CN110744538B - Hydraulic position synchronous control method applied to petroleum machinery - Google Patents
Hydraulic position synchronous control method applied to petroleum machinery Download PDFInfo
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- CN110744538B CN110744538B CN201910866895.XA CN201910866895A CN110744538B CN 110744538 B CN110744538 B CN 110744538B CN 201910866895 A CN201910866895 A CN 201910866895A CN 110744538 B CN110744538 B CN 110744538B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to a hydraulic position synchronous control method applied to petroleum machinery, which comprises a control method for a first mechanical arm (2) and a synchronous control method for at least one driven mechanical arm (3), wherein the control method for the first mechanical arm (2) and the synchronous control method for the driven mechanical arm (3) are both double closed-loop control methods. The control system generates a dynamic position curve according to an external given speed, the dynamic position curve is quantitatively given to the first mechanical arm (2), a piston position signal is fed back to the control system by the first oil cylinder (4) in the working process to generate an actual position curve, the actual position curve is quantitatively given to the driven mechanical arm (3), and the position of the driven mechanical arm (3) is guaranteed to be consistent with that of the first mechanical arm (2). According to the invention, double closed-loop regulation is formed according to signals fed back by the position of the valve core of the servo valve and the position of the piston of the oil cylinder, so that the accurate synchronous control of multiple mechanical arms is realized.
Description
Technical Field
The invention relates to the field of hydraulic system control, in particular to a hydraulic position synchronous control method applied to petroleum machinery.
Background
At present, with the continuous progress and development of drilling technology, a great deal of automatic mechanical equipment and tools are developed and applied in petroleum drilling engineering equipment. In consideration of the technical requirements of explosion prevention, high power density and the like, the devices are basically driven by hydraulic pressure. In the initial stage of application of the hydraulic automatic equipment, the main aim is to replace manual heavy-body labor, the operation of the equipment is still mainly manual, so that the control precision and the performance requirements are not high, and the control mode is relatively simple. However, with the overall progress and improvement of the equipment level, the keywords of automation, intellectualization and unmanned realization become new technical targets and directions, and meanwhile, concepts and technologies which are just mentioned in the robot industry, such as stable operation, accurate positioning, multi-axis real-time synchronization and the like of a hydraulic mechanism, are gradually becoming the industrial requirements of petroleum high-end equipment. It is anticipated that conventional control schemes are simply not satisfactory for the development of current automated tool technology.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a hydraulic control technology with accurate and stable position synchronization.
The purpose of the invention is realized by the following technical scheme: a hydraulic position synchronous control method applied to petroleum machinery comprises the steps of controlling a first mechanical arm and synchronously controlling at least one driven mechanical arm, wherein the control method for the first mechanical arm and the synchronous control method for the driven mechanical arm are both double closed-loop control;
the control of the first robot arm comprises the steps of:
s11, according to the given speed of the external mechanism, the control system automatically calculates and generates a dynamic position curve;
s12, processing the data of the dynamic position curve through a control system to obtain the given speed of the first mechanical arm;
s13, converting a signal of a given speed into a valve core opening degree signal by a valve core controller, giving the valve core opening degree signal to a first servo valve for controlling a first mechanical arm, controlling the first servo valve to be opened, controlling the first mechanical arm to stretch and contract, and moving the first mechanical arm;
s14, feeding back a piston position signal of the first mechanical arm oil cylinder and a valve core position signal of the servo valve to the control system in real time in the moving process of the first mechanical arm, generating an actual position curve by the control system, comparing the feedback signal with a given dynamic position curve by the control system, comparing the valve core position signal with a valve core opening degree signal given by the valve core controller, and adjusting the given speed of the first mechanical arm by the control system according to two comparison data, thereby controlling the opening degree of the servo valve and ensuring that the actual position of the first mechanical arm meets a given requirement.
The synchronous control of the driven mechanical arm comprises the following steps:
s21, the control system carries out data processing on the actual position curve generated by the first mechanical arm to obtain the given speed of the driven mechanical arm;
s22, converting a signal of a given speed into a valve core opening degree signal by the valve core controller, giving the valve core opening degree signal to a driven servo valve for controlling the driven mechanical arm, controlling the driven servo valve to open, and controlling the driven mechanical arm to stretch and contract to move;
s23, feeding back a piston position signal of a driven mechanical arm oil cylinder and a valve core position signal of a servo valve to a control system in real time in the moving process of the driven mechanical arm, generating an actual position curve by the control system, comparing the feedback signal with a given dynamic position curve by the control system, comparing the valve core position signal with a valve core opening degree signal given by a valve core controller, and adjusting the given speed of the driven mechanical arm by the control system according to two comparison data, thereby controlling the opening degree of the servo valve and ensuring that the actual position of the driven mechanical arm meets the given requirements.
