CN111219372B - Pump valve composite loop and control method - Google Patents

Pump valve composite loop and control method Download PDF

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Publication number
CN111219372B
CN111219372B CN202010050077.5A CN202010050077A CN111219372B CN 111219372 B CN111219372 B CN 111219372B CN 202010050077 A CN202010050077 A CN 202010050077A CN 111219372 B CN111219372 B CN 111219372B
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valve
loop
control
pump
hydraulic cylinder
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CN111219372A (en
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柏艳红
吴斌
权龙�
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Yangquan Industrious Technology Industrial Development Co ltd
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Taiyuan University of Science and Technology
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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
    • F15B11/08—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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/024—Pressure relief 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves

Abstract

The invention belongs to the technical field of hydraulic control loops, and particularly relates to a high-efficiency composite loop combining valve control and pump control and a control method thereof; the specific technical scheme is as follows: a pump-valve composite loop and a control method thereof comprise a hydraulic cylinder, and a pump control closed loop and a valve control open loop which are arranged in parallel, wherein the pump control closed loop consists of an oil tank, a hydraulic pump, a first-stage one-way valve and a second-stage one-way valve which are arranged in parallel, and the valve control open loop consists of a proportion/servo valve and a pressure source; the specific control process of the composite loop is as follows: firstly, in the dynamic operation process of the hydraulic cylinder, a pump control closed loop and a valve control open loop are adopted for controlling together, so that the dynamic operation process is accelerated; secondly, in the constant-speed operation process of the hydraulic cylinder, a pump control closed loop is adopted for independent control, so that energy-saving operation is realized; thirdly, in the process of positioning and adjusting the hydraulic cylinder, a valve-controlled open-type loop is adopted for independent control; the whole loop has high response speed, high efficiency and high performance, and improves the natural frequency and the load rigidity of a loop system.

