CN111622996A - Heterogeneous multi-valve parallel drive electro-hydraulic servo system and control method - Google Patents

Heterogeneous multi-valve parallel drive electro-hydraulic servo system and control method Download PDF

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CN111622996A
CN111622996A CN202010343061.3A CN202010343061A CN111622996A CN 111622996 A CN111622996 A CN 111622996A CN 202010343061 A CN202010343061 A CN 202010343061A CN 111622996 A CN111622996 A CN 111622996A
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valve
ymin
ymax
servo
proportional valve
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CN111622996B (en
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苏世杰
潘纬鸣
唐文献
陈赟
薛挺
王真心
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Jiangsu 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
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
    • 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
    • F15B2211/30—Directional 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
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
    • F15B2211/31529—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having a single pressure source and a single output member

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Abstract

The invention discloses a heterogeneous multi-valve parallel driving electro-hydraulic servo system and a control method thereof, wherein the heterogeneous multi-valve parallel driving electro-hydraulic servo system comprises a plunger pump, the plunger pump is communicated with a hydraulic cylinder through a plurality of parallel servo valves and proportional valves, a piston rod of the hydraulic cylinder is in signal connection with a displacement sensor, the displacement sensor is in signal connection with an input end of a controller, an output end of the controller is in signal connection with the proportional valves and the servo valves, the controller distributes according to the residual total amount of oil according to the working priority of the proportional valves and the servo valves, and control voltage is set according to the distributed oil. The invention makes up the problems of dead zone, slow response speed and the like of the proportional valve by a multi-valve parallel coordination control method, saves the cost by a parallel structure of heterogeneous multi-valves while meeting the performances of high precision, fast response, large flow and the like, and solves the problems of self-adaptive adjustable parameters, external interference and the like by a self-adaptive robust algorithm.