The double closed-loop control is two closed-loop control systems consisting of valve core position signal feedback control and oil cylinder position signal feedback control.
The servo valve is an electro-hydraulic servo valve, the valve core is controlled by a valve core controller, and the valve core controller is controlled by a control system.
The dynamic position curve is a virtual displacement curve obtained by continuously accumulating the speed values based on the speed given by the external mechanism.
The control system is a fuzzy PID control system, and dynamically corrects P, I, D three parameter values according to the change of oil temperature and pressure of the hydraulic system and the actual position condition of the mechanism and a specified fuzzy rule.
The invention has the following advantages:
1. the control model is simplified, and the design process is simplified. At present, in most positioning control schemes, a large amount of calculation and back calculation exist for complex mechanism motion models, the accuracy of a final result and response timeliness cannot be guaranteed in practice, and the calculation process is slightly complex. The technology provides a design idea of directly paying attention to a final object by ignoring an intermediate calculation process. The control process is clearer, and the design and debugging cycle time is greatly shortened;
2. the interference of physical characteristics such as hydraulic oil temperature and pressure on the positioning control of the mechanism is eliminated. And by adopting a fuzzy control algorithm, various peripheral conditions influencing the hydraulic characteristics are considered in the system, and the control adaptability and robustness are stronger.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a front view of the actuator;
FIG. 3 is a graph of dynamic velocity versus position;
FIG. 4 is a graph of deviation of an implementation structure;
in the figure: the method comprises the following steps of 1-a manipulator upright post, 2-a first manipulator, 3-a driven manipulator, 4-a first oil cylinder and 5-a driven oil cylinder.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.
As shown in fig. 1, a hydraulic position synchronization control method applied to petroleum machinery comprises the steps of controlling a first mechanical arm 2 and synchronously controlling at least one driven mechanical arm 3, wherein the control on the first mechanical arm 2 and the synchronous control on the driven mechanical arm 3 are both double closed-loop control;
the control of the first robot arm 2 comprises the steps of:
s11, according to the given speed of the external mechanism, the control system automatically calculates and generates a dynamic position curve;
s12, processing the dynamic position curve through data of a control system to obtain a given speed of the first mechanical arm;
s13, converting a signal of a given speed into a valve core opening degree signal by the valve core controller, giving the valve core opening degree signal to a first servo valve for controlling the first mechanical arm 2, controlling the first servo valve to open, controlling the first oil cylinder 4 to do telescopic motion, and controlling the first mechanical arm 2 to move;
s14, feeding back a piston position signal of the first oil cylinder 4 and a valve core position signal of the servo valve to the control system in real time in the moving process of the first mechanical arm 2, enabling the control system to generate an actual position curve, enabling the control system to compare the fed-back signal with a given dynamic position curve, meanwhile comparing the valve core position signal with a valve core opening degree signal given by the valve core controller, enabling the control system to adjust the given speed of the first mechanical arm according to two comparison data, controlling the opening degree of the servo valve and ensuring that the actual position of the first mechanical arm 2 meets a given requirement.
The synchronous control of the slave manipulator 3 includes the steps of:
s21, the control system carries out data processing on the actual position curve generated by the first mechanical arm 2 to obtain the given speed of the driven mechanical arm;
s22, converting a signal of a given speed into a valve core opening degree signal by the valve core controller, giving the valve core opening degree signal to a driven servo valve for controlling the driven mechanical arm 3, controlling the driven servo valve to open, and controlling the driven oil cylinder 5 to move in a stretching and retracting manner so that the driven mechanical arm 3 moves;
s23, feeding back a piston position signal of the slave oil cylinder 5 and a valve core position signal of the servo valve to the control system in real time in the moving process of the slave mechanical arm 3, enabling the control system to generate an actual position curve, enabling the control system to compare the fed-back signal with a given dynamic position curve, meanwhile comparing the valve core position signal with a valve core opening degree signal given by a valve core controller, enabling the control system to adjust the given speed of the slave mechanical arm according to two comparison data, controlling the opening degree of the servo valve and ensuring that the actual position of the slave mechanical arm 3 meets a given requirement.
The double closed-loop control is two closed-loop control systems consisting of valve core position signal feedback control and oil cylinder position signal feedback control.
The servo valve is an electro-hydraulic servo valve, the valve core is controlled by a valve core controller, and the valve core controller is controlled by a control system. In the operation process, the position of the valve core of the controlled valve is fed back to the controller, the controller compares the position with a given signal, and adjusts the output signal in time to adjust the opening degree of the valve core, so that the actual position of the valve core meets the given requirement.
