CN110259771A - A kind of mechanical arm hydraulic synchronous compensating device and control method - Google Patents
A kind of mechanical arm hydraulic synchronous compensating device and control method Download PDFInfo
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- CN110259771A CN110259771A CN201910597622.XA CN201910597622A CN110259771A CN 110259771 A CN110259771 A CN 110259771A CN 201910597622 A CN201910597622 A CN 201910597622A CN 110259771 A CN110259771 A CN 110259771A
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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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
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention discloses a kind of mechanical arm hydraulic synchronous compensating device and control method, and device includes hydraulic pump and the data acquisition card, analog-digital converter, controller and the solid-state relay that are sequentially connected electrically；The solid-state relay is connected separately with multiple high-speed switch valves, and each high-speed switch valve is respectively connected with a cone valve respectively, and each cone valve is respectively connected with a solenoid directional control valve respectively, and each solenoid directional control valve is respectively connected with a hydraulic cylinder respectively；Displacement sensor is provided on the piston rod of each hydraulic cylinder, each institute's displacement sensors, which are divided equally, not to be electrically connected with the data acquisition card；The hydraulic pump is connect with multiple solenoid directional control valves respectively.The used control method based on mechanical arm hydraulic synchronous compensating control device provided by the invention may be implemented to move the synchronization controlled to realize different hydraulic cylinders to multiple hydraulic cylinders.
Description
Technical field
The present invention relates to electrohydraulic control technology fields, more particularly to a kind of mechanical arm hydraulic synchronous compensating device and control
Method.
Background technique
Using electrohydraulic control technology as the hydraulic synchronous control system of control core, in each of national economy and national defense construction
Field suffers from very extensive application, and especially in some occasions for having high-power heavy load requirement, such as engineering machinery is built
Build construction, metallurgical mine, shipping yard etc..These equipment generally require two even because of the relationship that load force is very big or is laid out
Multiple hydraulic actuators drive a work executing agency simultaneously, therefore the requirement to synchronously control is very universal.Currently, in liquid
It presses synchronized drive technology in the realization of control program, is mainly all based on the closed-loop control of the analog signals element such as proportioning valve,
Although scheme maturation and synchronous control accuracy with higher, also clearly, such as: component price is high, is for shortcoming
Uniting, it is also high to require the cleannes of oil liquid, is not easy to Digital Control, and solve difficulty etc. the problems such as temperature drift and magnetic hysteresis, causes
The investment and operating cost of system are all very high, to greatly limit the commonly used of this technical solution.
Summary of the invention
The object of the present invention is to provide a kind of mechanical arm hydraulic synchronous compensating device and control methods, above-mentioned existing to solve
Technology there are the problem of, may be implemented to move multiple hydraulic cylinders and controlled synchronization to realize different hydraulic cylinders.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of mechanical arm hydraulic synchronous compensating device, including hydraulic pump and the signal acquisition being sequentially connected electrically
Card, analog-digital converter, controller and solid-state relay；The solid-state relay is connected separately with multiple high-speed switch valves, each
The high-speed switch valve is respectively connected with a cone valve respectively, and each cone valve is respectively connected with a solenoid directional control valve respectively, often
A solenoid directional control valve is respectively connected with a hydraulic cylinder respectively；Displacement sensing is provided on the piston rod of each hydraulic cylinder
Device, each institute's displacement sensors, which are divided equally, not to be electrically connected with the data acquisition card；The hydraulic pump respectively with multiple electricity
The connection of magnetic reversal valve.
Optionally, overflow valve is provided on the hydraulic pump.
Optionally, the solid-state relay is separately connected there are two high-speed switch valve；Two high-speed switch valve difference
Including the first high-speed switch valve and the second high-speed switch valve；First high-speed switch valve is connected with the first cone valve, first in turn
Solenoid directional control valve and first hydraulic cylinder, second high-speed switch valve be connected in turn the second cone valve, the second solenoid directional control valve and
Second hydraulic cylinder；Be provided with the first displacement sensor on the piston rod of the first hydraulic cylinder, first displacement sensor with
The data acquisition card is electrically connected, and is provided with second displacement sensor, the second on the piston rod of the second hydraulic cylinder
Displacement sensor is electrically connected with the data acquisition card；The hydraulic pump is changed with first solenoid directional control valve and the second electromagnetism respectively
It is connected to valve.
