CN110714941B - Pump valve composite cylinder control force control and valve control cylinder position control combined loading device and control method - Google Patents

Pump valve composite cylinder control force control and valve control cylinder position control combined loading device and control method Download PDF

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Publication number
CN110714941B
CN110714941B CN201910962007.4A CN201910962007A CN110714941B CN 110714941 B CN110714941 B CN 110714941B CN 201910962007 A CN201910962007 A CN 201910962007A CN 110714941 B CN110714941 B CN 110714941B
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valve
control
cylinder
pressure
servo
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CN110714941A (en
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巴凯先
俞滨
娄文韬
刘瑞栋
孔祥东
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Yanshan University
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Yanshan University
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/26Supply reservoir or sump assemblies
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/14Characterised by the construction of the motor unit of the straight-cylinder type
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/001Servomotor systems with fluidic control
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04Special measures taken in connection with the properties of the fluid
    • F15B21/041Removal or measurement of solid or liquid contamination, e.g. filtering
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04Special measures taken in connection with the properties of the fluid
    • F15B21/042Controlling the temperature of the fluid
    • F15B21/0423Cooling

Abstract

The invention discloses a combined loading device and a control method for force control of a pump valve combined cylinder control and position control of a valve control cylinder. The device includes: the system comprises a pump-valve compound cylinder control system, a valve control cylinder position closed-loop system, a control device and an oil supply tank; the pump valve composite control cylinder force control system comprises a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplementing device; the valve control cylinder position closed-loop system comprises a second asymmetric cylinder, a displacement sensor, a third servo valve and a second power device; the force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively and electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively and electrically connected with the control end of the control device. By adopting the device and the method, the response speed can be improved, and the control precision can be improved.

Description

Pump valve composite cylinder control force control and valve control cylinder position control combined loading device and control method
Technical Field
The invention relates to the technical field of fluid transmission and control, in particular to a combined loading device for force control of a pump-valve composite cylinder control and position control of a valve cylinder control and a control method.
Background
In recent years, mobile robots are more and more widely applied in various social industries, and at present, a leg joint power device of the more advanced hydraulic power type foot robot adopts a highly integrated valve control cylinder unit and is controlled by an electro-hydraulic servo valve; and the output flow and pressure of the pump are matched with the load requirement by changing the displacement or the rotating speed of the pump. The single valve control cylinder system belongs to a throttling type system, the energy loss is large, and the pressure and flow requirements of each joint on the system are different when the robot walks, so that the large energy loss can be caused, and the cruising ability of the legged robot in field work is reduced. The single pump control system belongs to a direct-drive system, and has a slow response speed and poor control precision compared with a valve control cylinder system. Therefore, how to improve the control accuracy while improving the response speed is an urgent problem to be solved.
Disclosure of Invention
The invention aims to provide a pump valve composite control cylinder, an integrated loading control device and a control method, which have the advantages of improving the response speed and improving the control precision.
In order to achieve the purpose, the invention provides the following scheme:
a combined loading device of pump valve composite cylinder control force control and valve control cylinder position control comprises: the system comprises a pump-valve compound cylinder control system, a valve control cylinder position closed-loop system, a control device and an oil supply tank;
the compound cylinder control force control system of pump valve specifically includes: the device comprises a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplementing device; the first end of the first servo valve is connected with a rod cavity of the first asymmetric cylinder, and the second end of the first servo valve is connected with the oil supply tank; the first end of the second servo valve is connected with the rodless cavity of the first asymmetric cylinder, and the second end of the second servo valve is connected with the oil supply tank; the first pressure sensor is arranged on a pipeline between the first asymmetric cylinder rod cavity and the first servo valve and is close to the first asymmetric cylinder rod cavity, and the first pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rod cavity; the second pressure sensor is arranged on a pipeline between the first asymmetric cylinder rodless cavity and the second servo valve and is close to the first asymmetric cylinder rodless cavity, and the second pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rodless cavity; a first output end of the first power device is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first power device is connected with the rodless cavity of the first asymmetric cylinder; the oil inlet end of the oil supplementing device is connected with the oil supply oil tank, and the first asymmetric cylinder rod cavity and the first asymmetric cylinder rodless cavity are respectively connected with the oil outlet end of the oil supplementing device;
the closed loop system for the position of the valve control cylinder specifically comprises: the second asymmetric cylinder, the displacement sensor, the third servo valve and the second power device; the rod cavity of the first asymmetric cylinder is connected with the rod cavity of the second asymmetric cylinder; the force sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the first asymmetric cylinder rod cavity, and the force sensor is used for detecting the load force of the first asymmetric cylinder; the displacement sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the second asymmetric cylinder rod cavity, and the displacement sensor is used for detecting an output position voltage signal of the second asymmetric cylinder; the first end of the third servo valve is connected with a rodless cavity of a second asymmetric cylinder, the second end of the third servo valve is connected with a rod cavity of the second asymmetric cylinder, the third end of the third servo valve is respectively connected with the output end of a second power device, the third end of the first servo valve and the third end of the second servo valve, and the fourth end of the third servo valve is connected with the oil supply tank; the input end of the second power device is connected with the oil supply tank;
the force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively and electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively and electrically connected with the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.
Optionally, the control device specifically includes:
the device comprises a first control module, a second control module, a third control module and a fourth control module;
the first control module specifically includes: the device comprises an input force conversion module, a load force conversion module, a first controller and a servo controller; the first input end of the first controller is connected with the input force conversion module, the second input end of the first controller is connected with the load force conversion module, and the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor and is used for converting the load force detected by the force sensor into a load force signal; the first controller is used for carrying out deviation processing on the input force signal converted by the input force conversion module and the load force signal to obtain a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal;
the second control module specifically includes: the system comprises a first pressure conversion module and a second controller; a first input end of the second controller is connected with the first pressure sensor, a second input end of the second controller is connected with the first pressure conversion module, and a control end of the second controller is connected with the first servo valve; the second controller is used for carrying out deviation processing on a pressure signal of a rod cavity of the first asymmetric cylinder detected by the first pressure sensor and a first input pressure voltage signal converted by the first pressure conversion module to obtain a second deviation signal, and controlling the first servo valve to adjust the size of the valve port according to the second deviation signal;
the third control module specifically includes: a second pressure conversion module and a third controller; the first input end of the third controller is connected with the second pressure sensor, the second input end of the third controller is connected with the second pressure conversion module, and the control end of the third controller is connected with the second servo valve; the third controller is used for carrying out deviation processing on a pressure signal of the first asymmetric cylinder rodless cavity detected by the second pressure sensor and a second input pressure voltage signal converted by the second pressure conversion module to obtain a third deviation signal, and controlling the second servo valve to adjust the size of the valve port according to the third deviation signal;
the fourth control module specifically includes: inputting a position conversion module and a fourth controller; a first input end of the fourth controller is connected with the input position conversion module, a second input end of the fourth controller is connected with the displacement sensor, and a control end of the fourth controller is connected with the third servo valve; the fourth controller is used for performing deviation processing on an input position voltage signal obtained by conversion of the input position conversion module and an output position voltage signal detected by the displacement sensor to obtain a fourth deviation signal, and controlling the third servo valve to adjust the size of the valve port according to the fourth deviation signal.