Description

Heterogeneous multi-valve parallel drive electro-hydraulic servo system and control method
Technical Field
The invention relates to an electro-hydraulic servo system and control, in particular to a heterogeneous multi-valve parallel driving electro-hydraulic servo system and a control method.
Background
The electro-hydraulic servo is widely applied in industrial production, and along with the technical progress, the requirements on the flow and response speed performance of an electro-hydraulic servo system are higher and higher, so that a large-flow and high-precision electro-hydraulic servo valve is produced. However, the low-speed performance of the high-flow electro-hydraulic servo valve is not ideal and the cost is high. In order to save cost and meet the requirement of high-precision control, the scheme of parallel control by using a plurality of servo valves/proportional valves has certain theoretical and implementation significance.
Chinese patent CN201210467404.2 discloses a "hydraulic parallel speed change-over circuit connection method", which realizes the switching circuit of two times of feeding speeds by connecting two speed regulating valves in parallel and by using the speed regulating valves, and the position control precision of the system is improved by the method. Secondly, the Chinese patent application No. CN200820087129.0 discloses a large-flow high-frequency response electro-hydraulic servo valve based on a parallel pilot stage, the patent provides a method for connecting a plurality of small-flow servo valves in parallel to be equivalent to a large-flow servo valve, then the synchronization of the output flow of each servo valve is realized through a synchronous control algorithm, and the method effectively improves the response precision and the flow of the system.
Although the control accuracy and the response speed of the electro-hydraulic servo system are improved by the methods, the control is usually performed by a synchronous control method because the same valves are connected in parallel, and the synchronous control requires that the performance indexes of the valves in the system are consistent as much as possible, so that the cost of the system is increased and the reliability of the system is reduced.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a heterogeneous multi-valve parallel drive electro-hydraulic servo system and a control method, and solves the problems of high requirements on performance indexes of valves, low reliability and high cost in synchronous control in the conventional multi-valve parallel system.
The technical scheme is as follows: the heterogeneous multi-valve parallel driving electro-hydraulic servo system comprises a plunger pump, wherein an oil inlet of the plunger pump is connected with an oil tank, an oil outlet of the plunger pump is communicated with all parallel servo valves and proportional valves through a one-way valve and then through a branch, oil return ports of all the servo valves and the proportional valves are communicated with the oil tank through pipelines, oil outlets of all the servo valves and the proportional valves are communicated with a hydraulic cylinder through pipelines, a piston rod of the hydraulic cylinder is in signal connection with a displacement sensor, the displacement sensor is in signal connection with an input end of a controller, and an output end of the controller is in signal connection with all the proportional valves and the servo valves.
The plunger pump is electrically connected with a three-phase motor, and the three-phase motor controls the plunger pump to work.
In order to ensure the pipeline pressure on the main oil return pipeline, the one-way valve is communicated with the oil tank through an oil return branch, and the oil return branch is provided with an overflow valve and an oil filter.
The invention relates to a control method of a heterogeneous multi-valve parallel drive electro-hydraulic servo system, which comprises the following steps:
(1) the controller calculates and obtains the target displacement x of the current hydraulic cylinder according to the working time T of the systemdAnd to xdFirst derivative of
Figure RE-GDA0002602387210000021
Second derivative of
Figure RE-GDA0002602387210000022
And third derivative
Figure RE-GDA0002602387210000023
The displacement sensor R collects the actual displacement x at the current momentpComparing the actual displacement xpAnd a target displacement xdObtaining the displacement deviation e and calculating the first derivative of e
Figure RE-GDA0002602387210000024
Second derivative of
Figure RE-GDA0002602387210000025
Third derivative
Figure RE-GDA0002602387210000026
(2) Calculating to obtain the total flow Q of the hydraulic cylinder according to the obtained target displacement, the displacement deviation and the derivativey(T), the calculation formula is as follows:
Figure RE-GDA0002602387210000027
wherein d isy、My、By、DyAnd CyAll the parameters are self-adaptive adjustable parameters obtained by a hydraulic system through a mathematical model;
(3) taking the total flow obtained in the step (2) for driving the hydraulic cylinder to move as an initial residual total flow, and taking the initial residual total flow Qyi(T)＝Qy(T)；
(4) And sequentially distributing the residual total flow to the flow of each proportional valve according to the working priority of each proportional valve, and obtaining the control voltage of the proportional valve in the current control period according to the distributed flow, wherein the control voltage is as follows:
when Q isyi(T)＞fi(Upi(T-t)+ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)+ΔUpi；
When Q isyi(T)＜fi(Upi(T-t)-ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)-ΔUpi；
When f isi(Upi(T-t)-ΔUpi)≤Qyi(T)≤fi(Upi(T-t)+ΔUpi) When is, Qyi(T) > 0 then the proportional valve PiIs set to
Figure RE-GDA0002602387210000028
Qyi(T) < 0, the control voltage is set to
Figure RE-GDA0002602387210000029
Wherein the content of the first and second substances,
Figure RE-GDA00026023872100000210
indicating the maximum increment of the control voltage, U, per control cyclepimaxIndicating the proportional valve PiMaximum output voltage of, TpiIndicating the proportional valve PiResponse time of spool, DiIndicating the proportional valve PiDead zone of, KpiIndicating the proportional valve PiT denotes a control period, fi(Upi(T-t)+ΔUpi) Indicating the maximum flow f of the proportional valve output of the current control cyclei(Upi(T-t)-ΔUpi) Indicating the minimum flow, U, of the proportional valve output for the current control cyclepi(T-T) represents the voltage output by the proportional valve for the last control cycle;
(5) the residual flow after the flow of each proportional valve is distributed sequentially distributes the flow of each servo valve according to the working priority of the servo valve, and the control voltage of the servo valve in the current control period is obtained according to the distributed flow, which is specifically as follows:
when g isi(Usi(T-t)-ΔUsi)≤Qyi(T)≤gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-t)+ΔUsi；
When Q isyi(T)＜gi(Usi(T-t)-ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-t)-ΔUsi；
When g isi(Usi(T-t)-ΔUsi)≤Qyi(T)≤gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to
Figure RE-GDA0002602387210000031
Wherein S isiIncrement of voltage value of
Figure RE-GDA0002602387210000032
