CN110332184A - Electric hydrostatic actuator energy feedback suppressing method inhibits oil circuit and electric hydrostatic actuator - Google Patents
Electric hydrostatic actuator energy feedback suppressing method inhibits oil circuit and electric hydrostatic actuator Download PDFInfo
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- CN110332184A CN110332184A CN201910730361.4A CN201910730361A CN110332184A CN 110332184 A CN110332184 A CN 110332184A CN 201910730361 A CN201910730361 A CN 201910730361A CN 110332184 A CN110332184 A CN 110332184A
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- 230000002706 hydrostatic effect Effects 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000003921 oil Substances 0.000 claims abstract description 266
- 238000013016 damping Methods 0.000 claims abstract description 91
- 239000000446 fuel Substances 0.000 claims abstract description 39
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 38
- 230000005611 electricity Effects 0.000 claims description 9
- 230000005764 inhibitory process Effects 0.000 claims description 6
- 235000006508 Nelumbo nucifera Nutrition 0.000 claims 1
- 240000002853 Nelumbo nucifera Species 0.000 claims 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 claims 1
- 238000001816 cooling Methods 0.000 abstract description 9
- 230000002401 inhibitory effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000002829 reductive effect Effects 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 230000000979 retarding effect Effects 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
-
- 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
- F15B15/202—Externally-operated valves mounted in or on the actuator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/042—Controlling the temperature of the fluid
- F15B21/0423—Cooling
-
- 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
Abstract
The embodiment of the invention discloses a kind of electric hydrostatic actuator energy feedback suppressing method, inhibit oil circuit and electric hydrostatic actuator, this method comprises: comparing whether fuel supply chamber and back oil cavity pressure difference are more than pressure threshold when the pressure of the fuel supply chamber of pressurized strut is less than the pressure of oil back chamber in detecting electric hydrostatic actuator；If pressure difference is greater than pressure threshold, control load inhibits oil circuit in the open state, so that load inhibits oil circuit to generate damping action to hydraulic oil, wherein load inhibits oil circuit to be arranged between the hydraulic pump outlet and model selection valve of electric hydrostatic actuator；Open state is that load inhibits the pressure in oil circuit to control the state that the valve opening of orifice valve becomes smaller by maximum.The embodiment of the present invention inhibits oil circuit to generate damping action to hydraulic oil by load, the energy of electric hydrostatic actuator feedback is allowed to be consumed in hydraulic oil, and be dispersed into air by hydraulic cylinder, it is cooling to solve the problems, such as that feedback excessively needs additionally to carry out controller to the energy of controller.
Description
Technical field
The present embodiments relate to aircraft flight control technique more particularly to a kind of electric hydrostatic actuator energy feedback inhibition sides
Method inhibits oil circuit and electric hydrostatic actuator.
Background technique
With mostly electricity/electric aircraft technology development, flies control actuating system and also drive from hydraulic energy source to power-by-wire drive
Dynamic (Power-by-Wire) development, is just gradually being applied aboard by the motor-driven cylinder of electrical energy drive.Electric hydrostatic actuator
(Electro-Hydrostatic Actuator, EHA) has found to need to optimize and mention there is also many problems in practical applications
It rises, is wherein exactly the fever and cooling problem of electric machine controller.Currently in order to reduce electric machine controller calorific value and
The cooling effect to electric machine controller is improved, passive type scheme is all made of, i.e., is promoted on the basis of existing thermal force and holds thermal energy power
And cooling capacity, system total quality is increased, power to weight ratio is reduced, is unfavorable for application aboard.
Summary of the invention
The embodiment of the present invention provides a kind of electric hydrostatic actuator energy feedback suppressing method, inhibits oil circuit and electric hydrostatic actuation
Device, by using energy feedback suppressing method, actively reduces EHA motor to realize in the case where not changing controller design
The thermal force of controller, and then its cooling requirement is reduced, improve complete machine power to weight ratio.
In a first aspect, the embodiment of the invention provides a kind of electric hydrostatic actuator energy back suppressing methods, comprising: examining
When measuring the pressure of the fuel supply chamber of pressurized strut in electric hydrostatic actuator and being less than the pressure of oil back chamber, the fuel supply chamber and oil return
Whether cavity pressure difference is more than pressure threshold；
If the pressure difference is greater than pressure threshold, control load inhibits oil circuit in the open state, so that the load
Oil circuit is inhibited to generate damping action to hydraulic oil, wherein the liquid of the electric hydrostatic actuator is arranged in the load inhibition oil circuit
Between press pump outlet and model selection valve；The open state is the valve for the pressure control orifice valve that the load inhibits in oil circuit
The state that door aperture becomes smaller by maximum.