Optionally, the first input pressure voltage signal is 5bar or (a)1P1-F)/A2
The second input pressure voltage signal is 5bar or (F + A)2P2)/A1
Wherein F represents a load force signal, P1Representing the pressure signal, P, of the rodless chamber of the first asymmetric cylinder2Indicating the pressure signal of the rod chamber of the first asymmetric cylinder, A1Denotes the first asymmetric cylinder rodless chamber piston contact area, A2Showing the first asymmetric cylinder rod chamber piston contact area.
Optionally, the oil supply device specifically includes:
the oil pump comprises a pressurizing oil tank, a first one-way valve, a second one-way valve, a third one-way valve, an oil discharge one-way valve, a first filter, an oil supplementing pump and an oil supplementing motor;
the pressurizing oil tank is respectively connected with the first one-way valve conducting end, the second one-way valve conducting end, the third one-way valve stopping end and the oil unloading one-way valve conducting end; the stop end of the first check valve is connected with the rod cavity of the first asymmetric cylinder; the stop end of the second one-way valve is connected with the rodless cavity of the first asymmetric cylinder; the cut-off end of the oil discharge one-way valve is connected with the oil supply tank; the input of fuel feeding pump with the fuel feeding oil tank is connected, the feed end of fuel feeding pump with the fuel feeding motor is connected, the output end of fuel feeding pump with the input of first filter is connected, the output of first filter with the end connection that switches on of third check valve.
Optionally, the first power device specifically includes: a first gear pump and a first servo motor; the power supply end of the first gear pump is connected with the first servo motor; a first output end of the first gear pump is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first gear pump is connected with the rodless cavity of the first asymmetric cylinder;
the second power device specifically comprises: a second gear pump and a second servo motor; the power supply end of the second gear pump is connected with the second servo motor; and the output end of the second gear pump is connected with the third end of the third servo valve, and the input end of the second gear pump is connected with the oil supply tank.
Optionally, the second power device further includes:
the first stop valve, the second stop valve, the third stop valve, the second filter, the fourth one-way valve, the pressure gauge and the energy accumulator;
the output end of the second gear pump is respectively connected with the conducting end of the fourth one-way valve and one end of the third stop valve, and the other end of the third stop valve is connected with the pressure gauge; the stop end of the fourth one-way valve is respectively connected with one end of the second filter and one end of the second stop valve, and the other end of the second stop valve is connected with the energy accumulator; the other end of the second filter is connected with one end of the first stop valve, and the other end of the first stop valve is connected with the third end of the third servo valve.
Optionally, the combined loading device of force control of the pump-valve combined cylinder control and position control of the valve-controlled cylinder further includes:
a liquid level liquid thermometer, a cooler, a low-pressure ball valve and an air filter;
one end of the cooler is connected with the oil supply tank, and the other end of the cooler is respectively connected with the second end of the first servo valve, the second end of the second servo valve, the cut-off end of the oil discharge one-way valve, the input end of the oil replenishing pump and the input end of the second gear pump; the liquid level thermometer is arranged on a pipeline of the cooler and the oil supply tank; one end of the low-pressure ball valve is connected with the air filter, and the other end of the low-pressure ball valve is connected with the cooler.
The invention also provides a combined loading control method for force control and position control of the pump valve combined cylinder control and valve control cylinder, which is applied to the combined loading device for force control and position control of the pump valve combined cylinder control and valve control cylinder, and comprises the following steps:
acquiring the load force of a first asymmetric cylinder detected by a force sensor, and carrying out force load servo control on a first power device by a control device according to the load force of the first asymmetric cylinder;
the control device performs pressure servo control on a first servo valve according to the pressure signal of the rod cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusts the size of a valve port of the first servo valve, and performs oil supplement or oil discharge on the rod cavity of the first asymmetric cylinder;
acquiring a pressure signal of a rodless cavity of a first asymmetric cylinder detected by a second pressure sensor, and carrying out pressure servo control on a second servo valve by the control device according to the pressure signal of the rodless cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusting the size of a valve port of the second servo valve, and carrying out oil supplement or oil discharge on the rodless cavity of the first asymmetric cylinder;
and acquiring an output position voltage signal of a second asymmetric cylinder detected by a displacement sensor, and carrying out displacement closed-loop control on a third servo valve by the control device according to the output position voltage signal of the second asymmetric cylinder.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a combined loading control method for force control of a pump-valve composite cylinder and position control of a valve-controlled cylinder. Meanwhile, the bidirectional constant delivery pump and the servo valve composite control cylinder system can be set as a loading system, and the output force of the bidirectional constant delivery pump and the servo valve composite control cylinder loading system is interfered and loaded to the valve control cylinder position closed-loop system for high-precision output position control, so that the control method has the advantage of improving the response speed and the control precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a hydraulic schematic diagram of a combined cylinder control system of a pump valve according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a bidirectional constant displacement pump and servo valve combined cylinder control system according to an embodiment of the present invention;
FIG. 3 is a process diagram of a bidirectional constant displacement pump and servo valve combined cylinder control system according to an embodiment of the present invention;
FIG. 4 is a diagram of a closed loop system control process for valve control cylinder position according to an embodiment of the present invention;
in the drawings, 1.1 denotes a first asymmetric cylinder, 1.2 denotes a second asymmetric cylinder, 2 denotes a pressurized oil tank, 3.1 denotes a first check valve, 3.2 denotes a second check valve, 3.3 denotes a third check valve, 3.4 denotes a fourth check valve, 4 denotes an oil replenishment pump, 5 denotes an oil replenishment motor, 6 denotes a first filter, 7.1 denotes a first gear pump, 7.2 denotes a second gear pump, 8.1 denotes a first servo motor, 8.2 denotes a second servo motor, 9.1 denotes a first servo valve, 9.2 denotes a second servo valve, 9.3 denotes a third servo valve, 10 denotes a cooler, 11 denotes a level liquid thermometer, 12 denotes an air cleaner, 13 denotes a low-pressure ball valve, 14 denotes an oil supply tank, 15 denotes an oil discharge check valve, 16.1 denotes a first pressure sensor, 16.2 denotes a second pressure sensor, 17 denotes a displacement sensor, 18.1 denotes a first cut-off valve, 18.2 denotes a second cut-off valve, 18.3 denotes a third cut-off valve, 19 denotes a pressure gauge, 20 denotes a second filter, 21 denotes an accumulator, and 22 denotes a force sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a combined loading device and a control method for pump valve combined cylinder control and valve control cylinder position control, which have the advantages of improving response speed and control precision.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
As shown in fig. 1 to 4, a combined loading device of force control and position control of a pump valve cylinder includes: a pump-valve compound cylinder control system, a valve-controlled cylinder position closed-loop system, a control device and an oil supply tank 14.