The present invention also provides a kind of mechanical arm hydraulic synchronous compensating control method, mainly include active cylinder benchmark control methods and
Mean baseline control methods；The active cylinder benchmark control methods include the following steps:
Step 1: selecting first hydraulic cylinder for active cylinder, and the piston rod movement displacement with first hydraulic cylinder is control benchmark；
Start motor, hydraulic pump works control the first solenoid directional control valve and the work of the second solenoid directional control valve in left state；
Step 2: controller generates signal and controls the first high-speed switch valve and the unlatching of the second high-speed switch valve, the first cone valve
Decline with oil pressure in the control chamber in the second cone valve, two cone valves are opened, the piston in first hydraulic cylinder and second hydraulic cylinder
Bar moves upwards respectively；First displacement sensor and second displacement sensor measure first hydraulic cylinder and second hydraulic cylinder respectively
The stretching of piston rod is displaced, and the displacement signal measured is transmitted to controller, and using the displacement signal of the first displacement sensor as base
Standard calculates the difference for the displacement that the displacement that second displacement sensor measures is measured with the first displacement sensor, and according to difference tune
The modulation rate of the whole pulse width modulation control signal for being output to high-speed switch valve；The final first hydraulic cylinder and second hydraulic realized
The piston rod of cylinder is synchronous to be stretched out；
Step 3: the first solenoid directional control valve of control and the work of the second solenoid directional control valve repeat step 2 in right state；It is real
Existing first hydraulic cylinder is synchronous with the piston rod of second hydraulic cylinder to be withdrawn.
Optionally, it in the step 2, calculates the displacement that second displacement sensor measures and is measured with the first displacement sensor
Displacement difference；If difference is negative, increase the modulation rate for being output to the pulse width modulation control signal of high-speed switch valve,
Make second hydraulic cylinder piston rod stretch out speed to increase；If difference is positive, the pulse that reduction is output to the second high-speed switch valve is wide
The modulation rate for spending modulation control signal makes second hydraulic cylinder piston rod stretch out speed and reduces；If difference is zero, holding is output to
The modulation rate of the pulse width modulation control signal of high-speed switch valve is constant.
Optionally, the mean baseline control methods include the following steps:
Step 1: being control benchmark with the displacement mean value of first hydraulic cylinder and second hydraulic cylinder；Start motor, hydraulic pump work
Make, and controls the first solenoid directional control valve and the work of the second solenoid directional control valve in left state；
Step 2: controller generates signal and controls the first high-speed switch valve and the unlatching of the second high-speed switch valve, the first cone valve
Decline with oil pressure in the control chamber in the second cone valve, two cone valves are opened, the piston in first hydraulic cylinder and second hydraulic cylinder
Bar moves upwards respectively；First displacement sensor and second displacement sensor measure first hydraulic cylinder and second hydraulic cylinder respectively
The stretching of piston rod is displaced, and the displacement signal measured is transmitted to controller；It calculates the first displacement sensor and second displacement passes
The measured mean value being displaced of sensor, and using this mean value as displacement datum；It calculates separately the first displacement sensor and second displacement passes
The difference of displacement and displacement datum that sensor measures, after obtaining difference, as the displacement of some hydraulic cylinder piston rod is greater than displacement base
Standard then reduces the modulation rate for being output to the pulse width modulation control signal for the high-speed switch valve for controlling the hydraulic cylinder, such as a certain
A hydraulic cylinder piston rod displacement is less than displacement datum, then increases the pulse width for being output to the high-speed switch valve for controlling the hydraulic cylinder
The modulation rate of modulation control signal, if holding is output to control as the displacement of some hydraulic cylinder piston rod is identical as displacement datum
The modulation rate for making the pulse width modulation control signal of the high-speed switch valve of the hydraulic cylinder is constant；It is final realize first hydraulic cylinder and
The piston rod of second hydraulic cylinder is synchronous to be stretched out；
Step 3: the first solenoid directional control valve of control and the work of the second solenoid directional control valve repeat step 2 in right state；It is real
Existing first hydraulic cylinder is synchronous with the piston rod of second hydraulic cylinder to be withdrawn.
