of the EHA fixed internal resistance and carry out active excitation and internal resistance change control on the EHA fixed internal resistance.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance, which enables the mechanical internal resistance to be continuously adjustable and to be adaptively matched with load impedance, so as to achieve optimal energy conversion efficiency, and integrally solve the problems of frequency response and transmission efficiency in the conventional EHA.
In order to solve the technical problem, the embodiment of the invention provides an electro-hydrostatic actuator with continuously adjustable mechanical internal resistance, which comprises an energy conversion driving mechanism with adjustable rigidity, a hydraulic system, an energy accumulator and a mechanical load feedback mechanism, wherein the energy conversion driving mechanism is connected with the energy accumulator; wherein the content of the first and second substances,
the rigidity-adjustable energy conversion driving mechanism comprises a GMM rod, an electromagnetic coil and a bias direct current coil; the electromagnetic coil is wound on the outer surface of the GMM rod and is used for providing a driving magnetic field for the GMM rod and exciting the GMM rod to generate magnetostrictive motion; the bias direct current coil is arranged around the GMM rod and connected with the mechanical load feedback mechanism and used for providing a bias magnetic field for the GMM rod and adjusting the Young modulus of the GMM rod according to a corresponding control voltage generated by a feedback signal of the mechanical load feedback mechanism;
the hydraulic system comprises a pump piston, a pump cavity, a one-way valve, a pipeline and a hydraulic cylinder; the pump piston is accommodated at the bottom of the pump cavity and is in sealed connection with the pump cavity, and the bottom end of the pump piston is connected with the GMM rod and moves up and down in the pump cavity under the driving of the GMM rod; the top of the pump cavity forms a loop communicated with the hydraulic cylinder through the pipeline, and liquid is filled between the pump cavity and the pump piston and generates high pressure when the pump piston moves, so that the liquid is formed into high-pressure liquid; two check valves in different directions are respectively arranged at two ports of the pipeline connected with the pump cavity, and an energy accumulator communicated with each other is arranged on one side close to the hydraulic cylinder; an output piston which is driven to move along the axial direction due to different internal pressures is arranged in the hydraulic cylinder;
the accumulator is used for providing bias pressure, offsetting impact and compensating leakage;
the mechanical load feedback mechanism comprises a displacement sensor, a force sensor and a voltage regulator; the displacement sensor is connected with the output piston and used for detecting the displacement of the output piston; the force sensor is connected with the output piston and used for detecting the mechanical load of the output piston; the voltage regulator is connected with the displacement sensor, the force sensor and the bias direct current coil, and is used for calculating load impedance according to the detected displacement and mechanical load, generating control voltage required to be input on the bias direct current coil according to the calculated load impedance to regulate the Young modulus of the GMM rod so as to control the change of mechanical internal resistance and realize the matching of the mechanical internal resistance and the calculated load impedance to achieve the maximum energy transfer efficiency.
Wherein, still include: and the permanent magnet is arranged on the side of the GMM rod and used for providing a reference bias magnetic field for the GMM rod.
Wherein, still include: the pre-stressed spring is arranged between the bias direct current coil and the pump piston and sleeved on the outer surface of the GMM rod, and is used for providing pre-tightening force and bias stress for the GMM rod and ensuring the contact between the GMM rod and the pump piston.
Wherein, the displacement sensor is a laser displacement sensor.
Wherein the hydraulic system further comprises: and the oil return valve is arranged on the pipeline and is used for relieving pressure of the hydraulic cylinder and resetting an output piston arranged in the hydraulic cylinder.
The embodiment of the invention has the following beneficial effects:
1. the GMM is used as a driving element, electromagnetic energy is converted into mechanical energy by means of the self magnetostriction effect, and the GMM has the advantages of high energy density, high response speed, high positioning accuracy and the like;
2. according to the invention, the GMM Young modulus change is regulated and controlled, so that the mechanical internal resistance is continuously adjustable and is matched with the load resistance in a self-adaptive manner, the energy conversion efficiency is optimal, and the problems of frequency response and transmission efficiency in the traditional electro-hydrostatic actuator are integrally solved;
3. the invention adopts a mechanical load feedback mechanism to complete the active control of the electro-hydrostatic actuator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a cross-sectional view of a prior art electro-hydrostatic actuator;
FIG. 2 is a schematic diagram of a simple planar structure of a high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance according to an embodiment of the present invention; in FIG. 2, 1-GMM rod, 2-electromagnetic coil, 3-bias direct current coil, 4-prestress spring, 5-pump piston, 6-pump cavity, 7-one-way valve, 8-pipeline, 9-hydraulic cylinder, 10-output piston, 11-energy accumulator, 12-displacement sensor, 13-force sensor, 14-voltage regulator and 15-oil return valve;
fig. 3 is a logic structure diagram of the high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance according to the embodiment of the present invention, in which the matching between the mechanical internal resistance and the calculated load impedance is implemented.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
The inventor finds that the GMM rod is used as a driving element of the electro-hydrostatic actuator, has high energy density (more than 10 times of piezoelectric ceramics), high response speed (in a microsecond level) and high positioning precision (in a micron level), converts electromagnetic energy into mechanical energy by means of the magnetostriction effect of the GMM rod, and is an ideal driving element of the electro-hydrostatic actuator. Considering that the GMM material has delta E effect, namely when the magnetic field or stress applied to the material changes, the Young modulus of the material changes, the rigidity of the GMM material can be actively controlled by adjusting the size of the magnetic field of the GMM material, and further the internal impedance of the electro-hydrostatic actuator can be actively adjusted.