Second aspect, the embodiment of the invention also provides a kind of load to inhibit oil circuit, and it includes: first which, which inhibits oil circuit,
Control valve group and the second control valve group, wherein
First control valve group includes the first damping oil circuit and the first check valve being arranged in parallel, first damping oil
Road one-way only operation, and the first damping oil circuit is opposite with the operative orientation of the first check valve；
Second control valve group includes the second damping oil circuit being arranged in parallel and second one-way valve, second damping oil
Road one-way only operation, and the second damping oil circuit is opposite with the operative orientation of second one-way valve；
Wherein, the first damping oil circuit and the second damping oil circuit are provided with double pressure acquisition ports.
The third aspect, the embodiment of the invention also provides a kind of electric hydrostatic actuator, which includes: hydraulic
It pumps, pressurized strut, load described in model selection valve and any embodiment of the present invention inhibits oil circuit, and the load inhibits oil circuit to set
It sets in the hydraulic cylinder of electric hydrostatic actuator；Wherein,
One end of first control valve group is connected with the first port of the hydraulic pump, the other end of the first control valve group and institute
The first valve port for stating model selection valve is connected；Wherein, a pressure acquisition port of the first damping oil circuit is connected to the pressurized strut
Fuel supply chamber, another pressure acquisition port is connected to the oil back chamber of the pressurized strut；
One end of second control valve group is connected with the second port of the hydraulic pump, the other end of the second control valve group and institute
The second valve port for stating model selection valve is connected；Wherein, a pressure acquisition port of the second damping oil circuit is connected to the pressurized strut
Fuel supply chamber, another pressure acquisition port is connected to the oil back chamber of the pressurized strut.
The embodiment of the present invention inhibits oil circuit, the load by the way that a load is arranged in the hydraulic cylinder in electric hydrostatic actuator
Inhibit oil circuit to be arranged between the hydraulic pump and model selection valve of electric hydrostatic actuator, is in electric hydrostatic actuator along load mode
When, inhibit the pressure in oil circuit to control the pressure difference that orifice valve acquires two oil pockets of pressurized strut by load, and judge the pressure
Whether power difference is more than pressure threshold, when pressure difference is more than pressure threshold, controls the pressure control being connected to pressurized strut oil back chamber
The valve opening of orifice valve gradually becomes smaller, so that the damping inhibits oil circuit to generate damping action to hydraulic oil, and then allows electric hydrostatic
The energy of actuator feedback is consumed in hydraulic oil, and is dispersed into air by the surface of hydraulic cylinder, is solved feedback and is arrived
The energy of controller excessively needs additionally to carry out controller cooling problem, by extra energy in such a way that active consumes
It is consumed before reaching controller, because of the cooling load additional without load, to effectively reduce electric machine controller
Whole thermal force, and then system total quality is reduced, improve system power to weight ratio.
Detailed description of the invention
Fig. 1 is the flow chart of the electric hydrostatic actuator energy back suppressing method of one of embodiment of the present invention one；
Fig. 2 a is the flow chart of the electric hydrostatic actuator energy back suppressing method of one of embodiment of the present invention two；
Fig. 2 b is the operating mode schematic diagram that one of the embodiment of the present invention two load inhibits oil circuit；
Fig. 3 is the structural schematic diagram that one of the embodiment of the present invention three load inhibits oil circuit；
Fig. 4 a is the structural schematic diagram of the electric hydrostatic actuator of one of embodiment of the present invention four；
Fig. 4 b is the motor drive module of the electric hydrostatic actuator using DC brushless motor in the embodiment of the present invention four
Schematic diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for electric hydrostatic actuator energy back suppressing method that the embodiment of the present invention one provides, this
Embodiment is applicable to the case where electric hydrostatic actuator is done work by the external world, and this method can be executed by electric hydrostatic actuator, tool
Body includes the following steps:
S110, in detecting electric hydrostatic actuator the fuel supply chamber of pressurized strut pressure be less than oil back chamber pressure when, than
Whether poor compared with fuel supply chamber and back oil cavity pressure be more than pressure threshold.
Wherein, there are two oil pockets for pressurized strut, one of them is fuel supply chamber, and one is oil back chamber, and fuel supply chamber and oil back chamber are
Dynamic conversion, wherein the chamber for flowing into hydraulic oil is fuel supply chamber, and the chamber for flowing out hydraulic oil is oil back chamber.For example, when electricity is quiet
When liquid actuator is done work by the external world, hydraulic oil is flowed into from the first oil pocket of pressurized strut, is flowed out from the second oil pocket, at this point, the first oil
Chamber is fuel supply chamber, and the second oil pocket is oil back chamber；When electric hydrostatic actuator is externally done work, hydraulic oil from pressurized strut first
Oil pocket outflow, flows into, at this point, the first oil pocket is oil back chamber, the second oil pocket is fuel supply chamber from the second oil pocket.
The pressure difference of fuel supply chamber and oil back chamber refers to the pressure absolute value of the difference of two oil pockets, the pressure difference be one just
Number.For example, here when the pressure of fuel supply chamber is less than the pressure of oil back chamber, at this time, it may be necessary to which what is compared is the pressure ratio time of fuel supply chamber
The pressure of oil pocket is specific small how much, thus the pressure by the way that the pressure of oil back chamber to be subtracted to fuel supply chamber can obtain it is poor accordingly
Value, then obtained difference is compared with the pressure threshold of setting.