The present invention achieves following technical effect compared with the existing technology:
The present invention can be by the controllable uninterrupted by cone valve of modulation rate size of control high-speed switch valve, in turn
Control finally realizes the control to controlled hydraulic cylinder speed, passes through displacement sensor by the flow of Elactro magnetic commutator
Measured displacement signal feedback changes the modulation rate size of high-speed switch valve, it can be achieved that the movement of multiple hydraulic cylinders is synchronous.
Specifically, the present invention provides two kinds of different multi-hydraulic-cylinder synchroballistic control methods: first is that active cylinder benchmark control
Preparation method controls the movement of slave cylinder on the basis of the moving displacement of active cylinder, synchronizes the movement of all hydraulic cylinder, works as slave cylinder
When piston rod displacement is greater than active cylinder, the pulse width modulation control signal for being output to the high-speed switch valve of control slave cylinder is reduced
Modulation rate, reduce the movement velocity of slave cylinder, it is on the contrary then increase be output to the high-speed switch valve of control slave cylinder pulse it is wide
The modulation rate for spending modulation control signal, increases the movement velocity of slave cylinder；Second is that mean baseline control methods, controlled all hydraulic
Cylinder does not distinguish active cylinder and slave cylinder, when control on the basis of the mean value of all hydraulic cylinder moving displacement, controls all hydraulic
The movement velocity of cylinder keeps the movement of each hydraulic cylinder synchronous, and the method and the difference of active cylinder benchmark control methods are to be displaced basic choosing
The difference taken.Multi-hydraulic-cylinder synchroballistic is controlled, the response speed of mean baseline control methods is compared with active cylinder benchmark control methods
Corresponding speed is fast.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is hydraulic manipulator synchronous compensator plant of the present invention and control principle schematic diagram；
Wherein, 1 is hydraulic pump, and 2 be overflow valve, and 3 be the first solenoid directional control valve, and 4 be the second solenoid directional control valve, and 5 be first
Cone valve, 6 be the second cone valve, and 7 be the first high-speed switch valve, and 8 be the second high-speed switch valve, and 9 be first hydraulic cylinder, and 10 be the second liquid
Cylinder pressure, 11 be the first displacement sensor, and 12 be second displacement sensor, and 13 be data acquisition card, and 14 be analog-digital converter, and 15 are
Controller, 16 be solid-state relay.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of mechanical arm hydraulic synchronous compensating device and control methods, above-mentioned existing to solve
Technology there are the problem of, may be implemented to move multiple hydraulic cylinders and controlled synchronization to realize different hydraulic cylinders.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of mechanical arm hydraulic synchronous compensating device and control methods, as shown in Figure 1, the device includes
Hydraulic valve integration module, solid-state relay 16, controller 15, data acquisition card 13, displacement sensor, hydraulic pump 1 etc..Hydraulic valve
Integration module includes high-speed switch valve, cone valve, solenoid directional control valve, overflow valve 2；High-speed switch valve, cone valve, solenoid directional control valve quantity
Realize that the hydraulic cylinder quantity moved synchronously is identical with required.In the synchronous compensator plant, displacement sensor is hydraulic for measuring
Cylinder piston rod displacement, data acquisition card is for acquiring displacement sensor institute's measured data and being transferred in controller, by controller pair
Input signal is calculated, analyzed and is judged, and output pulse width modulation control signal, pulse width modulation control signal warp
It crosses after amplifying circuit amplifies and inputs high-speed switch valve.
Mechanical arm hydraulic synchronous compensating control method provided by the invention includes active cylinder benchmark control methods and mean baseline
Control methods.
Specifically, when synchronizing compensation control to two hydraulic cylinders with active cylinder benchmark control methods, arbitrarily selection the
One in one hydraulic cylinder 9 and second hydraulic cylinder 10 is active cylinder, selects first hydraulic cylinder 9 for active cylinder in this example, with its work
Stopper rod moving displacement is control benchmark.