The dynamic position curve is a virtual displacement curve obtained by continuously accumulating the speed values based on the speed given by the external mechanism. Fig. 3 is a typical curve of motion process of uniform acceleration, uniform speed and uniform deceleration. The dotted line represents the velocity, and the solid line represents the displacement waveform of the "S" curve formed by the continuous accumulation of the velocity. The system takes the curve as a given value for positioning control, and the command mechanism acts according to the displacement track. Wherein if a given speed changes, the resulting displacement curve will change accordingly. This achieves the purpose of dynamically adjusting the speed.
The control system is a fuzzy PID control system, and dynamically corrects P, I, D three parameter values according to the change of oil temperature and pressure of the hydraulic system and the actual position condition of the mechanism and a specified fuzzy rule. The system has quicker and more accurate response.
Example (b): taking test data of the mechanical arm of the tube arranging machine as an example, the synchronization effect in the process of multiple round trips can be seen, and the two displacement curves are highly coincident. During the synchronous movement, the maximum allowable displacement deviation is designed to be 200 mm, and as can be seen from the figure, during the multiple round trips, the maximum deviation peak is 80 mm, the overall trend is controlled within 40 mm, and the synchronous precision of the mechanical arm is very high.
Claims (5)
1. A hydraulic position synchronization control method applied to a petroleum machine, comprising control of a first robot arm (2) and synchronization control of at least one slave robot arm (3), characterized in that: the control of the first mechanical arm (2) and the synchronous control of the driven mechanical arm (3) are both double closed-loop control;
the control of the first robot arm (2) comprises the following steps:
s11, according to the given speed of the external mechanism, the control system automatically calculates and generates a dynamic position curve;
s12, processing the dynamic position curve through data of a control system to obtain the given speed of the first mechanical arm (2);
s13, converting a signal of a given speed into a valve core opening degree signal by a valve core controller, giving the valve core opening degree signal to a first servo valve for controlling the first mechanical arm (2), controlling the first servo valve to open, controlling the first oil cylinder (4) to move in a telescopic mode, and moving the first mechanical arm (2);
s14, feeding back a piston position signal of the first oil cylinder (4) and a valve core position signal of the servo valve to a control system in real time in the moving process of the first mechanical arm (2), generating an actual position curve by the control system, comparing the feedback signal with a given dynamic position curve by the control system, comparing the valve core position signal with a valve core opening degree signal given by a valve core controller, and adjusting the given speed of the first mechanical arm (2) by the control system according to two comparison data, so that the opening degree of the servo valve is controlled, and the actual position of the first mechanical arm (2) is ensured to meet a given requirement;
the synchronous control of the driven mechanical arm (3) comprises the following steps:
s21, the control system carries out data processing on the actual position curve generated by the first mechanical arm (2) to obtain the given speed of the driven mechanical arm (3);
s22, converting a signal of a given speed into a valve core opening degree signal by a valve core controller, giving the valve core opening degree signal to a driven servo valve for controlling the driven mechanical arm (3), controlling the driven servo valve to open, and controlling the driven oil cylinder (5) to move in a stretching and retracting manner so that the driven mechanical arm (3) moves;
s23, feeding back a piston position signal of the driven oil cylinder (5) and a valve core position signal of the servo valve to the control system in real time in the moving process of the driven mechanical arm (3), generating an actual position curve by the control system, comparing the fed-back signal with a given dynamic position curve by the control system, simultaneously comparing the valve core position signal with a valve core opening degree signal given by a valve core controller, and adjusting the given speed of the driven mechanical arm (3) by the control system according to two comparison data, thereby controlling the opening degree of the servo valve and ensuring that the actual position of the driven mechanical arm (3) meets the given requirements.
2. The hydraulic position synchronization control method applied to petroleum machinery according to claim 1, characterized in that: the double closed-loop control is two closed-loop control systems consisting of valve core position signal feedback control and oil cylinder position signal feedback control.
3. The hydraulic position synchronization control method applied to petroleum machinery according to claim 1, characterized in that: the servo valve is an electro-hydraulic servo valve, the valve core is controlled by a valve core controller, and the valve core controller is controlled by a control system.
4. The hydraulic position synchronization control method applied to petroleum machinery according to claim 1, characterized in that: the dynamic position curve is a virtual displacement curve obtained by continuously accumulating the speed values based on the speed given by the external mechanism.
5. The hydraulic position synchronization control method applied to petroleum machinery according to claim 1, characterized in that: the control system is a fuzzy PID control system, and dynamically corrects P, I, D three parameter values according to the change of oil temperature and pressure of the hydraulic system and the actual position condition of the mechanism and a specified fuzzy rule.
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| CN206723196U (en) * | 2017-04-17 | 2017-12-08 | 泸州市长江液压件装备有限公司 | A kind of hydraulic servo synchronization system |
| CN108087349A (en) * | 2017-12-22 | 2018-05-29 | 天水锻压机床(集团)有限公司 | A kind of oil cylinder servo synchronization control system |
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