Here pressure threshold needs be determined according to the pressure of electric hydrostatic actuator system, according to the pressure of system come
Determine the pressure threshold.It should be noted that the pressure threshold is to determine that electric hydrostatic actuator is in state
The judgment basis of inverse load state, specifically, when the pressure of fuel supply chamber is less than the pressure of oil back chamber, and pressure difference is more than the pressure threshold
When value, then judge that electric hydrostatic actuator is now in along load state, electric hydrostatic actuator is done work by the external world, at this point, pressurized strut quilt
The excess energy that external world's acting generates is transported to controller, thus needs to start load and inhibit oil circuit work, is pressed down by load
The feedback energy that extraneous acting generates is inhibited or is consumed by liquefaction road.
If S120, the pressure difference are greater than pressure threshold, control load inhibits oil circuit in the open state, so that load presses down
Liquefaction road generates damping action to hydraulic oil, wherein the hydraulic pump outlet of electric hydrostatic actuator is arranged in load inhibition oil circuit
Between model selection valve；Open state is that load inhibits the pressure in oil circuit to control the valve opening of orifice valve by maximum
The state to become smaller.
Wherein, it is the oil being arranged between the hydraulic pump outlet and model selection valve of electric hydrostatic actuator that load, which inhibits oil circuit,
Road is connected with the interface of hydraulic pump and model selection valve respectively by pipeline, for generating to the hydraulic oil in hydraulic cylinder
Damping action, so that hydraulic oil generates heat in hydraulic cylinder, so that the energy fed back from pressurized strut reaches controller
Be partially consumed, and be dispersed into air by the cylinder surface of hydraulic cylinder before, thus reduce from pressurized strut feedback to
The energy of controller.
Load inhibits the oil circuit valve opening in the open state for referring to load and inhibiting the pressure control orifice valve in oil circuit
The state to become smaller by maximum, load inhibit to be provided with pressure control orifice valve in oil circuit, are in pair in electric hydrostatic actuator
When outer acting state, the valve opening which controls orifice valve is in maximum, that is to say, that the pressure controls orifice valve to liquid
The flowing of pressure oil does not generate damping action；When electric hydrostatic actuator is in the state by external world's acting, electric hydrostatic actuation at this time
Device system can generate feedback energy, thus need to inhibit the energy of feedback, specifically, adjust the load and inhibit in oil circuit
Pressure control orifice valve valve opening become smaller by maximum so that pressure control orifice valve to hydraulic oil generate damping make
With so that the energy of feedback be consumed in advance.The size that pressure controls the valve opening of orifice valve is needed according to pressurized strut
Two oil pockets pressure difference size and the pressure control orifice valve itself initial tension of spring be adjusted.
As a kind of implementation, the aperture of pressure control orifice valve is determined according to formula (1),
Wherein: xsvTo damp valve opening (0~1), unit null；
p1For the fuel supply chamber port pressure of pressurized strut, unit bar；
p2For the oil back chamber port pressure of pressurized strut, unit bar；
psThe initial tension of spring of orifice valve, unit bar are controlled for pressure；
pckThe valve for controlling orifice valve for pressure completely closes pressure, unit bar.
It should be noted that fuel supply chamber and oil back chamber here is also the flow direction dynamic adjustment according to hydraulic oil.
The technical solution of the present embodiment is inhibited by the way that a load is arranged in the oil circuit feedback loop of electric hydrostatic actuator
Oil circuit inhibits the variation of the aperture of pressure control orifice valve in oil circuit by controlling the load, so that the load inhibits oil circuit to exist
When electric hydrostatic actuator is done work by the external world, inhibits oil circuit to the damping action of hydraulic oil by load, generate additional heat and disappear
The energy that motor is fed back to from pressurized strut is consumed in hydraulic unit in advance, and passes through the cylinder body table of hydraulic cylinder by consumption
Face by the heat transfer of generation into air, to reduce the feedback energy for being transferred to motor, so that the energy of electric machine controller
Amount consumption substantially reduces, and without being equipped with extra cooling load for electric machine controller again, reduces from source airborne
Load reduces the total quality of airborne system, improves the power to weight ratio of airborne system.
Embodiment two
Fig. 2 a is a kind of flow chart of electric hydrostatic actuator energy back suppressing method provided by Embodiment 2 of the present invention, this
Embodiment is optimized on the basis of the above embodiments, and this method can be executed by electric hydrostatic actuator, specifically includes
Following steps:
S210, in detecting electric hydrostatic actuator the fuel supply chamber of pressurized strut pressure be less than oil back chamber pressure when, than
Whether poor compared with fuel supply chamber and back oil cavity pressure be more than pressure threshold.