Start motor, hydraulic pump works, the first solenoid directional control valve 3 of control, the work of the second solenoid directional control valve 4 are in left side shape
State, i.e., just connect state, and controller 15 generates the pulse width modulation for adjusting the first high-speed switch valve 7 and the second high-speed switch valve 8
Signal is controlled, the first high-speed switch valve 7 and the second high-speed switch valve 8 are opened, the control chamber in the first cone valve 5 and the second cone valve 6
Middle oil pressure decline, two cone valves are opened, so that rodless cavity fuel feeding in first hydraulic cylinder 9 and second hydraulic cylinder 10, rod chamber are let out
Oil, the piston rod in first hydraulic cylinder 9 and second hydraulic cylinder 10 move upwards respectively.When entire synchronous compensator plant is started to work
When, displacement sensor is also started to work.When two piston rods move upwards respectively, the first displacement sensor 11 and second displacement
Sensor 12 measure respectively the piston rod of first hydraulic cylinder 9 and second hydraulic cylinder 10 stretching displacement, the displacement signal measured by
Data acquisition card 13 receives and is transmitted to controller 15 after analog-digital converter 14 is converted into digital signal, in controller 15,
On the basis of the displacement signal of the first displacement sensor 11, calculates the displacement that second displacement sensor 12 measures and passed with the first displacement
The difference for the displacement that sensor 11 measures, if difference is negative, (i.e. the piston rod displacement of second hydraulic cylinder 10 is less than first hydraulic cylinder 9
Move), then increase the modulation rate for being output to the pulse width modulation control signal of high-speed switch valve, output by solid-state relay 16
Signal is output to the second high-speed switch valve 8 after the amplification of solid-state amplifier 16, so that passing through the flow of the second high-speed switch valve 8
Increase, and then make to increase by the flow of the second cone valve 6, so that 10 piston rod of second hydraulic cylinder is stretched out speed and increase；If poor
Value is positive (i.e. the piston rod displacement of second hydraulic cylinder 10 is greater than 9 piston rod of first hydraulic cylinder and is displaced), then reduces and be output to second
The modulation rate of the pulse width modulation control signal of high-speed switch valve 8, output signal export after the amplification of solid-state amplifier 16
To the second high-speed switch valve 8, so that the flow by the second high-speed switch valve 8 reduces, and then make the flow by the second cone valve 6
Reduce, so that 10 piston rod of second hydraulic cylinder is stretched out speed and reduce.If difference is zero, holding is output to high-speed switch valve
The modulation rate of pulse width modulation control signal is constant, so that 10 piston rod of second hydraulic cylinder is stretched out speed constant.Entirely controlled
Journey is closed loop control process, and during entire hydraulic cylinder works, displacement sensor is working always, and displacement signal is transmitted
To controller, the second high-speed switch valve of corresponding control signals 8 is exported by controller.It is final to realize first hydraulic cylinder 9, second
10 piston rod of hydraulic cylinder is synchronous to be stretched out.
First hydraulic cylinder 9 and synchronous withdraw of 10 piston rod of second hydraulic cylinder are lived with first hydraulic cylinder 9 and second hydraulic cylinder 10
Stopper rod is synchronous stretch out during difference be the operating position of the first solenoid directional control valve 3 and the second solenoid directional control valve 4, i.e., by the
The position of one solenoid directional control valve 3 and the second solenoid directional control valve 4 is placed in right state, i.e. reversal connection state, moves synchronously process
Control principle is constant.It is final to realize the synchronous withdrawal of first hydraulic cylinder 9,10 piston rod of second hydraulic cylinder.
When synchronizing compensation control to two hydraulic cylinders with mean baseline control methods, active cylinder and driven is not distinguished
Cylinder, displacement datum are the displacement mean value of all controlled hydraulic cylinders (being two hydraulic cylinders in this example).