The pump valve composite cylinder control force control system, namely a first part system, specifically comprises: the device comprises a first asymmetric cylinder 1.1, a first pressure sensor 16.1, a second pressure sensor 16.2, a first servo valve 9.1, a second servo valve 9.2, a first power device, a force sensor 22 and an oil supplementing device; a first end of a first servo valve 9.1 is connected with a rod cavity of the first asymmetric cylinder 1.1, and a second end of the first servo valve 9.1 is connected with an oil supply tank 14; a first end of a second servo valve 9.2 is connected with a rodless cavity of the first asymmetric cylinder 1.1, and a second end of the second servo valve 9.2 is connected with an oil supply tank 14; the first pressure sensor 16.1 is arranged on a pipeline between the rod cavity of the first asymmetric cylinder 1.1 and the first servo valve 9.1 and is close to the rod cavity of the first asymmetric cylinder 1.1, and the first pressure sensor 16.1 is used for detecting a pressure signal of the rod cavity of the first asymmetric cylinder 1.1; the second pressure sensor 16.2 is arranged on a pipeline between the rodless cavity of the first asymmetric cylinder 1.1 and the second servo valve 9.2 and is close to the rodless cavity of the first asymmetric cylinder 1.1, and the second pressure sensor 16.2 is used for detecting a pressure signal of the rodless cavity of the first asymmetric cylinder 1.1; a first output end of the first power device is connected with a rod cavity of the first asymmetric cylinder 1.1, and a second output end of the first power device is connected with a rodless cavity of the first asymmetric cylinder 1.1; the oil inlet end of the oil supplementing device is connected with the oil supply oil tank 14, and the rod cavity of the first asymmetric cylinder 1.1 and the rodless cavity of the first asymmetric cylinder 1.1 are respectively connected with the oil outlet end of the oil supplementing device.
The closed loop system of valve control cylinder position, namely the second part system specifically includes: a second asymmetric cylinder 1.2, a displacement sensor 17, a third servo valve 9.3 and a second power device; the rod cavity of the first asymmetric cylinder 1.1 is connected with the rod cavity of the second asymmetric cylinder 1.2; the force sensor 22 is arranged on a connecting pipeline of the rod cavity of the first asymmetric cylinder 1.1 and the rod cavity of the second asymmetric cylinder 1.2, is close to the rod cavity of the first asymmetric cylinder 1.1, and the force sensor 22 is used for detecting the load force of the first asymmetric cylinder 1.1; the displacement sensor 17 is arranged on a connecting pipeline of the rod cavity of the first asymmetric cylinder 1.1 and the rod cavity of the second asymmetric cylinder 1.2, is close to the rod cavity of the second asymmetric cylinder 1.2, and is used for detecting an output position voltage signal of the second asymmetric cylinder 1.2; a first end of a third servo valve 9.3 is connected with a rodless cavity of the second asymmetric cylinder 1.2, a second end of the third servo valve 9.3 is connected with a rod cavity of the second asymmetric cylinder 1.2, a third end of the third servo valve 9.3 is respectively connected with a power output end of a second power device, a third end of the first servo valve 9.1 and a third end of the second servo valve 9.2, and a fourth end of the third servo valve 9.3 is connected with an oil supply tank 14; the input of the second power plant is connected to the supply tank 14.
The force sensor 22, the first pressure sensor 16.1, the second pressure sensor 16.2 and the displacement sensor 17 are respectively electrically connected with the input end of the control device; the first power device, the first servo valve 9.1, the second servo valve 9.2 and the third servo valve 9.3 are respectively electrically connected with the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.
The control device specifically comprises: the device comprises a first control module, a second control module, a third control module and a fourth control module.
The first control module specifically comprises: an input force conversion module, a load force conversion module, a first controller (a D controller in fig. 3) and a servo controller; the first input end of the first controller is connected with the input force conversion module, the second input end of the first controller is connected with the load force conversion module, and the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor 22 and is used for converting the load force detected by the force sensor 22 into a load force signal; the first controller is used for carrying out deviation processing on the input force signal converted by the input force conversion module and the load force signal to obtain a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal.
The second control module specifically comprises: a first pressure conversion module and a second controller (controller a in fig. 3); a first input end of the second controller is connected with the first pressure sensor 16.1, a second input end of the second controller is connected with the first pressure conversion module, and a control end of the second controller is connected with the first servo valve 9.1; the second controller is used for carrying out deviation processing on a pressure signal of a rod cavity of the first asymmetric cylinder 1.1 detected by the first pressure sensor 16.1 and a first input pressure voltage signal converted by the first pressure conversion module to obtain a second deviation signal, and controlling the first servo valve 9.1 to adjust the size of the valve port according to the second deviation signal. The first input pressure voltage signal is 5bar or (A)1P1-F)/A2. Wherein F represents a load force signal, P1Indicating the pressure signal of the rodless chamber of the first asymmetric cylinder 1.1, A1Denotes the first asymmetric cylinder 1.1 rodless chamber piston contact area, A2The first asymmetric cylinder 1.1 is shown with a rod chamber piston contact area.
The third control module specifically comprises: a second pressure conversion module and a third controller (controller B in fig. 3); the first input of the third control unit is connected to the second pressure sensor 16.2, the second input of the third control unitThe end of the third controller is connected with the second servo valve 9.2; the third controller is used for carrying out deviation processing on a pressure signal of the rodless cavity of the first asymmetric cylinder 1.1 detected by the second pressure sensor 16.2 and a second input pressure voltage signal converted by the second pressure conversion module to obtain a third deviation signal, and controlling the second servo valve 9.2 to adjust the size of the valve port according to the third deviation signal. The second input pressure voltage signal is 5bar or (F + A)2P2)/A1,P2The pressure signal of the rod chamber of the first asymmetric cylinder 1.1 is shown.