Wherein, there are two oil pockets for pressurized strut, one of them is fuel supply chamber, and one is oil back chamber, and fuel supply chamber and oil back chamber are
Dynamic conversion, wherein the chamber for flowing into hydraulic oil is fuel supply chamber, and the chamber for flowing out hydraulic oil is oil back chamber.
If S220, pressure difference are greater than pressure threshold, control load inhibits the control valve group connecting in oil circuit with oil back chamber
In the valve opening of pressure control orifice valve become smaller, pressure in control valve group connect with fuel supply chamber controls the valve of orifice valve
Door aperture is maximum.
Wherein, which inhibits to be arranged in oil circuit there are two control valve group, and one of control valve group is arranged in fuel supply chamber
Oil circuit in, another control valve group be arranged in oil back chamber oil circuit.Pressure control damping is both provided in each control valve group
Valve controls the valve opening of orifice valve by controlling corresponding pressure, so that load inhibits oil circuit in running order, to hydraulic
Oil generates damping action.
The valve opening maximum of pressure control orifice valve shows that pressure control orifice valve is in open-circuit condition, to hydraulic
Oil is without damping inhibiting effect；The valve opening of pressure control orifice valve, which becomes smaller, shows that pressure control orifice valve is started to work,
Damping action is generated to the hydraulic oil passed through.
As a kind of implementation, which inhibits in oil circuit that there are two control valve groups, respectively the first control valve for setting
Group and the second control valve group, wherein the first outlet of hydraulic pump and the first valve of model selection valve is arranged in the first control valve group
Between mouthful, the second control valve group is arranged between the second outlet of hydraulic pump and the second valve port of model selection valve, wherein
First control valve group includes the first check valve, and first pressure controls orifice valve and the first oil circuit check valve, wherein the
One pressure control orifice valve and the first oil circuit check valve are composed in series the first damping oil circuit, the first check valve and the first damping oil circuit
Parallel connection, and the first oil circuit check valve and the first check valve are oppositely arranged；
Second control valve group includes second one-way valve, and second pressure controls orifice valve and the second oil circuit check valve, wherein the
Two pressure control orifice valve and the second oil circuit check valve are composed in series the second damping oil circuit, second one-way valve and the second damping oil circuit
Parallel connection, and the second oil circuit check valve and second one-way valve are oppositely arranged.
Wherein, first pressure control orifice valve and second pressure control orifice valve are both provided with two pressure acquisition ports,
One of pressure acquisition port is used to acquire the pressure of the fuel supply chamber of pressurized strut, another pressure acquisition port is used to acquire work
The pressure of the oil back chamber of dynamic cylinder, pressure control orifice valve and obtain the pressure of two oil pockets by calculating the pressure of two oil pockets of acquisition
Power is poor.
Wherein, check valve has the function of that one-way conduction, pressure control orifice valve are adopted according to the pressure acquisition port of itself
The pressure difference of collection determines its own valve opening, realizes to hydraulic oil damping action by adjusting the valve opening of orifice valve
Adjusting.Direction and the check valve in two control valve groups, being provided with damping oil circuit and check valve, and oil circuit being damped
Direction is set as opposite operative orientation, can make hydraulic oil that can only pass through from one of branch.For example, working as hydraulic oil
When passing through from the first check valve, because of the direction in the direction of the first oil circuit check valve in the first damping oil circuit and the first check valve
On the contrary, the first oil circuit check valve in the first damping oil circuit is in close state at this time, hydraulic oil will not be from the first damping oil circuit
Pass through；On the contrary, the first check valve is in close state at this time, and hydraulic oil will not when hydraulic oil passes through from the first damping oil circuit
Pass through from the first check valve.
It should be noted that in order to guarantee that the pressure control orifice valve of the first control valve group and the second control valve group can
Work normally, the operative orientation by the first check valve and second one-way valve needed to be set as unanimously, by the first oil circuit check valve and
The operative orientation of second oil circuit check valve is set as consistent.For example, when the first check valve is set as hydraulic oil from pressurized strut to liquid
When press pump is in working condition when flowing, then it is work shape that second one-way valve, which is also configured as the direction flowed from pressurized strut to hydraulic pump,
State；Correspondingly, the working condition of the first oil circuit check valve and the second oil circuit check valve is to flow to pressurized strut from hydraulic pump
Direction.
Fig. 2 b is the operating mode schematic diagram that a kind of load provided by Embodiment 2 of the present invention inhibits oil circuit, the stream of hydraulic oil
A coordinate system is constituted to the pressure difference of two oil pockets with pressurized strut, horizontal axis indicates two oil pockets of pressurized strut in the coordinate system
Pressure difference, the longitudinal axis indicate hydraulic oil flow direction, hydraulic oil from the first oil pocket of pressurized strut flow into, the second oil pocket flow out when,
Hydraulic flow direction is positive；Hydraulic oil is flowed into from the second oil pocket of pressurized strut, and when the first oil pocket flows out, hydraulic flow direction is negative；P1 is to make
The pressure of first oil pocket of dynamic cylinder, the pressure of the second oil pocket of P2 pressurized struts, Δ P are pressure threshold, and in figure, Q expression is hydraulic
The flow direction of oil, thick line indicate the flow cycle of hydraulic oil, and load inhibition oil circuit is in the coordinate system under different quadrants
Working condition is as follows.