Description

Pump valve composite loop and control method
Technical Field
The invention belongs to the technical field of hydraulic control loops, and particularly relates to a high-efficiency composite loop combining valve control and pump control and a control method thereof.
Background
In many practical application occasions of the electro-hydraulic servo control system, such as a hydraulic ship lift, a multi-degree-of-freedom test platform and other heavy-load and long-stroke single-rod hydraulic cylinder control systems, the control performance requirement is high, and the energy-saving significance is great. Although the control precision of the traditional valve control loop is high, the efficiency is low; although the pump control loop has high efficiency, the pump control loop has the problems of poor dynamic characteristics, slow response speed and the like.
Disclosure of Invention
In order to solve the technical problems of poor dynamic performance, slow response speed and low efficiency of the existing control loop, the invention provides a loop driven by a pump control closed loop and a valve control open loop in parallel, provides a corresponding control method, realizes the coordinated control of the loop, improves the inherent frequency and the load rigidity of a loop system, and gives consideration to high efficiency and high performance.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a pump-valve composite loop comprises a pump control closed loop and a valve control open loop which are arranged in parallel.
The pump control closed loop comprises an oil tank, a hydraulic pump, a primary check valve and a secondary check valve which are arranged in parallel, wherein the oil tank is respectively communicated with an oil inlet of the primary check valve and an oil inlet of the secondary check valve through pipelines.
The oil outlet of the first-stage one-way valve is directly communicated with the rodless cavity of the hydraulic cylinder through a pipeline, the oil outlet of the first-stage one-way valve is also communicated with the oil inlet of the first-stage safety valve through a pipeline, and the oil outlet of the first-stage safety valve is communicated with the rod cavity of the hydraulic cylinder.
The oil outlet of the secondary one-way valve is directly communicated with the rod cavity of the hydraulic cylinder through a pipeline, the oil outlet of the secondary one-way valve is also communicated with the oil inlet of the secondary safety valve through a pipeline, and the oil outlet of the secondary safety valve is communicated with the rodless cavity of the hydraulic cylinder.
The oil outlet of the hydraulic pump is respectively communicated with the rod cavity and the rodless cavity of the hydraulic cylinder.
The valve-controlled open loop comprises a proportional/servo valve, wherein a P port of the proportional/servo valve is communicated with a pressure source through a pipeline, a T port of the proportional/servo valve is communicated with an oil tank through a pipeline, an A port of the proportional/servo valve is communicated with a rodless cavity of a hydraulic cylinder through a pipeline, and a B port of the proportional/servo valve is communicated with a rod cavity of the hydraulic cylinder through a pipeline.
Among them, the hydraulic pump is preferably a variable displacement pump.
Preferably, the hydraulic pump is driven by an electric motor.
In the moving process of the hydraulic cylinder, the pump control closed loop is mainly controlled, the valve control open loop is controlled as an auxiliary, and the pump control closed loop provides large flow to finish coarse control; the valve-controlled open loop provides small flow to complete fine control.
The specific control process of the composite loop is as follows:
firstly, in the dynamic operation process of the hydraulic cylinder, a pump control closed loop and a valve control open loop are adopted for controlling together, so that the dynamic operation process is accelerated;
secondly, in the constant-speed operation process of the hydraulic cylinder, a pump control closed loop is adopted for independent control, so that energy-saving operation is realized;
and thirdly, in the process of positioning and adjusting the hydraulic cylinder, the valve-controlled open loop is adopted for independent control, so that accurate positioning is realized.
The pump control closed type loop and the valve control open type loop are adopted to be controlled in parallel, a corresponding coordination control method is provided, the feasibility of the new loop is verified through simulation, the response speed of the new loop is high, the precision is high, and the high efficiency of loop control is realized; the control loop solves the problems of single-cavity compression state and the like in the direct pump control working process, improves the natural frequency and load rigidity of a loop system, and realizes high performance of loop control.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a block diagram of a loop control system of the present invention.
FIG. 3 is a circuit decision diagram of the present invention.
FIG. 4 is a diagram of the composite loop smooth switching according to the present invention.
FIG. 5 is a graph comparing the efficiency of the present invention with a single pump control loop and a single valve control loop.
FIG. 6 is a graph comparing the rise time and corresponding accuracy of the present invention with a single pump control loop and a single valve control loop.
FIG. 7 is a pressure profile of an individual pump control circuit.
Fig. 8 is a pressure profile of the present invention.
In the figure, 1 is an oil tank, 2 is a hydraulic pump, 3 is a primary check valve, 4 is a secondary check valve, 5 is a hydraulic cylinder, 6 is a rodless cavity, 7 is a rod cavity, 8 is a proportional/servo valve, 9 is a motor, 10 is a primary safety valve, 11 is a secondary safety valve, and 12 is a pressure source.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Firstly, a composite loop system structure:
as shown in fig. 1, a pump-valve composite circuit includes a pump-controlled closed circuit and a valve-controlled open circuit arranged in parallel.
The pump control closed loop comprises an oil tank 1, a hydraulic pump 2, a primary check valve 3 and a secondary check valve 4 which are arranged in parallel, wherein the oil tank 1 is respectively communicated with an oil inlet of the primary check valve 3 and an oil inlet of the secondary check valve 4 through pipelines.
The oil outlet of the primary one-way valve 3 is directly communicated with the rodless cavity 6 of the hydraulic cylinder 5 through a pipeline, the oil outlet of the primary one-way valve 3 is also communicated with the oil inlet of the primary safety valve 10 through a pipeline, and the oil outlet of the primary safety valve 10 is communicated with the rod cavity 7 of the hydraulic cylinder 5.
The oil outlet of the secondary check valve 4 is directly communicated with the rod cavity 7 of the hydraulic cylinder 5 through a pipeline, the oil outlet of the secondary check valve 4 is also communicated with the oil inlet of the secondary safety valve 11 through a pipeline, and the oil outlet of the secondary safety valve 11 is communicated with the rod-free cavity 6 of the hydraulic cylinder 5.