The fourth control module specifically includes: inputting a position conversion module and a fourth controller (a C controller in FIG. 4); a first input end of the fourth controller is connected with the input position conversion module, a second input end of the fourth controller is connected with the displacement sensor 17, and a control end of the fourth controller is connected with the third servo valve 9.3; the fourth controller is configured to perform deviation processing on the input position voltage signal obtained by conversion by the input position conversion module and the output position voltage signal detected by the displacement sensor 17 to obtain a fourth deviation signal, and control the third servo valve 9.3 to adjust the size of the valve port according to the fourth deviation signal.
Oil supplementing device specifically includes: the oil-filling device comprises a pressurized oil tank 2, a first check valve 3.1, a second check valve 3.2, a third check valve 3.3, an oil-discharging check valve 15, a first filter 6, an oil-filling pump 4 and an oil-filling motor 5. The pressurizing oil tank 2 is respectively connected with a first one-way valve 3.1 conducting end, a second one-way valve 3.2 conducting end, a third one-way valve 3.3 stopping end and an oil discharging one-way valve 15 conducting end; the cut-off end of the first one-way valve 3.1 is connected with a rod cavity of the first asymmetric cylinder 1.1; the cut-off end of the second one-way valve 3.2 is connected with the rodless cavity of the first asymmetric cylinder 1.1; the cut-off end of the oil discharge one-way valve 15 is connected with the oil supply tank 14; the input end of the oil supplementing pump 4 is connected with the oil supply oil tank 14, the power supply end of the oil supplementing pump 4 is connected with the oil supplementing motor 5, the output end of the oil supplementing pump 4 is connected with the input end of the first filter 6, and the output end of the first filter 6 is connected with the conduction end of the third one-way valve 3.3.
The first power device specifically includes: a first gear pump 7.1 and a first servo motor 8.1; the power supply end of the first gear pump 7.1 is connected with a first servo motor 8.1; the first output end of the first gear pump 7.1 is connected with the rod cavity of the first asymmetric cylinder 1.1, and the second output end of the first gear pump 7.1 is connected with the rodless cavity of the first asymmetric cylinder 1.1.
The second power device specifically includes: a second gear pump 7.2 and a second servomotor 8.2; the power supply end of the second gear pump 7.2 is connected with a second servo motor 8.2; the output end of the second gear pump 7.2 is connected with the third end of the third servo valve 9.3, and the input end of the second gear pump 7.2 is connected with the oil supply tank 14.
The second power device further comprises: a first stop valve 18.1, a second stop valve 18.2, a third stop valve 18.3, a second filter 20, a fourth one-way valve 3.4, a pressure gauge 19 and an accumulator 21. The output end of the second gear pump 7.2 is respectively connected with the conducting end of the fourth one-way valve 3.4 and one end of the third stop valve 18.3, and the other end of the third stop valve 18.3 is connected with the pressure gauge 19; the stop end of the fourth one-way valve 3.4 is respectively connected with one end of the second filter 20 and one end of the second stop valve 18.2, and the other end of the second stop valve 18.2 is connected with the energy accumulator 21; the other end of the second filter 20 is connected with one end of the first stop valve 18.1, and the other end of the first stop valve 18.1 is connected with the third end of the third servo valve 9.3.
The combined loading device of force control and position control of the valve control cylinder of the compound cylinder control of the pump valve, still include: a liquid level thermometer 11, a cooler 10, a low pressure ball valve 13 and an air filter 12. One end of a cooler 10 is connected with an oil supply tank 14, and the other end of the cooler 10 is respectively connected with a second end of a first servo valve 9.1, a second end of a second servo valve 9.2, a cut-off end of an oil discharge one-way valve 15, an input end of an oil replenishing pump 4 and an input end of a second gear pump 7.2; the liquid level thermometer 11 is arranged on a pipeline of the cooler 10 and the oil supply tank 14; one end of the low-pressure ball valve 13 is connected with the air filter 12, and the other end of the low-pressure ball valve 13 is connected with the cooler 10.
Before starting, the oil supplementing motor 5 and the oil supplementing pump 4 are firstly opened, the oil supplementing motor 5 drives the oil supplementing pump 4 to charge oil for the pressurizing oil tank 2 through the third one-way valve 3.3, the starting pressure of the oil discharging one-way valve 15 is 5bar, and when the oil charging pressure of the pressurizing oil tank 2 is more than 5bar, oil discharging is carried out through the oil discharging one-way valve, so that the pressure in the pressurizing oil tank 2 can be stabilized at 5 bar. The third check valve 3.3 is used for preventing the oil liquid in the pressurized oil tank 2 from flowing backwards.