Quadrant 1: hydraulic flow direction is positive, P1 > P2, at this point, electric hydrostatic actuator is in inverse load mode, which inhibits oil
Road does not work；Realization process are as follows: the first check valve conducting, first damping oil circuit close, at this point, the first control valve group to oil circuit without
Damping action；Second one-way valve is closed, and control second pressure control orifice valve is in full open position, so that the second control valve
Group does not generate damping action to oil circuit, and load inhibits oil circuit not work during being somebody's turn to do, and undamped inhibits to make on entire hydraulic circuit
With.
Quadrant 2: hydraulic flow direction is positive, P1 < P2, and P2-P1 > Δ P, at this point, electric hydrostatic actuator is in along load mode,
It needs to start the load and inhibits oil circuit work；Realization process are as follows: the conducting of the first check valve, the first damping oil circuit are closed, at this point, the
One control valve group acts on oil circuit undamped；Second one-way valve is closed, and the second pressure in the second damping oil circuit controls orifice valve
The pressure of the second pressure port of acquisition is greater than the pressure of first pressure port, and the valve of control second pressure control orifice valve is opened
Degree becomes smaller, and generates damping, damping inhibiting effect is generated on hydraulic circuit.
Quadrant 3: hydraulic flow direction is negative, P1 < P2, at this point, electric hydrostatic actuator is in inverse load mode, which inhibits oil
Road does not work；Realization process are as follows: second one-way valve conducting, second damping oil circuit close, at this point, the second control valve group to oil circuit without
Damping action；First closed check valve, control first pressure control orifice valve is in full open position, so that the first control valve
Group does not generate damping action to oil circuit, and load inhibits oil circuit not work during being somebody's turn to do, and undamped inhibits to make on entire hydraulic circuit
With.
Quadrant 4: hydraulic flow direction is negative, P1 > P2, and P1-P2 > Δ P, at this point, electric hydrostatic actuator is in along load mode,
It needs to start the load and inhibits oil circuit work；Realization process are as follows: second one-way valve conducting, the second damping oil circuit are closed, at this point, the
Two control valve groups act on oil circuit undamped；First closed check valve, the first damping oil circuit conducting, first pressure control orifice valve
The pressure of the first pressure port of acquisition is greater than the pressure of second pressure port, and the valve of control first pressure control orifice valve is opened
Degree becomes smaller, and generates damping, damping inhibiting effect is generated on hydraulic circuit.
S230, the fuel supply chamber for detecting pressurized strut pressure be greater than oil back chamber pressure when, then control load inhibit oil
Road is in close state, so that load inhibits oil circuit to act on hydraulic oil undamped, wherein closed state is that load inhibits oil circuit
In pressure control orifice valve valve opening be in maximum state.
Wherein, the pressure of the fuel supply chamber of pressurized strut is greater than the pressure of oil back chamber, shows that electric hydrostatic actuator is now in pair
The state of external world's acting, that is, electric hydrostatic actuator are in inverse load state, and at this time without feedback energy, thus the load inhibits oil circuit
Without work.
The present embodiment between the hydraulic pump and model selection valve of electric hydrostatic actuator by being arranged two control valve groups, often
In a control valve group be arranged reverse parallel connection damping oil circuit and check valve so that damping oil circuit and check valve synchronization can only
Have one it is in running order；It, correspondingly, will by setting the operative orientation of the check valve in two control valve groups to unanimously
The operative orientation of two damping oil circuits is set as that the pressure of two control valve groups is unanimously enabled to control the normal work of orifice valve
Make；According to the flow direction of hydraulic oil in oil circuit, the valve for the pressure control orifice valve being connected to the oil back chamber of pressurized strut is controlled
Aperture, so that corresponding control valve group is in running order, so that load inhibits oil circuit in the open state.
Embodiment three
Fig. 3 is the structural schematic diagram that a kind of load that the embodiment of the present invention three provides inhibits oil circuit, which inhibits oil circuit
It can be applied in the feedback Energy suppression in electric hydrostatic actuator, for example, being applied in the electric hydrostatic actuator of aircraft, realization pair
The feedback energy that electric hydrostatic actuator generates during being done work by the external world is controlled, and the energy that feedback arrives motor is reduced；Such as
Shown in Fig. 3, which inhibits oil circuit to specifically include:
First control valve group and the second control valve group, wherein
First control valve group includes the first damping oil circuit and the first check valve being arranged in parallel, the first damping unidirectional work of oil circuit
Make, and the first damping oil circuit is opposite with the operative orientation of the first check valve；
Second control valve group includes the second damping oil circuit being arranged in parallel and second one-way valve, the second damping unidirectional work of oil circuit
Make, and the second damping oil circuit is opposite with the operative orientation of second one-way valve；
Wherein, the first damping oil circuit and the second damping oil circuit are provided with double pressure acquisition ports.