Start motor, hydraulic pump works, and controls the first solenoid directional control valve 3 and the work of the second solenoid directional control valve 4 in left side
State, i.e., just connect state, and controller 15 generates the pulse width tune of control the first high-speed switch valve 7 and the second high-speed switch valve 8
System control signal, the first high-speed switch valve 7 and the second high-speed switch valve 8 are opened, the control in the first cone valve 5 and the second cone valve 6
Oil pressure declines in chamber, and two cone valves are opened, so that rodless cavity fuel feeding in first hydraulic cylinder 9 and second hydraulic cylinder 10, rod chamber
Draining, the piston rod in first hydraulic cylinder 9, second hydraulic cylinder 10 move upwards respectively.When entire synchronous compensator plant starts work
When making, displacement sensor is also started to work.When two piston rods move upwards respectively, the first displacement sensor 11, second
Displacement sensor 12 measure respectively the piston rod of first hydraulic cylinder 9, second hydraulic cylinder 10 stretching displacement, the displacement signal measured by
Data acquisition card 13 receives and process analog-digital converter 14 is converted into digital signal and is transmitted to controller 15, in controller 15, meter
The measured mean value being displaced of the first displacement sensor 11, second displacement sensor 12 is calculated, and using this mean value as displacement datum, point
The difference for not calculating the first displacement sensor 11, the displacement that second displacement sensor 12 measures and displacement datum, after obtaining difference,
If the displacement of some hydraulic cylinder piston rod is greater than displacement datum, then it is output to by the reduction of solid-state relay 16 and controls the hydraulic cylinder
High-speed switch valve pulse width modulation control signal modulation rate, as some hydraulic cylinder piston rod displacement be less than displacement base
Standard then increases the pulse width modulation control signal for being output to the high-speed switch valve for controlling the hydraulic cylinder by solid-state relay 16
Modulation rate, if keeping being output to the control hydraulic cylinder as some hydraulic cylinder piston rods is displaced identical with displacement datum
The modulation rate of the pulse width modulation control signal of high-speed switch valve is constant.Unlike active cylinder benchmark control methods, this
When need simultaneously the modulation rate of two pulse width modulation control signals of output is controlled, so as to the fortune to two hydraulic cylinders
It moves while being controlled.It is final to realize the synchronous stretching of first hydraulic cylinder 9,10 piston rod of second hydraulic cylinder.
First hydraulic cylinder 9,10 piston rod of second hydraulic cylinder are synchronous to be withdrawn and first hydraulic cylinder 9,10 piston of second hydraulic cylinder
Difference is the operating position of the first solenoid directional control valve 3, the second solenoid directional control valve 4 during the synchronous stretching of bar, i.e., by first
Solenoid directional control valve 3, the second solenoid directional control valve 4 position be placed in right state, i.e. reversal connection state, control process principle is not
Become.It is final to realize the synchronous withdrawal of first hydraulic cylinder 9,10 piston rod of second hydraulic cylinder.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (6)
1. a kind of mechanical arm hydraulic synchronous compensating device, it is characterised in that: including hydraulic pump and the signal acquisition being sequentially connected electrically
Card, analog-digital converter, controller and solid-state relay；The solid-state relay is connected separately with multiple high-speed switch valves, each
The high-speed switch valve is respectively connected with a cone valve respectively, and each cone valve is respectively connected with a solenoid directional control valve respectively, often
A solenoid directional control valve is respectively connected with a hydraulic cylinder respectively；Displacement sensing is provided on the piston rod of each hydraulic cylinder
Device, each institute's displacement sensors, which are divided equally, not to be electrically connected with the data acquisition card；The hydraulic pump respectively with multiple electricity
The connection of magnetic reversal valve.
2. mechanical arm hydraulic synchronous compensating device according to claim 1, it is characterised in that: be provided on the hydraulic pump
Overflow valve.
3. mechanical arm hydraulic synchronous compensating device according to claim 2, it is characterised in that: the solid-state relay difference
There are two high-speed switch valves for connection；Two high-speed switch valves respectively include the first high-speed switch valve and the second high-speed switch
Valve；First high-speed switch valve is connected with the first cone valve, the first solenoid directional control valve and first hydraulic cylinder in turn, and described second is high
Fast switch valve is connected with the second cone valve, the second solenoid directional control valve and second hydraulic cylinder in turn；The piston rod of the first hydraulic cylinder
On be provided with the first displacement sensor, first displacement sensor is electrically connected with the data acquisition card, and described second is hydraulic
Second displacement sensor is provided on the piston rod of cylinder, the second displacement sensor is electrically connected with the data acquisition card；Institute
Hydraulic pump is stated to connect with first solenoid directional control valve and the second solenoid directional control valve respectively.