The mathematical expression for the Δ E effect in view of GMM materials is:
in the formula (1), Δ E represents the amount of change in Young's modulus, EH1And EH2Respectively represent magnetic fields of H1And H2The Young's modulus can be regulated and controlled by changing the DC bias magnetic field.
Meanwhile, considering that the young' S modulus of GMM is the proportional relationship of stress T and strain S, namely:
e can be written as a function of the input dc voltage U, so that the young's modulus can be actively controlled by controlling the voltage.
Therefore, based on the GMM-driven electro-hydrostatic actuator shown in fig. 1, the inventor proposes to adjust the mechanical internal resistance of the electro-hydrostatic actuator by performing composite regulation and control in a manner of combining a direct-current bias coil or a direct-current bias coil with a permanent magnet, so as to achieve the purpose of adaptive matching of load impedance, maximize the efficiency of energy conversion, and integrally solve the problems of frequency response and transmission efficiency of the conventional electro-hydrostatic actuator.
As shown in fig. 2, in the embodiment of the present invention, the inventor provides a high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance, which includes an energy conversion driving mechanism with adjustable stiffness, a hydraulic system, an energy accumulator 11, and a mechanical load feedback mechanism; wherein the content of the first and second substances,
the rigidity-adjustable energy conversion driving mechanism comprises a GMM rod 1, an electromagnetic coil 2 and a bias direct current coil 3; the electromagnetic coil 2 is wound on the outer surface of the GMM rod 1 and is used for providing a driving magnetic field for the GMM rod 1 and exciting the GMM rod 1 to generate magnetostrictive motion; the bias direct current coil 3 is arranged around the GMM rod 1, connected with the mechanical load feedback mechanism and used for providing a bias magnetic field for the GMM rod 1 and adjusting the Young modulus of the GMM rod 1 according to a corresponding control voltage generated by a feedback signal of the mechanical load feedback mechanism; it should be noted that the bias dc coil 3 is arranged around the GMM rod 1, and the bias dc coil 3 is not only sleeved outside the GMM rod 1, but also outside the electromagnetic coil 2;
the hydraulic system comprises a pump piston 5, a pump cavity 6, a one-way valve 7, a pipeline 8 and a hydraulic cylinder 9; the pump piston 5 is accommodated at the bottom of the pump cavity 6 and is in sealed connection with the pump cavity 6, and the bottom end of the pump piston is connected with the GMM rod 1 and moves up and down in the pump cavity 6 under the driving of the GMM rod 1; the top of the pump cavity 6 forms a circuit communicated with the hydraulic cylinder 9 through a pipeline 8, and the space between the pump cavity and the pump piston 5 is filled with liquid and generates high pressure when the pump piston 5 moves so that the liquid is formed into high-pressure liquid; two one-way valves 7 in different directions are respectively arranged at two ports of the pipeline 8 connected with the pump cavity 6, and an energy accumulator 11 communicated with each other is arranged at one side close to the hydraulic cylinder 9; an output piston 10 which is driven to move along the axial direction due to different internal pressures is arranged in the hydraulic cylinder 9; it should be noted that the bottom, top, upper and lower ends are all referred to the horizontal ground;
an accumulator 11 for providing an offset pressure and counteracting shocks and compensating for leakage;
the mechanical load feedback mechanism comprises a displacement sensor 12, a force sensor 13 and a voltage regulator 14; wherein, the displacement sensor 12 is connected with the output piston 10 and is used for detecting the displacement of the output piston 10; the force sensor 13 is connected with the output piston 10 and used for detecting the mechanical load of the output piston 10; the voltage regulator 14 is connected with the displacement sensor 12 and the force sensor 13, and is also connected with the bias direct current coil 3, and is used for calculating load impedance according to the detected displacement and mechanical load, and generating control voltage required to be input on the bias direct current coil 3 according to the calculated load impedance to regulate the Young modulus of the GMM rod 1, so as to control the change of mechanical internal resistance, and realize that the mechanical internal resistance is matched with the calculated load impedance to achieve the maximum energy transfer efficiency.