Optionally, two damping oil circuits can control the combination of orifice valve and check valve by pressure to realize, for example, can
With by the way that pressure control orifice valve is connected with check valve, Lai Zucheng mono- completely damps oil circuit, correspondingly,
First damping oil circuit includes the first pressure control orifice valve and the first oil circuit check valve being arranged in series, the second damping
Oil circuit includes the second pressure control orifice valve and the second oil circuit check valve being arranged in series；Wherein, the first oil circuit check valve and
The operative orientation of one check valve is on the contrary, the second oil circuit check valve is opposite with the operative orientation of second one-way valve.
By setting the operative orientation of the first oil circuit check valve and the first check valve on the contrary, making the first damping oil circuit
The operative orientation of the first check valve in parallel is opposite therewith；Similarly, by by the second oil circuit check valve and second one-way valve
Operative orientation be set as on the contrary, making the second damping oil circuit and the operative orientation of second one-way valve in parallel therewith opposite.
Because two pressure control orifice valves are respectively provided with, there are two pressure ports, control orifice valve by pressure in this way
Corresponding pressure difference is calculated to realize, and determines the working condition of pressure control orifice valve according to pressure difference.
Optionally, set identical for the operative orientation of the first check valve and second one-way valve, correspondingly, by the first oil circuit
The operative orientation of check valve and the second oil circuit check valve is set as identical, can be convenient the control to two control valve groups, so that
Need to load inhibit oil circuit control when, it is only necessary to according to the flow direction of oil circuit to one of control valve group into
Row control, another control valve group can realize the control for inhibiting oil circuit to entire load, letter because of the setting of oil circuit itself
Control process is changed.
As a kind of implementation, the aperture of pressure control orifice valve is determined according to formula (2),
Wherein: xsvTo damp valve opening (0~1), unit null；
p1The first pressure port pressure of orifice valve, unit bar are controlled for pressure；
p2The second pressure port pressure of orifice valve, unit bar are controlled for pressure；
psThe initial tension of spring of orifice valve, unit bar are controlled for pressure；
pckThe valve for controlling orifice valve for pressure completely closes pressure, unit bar.
The present embodiment has been arranged in parallel work in each control valve group by the way that two control valve groups to work independently are arranged
Contrary damping oil circuit and check valve, so that the same control valve group can only have a branch to be in work in synchronization
Make state；It, will be in two control valve groups and by setting the operative orientation of the check valve in two control valve groups to unanimously
The operative orientation of damping oil circuit is set as unanimously simplifying the control process for inhibiting load oil circuit.Load of the embodiment of the present invention
Oil circuit is inhibited to control the compound action of orifice valve by check valve and pressure, realization carries out carrying out damping work to oil circuit as needed
With controlling the carry out damping control of orifice valve by pressure, have structure simple, the advantages of precise control.
Example IV
Fig. 4 a is a kind of structural schematic diagram for electric hydrostatic actuator that the embodiment of the present invention four provides, the electricity hydrostatic actuator
It can be applied in flight control system, as shown in fig. 4 a, thick line indicates the flow cycle of hydraulic oil, the electricity hydrostatic actuation utensil in figure
Body includes:
Load described in motor, hydraulic pump, pressurized strut, model selection valve and any embodiment of the present invention inhibits oil
Road, load inhibit oil circuit to be arranged in the hydraulic cylinder of electric hydrostatic actuator；Motor is provided with motor drive block, actuation
Cylinder, motor drive block and model selection valve are electrically connected EHA controller, wherein
One end of first control valve group is connected with the first port of hydraulic pump, and the other end and mode of the first control valve group select
The first valve port for selecting valve is connected；Wherein, the fuel supply chamber of the pressure acquisition port connection pressurized strut of the first damping oil circuit, it is another
The oil back chamber of a pressure acquisition port connection pressurized strut；
One end of second control valve group is connected with the second port of hydraulic pump, and the other end and mode of the second control valve group select
The second valve port for selecting valve is connected；Wherein, the fuel supply chamber of the pressure acquisition port connection pressurized strut of the second damping oil circuit, it is another
The oil back chamber of a pressure acquisition port connection pressurized strut.
The motor that electric hydrostatic actuator uses has brush DC and permanent-magnet synchronous two types, wherein DC brushless motor
Because manufacturing and controlling simplicity, in actual products using more.Below to motor drive module by taking DC brushless motor as an example
Thermal force consumption is illustrated, if Fig. 4 b is the principle using the motor drive module of the electric hydrostatic actuator of DC brushless motor
Figure.