4. a kind of mechanical arm hydraulic synchronous compensating control method, it is characterised in that: including active cylinder benchmark control methods and average base
Quasi- control methods；The active cylinder benchmark control methods include the following steps:
Step 1: selecting first hydraulic cylinder for active cylinder, and the piston rod movement displacement with first hydraulic cylinder is control benchmark；Starting
Motor, hydraulic pump works control the first solenoid directional control valve and the work of the second solenoid directional control valve in left state；
Step 2: controller, which generates signal and controls the first high-speed switch valve and the second high-speed switch valve, to be opened, the first cone valve and the
Oil pressure declines in control chamber in two cone valves, and two cone valves are opened, the piston rod in first hydraulic cylinder and second hydraulic cylinder point
It does not move upwards；First displacement sensor and second displacement sensor measure the piston of first hydraulic cylinder and second hydraulic cylinder respectively
The stretching of bar is displaced, and the displacement signal measured is transmitted to controller, and on the basis of the displacement signal of the first displacement sensor, meter
The difference for the displacement that the displacement that second displacement sensor measures is measured with the first displacement sensor is calculated, and is adjusted and is exported according to difference
To the modulation rate of the pulse width modulation control signal of high-speed switch valve；The final work for realizing first hydraulic cylinder and second hydraulic cylinder
Stopper rod is synchronous to be stretched out；
Step 3: the first solenoid directional control valve of control and the work of the second solenoid directional control valve repeat step 2 in right state；Realize the
One hydraulic cylinder is synchronous with the piston rod of second hydraulic cylinder to be withdrawn.
5. mechanical arm hydraulic synchronous compensating control method according to claim 4, it is characterised in that: in the step 2,
Calculate the difference for the displacement that the displacement that second displacement sensor measures is measured with the first displacement sensor；If difference is negative, increase
Add the modulation rate for being output to the pulse width modulation control signal of high-speed switch valve, so that second hydraulic cylinder piston rod is stretched out speed and increase
Add；If difference is positive, the modulation rate for being output to the pulse width modulation control signal of the second high-speed switch valve is reduced, makes second
Hydraulic cylinder piston rod stretches out speed and reduces；If difference is zero, the pulse width modulation control for being output to high-speed switch valve is kept
The modulation rate of signal is constant.
6. mechanical arm hydraulic synchronous compensating control method according to claim 4, it is characterised in that: the mean baseline control
Preparation method includes the following steps:
Step 1: being control benchmark with the displacement mean value of first hydraulic cylinder and second hydraulic cylinder；Starting motor, hydraulic pump works,
And the first solenoid directional control valve and the work of the second solenoid directional control valve are controlled in left state；
Step 2: controller, which generates signal and controls the first high-speed switch valve and the second high-speed switch valve, to be opened, the first cone valve and the
Oil pressure declines in control chamber in two cone valves, and two cone valves are opened, the piston rod in first hydraulic cylinder and second hydraulic cylinder point
It does not move upwards；First displacement sensor and second displacement sensor measure the piston of first hydraulic cylinder and second hydraulic cylinder respectively
The stretching of bar is displaced, and the displacement signal measured is transmitted to controller；Calculate the first displacement sensor and second displacement sensor
The mean value of measured displacement, and using this mean value as displacement datum；Calculate separately the first displacement sensor and second displacement sensor
The difference of the displacement and displacement datum that measure, after obtaining difference, if the displacement of some hydraulic cylinder piston rod is greater than displacement datum, then
The modulation rate for being output to the pulse width modulation control signal for the high-speed switch valve for controlling the hydraulic cylinder is reduced, as some is hydraulic
Cylinder piston rod displacement is less than displacement datum, then increases the pulse width modulation control for being output to the high-speed switch valve for controlling the hydraulic cylinder
The modulation rate of signal processed, if holding, which is output to, controls the liquid as the displacement of some hydraulic cylinder piston rod is identical as displacement datum
The modulation rate of the pulse width modulation control signal of the high-speed switch valve of cylinder pressure is constant；It is final to realize first hydraulic cylinder and the second liquid
The piston rod of cylinder pressure is synchronous to be stretched out；
Step 3: the first solenoid directional control valve of control and the work of the second solenoid directional control valve repeat step 2 in right state；Realize the
One hydraulic cylinder is synchronous with the piston rod of second hydraulic cylinder to be withdrawn.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111503073A (en) * | 2020-04-03 | 2020-08-07 | 山西大学 | Semi-closed hydraulic servo control system for mobile coal bunker equipment |
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Application publication date: 20190920 |