In the work, in order to realize load power output, the first partial system drives the bidirectional quantitative first gear pump 7.1 to operate through the first servo motor 8.1, and supplies oil to the whole system, and when the first servo motor 8.1 rotates clockwise, the right side of the bidirectional quantitative first gear pump 7.1 is an oil discharge port, and the left side is an oil return port as seen from the attached drawing 1. Oil flows out from a right oil outlet of the bidirectional quantitative first gear pump 7.1 and reaches a rodless cavity of the first asymmetric cylinder 1.1 through a right pipeline, the oil in a rod cavity of the first asymmetric cylinder 1.1 returns to an oil return port on the left side of the bidirectional gear pump 8 through a left pipeline to form a closed-loop oil supply system, and in the process, the pressure difference between the rodless cavity and the rod cavity of the first asymmetric cylinder 1.1 causes the system to output corresponding forward load force. When the first servo motor 8.1 rotates anticlockwise, the left side of the bidirectional quantitative first gear pump 7.1 is an oil discharge port, and the right side of the bidirectional quantitative first gear pump is an oil return port. Oil flows out from a left oil outlet of the bidirectional quantitative first gear pump 7.1 and reaches a rod cavity of the first asymmetric cylinder 1.1 through a left pipeline, the oil in a rodless cavity of the first asymmetric cylinder 1.1 returns to a right oil return port of the bidirectional gear pump 7.1 through a right pipeline to form a closed-loop oil supply system, and in the process, the pressure difference between the rod cavity and the rodless cavity of the first asymmetric cylinder 1.1 causes the first part of the system to output corresponding negative load force. Second partial system in order to achieve a displacement output, it can be seen from fig. 1 that the second asymmetric cylinder 1.2 requires a third servo valve 9.3 for steering in order to achieve a bidirectional movement. Firstly, in order to realize positive displacement output, the third servo valve 9.3 works at the left position, the servo motor 8.2 drives the one-way quantitative second gear pump 7.2 to operate, oil is discharged through an oil discharge port of the one-way quantitative second gear pump 7.2, the oil reaches the third servo valve 9.3 through the fourth one-way valve 3.4, the first stop valve 18.1 and the second filter 20 and further reaches a rodless cavity of the second asymmetric cylinder 1.2, the oil in the rod cavity returns to an oil tank through the third servo valve 9.3, and in the process, the oil flow change formed inside the second asymmetric cylinder 1.2 causes the output positive displacement of the asymmetric cylinder. Secondly, to realize negative displacement output, the third servo valve 9.3 is at right positionDuring operation, the servo motor 8.2 drives the one-way quantitative second gear pump 7.2 to operate, oil is discharged through an oil discharge port of the one-way quantitative second gear pump 7.2, the oil passes through the fourth one-way valve 3.4 and the second filter 20 and reaches the third servo valve 9.3 and further reaches the rod cavity of the second asymmetric cylinder 1.2, the oil in the rod-free cavity returns to an oil tank through the third servo valve 9.3, and in the process, the change of the oil flow formed inside the second asymmetric cylinder 1.2 causes negative displacement output by the asymmetric cylinder. In the whole process, the first part system is characterized in that the contact surface area A of the piston of the rodless cavity of the first asymmetric cylinder 1.11Is larger than the contact surface area A of the piston with the rod cavity2When the running speed v of the first asymmetric cylinder 1.1 is fixed, the flow of the rodless cavity of the first asymmetric cylinder 1.1 is Q1=v×A1The first asymmetric cylinder 1.1 has a rod chamber with a flow rate Q2=v×A2And the corresponding rodless cavity and the corresponding rod cavity have asymmetric flow, so that the flow of the first asymmetric cylinder 1.1 with the rod cavity returned to the left oil return port of the bidirectional quantitative gear pump through the left pipeline is smaller than the flow of the oil discharged from the oil discharge port of the bidirectional quantitative first gear pump 7.1 to the rodless cavity, wherein in order to supplement the flow of the left oil return port of the bidirectional quantitative first gear pump 7.1, the oil is supplemented to the left pipeline of the system through two aspects of oil discharge of the unidirectional quantitative second gear pump 7.2 of the second part system and the booster oil tank 2 of the first part system. On the contrary, when 8.1 anticlockwise rotations of first servo motor, 7.1 left sides of two-way quantitative first gear pump are the oil drain, and the right side is the oil return opening, and fluid flows out from the oil drain, through left side pipeline, reachs first asymmetric jar 1.1 and has the pole chamber, and the fluid in no pole chamber returns to the oil return opening through right side pipeline. Similarly, because the rodless cavity and the rod cavity of the first asymmetric cylinder 1.1 have asymmetric flow, the flow discharged by the rod cavity of the first asymmetric cylinder 1.1 is less than the flow returned by the rodless cavity, and the redundant flow returned by the rodless cavity of the first asymmetric cylinder 1.1 to the right oil suction port of the bidirectional fixed displacement pump 7.1 is discharged to the oil tank through the second servo valve 9.2. The energy accumulator 21 of the second part of the system plays a role in stabilizing pressure of the system, the pressure gauge 19 observes the outlet pressure value of the one-way constant delivery pump, and the fourth one-way valve 3.4 plays a role in preventing oil in the pipeline from flowing backwards.
The invention provides a combined loading device and a control method for force control and position control of a pump valve combined cylinder control and a valve control cylinder, which are applied to the combined loading device for force control and position control of the pump valve combined cylinder control and the valve control cylinder control, and comprise the following steps:
the load force of the first asymmetric cylinder 1.1 detected by the force sensor 22 is acquired, and the control device performs force load servo control on the first power device according to the load force of the first asymmetric cylinder 1.1.
The method comprises the steps of acquiring a pressure signal of a rod cavity of a first asymmetric cylinder 1.1 detected by a first pressure sensor 16.1, carrying out pressure servo control on a first servo valve 9.1 by a control device according to the pressure signal of the rod cavity of the first asymmetric cylinder 1.1 and the load force of the first asymmetric cylinder 1.1, adjusting the size of a valve port of the first servo valve 9.1, and carrying out oil supplement or oil discharge on the rod cavity of the first asymmetric cylinder 1.1.
And acquiring a pressure signal of a rodless cavity of the first asymmetric cylinder 1.1 detected by the second pressure sensor 16.2, and performing pressure servo control on the second servo valve 9.2 by the control device according to the pressure signal of the rodless cavity of the first asymmetric cylinder 1.1 and the load force of the first asymmetric cylinder 1.1, adjusting the size of a valve port of the second servo valve 9.2, and performing oil supplement or oil discharge on the rodless cavity of the first asymmetric cylinder 1.1.
And acquiring an output position voltage signal of the second asymmetric cylinder 1.2 detected by the displacement sensor 17, and carrying out displacement closed-loop control on the third servo valve 9.3 by the control device according to the output position voltage signal of the second asymmetric cylinder 1.2.
Specifically, the force sensor 22 collects a force load signal of the first asymmetric cylinder 1.1 and feeds the force load signal back to the D controller to be deviated from an input force signal, the deviation signal is input to the servo controller to control the first servo motor 8.1 to realize force load servo control, the first pressure sensor 16.1 and the second pressure sensor 16.2 collect a real-time value of pressure of two cavities of the first asymmetric cylinder 1.1 and feed the real-time value of the pressure of the two cavities of the first asymmetric cylinder 1 to the a controller, the B controller is deviated from the input pressure value, the deviation signal is input to the first servo valve 9.1 and the second servo valve 9.2 to control the drainage oil of the first servo valve 9.1 and the second servo valve 9.2, and pressure servo control is realized.