Power section in motor drive module mainly includes: copped wave module, brake module and commutation module.Wherein copped wave
Module carries out pressure regulation to airborne power supply, controls motor speed, and the control signal of copped wave module is modulated using PWM wave, switch frequency
Rate is usually less than 10kHz.The electric energy of copped wave module output is through lc circuit rectifying and wave-filtering, and decay High-frequency Interference, keeps power supply special
Property.Commutation module carries out control system of switching on or off electricity according to brushless DC motor position, to stator winding, realizes commutation, while root
The control to direction of motor rotation is realized according to commutation sequence.Two switches of bridge up and down are connected in commutation module each moment, realize
Current lead-through.Brake module is then to need to carry out control for brake to motor, that is, when having energy from electromotor feedback to controller,
This portion of energy is rapidly depleted, heat is translated by braking resistor.
By the analysis to motor drive module working principle, main thermal force therein includes:
(1) electronic component works normally energy consumption: it is lower than 10W, it is weak related to power of motor.
(2) power switch losses: it is closely related with switching frequency and conducting electric current, including switching loss and conducting damage
Consumption.
(3) energy consumption is braked: when motor work is in braking mode, from the energy consumption of actuator feedback in controller.
Wherein, electronic component works normally energy consumption compared to other two parts to overall thermal loading effect very little, can be ignored
Disregard.Braking energy consumption depends primarily on the working cycles load condition of electric hydrostatic actuator.The loss of device for power switching according to
The device type of selection is slightly different, and the product power loss of newer generation is smaller on the whole.
Before inhibiting oil circuit using load, thermal force subitem comparative situation is as shown in Table 1 in motor controller, copped wave mould
The switching loss of block and the retarding loss of motor are the main thermal forces of electric hydrostatic actuator controller.Wherein copped wave module
Switching loss is related to current of electric, has raising by a relatively large margin with load increase, but the accounting in total thermal force is with load
Increase and constantly reduces, 15% when falling below 100kN from 68% when zero load.The retarding loss of motor increases with load and is shown
It writes and increases, 78% when ratio has also been increased to 100kN from 32% when zero load in total thermal force.In addition, with motor around
Group electric current increases, and the conduction loss of copped wave module and commutation module also has significant raising, but absolute value is relatively small, to overall thermal
Loading effect is little.The switching frequency of commutation module is related to motor speed, smaller with load change.
Table one, using load inhibit oil circuit before, in motor controller thermal force itemize contrast table
After increasing load and inhibiting oil circuit, wherein when electric hydrostatic actuator is in along load state, connect with oil back chamber
Damping oil circuit in pressure control orifice valve valve opening become smaller, connect with fuel supply chamber damping oil circuit in pressure control
The valve opening of orifice valve is maximum, and load inhibits oil circuit in running order.
After increasing load inhibition oil circuit, thermal force subitem comparative situation is as shown in Table 2 in motor controller, electronic
The whole thermal force of machine controller reaches highest in 60kN, increases later with load and reduces, wherein brake load accounting is also shown
Writing reduces.It follows that increased load inhibits oil circuit to play remarkable effect in higher external load, in low external load
In the case of act on it is smaller.Wherein, the turning point of 60kN is related with the pressure control setting of orifice valve, changes valve perforated area,
Turning point is damped by changing.
Table two, increase load inhibit oil circuit after, in motor controller thermal force itemize contrast table
After energy feedback suppressing method, the thermal force in the motor controller of electric hydrostatic actuator is decreased obviously,
Temperature is also substantially reduced compared to before, is illustrated that this method can effectively reduce the thermal force design requirement of controller, is reduced cooling
Mass of system improves whole power to weight ratio.
A kind of electricity hydrostatic actuator provided by the embodiment of the present invention, by being set in the hydraulic circuit of electric hydrostatic actuator
It sets a load and inhibits oil circuit, largely consumption reduces conduction to motor and its control in hydraulic circuit by feedback energy
The feedback energy of device, convenient for the thermal design of motor controller, improves whole to actively reduce the thermal force of motor controller
Machine power to weight ratio.
It should be noted that the term " first ", " second " in all embodiments of the invention are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of electricity hydrostatic actuator energy back suppressing method characterized by comprising
When the pressure of the fuel supply chamber of pressurized strut is less than the pressure of oil back chamber in detecting electric hydrostatic actuator, the fuel feeding
Whether chamber and back oil cavity pressure difference are more than pressure threshold；
If the pressure difference is greater than pressure threshold, control load inhibits oil circuit in the open state, so that the load inhibits
Oil circuit generates damping action to hydraulic oil, wherein the hydraulic pump of the electric hydrostatic actuator is arranged in the load inhibition oil circuit
Between outlet and model selection valve；The open state is that the valve that the load inhibits the pressure in oil circuit to control orifice valve is opened
The state that degree becomes smaller by maximum.