The oil outlet of the hydraulic pump 2 is respectively communicated with a rod cavity 7 and a rodless cavity 6 of the hydraulic cylinder 5.
The valve-controlled open circuit comprises a proportional/servo valve 8, wherein a port P of the proportional/servo valve 8 is communicated with a pressure source 12 through a pipeline, a port T of the proportional/servo valve 8 is communicated with an oil tank 1 through a pipeline, a port A of the proportional/servo valve 8 is communicated with a rodless cavity 6 of a hydraulic cylinder 5 through a pipeline, and a port B of the proportional/servo valve 8 is communicated with a rod cavity 7 of the hydraulic cylinder 5 through a pipeline.
Among them, the hydraulic pump 2 is preferably a variable displacement pump.
Preferably, the hydraulic pump 2 is driven by an electric motor 9.
II, coordinating and controlling the system:
as shown in fig. 2, the specific control process of the composite loop is as follows: firstly, making a decision on a new loop according to a control strategy; secondly, PID position feedback control is adopted in the new loop, and the new loop is shown in a formula (1); and thirdly, smoothly switching the new loop according to the decision result.
Thirdly, loop decision:
as shown in fig. 3, in the decision making process, the composite loop is mainly a pump-controlled closed loop and is assisted by a valve-controlled open loop, a pump-controlled closed loop decision signal at the dynamic operation and constant speed stage is 1, and a new loop is decided to be controlled by the pump-controlled closed loop; and in the acceleration stage in the dynamic operation process and the positioning adjustment process, the judgment signal of the valve-controlled open type loop is 1, and a new loop is decided and controlled by adopting the valve-controlled open type loop. The valve control open loop in the new loop is judged according to the difference value of the acceleration and the displacement target, see formulas (2) and (4), and the pump control loop is judged according to the difference value of the displacement target, see formula (3).
The specific judgment formula is as follows:
Figure BDA0002369709050000051
Kp1,Kp2which is the proportionality coefficient of the position feedback control, a is the acceleration of the hydraulic cylinder 5 during dynamic operation.
Δ x is a displacement error of the hydraulic cylinder 5 during the entire operation.
a1Is determined according to the maximum acceleration of the hydraulic cylinder 5 during dynamic operation.
IFa＜a1Closing valve control circuit IFa > a1Starting valve control loop (2)
Δx1Is determined according to the minimum displacement error of the hydraulic cylinder 5 during dynamic operation.
IFΔx＞Δx1Starting pump control loop IF Deltax < Deltax2Close pump control loop (3)
Δx2Is determined according to the maximum displacement error of the hydraulic cylinder 5 in the positioning process.
IFΔx＜Δx2Starting valve control loop IF Δ x ═ 0 closing valve control loop (4)
Fourthly, smoothly switching a composite loop:
as shown in fig. 4, specifically, in the dynamic operation and constant speed stage, the pump control loop performs position feedback plus delay control to realize smooth switching from the pump control loop to the valve control loop in the new loop; in the acceleration stage and the positioning process in the dynamic operation process, the valve control loop carries out position feedback and delay control, and smooth switching from the valve control loop to the pump control loop in a new loop is realized.
The specific control process of the composite loop is as follows:
firstly, in the dynamic operation process of a hydraulic cylinder 5, a pump control closed loop and a valve control open loop are adopted for controlling together, a proportional/servo valve 8 moves leftwards, oil is fed into a rod cavity 7 of the hydraulic cylinder 5 to push a hydraulic piston rod to move towards a rodless cavity 6, oil is discharged from the rodless cavity 6 of the hydraulic cylinder 5, a secondary one-way valve 4 supplies oil to a hydraulic pump 2, and when the pressure provided by the hydraulic pump 2 is greater than the hydraulic pressure of a primary safety valve 10, the primary safety valve 10 releases the pressure.
Secondly, in the constant-speed operation process of the hydraulic cylinder 5, a pump control closed loop is adopted for independent control, the proportional/servo valve 8 is closed, the hydraulic pump 2 keeps working, oil is discharged from a rodless cavity 6 of the hydraulic cylinder 5, the secondary check valve 4 supplies oil to the hydraulic pump 2, the hydraulic pump 2 supplies oil to a rod cavity 7 of the hydraulic cylinder 5, when the pressure provided by the hydraulic pump 2 is greater than the hydraulic pressure of the secondary safety valve 11, the secondary safety valve 11 releases the pressure, a piston cylinder of the hydraulic cylinder 5 continues to operate, and energy-saving operation is achieved.
And thirdly, in the positioning and adjusting process of the hydraulic cylinder 5, a valve-controlled open-type loop is adopted for independent control, the piston rod is pushed to reach an accurate position, and the proportional/servo valve 8 is closed, so that accurate positioning is realized.
Fifthly, result verification:
as shown in fig. 5, it was found by simulation that the fig. 5 curve shows that the new loop is as high in efficiency as the pump control loop.
As shown in fig. 6, the graph of fig. 6 shows that the new circuit is as fast as the valve control circuit at rise time and response speed. Therefore, the composite strategy of the new loop is verified to be correct, and the characteristics of high response, high precision and high energy efficiency provided by the new loop are realized.
As shown in fig. 7 and 8, it is found through simulation that the comparison of the curves shown in fig. 7 and 8 can verify that the pressures of the two chambers of the new loop pump are both in a hydraulic compression state, so that the two chambers of the hydraulic cylinder 5 are both in the hydraulic compression state, the problem that only one accommodating chamber of the asymmetric hydraulic cylinder 5 is in the hydraulic compression state in the direct pump control working process is solved, and the natural frequency and the load rigidity of the loop system are improved.
The pump control closed type loop and the valve control open type loop are adopted to be controlled in parallel, a corresponding coordination control method is provided, the feasibility of the new loop is verified through simulation, the response speed of the new loop is high, the precision is high, and the high efficiency of loop control is realized; the control loop solves the problems of single-cavity compression state and the like in the direct pump control working process, improves the natural frequency and load rigidity of a loop system, and realizes high performance of loop control.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included therein.