When the system is provided with a first part (namely, a pump-valve compound cylinder control system) as a test system and a second part (namely, a valve control cylinder position closed-loop system) as a loading system, as shown in fig. 2, when the position output by the second part of the loading system changes, the accurate pressure servo control of the first part of the tested system is mainly divided into four working conditions:
(1) when the first asymmetric cylinder 1.1 of the first part test system outputs the load force F > 0 and the speed v > 0
When the load force of the first asymmetric cylinder 1.1 of the first part test system is larger than zero, the rodless cavity of the first asymmetric cylinder 1.1 of the first part test system is high in pressure, the bidirectional quantitative first gear pump 7.1 rotates clockwise, when the position interference of the second part loading system on the first part test system causes the instantaneous speed v of the first asymmetric cylinder 1.1 of the first part test system to be larger than zero (the first asymmetric cylinder 1.1 of the first part test system extends outwards), as the response speed of the pump control loop of the first part test system is slower than that of the valve control loop, the pump control loop cannot react in a short time, and if no first servo valve 9.1 discharges excessive oil quickly, the pressure of the rod cavity of the first asymmetric cylinder 1.1 rises instantaneously. And the second servo valve 9.2 is not used for rapidly supplementing oil, the pressure of the rod-free cavity of the first asymmetric cylinder 1.1 is instantaneously reduced, and the force control effect of the first part of test system is poor as a result, so that the first servo valve and the second servo valve under the working condition are controlled according to the pressure control method shown in the attached figure 2: the specific control process of the first and second servo valves is shown in figure 3, and the first pressure sensor 16.1 collects a pressure signal P of a rod cavity of the first asymmetric cylinder 1.12And comparing the pressure with the expected pressure 5bar input by the first servo valve 9.1 to obtain a deviation signal, outputting the produced deviation signal to the first servo valve 9.1 through the controller A, and adjusting the size of the valve port to supplement or drain oil to the rod cavity of the first asymmetric cylinder 1.1 so as to realize the pressure closed-loop control of the rod-free cavity of the first asymmetric cylinder 1.1. The second pressure sensor 16.2 collects the pressure signal P of the rodless cavity of the first asymmetric cylinder 1.11With the second servo valve 9.2 to input the desired pressure (F + A)2P2)/A1Comparing to obtain a deviation signal, outputting the deviation signal to a second servo valve 9.2 through a controller B, adjusting the size of a valve port of the valve to supplement or drain oil to a rodless cavity of a first asymmetric cylinder 1.1, and realizing the purpose of supplementing or draining oil to a first non-symmetric cylinderThe symmetric cylinder 1.1 has no rod cavity pressure closed loop control. So that the pressure of the rod cavity of the first asymmetric cylinder 1.1 tends to 5bar, and the pressure of the rodless cavity is the pump port pressure (F + A)2P2)/A1Therefore, the first part of the test system is not influenced by the interference position change of the second part of the loading system.
(2) When the load force F of the asymmetric cylinder of the first part test system is more than 0 and the speed v is less than 0
Under the working condition, when the load force of the asymmetric cylinder of the first part of test system is larger than zero, similarly, the rodless cavity of the first asymmetric cylinder 1.1 in the first part of test system is high-pressure, the bidirectional quantitative first gear pump 7.1 rotates clockwise, when the output position of the second part of test system interferes with the first part of test system, the instantaneous speed v of the first asymmetric cylinder 1.1 of the first part of test system is smaller than zero (the first asymmetric cylinder 1.1 of the first part of test system retracts), because the response speed of the pump control loop of the first part of test system is slower than that of the valve control loop, the pump control loop cannot react in a short time, and if no second servo valve 9.2 discharges excessive oil quickly, the pressure of the rodless cavity of the first asymmetric cylinder 1.1 rises instantaneously. And the pressure of the rod cavity of the first asymmetric cylinder 1.1 is reduced instantly without the first servo valve 9.1 for fast oil supplement, and the force control effect of the first part of test systems is poor as a result, if the force control method of the first servo valve and the second servo valve under the working condition is according to the attached figure 2: the specific control process is shown in figure 3, the pressure sensor 16.1 collects a pressure signal P of a rod cavity of the first asymmetric cylinder 1.12And comparing the pressure with the input expected pressure 5bar of the first servo valve 9.1 to obtain a deviation signal, outputting the deviation signal to the first servo valve 9.1 through the controller A, and adjusting the size of a valve port of the valve to supplement or drain oil to a rod cavity of the first asymmetric cylinder 1.1 so as to realize the pressure closed-loop control of the rod-free cavity of the first asymmetric cylinder 1.1. The pressure sensor 16.2 collects a pressure signal P of the rodless cavity of the first asymmetric cylinder 1.11With the second servo valve 9.2 to input the desired pressure (F + A)2P2)/A1Comparing to obtain a deviation signal, outputting the deviation signal to a second servo valve 9.2 through a controller B, and adjusting the size of a valve port of the valve to supplement oil for a rodless cavity of a first asymmetric cylinder 1.1Or oil drainage is carried out, and the pressure closed-loop control of the rodless cavity of the first asymmetric cylinder 1.1 is realized. So that the pressure of the rod cavity of the first asymmetric cylinder 1.1 tends to 5bar, and the pressure of the rodless cavity is the pump port pressure (F + A)2P2)/A1Therefore, the first part of the test system is not influenced by the interference position change of the second part of the loading system.
In summary, when the load force F of the first asymmetric cylinder 1.1 of the first part test system is greater than 0, the input pressure signal of the second servo valve 9.2 is (F + a)2P2)/A1The input pressure signal of the first servo valve 9.1 is 5 bar.
(3) When the load force F of the asymmetric cylinder of the first part test system is less than 0 and the speed v is more than 0
When the load force of the asymmetric cylinder of the first part of test system is smaller than zero, the rod cavity of the first asymmetric cylinder 1.1 is high-pressure, the first servo motor 8.1 rotates anticlockwise, when the first part of test system is interfered by the input position of the second part of loading system, the speed of the first asymmetric cylinder 1.1 is larger than zero (namely the asymmetric cylinder of the first part of test system extends outwards), because the response speed of the pump control loop of the first part of test system is slower than that of the valve control loop, the pump control loop cannot make a quick response, and if no first servo valve 9.1 discharges excessive flow, the pressure of the rod cavity of the first asymmetric cylinder 1.1 is instantly increased. And the second servo valve 9.2 is not supplemented with oil, the pressure of the rodless cavity of the first asymmetric cylinder 1.1 is instantly reduced, and the force control effect of the first part of test system is poor as a result, so that under the working condition, the control method is set as the following figure 2: the specific control process is shown in figure 3, a first pressure sensor 16.1 collects a pressure signal P of a rod cavity of a first asymmetric cylinder 1.12With the desired pressure (A) input of the first servo valve 9.11P1-F)/A2And comparing to obtain a deviation signal, and outputting the deviation signal to the first servo valve 9.1 through the controller A to realize closed-loop control on the pressure of the rod cavity of the first asymmetric cylinder 1.1. The second pressure sensor 16.2 collects the pressure signal P of the rodless cavity of the first asymmetric cylinder 1.11Comparing with the desired pressure 5bar input by the second servo valve 9.2 to obtain an offset signal, and outputting the offset signal to the second servo valve through the controller BIn the two servo valves 9.2, the valve port of the valve is adjusted to supply oil or drain oil to the rodless cavity of the first asymmetric cylinder 1.1, so that the pressure closed-loop control of the rodless cavity of the first asymmetric cylinder 1.1 is realized. So that the pressure in the rod chamber of the first asymmetric cylinder 1.1 is (A)1P1-F)/A2The pressure in the rodless chamber tends to 5bar, so the first part-test system is not affected by disturbing changes in the output position of the second part-loading system.
