CN110939617A - Hydraulic actuator position control method without displacement sensor - Google Patents

Hydraulic actuator position control method without displacement sensor Download PDF

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Publication number
CN110939617A
CN110939617A CN201911277923.0A CN201911277923A CN110939617A CN 110939617 A CN110939617 A CN 110939617A CN 201911277923 A CN201911277923 A CN 201911277923A CN 110939617 A CN110939617 A CN 110939617A
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CN
China
Prior art keywords
motor
turns
theory
hydraulic
load
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Pending
Application number
CN201911277923.0A
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Chinese (zh)
Inventor
张树忠
黄豪杰
刘喜涛
张兰
李苏
练国富
唐一文
晏岱
陈丙三
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Fujian University of Technology
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Fujian University of Technology
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Publication date
Application filed by Fujian University of Technology filed Critical Fujian University of Technology
Priority to CN201911277923.0A priority Critical patent/CN110939617A/en
Publication of CN110939617A publication Critical patent/CN110939617A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/003—Systems with load-holding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/275—Control of the prime mover, e.g. hydraulic control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically

Abstract

The invention discloses a position control method of a hydraulic actuator without a displacement sensor, which comprises the following steps: 1) inputting the target height of load lifting, and estimating to obtain the number of turns N of the motor required to rotate1(ii) a 2) The pressure sensor detects the pressure of the hydraulic system, and the effective load of the load is calculated by combining the torque obtained by the sensor of the motor; 3) calculating the leakage quantity of the hydraulic system according to the effective load, thereby calculating the number of rotation turns N required to be compensated by the leakage motor2(ii) a 4) Calculating the number of turns N of the theoretically required rotation of the motorTheory of the invention，NTheory of the invention=N1+N2(ii) a 5) The controller controls the motor to rotate when the actual number of rotations N of the motor is detectedPractice ofThe number of turns N of the rotation required by the theory of the motorTheory of the inventionWhen the phase difference is within the threshold value, the controller controls the motor to stop running, so that the displacement of the hydraulic actuator is controlled to reach the target heightAnd (4) measuring values. The invention is economical, practical, environment-friendly and energy-saving, adopts pump control direct drive, and avoids throttling loss and overflow loss. Is beneficial to realizing the automatic work of the machine.