Further, the method also comprises the following steps: and a permanent magnet which is arranged at the side of the GMM rod 1 and is used for providing a reference bias magnetic field for the GMM rod 1.
Further, the method also comprises the following steps: the prestress spring 4 is arranged between the bias direct current coil 3 and the pump piston 5 and sleeved on the outer surface of the GMM rod 1, and the prestress spring 4 is used for providing pretightening force and bias stress for the GMM rod 1 and ensuring the contact between the GMM rod 1 and the pump piston 5.
Further, the displacement sensor 12 is a laser displacement sensor.
Further, the hydraulic system further includes: and the oil return valve 15 is arranged on the pipeline 8, and the oil return valve 15 is used for relieving pressure of the hydraulic cylinder 9 and resetting an output piston 10 arranged in the hydraulic cylinder 9.
The working principle of the high-efficiency hydrostatic actuator with continuously adjustable mechanical internal resistance provided by the embodiment of the invention is that under the action of a bias magnetic field generated by a direct current bias coil 3 and an excitation magnetic field generated by an electromagnetic coil 2, a GMM rod 1 generates magnetostrictive deformation to push a pump piston 5 to extrude a pump cavity 6 to generate high-pressure liquid, and the high-pressure liquid is rectified by a one-way valve 7 to further push a hydraulic cylinder 9 to realize power output of an output piston 10.
The displacement sensor 12 and the force sensor 13 detect the displacement and the mechanical load of the output piston 10, calculate the impedance, feed back the result to the voltage regulator 14 to generate the control voltage required by the input end of the direct current bias coil 3, regulate the internal impedance of the electro-hydrostatic actuator through the control voltage, and match the feedback load impedance, thus completing the active control of the electro-hydrostatic actuator.
The energy transfer efficiency of the electro-hydrostatic actuator is related to the matching degree of the load impedance of the electro-hydrostatic actuator, and the higher the matching degree of the system internal resistance and the load impedance is, the higher the output power obtained by the load is. The invention carries out the self-adaptive matching control of the load impedance of the actuator from two aspects, as shown in figure 3.
Firstly, based on the characteristic quantity (displacement, speed, acceleration and other signals) of the load running state, the load impedance change is identified and compared with the current internal resistance, and the error between the load impedance change and the current internal resistance is used as the input of the impedance control signal. Secondly, performing impedance active closed-loop control, performing rigidity inversion according to an input signal, reversely calculating a control voltage signal according to the delta E effect of the GMM, obtaining a target impedance control voltage, inputting the target impedance control voltage to a direct current bias coil of the electro-hydrostatic actuator, and realizing load impedance adaptive matching, wherein the output power obtained by a load is the largest at the moment, and the energy transfer efficiency of the actuator is optimal.
The embodiment of the invention has the following beneficial effects:
1. the GMM is used as a driving element, electromagnetic energy is converted into mechanical energy by means of the self magnetostriction effect, and the GMM has the advantages of high energy density, high response speed, high positioning accuracy and the like;
2. according to the invention, the GMM Young modulus change is regulated and controlled, so that the mechanical internal resistance is continuously adjustable and is matched with the load resistance in a self-adaptive manner, the energy conversion efficiency is optimal, and the problems of frequency response and transmission efficiency in the traditional electro-hydrostatic actuator are integrally solved;
3. the invention adopts a mechanical load feedback mechanism to complete the active control of the electro-hydrostatic actuator.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (3)
1. A high-efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance is characterized by comprising an energy conversion driving mechanism with adjustable rigidity, a hydraulic system, an energy accumulator (11) and a mechanical load feedback mechanism; wherein the content of the first and second substances,
the rigidity-adjustable energy conversion driving mechanism comprises a GMM rod (1), an electromagnetic coil (2) and a bias direct current coil (3); wherein the electromagnetic coil (2) is wound on the outer surface of the GMM rod (1) and is used for providing a driving magnetic field for the GMM rod (1) and exciting the GMM rod (1) to generate magnetostrictive motion; the bias direct current coil (3) is arranged around the GMM rod (1) and connected with the mechanical load feedback mechanism, and is used for providing a bias magnetic field for the GMM rod (1) and adjusting the Young modulus of the GMM rod (1) according to a corresponding control voltage generated by a feedback signal of the mechanical load feedback mechanism;