(4) When the load force F of the asymmetric cylinder of the first part test system is less than 0 and the speed v is less than 0
For the asymmetric cylinder of the first part test system, when the load force is smaller than zero, the rod cavity of the first asymmetric cylinder 1.1 of the system is high pressure, the first servo motor 8.1 rotates anticlockwise, at the moment, when the first part test system is interfered by the output position of the second part loading system, the speed of the first asymmetric cylinder 1.1 of the first part test system is smaller than zero (namely the first asymmetric cylinder 1.1 of the first part test system retracts inwards), because the response speed of the pump control loop of the first part test system is smaller than that of the valve control loop, the pump control loop can not quickly respond in a short time, and if the second servo valve 9.2 does not drain oil timely, the pressure of the rod cavity-free cavity of the first asymmetric cylinder 1.1 is increased instantly. And the first servo valve 9.1 does not supplement oil in time, the pressure of the rod cavity of the first asymmetric cylinder 1.1 is reduced instantly, and the force control effect of the first part of test system is poor as a result. Therefore, under the working condition, the control method is as shown in the attached figure 2: the specific control process is shown in figure 3, a first pressure sensor 16.1 collects a pressure signal P of a rod cavity of a first asymmetric cylinder 1.12With the desired pressure (A) input of the first servo valve 9.11P1-F)/A2And comparing to obtain a deviation signal, and outputting the deviation signal to the first servo valve 9.1 through the controller A to realize closed-loop control on the pressure of the rod cavity of the first asymmetric cylinder 1.1. The second pressure sensor 16.2 collects a pressure signal P of the rodless cavity of the second asymmetric cylinder 1.21Comparing the pressure with the expected pressure 5bar input by the second servo valve 9.2 to obtain a deviation signal, outputting the deviation signal to the second servo valve 9.2 through the controller B, and adjusting the size of a valve port of the valve to supplement oil for a rodless cavity of the first asymmetric cylinder 1.1Or oil drainage is carried out, and the pressure closed-loop control of the rodless cavity of the first asymmetric cylinder 1.1 is realized. So that the pressure in the rod chamber of the first asymmetric cylinder 1.1 is (A)1P1-F)/A2The pressure in the rodless chamber tends to 5bar, so the first part of the test system is not affected by the disturbance of the output position of the second part-loading system.
In summary, when the load force F of the asymmetric cylinder of the first partial test system is less than 0, the input pressure signal of the first servo valve 9.1 of the system is (a)1P1-F)/A2The second servo valve 9.2 inputs a desired pressure signal of 5 bar;
when the second part is used as a tested system, the position following control precision of the part of the system is mainly tested. The first part is used as a loading system, and provides an output force interference signal for the second part test system through a bidirectional constant delivery pump and a servo valve composite control cylinder. The specific high-precision position control method is shown in the attached figure 4: the second part test system displacement sensor 17 converts the displacement signal output by the second asymmetric cylinder 1.2 into a voltage signal and transmits the voltage signal to the C controller to deviate from the input voltage signal, and the deviation signal controls the working position and the valve port size of the third servo valve 9.3 to realize position closed-loop control.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.

Claims (8)

1. The utility model provides a pump valve is compound accuse jar power accuse and valve control jar position control combination loading device which characterized in that includes: the system comprises a pump-valve compound cylinder control system, a valve control cylinder position closed-loop system, a control device and an oil supply tank;
the compound cylinder control force control system of pump valve specifically includes: the device comprises a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplementing device; the first end of the first servo valve is connected with a rod cavity of the first asymmetric cylinder, and the second end of the first servo valve is connected with the oil supply tank; the first end of the second servo valve is connected with the rodless cavity of the first asymmetric cylinder, and the second end of the second servo valve is connected with the oil supply tank; the first pressure sensor is arranged on a pipeline between the first asymmetric cylinder rod cavity and the first servo valve and is close to the first asymmetric cylinder rod cavity, and the first pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rod cavity; the second pressure sensor is arranged on a pipeline between the first asymmetric cylinder rodless cavity and the second servo valve and is close to the first asymmetric cylinder rodless cavity, and the second pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rodless cavity; a first output end of the first power device is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first power device is connected with the rodless cavity of the first asymmetric cylinder; the oil inlet end of the oil supplementing device is connected with the oil supply oil tank, and the first asymmetric cylinder rod cavity and the first asymmetric cylinder rodless cavity are respectively connected with the oil outlet end of the oil supplementing device;
the closed loop system for the position of the valve control cylinder specifically comprises: the second asymmetric cylinder, the displacement sensor, the third servo valve and the second power device; the rod cavity of the first asymmetric cylinder is connected with the rod cavity of the second asymmetric cylinder; the force sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the first asymmetric cylinder rod cavity, and the force sensor is used for detecting the load force of the first asymmetric cylinder; the displacement sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the second asymmetric cylinder rod cavity, and the displacement sensor is used for detecting an output position voltage signal of the second asymmetric cylinder; the first end of the third servo valve is connected with a rodless cavity of a second asymmetric cylinder, the second end of the third servo valve is connected with a rod cavity of the second asymmetric cylinder, the third end of the third servo valve is respectively connected with the output end of a second power device, the third end of the first servo valve and the third end of the second servo valve, and the fourth end of the third servo valve is connected with the oil supply tank; the input end of the second power device is connected with the oil supply tank;
the force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively and electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively and electrically connected with the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.