Description

Hydraulic actuator position control method without displacement sensor
Technical Field
The invention relates to the field of hydraulic systems, in particular to a position control method of a hydraulic actuator without a displacement sensor.
Background
In the case of high-power transmissions, very fast response or very compact solutions, hydraulic drive transmissions are generally used and position control is carried out. A better control solution is closed loop servo or proportional control, which provides excellent dynamics and accuracy if all components, i.e. the hydraulic cylinder, the proportional valve or servo valve and the position sensor, have sufficient accuracy and dynamic performance characteristics. However, this technique has its drawbacks: high cost, high cleanliness requirements for hydraulic oils and low efficiency. The cost and installation effort of the hydraulic sensor device may be critical factors. Many times, the position control needs to be moved to a new position and held for a long time.
Position information required for position control is currently typically obtained using position sensors, which are classified into internal and external types. With built-in position sensors, it is often easier to measure from the actuator, but embedded sensors are installed in the hydraulic cylinder, which are expensive.
The installation uses external position sensor, and its sensor is installed on the pneumatic cylinder surface, and external installation is convenient relatively.
There are also a variety of sensors installed inside and outside the hydraulic cylinder for measuring the position of the piston of the hydraulic cylinder. Most commonly used are magnetostrictive sensors, potentiometers, variable inductance and pull-wire sensors, etc.
Sensors not only add cost and risk of failure, but also affect wiring, connectors and controller input modules. In complex machine systems with multiple position drives, the reduced use of such sensors and accessories is an important cost saving measure, and the realization of new functions by additional position control is often a prerequisite. Meanwhile, the installation of the sensor is sometimes limited by conditions such as installation space.
Disclosure of Invention
The invention aims to provide a hydraulic actuator position control method without a displacement sensor.
In order to achieve the purpose, the invention adopts the following technical scheme:
a position control method of a hydraulic actuator without a displacement sensor is characterized in that the hydraulic actuator is provided with hydraulic oil by a hydraulic pump, the hydraulic pump is driven by a motor to work, and the motor is connected to a controller; the control method comprises the following steps:
1) inputting the target height of load lifting, and estimating to obtain the number of turns N of the motor required to rotate1；
2) The pressure sensor detects the pressure of the hydraulic system, the torque of the motor can be obtained by the sensor of the motor, the torque is proportional to the pressure of the hydraulic system, meanwhile, the torque of the motor is proportional to the load, and the effective load of the load is calculated according to the torque of the motor and the pressure of the hydraulic system;
3) calculating the leakage quantity of the hydraulic system according to the effective load, thereby calculating the number of rotation turns N required to be compensated by the leakage motor2；
4) Calculating the number of turns N of the theoretically required rotation of the motorTheory of the invention，NTheory of the invention=N1+N2；
5) The controller controls the motor to rotate when the actual number of rotation turns N of the motor at presentPractice ofLess than the number of turns N required by theoryTheory of the inventionWhen the motor is started, the controller controls the motor to continuously run, and the motor continuously runs in advanceThe motor is operated at a fixed target rotating speed, and when the actual number of rotating turns N of the motor is detectedPractice ofThe number of turns N of the rotation required by the theory of the motorTheory of the inventionWhen the phase difference is within the threshold value, the controller controls the motor to stop running, so that the displacement of the hydraulic actuator is controlled to reach a target height value.
In step 1), the number of required rotations N of the motor1The estimation method comprises the following steps: the precise number N of the rotating turns needed by the motor is obtained by a neural network calculation method obtained by coupling by considering the leakage amount of the system, oil compression, motor torque and rotating speed1(ii) a Or a parameter identification technology is used, and a theoretical model and experimental data are combined to predict the number of turns N of the motor required to rotate1. Parameter identification determines the values of parameters of a set of models based on experimental data and established models so that the numerical results calculated by the models best fit the test data for the desired number of motor revolutions.
By adopting the technical scheme, the invention has the following beneficial effects:
1. compared with a hydraulic proportional control system and a servo control system, the hydraulic proportional control system has the advantages of low manufacturing cost, convenient maintenance, low requirement on working environment and the like, and compared with a common hydraulic control system, the hydraulic proportional control system has high automation degree and high position control precision, can run without failure under extreme conditions (dust, dirt or strong magnetic field) and is not influenced by the working environment;
2. economical and practical, environmental protection and energy saving, adopt the pump accuse directly to drive, avoid causing throttling loss, overflow loss. The automatic operation of the machine is facilitated;
3. accurate position control information can be achieved without a built-in or external position sensor. The control of the hydraulic actuator to reach the target position is indirectly realized by controlling the rotation number of turns of the motor.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and the detailed description;
FIG. 1 is a schematic diagram of a hydraulic system of the present invention.
Detailed Description
As shown in fig. 1, the hydraulic actuator is supplied with hydraulic oil by a hydraulic pump, the hydraulic actuator 5 is supplied with hydraulic oil by a hydraulic pump 1, the hydraulic pump 1 is driven by an electric motor 2, and the electric motor 2 is connected to a controller 3; the two-way normally closed poppet valve 4 included in the hydraulic system functions as a relief valve because it prevents the load from falling accidentally. It also ensures that no electrically driven operation is required when holding the forks in a fixed position, since no torque is required in steady state. The safety valve controls the safety limit of the pressure in the system.
The control method of the invention comprises the following steps:
1) inputting the target height of load lifting, and estimating to obtain the number of turns N of the motor required to rotate1；
2) The pressure sensor detects the pressure of the hydraulic system, the torque of the motor can be obtained by the sensor of the motor, the torque is proportional to the pressure of the hydraulic system, meanwhile, the torque of the motor is proportional to the load, and the effective load of the load is calculated according to the torque of the motor and the pressure of the hydraulic system;
3) calculating the leakage quantity of the hydraulic system according to the effective load, thereby calculating the number of rotation turns N required to be compensated by the leakage motor2；
4) Calculating the number of turns N of the theoretically required rotation of the motorTheory of the invention，NTheory of the invention=N1+N2；
5) The controller controls the motor to rotate when the actual number of rotation turns N of the motor at presentPractice ofLess than the number of turns N required by theoryTheory of the inventionWhen the controller controls the motor to continuously operate, the motor continuously operates at the preset target rotating speed, and when the actual number of rotating turns N of the motor at present is detectedPractice ofThe number of turns N of the rotation required by the theory of the motorTheory of the inventionWhen the phase difference is within the threshold value, the controller controls the motor to stop running, so that the displacement of the hydraulic actuator is controlled to reach a target height value.
In step 1), the number of required rotations N of the motor1The estimation method comprises the following steps: the precise number N of the rotating turns needed by the motor is obtained by a neural network calculation method obtained by coupling by considering the leakage amount of the system, oil compression, motor torque and rotating speed1(ii) a Or a parameter identification technology is used, and a theoretical model and experimental data are combined to predict the number of turns N of the motor required to rotate1. Parameter identification determines the values of parameters of a set of models based on experimental data and established models so that the numerical results calculated by the models best fit the test data for the desired number of motor revolutions.
With the above control, high-precision position control without a position sensor can be realized, and in addition, a simple proximity sensor can be used to perform state reset or position calibration of the system.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims (2)