Claims (3)

1. The control method of the pump-valve composite loop is characterized by comprising a pump control closed loop and a valve control open loop which are arranged in parallel;
the pump control closed loop comprises an oil tank (1), a hydraulic pump (2), a primary check valve (3) and a secondary check valve (4) which are arranged in parallel, wherein the oil tank (1) is respectively communicated with an oil inlet of the primary check valve (3) and an oil inlet of the secondary check valve (4) through pipelines;
an oil outlet of the primary one-way valve (3) is directly communicated with a rodless cavity (6) of the hydraulic cylinder (5) through a pipeline, an oil outlet of the primary one-way valve (3) is also communicated with an oil inlet of a primary safety valve (10) through a pipeline, and an oil outlet of the primary safety valve (10) is communicated with a rod cavity (7) of the hydraulic cylinder (5);
an oil outlet of the secondary check valve (4) is directly communicated with a rod cavity (7) of the hydraulic cylinder (5) through a pipeline, an oil outlet of the secondary check valve (4) is also communicated with an oil inlet of a secondary safety valve (11) through a pipeline, and an oil outlet of the secondary safety valve (11) is communicated with a rodless cavity (6) of the hydraulic cylinder (5);
an oil outlet of the hydraulic pump (2) is respectively communicated with a rod cavity (7) and a rodless cavity (6) of the hydraulic cylinder (5);
the valve-controlled open circuit comprises a proportional/servo valve (8), wherein a P port of the proportional/servo valve (8) is communicated with a pressure source (12) through a pipeline, a T port of the proportional/servo valve (8) is communicated with an oil tank (1) through a pipeline, an A port of the proportional/servo valve (8) is communicated with a rodless cavity (6) of a hydraulic cylinder (5) through a pipeline, and a B port of the proportional/servo valve (8) is communicated with a rod cavity (7) of the hydraulic cylinder (5) through a pipeline;
the specific control process is as follows:
step one, making a control strategy;
step two, deciding a pump control closed loop and a valve control open loop according to a control strategy;
the specific loop decision is as follows: in the dynamic operation process, a pump control closed type loop and a valve control open type loop are adopted for controlling together; in the constant-speed operation process, the valve-controlled open type loop is closed, and the pump-controlled closed type loop is started to perform independent control; in the positioning and adjusting process, the pump control closed loop is closed, and the valve control open loop is started to control independently;
step three, automatically switching the pump control closed type loop and the valve control open type loop according to a decision result;
the pump control closed loop and the valve control open loop adopt PID position feedback control, see formula (1); the pump control closed loop is judged according to the displacement target difference value, and the formula (3) is shown; the valve-controlled open loop is judged according to the difference value of the acceleration and the displacement target, and the difference values are shown in formulas (2) and (4);
the specific judgment formula is as follows:
Figure FDA0003344770060000021
Kp1,Kp2the proportional coefficient refers to position feedback control;
a is the acceleration of the hydraulic cylinder (5) during dynamic operation, a1Is determined according to the maximum acceleration of the hydraulic cylinder (5) in the dynamic operation process;
IF a＜a1shut-off valve control circuit IF a > a1Starting valve control loop (2)
Deltax is the displacement error of the hydraulic cylinder (5) in the whole working process, and Deltax1Is determined according to the minimum displacement error of the hydraulic cylinder (5) in the dynamic operation process;
IF Δx＞Δx1starting pump control loop IF Deltax < Deltax2Close pump control loop (3)
Δx2Is determined according to the maximum displacement error of the hydraulic cylinder (5) in the positioning adjustment process;
IF Δx＜Δx2the start valve control loop IF delta x is 0, and the valve control loop (4) is closed.
2. A control method of a pump-valve complex circuit according to claim 1, characterized in that the hydraulic pump (2) is a variable pump.
3. A control method of a pump-valve complex circuit according to claim 2, characterized in that the hydraulic pump (2) is driven by an electric motor (9).
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101323033A (en) * 2008-07-11 2008-12-17 东北大学 Control method of cut deal hydraulic rolling shear
CN108506251A (en) * 2018-03-05 2018-09-07 北京航空航天大学 The Electrical hydrostatic actuator of asymmetric pump control asymmetrical cylinder

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101323033A (en) * 2008-07-11 2008-12-17 东北大学 Control method of cut deal hydraulic rolling shear
CN108506251A (en) * 2018-03-05 2018-09-07 北京航空航天大学 The Electrical hydrostatic actuator of asymmetric pump control asymmetrical cylinder

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
泵阀并联系统复合式控制策略研究;汪首坤等;《北京理工大学学报》;20150415(第4期);第397-402页 *

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