2. The combined cylinder force control and valve cylinder position control loading device of the pump valve as claimed in claim 1, wherein the control device specifically comprises:
the device comprises a first control module, a second control module, a third control module and a fourth control module;
the first control module specifically includes: the device comprises an input force conversion module, a load force conversion module, a first controller and a servo controller; the first input end of the first controller is connected with the input force conversion module, the second input end of the first controller is connected with the load force conversion module, and the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor and is used for converting the load force detected by the force sensor into a load force signal; the first controller is used for carrying out deviation processing on the input force signal converted by the input force conversion module and the load force signal to obtain a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal;
the second control module specifically includes: the system comprises a first pressure conversion module and a second controller; a first input end of the second controller is connected with the first pressure sensor, a second input end of the second controller is connected with the first pressure conversion module, and a control end of the second controller is connected with the first servo valve; the second controller is used for carrying out deviation processing on a pressure signal of a rod cavity of the first asymmetric cylinder detected by the first pressure sensor and a first input pressure voltage signal converted by the first pressure conversion module to obtain a second deviation signal, and controlling the first servo valve to adjust the size of the valve port according to the second deviation signal;
the third control module specifically includes: a second pressure conversion module and a third controller; the first input end of the third controller is connected with the second pressure sensor, the second input end of the third controller is connected with the second pressure conversion module, and the control end of the third controller is connected with the second servo valve; the third controller is used for carrying out deviation processing on a pressure signal of the first asymmetric cylinder rodless cavity detected by the second pressure sensor and a second input pressure voltage signal converted by the second pressure conversion module to obtain a third deviation signal, and controlling the second servo valve to adjust the size of the valve port according to the third deviation signal;
the fourth control module specifically includes: inputting a position conversion module and a fourth controller; a first input end of the fourth controller is connected with the input position conversion module, a second input end of the fourth controller is connected with the displacement sensor, and a control end of the fourth controller is connected with the third servo valve; the fourth controller is used for performing deviation processing on an input position voltage signal obtained by conversion of the input position conversion module and an output position voltage signal detected by the displacement sensor to obtain a fourth deviation signal, and controlling the third servo valve to adjust the size of the valve port according to the fourth deviation signal.
3. The combined cylinder force control and valve cylinder position control loading device of the pump valve according to claim 2,
the first input pressure voltage signal is 5bar or (A)1P1-F)/A2
The second input pressure voltage signal is 5bar or (F + A)2P2)/A1
Wherein F represents a load force signal, P1Representing the pressure signal, P, of the rodless chamber of the first asymmetric cylinder2Indicating the pressure signal of the rod chamber of the first asymmetric cylinder, A1Denotes the first asymmetric cylinder rodless chamber piston contact area, A2Showing the first asymmetric cylinder rod chamber piston contact area.
4. The combined loading device of force control and position control of the pump-valve cylinder according to claim 1, wherein the oil supplementing device specifically comprises:
the oil pump comprises a pressurizing oil tank, a first one-way valve, a second one-way valve, a third one-way valve, an oil discharge one-way valve, a first filter, an oil supplementing pump and an oil supplementing motor;
the pressurizing oil tank is respectively connected with the first one-way valve conducting end, the second one-way valve conducting end, the third one-way valve stopping end and the oil unloading one-way valve conducting end; the stop end of the first check valve is connected with the rod cavity of the first asymmetric cylinder; the stop end of the second one-way valve is connected with the rodless cavity of the first asymmetric cylinder; the cut-off end of the oil discharge one-way valve is connected with the oil supply tank; the input of fuel feeding pump with the fuel feeding oil tank is connected, the feed end of fuel feeding pump with the fuel feeding motor is connected, the output end of fuel feeding pump with the input of first filter is connected, the output of first filter with the end connection that switches on of third check valve.
5. The combined cylinder force control and valve cylinder position control loading device of the pump valve according to claim 4,
the first power device specifically comprises: a first gear pump and a first servo motor; the power supply end of the first gear pump is connected with the first servo motor; a first output end of the first gear pump is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first gear pump is connected with the rodless cavity of the first asymmetric cylinder;
the second power device specifically comprises: a second gear pump and a second servo motor; the power supply end of the second gear pump is connected with the second servo motor; and the output end of the second gear pump is connected with the third end of the third servo valve, and the input end of the second gear pump is connected with the oil supply tank.
6. The combined cylinder force control and valve cylinder position control loading device of the pump valve as claimed in claim 5, wherein the second power device further comprises:
the first stop valve, the second stop valve, the third stop valve, the second filter, the fourth one-way valve, the pressure gauge and the energy accumulator;
the output end of the second gear pump is respectively connected with the conducting end of the fourth one-way valve and one end of the third stop valve, and the other end of the third stop valve is connected with the pressure gauge; the stop end of the fourth one-way valve is respectively connected with one end of the second filter and one end of the second stop valve, and the other end of the second stop valve is connected with the energy accumulator; the other end of the second filter is connected with one end of the first stop valve, and the other end of the first stop valve is connected with the third end of the third servo valve.
7. The combined cylinder force control and valve cylinder position control loading device of the pump valve as claimed in claim 5, wherein the combined cylinder force control and valve cylinder position control loading device of the pump valve further comprises:
a liquid level liquid thermometer, a cooler, a low-pressure ball valve and an air filter;
one end of the cooler is connected with the oil supply tank, and the other end of the cooler is respectively connected with the second end of the first servo valve, the second end of the second servo valve, the cut-off end of the oil discharge one-way valve, the input end of the oil replenishing pump and the input end of the second gear pump; the liquid level thermometer is arranged on a pipeline of the cooler and the oil supply tank; one end of the low-pressure ball valve is connected with the air filter, and the other end of the low-pressure ball valve is connected with the cooler.
8. A combined loading control method of force control and position control of a pump valve combined cylinder control is applied to the combined loading device of force control and position control of the pump valve combined cylinder control and valve cylinder control of any one of claims 1 to 7, and is characterized by comprising the following steps:
acquiring the load force of a first asymmetric cylinder detected by a force sensor, and carrying out force load servo control on a first power device by a control device according to the load force of the first asymmetric cylinder;
the control device performs pressure servo control on a first servo valve according to the pressure signal of the rod cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusts the size of a valve port of the first servo valve, and performs oil supplement or oil discharge on the rod cavity of the first asymmetric cylinder;
acquiring a pressure signal of a rodless cavity of a first asymmetric cylinder detected by a second pressure sensor, and carrying out pressure servo control on a second servo valve by the control device according to the pressure signal of the rodless cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusting the size of a valve port of the second servo valve, and carrying out oil supplement or oil discharge on the rodless cavity of the first asymmetric cylinder;
and acquiring an output position voltage signal of a second asymmetric cylinder detected by a displacement sensor, and carrying out displacement closed-loop control on a third servo valve by the control device according to the output position voltage signal of the second asymmetric cylinder.
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