2. the method according to claim 1, wherein the load inhibit oil circuit include: the first control valve group and
Second control valve group, the first control valve group be arranged in hydraulic pump first outlet and the model selection valve the first valve port it
Between, the second control valve group is arranged between the second outlet of hydraulic pump and the second valve port of the model selection valve, wherein
First control valve group includes the first check valve, and first pressure controls orifice valve and the first oil circuit check valve, wherein institute
State first pressure control orifice valve and the first oil circuit check valve be composed in series the first damping oil circuit, first check valve with
The first damping oil circuit is in parallel, and the first oil circuit check valve and first check valve are oppositely arranged；
Second control valve group includes second one-way valve, and second pressure controls orifice valve and the second oil circuit check valve, wherein institute
State second pressure control orifice valve and the second oil circuit check valve be composed in series the second damping oil circuit, the second one-way valve with
The second damping oil circuit is in parallel, and the second oil circuit check valve and the second one-way valve are oppositely arranged.
3. according to the method described in claim 2, it is characterized in that, the pressure difference controls orifice valve and the by first pressure
Two pressure control orifice valve and obtain, and the first pressure control orifice valve and second pressure control orifice valve acquire the work respectively
The pressure of two oil pockets of dynamic cylinder.
4. according to the method described in claim 2, it is characterized in that, if the pressure difference is greater than pressure threshold, control load
Inhibit oil circuit in the open state, comprising:
If the pressure difference is greater than pressure threshold, the pressure control orifice valve in the control valve group connecting with oil back chamber is controlled
Valve opening becomes smaller, and the valve opening of the pressure control orifice valve in the control valve group connecting with fuel supply chamber is maximum.
5. the method according to claim 1, wherein the valve opening of pressure control orifice valve is according to formula
(1) it determines:
Wherein: xsvTo damp valve opening (0~1), unit null；
p1The fuel supply chamber port pressure of orifice valve, unit bar are controlled for the pressure；
p2The oil back chamber port pressure of orifice valve, unit bar are controlled for the pressure；
psThe initial tension of spring of orifice valve, unit bar are controlled for the pressure；
pckThe valve for controlling orifice valve for the pressure completely closes pressure, unit bar.
6. method according to claim 1-5, which is characterized in that further include:
When detecting that the pressure of fuel supply chamber of the pressurized strut is greater than the pressure of oil back chamber, then controls the load and inhibit oil circuit
It is in close state, so that the load inhibits oil circuit to act on hydraulic oil undamped, wherein the closed state is the load
Lotus inhibits the valve opening of the pressure control orifice valve in oil circuit to be in maximum state.
7. a kind of load inhibits oil circuit characterized by comprising the first control valve group and the second control valve group, wherein
First control valve group includes the first damping oil circuit and the first check valve being arranged in parallel, the first damping oil circuit list
To work, and the first damping oil circuit is opposite with the operative orientation of the first check valve；
Second control valve group includes the second damping oil circuit being arranged in parallel and second one-way valve, the second damping oil circuit list
To work, and the second damping oil circuit is opposite with the operative orientation of second one-way valve；
Wherein, the first damping oil circuit and the second damping oil circuit are provided with double pressure acquisition ports.
8. load inhibits oil circuit according to claim 7, which is characterized in that the first damping oil circuit includes being arranged in series
First pressure controls orifice valve and the first oil circuit check valve, and the second damping oil circuit includes the second pressure control being arranged in series
Orifice valve and the second oil circuit check valve；Wherein, the first oil circuit check valve and first check valve operative orientation on the contrary,
The second oil circuit check valve is opposite with the operative orientation of the second one-way valve.
9. a kind of electricity hydrostatic actuator characterized by comprising hydraulic pump, pressurized strut, model selection valve and claim 7
Or load described in 8 inhibits oil circuit, the load inhibits oil circuit to be arranged in the hydraulic cylinder of electric hydrostatic actuator；Wherein,
One end of first control valve group is connected with the first port of the hydraulic pump, the other end of the first control valve group and the mould
First valve port of formula selector valve is connected；Wherein, a pressure acquisition port of the first damping oil circuit is connected to the confession of the pressurized strut
Oil pocket, another pressure acquisition port are connected to the oil back chamber of the pressurized strut；
One end of second control valve group is connected with the second port of the hydraulic pump, the other end of the second control valve group and the mould
Second valve port of formula selector valve is connected；Wherein, a pressure acquisition port of the second damping oil circuit is connected to the confession of the pressurized strut
Oil pocket, another pressure acquisition port are connected to the oil back chamber of the pressurized strut.
10. electricity hydrostatic actuator according to claim 9, which is characterized in that when the electric hydrostatic actuator is in along load
When state, the valve opening for the pressure control orifice valve in damping oil circuit connecting with oil back chamber becomes smaller, and connect with fuel supply chamber
The valve opening for damping the pressure control orifice valve in oil circuit is maximum, and the load inhibits oil circuit in running order.
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| CN201910730361.4A CN110332184A (en) | 2019-08-08 | 2019-08-08 | Electric hydrostatic actuator energy feedback suppressing method inhibits oil circuit and electric hydrostatic actuator |
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| CN201910730361.4A CN110332184A (en) | 2019-08-08 | 2019-08-08 | Electric hydrostatic actuator energy feedback suppressing method inhibits oil circuit and electric hydrostatic actuator |
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