1. A position control method of a hydraulic actuator without a displacement sensor is characterized in that the hydraulic actuator is provided with hydraulic oil by a hydraulic pump, the hydraulic pump is driven by a motor to work, and the motor is connected to a controller; the method is characterized in that: the control method comprises the following steps:
1) inputting the target height of load lifting, and estimating to obtain the number of turns N of the motor required to rotate1；
2) The pressure sensor detects the pressure of the hydraulic system, the torque of the motor can be obtained by the sensor of the motor, the torque is proportional to the pressure of the hydraulic system, meanwhile, the torque of the motor is proportional to the load, and the effective load of the load is calculated according to the torque of the motor and the pressure of the hydraulic system;
3) calculating the leakage quantity of the hydraulic system according to the effective load, thereby calculating the number of rotation turns N required to be compensated by the leakage motor2；
4) Calculating the number of turns N of the theoretically required rotation of the motorTheory of the invention，NTheory of the invention=N1+N2；
5) The controller controls the motor to rotate when the actual number of rotation turns N of the motor at presentPractice ofLess than theoretically requiredNumber of turns NTheory of the inventionWhen the controller controls the motor to continuously operate, the motor continuously operates at the preset target rotating speed, and when the actual number of rotating turns N of the motor at present is detectedPractice ofThe number of turns N of the rotation required by the theory of the motorTheory of the inventionWhen the phase difference is within the threshold value, the controller controls the motor to stop running, so that the displacement of the hydraulic actuator is controlled to reach a target height value.
2. The method of claim 1, wherein the method further comprises the step of: in step 1), the number of required rotations N of the motor1The estimation method comprises the following steps: the precise number N of the rotating turns needed by the motor is obtained by a neural network calculation method obtained by coupling by considering the leakage amount of the system, oil compression, motor torque and rotating speed1(ii) a Or a parameter identification technology is used, and a theoretical model and experimental data are combined to predict the number of turns N of the motor required to rotate1。
CN201911277923.0A 2019-12-12 2019-12-12 Hydraulic actuator position control method without displacement sensor Pending CN110939617A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111982041A (en) * 2020-08-25 2020-11-24 淮阴工学院 Displacement detection system for measurement
WO2021259981A1 (en) * 2020-06-25 2021-12-30 Robert Bosch Gmbh Method for operating a hydraulic drive

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CN109297546A (en) * 2018-12-10 2019-02-01 福建工程学院 It is a kind of electricity hydrostatic system displacement, speed flexible measurement method
CN109372829A (en) * 2018-12-07 2019-02-22 福建工程学院 A kind of position control system and its control method of hydraulic step actuator

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CN102622000A (en) * 2012-03-30 2012-08-01 山东轻工业学院 Fuzzy neural network-based slurry supply system flow control method
JP2014126103A (en) * 2012-12-26 2014-07-07 Kobelco Contstruction Machinery Ltd Hydraulic circuit of construction machine
CN105090173A (en) * 2014-05-08 2015-11-25 佛山市恒力泰机械有限公司 Displacement-sensor-free pressurizing method of dual-acting oil cylinder
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CN106026797A (en) * 2016-07-14 2016-10-12 重庆编福科技有限公司 Method of accurate positioning and displacement calculation on actuator driven by brushless DC motor
CN106371425A (en) * 2016-10-31 2017-02-01 北京恒泰万博石油技术股份有限公司 Simulation experimental bench and method for control system of rotary steering execution mechanism
CN107062379A (en) * 2016-12-28 2017-08-18 广东工业大学 A kind of intelligent adaptive temperature-control water outlet method and device based on neutral net
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021259981A1 (en) * 2020-06-25 2021-12-30 Robert Bosch Gmbh Method for operating a hydraulic drive
CN111982041A (en) * 2020-08-25 2020-11-24 淮阴工学院 Displacement detection system for measurement
CN111982041B (en) * 2020-08-25 2021-09-24 淮阴工学院 Displacement detection system for measurement

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