the hydraulic system comprises a pump piston (5), a pump cavity (6), a one-way valve (7), a pipeline (8) and a hydraulic cylinder (9); wherein the pump piston (5) is accommodated at the bottom of the pump cavity (6) and forms a sealing connection with the pump cavity (6), the bottom end of the pump piston is connected with the GMM rod (1) and moves up and down in the pump cavity (6) under the driving of the GMM rod (1); the top of the pump cavity (6) is communicated with the hydraulic cylinder (9) through the pipeline (8) to form a circuit, liquid is filled between the pump cavity and the pump piston (5), and high pressure is generated when the pump piston (5) moves, so that the liquid is formed into high-pressure liquid; two check valves (7) in different directions are respectively arranged at two ports of the pipeline (8) connected with the pump cavity (6), and an energy accumulator (11) communicated with each other is arranged on one side close to the hydraulic cylinder (9); an output piston (10) which is driven to move along the axial direction due to different internal pressures is arranged in the hydraulic cylinder (9);
the accumulator (11) is used for providing bias pressure, offsetting impact and compensating leakage;
the mechanical load feedback mechanism comprises a displacement sensor (12), a force sensor (13) and a voltage regulator (14); wherein the displacement sensor (12) is connected with the output piston (10) and is used for detecting the displacement of the output piston (10); the force sensor (13) is connected with the output piston (10) and is used for detecting the mechanical load of the output piston (10); the voltage regulator (14) is connected with the displacement sensor (12) and the force sensor (13), is also connected with the bias direct current coil (3), and is used for calculating load impedance according to the detected displacement and mechanical load, and generating control voltage required to be input on the bias direct current coil (3) according to the calculated load impedance to regulate the Young modulus of the GMM rod (1) so as to control the change of mechanical internal resistance and realize the matching of the mechanical internal resistance and the calculated load impedance to achieve the maximum energy transfer efficiency; the actuator load impedance adaptive matching control comprises the following steps:
firstly, based on the characteristic quantity of the load running state, the load impedance change is identified and compared with the current internal resistance, and the error between the load impedance change and the current internal resistance is used as the input of an impedance control signal; secondly, performing impedance active closed-loop control, performing rigidity inversion according to an input signal, reversely solving a control voltage signal according to the delta E effect of the GMM to obtain a target impedance control voltage, and inputting the target impedance control voltage to a direct current bias coil of the electro-hydrostatic actuator, so that load impedance adaptive matching can be realized;
further comprising: the permanent magnet is arranged at the side of the GMM rod (1) and used for providing a reference bias magnetic field for the GMM rod (1);
further comprising: the pre-stressed spring (4) is arranged between the bias direct current coil (3) and the pump piston (5) and is sleeved on the outer surface of the GMM rod (1), and the pre-stressed spring (4) is used for providing pre-tightening force and bias stress for the GMM rod (1) and ensuring the contact between the GMM rod (1) and the pump piston (5).
2. The high efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance of claim 1, wherein the displacement sensor (12) is a laser displacement sensor.
3. The high efficiency electro-hydrostatic actuator with continuously adjustable mechanical internal resistance of claim 2, wherein said hydraulic system further comprises: and the oil return valve (15) is arranged on the pipeline (8), and the oil return valve (15) is used for relieving pressure of the hydraulic cylinder (9) and resetting an output piston (10) arranged in the hydraulic cylinder (9).
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| IT202000025039A1 (en) * | 2020-10-22 | 2022-04-22 | I N A I L Istituto Naz Per L’Assicurazione Contro Gli Infortuni Sul Lavoro | PROSTHESIS FOR LIMBS OF THE HUMAN BODY AND ELECTRO-HYDROSTATIC ACTUATOR FOR THIS PROSTHESIS |
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| CN109538552A (en) * | 2019-01-03 | 2019-03-29 | 杨斌堂 | Fluid passage driving device and composite structure |
| CN110925271B (en) * | 2019-11-22 | 2021-10-08 | 温州大学 | Dynamic characteristic testing device of electro-hydrostatic actuator driven by intelligent material |
| CN110829885B (en) * | 2019-11-22 | 2022-10-21 | 温州大学 | Mechanical impedance matching control method of magnetostrictive precision driving device |
| CN111779728B (en) * | 2020-06-04 | 2022-04-19 | 南京航空航天大学 | Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof |
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| IT202000025039A1 (en) * | 2020-10-22 | 2022-04-22 | I N A I L Istituto Naz Per L’Assicurazione Contro Gli Infortuni Sul Lavoro | PROSTHESIS FOR LIMBS OF THE HUMAN BODY AND ELECTRO-HYDROSTATIC ACTUATOR FOR THIS PROSTHESIS |
| WO2022084847A1 (en) * | 2020-10-22 | 2022-04-28 | Fondazione Istituto Italiano Di Tecnologia | Prosthesis for limbs of the human body and electrohydraulic actuator for such prosthesis |
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Application publication date: 20190723 Assignee: Yueqing Institute of industry, Wenzhou University Assignor: Wenzhou University Contract record no.: X2020330000105 Denomination of invention: A high efficiency electro Hydrostatic Actuator with continuously adjustable internal resistance Granted publication date: 20200630 License type: Common License Record date: 20201125 |
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