UsimaxIs a servo valve SiMaximum output voltage of, TsiServo valve SiValve element response time, gi(Usi(T-t)+ΔUsi) Representing the maximum value of the flow that can be output by the servo valve in the current control period, gi(Usi(T-t)-ΔUsi) Represents the minimum value, U, of the flow that can be output by the servo valve in the current control periodsi(T-T) represents the output voltage of the servo valve in the last control period;
(6) working time T < Tmax0And (3) carrying out control of the next control period, updating the self-adaptive adjustable parameters, and repeating the steps (1) - (5) until T is more than or equal to Tmax0The system stops the control.
Wherein, the step (1) is according to a preset function xdF (t) calculating the target displacement of the hydraulic cylinder according to e xp-xdAnd calculating the displacement deviation.
The step (6) of updating the adaptive adjustable parameters specifically comprises the following steps:
adaptive adjustable parameter MyAccording to the formula
Figure RE-GDA0002602387210000033
Performing updating when updating value My＞MymaxWhen M is in contact withy＝Mymax(ii) a When updating value My＜MyminWhen M is in contact withy＝Mymin；
Adaptive adjustable parameter ByAccording to the formula
Figure RE-GDA0002602387210000034
Performing updating when updating value By＞BymaxWhen, By＝Bymax(ii) a When updating value By＜ByminWhen, By＝Bymin；
Adaptive adjustable parameter CyAccording to the formula
Figure RE-GDA0002602387210000035
Performing updating when updating value Cy＞CymaxWhen, Cy＝Cymax(ii) a When updating value Cy＜CyminWhen, Cy＝Cymin；
Adaptive tunable parameter DyAccording to the formula
Figure RE-GDA0002602387210000042
Updating is carried out when the value D is updatedy＞DymaxWhen D isy＝Dymax(ii) a When updating value Dy＜DyminWhen D isy＝Dymin；
Adaptive adjustable parameter dyAccording to the formula
Figure RE-GDA0002602387210000041
Performing updating when the updated value d isy＞dymaxWhen d is greater thany＝dymax(ii) a When updating value dy＜dyminWhen d is greater thany＝dymin；
Wherein M isymin、MymaxAre respectively MyMinimum and maximum of, Bymin、BymaxAre respectively ByMinimum and maximum of, Cymin、CymaxAre respectively CyMinimum and maximum of, Dymin、DymaxAre respectively DyMinimum and maximum of dymin、dymaxAre respectively dyλ is the system gain.
Has the advantages that: the invention makes up the problems of dead zone, slow response speed and the like of the proportional valve by a multi-valve parallel coordination control method, saves the cost by a parallel structure of heterogeneous multi-valves while meeting the performances of high precision, fast response, large flow and the like, and solves the problems of self-adaptive adjustable parameters, external interference and the like by a self-adaptive robust algorithm.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic control flow diagram of the present invention;
FIG. 3 is a simulation diagram incorporating the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the heterogeneous multi-valve parallel drive electro-hydraulic servo system mainly includes: plunger pump 6, three-phase motor 7, proportional valve P 13. Proportional valve P2… … proportional valve P m2, servo valve S m+19. Servo valve Sm+2… … Servo valve S n10, a check valve 8, a hydraulic cylinder 1, an overflow valve 4, a displacement sensor 12, a controller 11 and an oil filter 5. The three-phase motor 7 is connected with the plunger pump 6, an oil inlet of the plunger pump 6 is connected with the oil tank, the three-phase motor rotates to drive the plunger pump to work, and the plunger pump starts to supply oil to the hydraulic system; the output hydraulic oil flows to the one-way valve through an oil outlet of the plunger pump, flows to the oil filter through the one-way valve, and then flows to an oil inlet of each servo valve and an oil inlet of each proportional valve through the high-pressure hose. The overflow valve is arranged on the main oil return pipeline to ensure the pipeline pressure, and the hydraulic oil is connected with the high-pressure hose through the oil return ports of each servo valve and each proportional valve and flows to the oil tank. The hydraulic cylinder is connected with the oil outlet of each servo valve and the oil outlet of each proportional valve, and a piston rod of the hydraulic cylinder is connected with the displacement sensor; the signal output end of the displacement sensor 12 is connected with the input end of the controller 11, and n output ends of the controller 11 are respectively connected with the proportional valve P1……PmControl signal input and servo valve Sm+1……SnThe control signal input ends are connected.
The control method of the invention specifically comprises the following steps:
(1) the controller calculates and obtains the target displacement x of the current hydraulic cylinder according to the working time T of the systemd，xdF (t), and for xdFirst derivative of
Figure RE-GDA0002602387210000051
Second derivative of
Figure RE-GDA0002602387210000052
And third derivative
Figure RE-GDA0002602387210000053
The displacement sensor R collects the actual displacement x at the current momentpAccording to e ═ xp-xdObtaining the displacement deviation e and calculating the first derivative of e
Figure RE-GDA0002602387210000054
Second derivative of
Figure RE-GDA0002602387210000055
Third derivative
Figure RE-GDA0002602387210000056
(2) And calculating the total flow for driving the hydraulic cylinder to move according to the obtained target displacement, the displacement deviation and the derivative, wherein the calculation formula is as follows:
Figure RE-GDA0002602387210000057
wherein d isy、My、By、DyAnd CyAll the parameters are self-adaptive adjustable parameters obtained by a hydraulic system through a mathematical model;
(3) taking the total flow of the hydraulic cylinder driven to move in the step (2) as an initial residual total flow, and taking the initial residual total flow Qyi(T)＝Qy(T)；
(4) And sequentially distributing the residual total flow to the flow of each proportional valve according to the working priority of each proportional valve, and obtaining the control voltage of the proportional valve in the current control period according to the distributed flow, wherein the control voltage is as follows:
when Q isyi(T)＞fi(Upi(T-t)+ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)+ΔUpi；
When Q isyi(T)＜fi(Upi(T-t)-ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)-ΔUpi；
When f isi(Upi(T-t)-ΔUpi)≤Qyi(T)≤fi(Upi(T-t)+ΔUpi) When is, Qyi(T) > 0 then the proportional valve PiIs set to
Figure RE-GDA0002602387210000058
Qyi(T) < 0, the control voltage is set to
Figure RE-GDA0002602387210000059
Wherein the content of the first and second substances,
Figure RE-GDA00026023872100000510
indicating the maximum increment of the control voltage, U, per control cyclepimaxIndicating the proportional valve PiMaximum output voltage of, TpiIndicating the proportional valve PiResponse time of spool, DiIndicating the proportional valve PiDead zone of, KpiIndicating the proportional valve PiT denotes a control period, fi(Upi(T-t)+ΔUpi) Indicating the maximum flow f of the proportional valve output of the current control cyclei(Upi(T-t)-ΔUpi) Indicating the minimum flow, U, of the proportional valve output for the current control cyclepi(T-T) represents the voltage output by the proportional valve for the last control cycle;
(5) the residual flow after the flow of each proportional valve is distributed sequentially distributes the flow of each servo valve according to the working priority of the servo valve, and the control voltage of the servo valve in the current control period is obtained according to the distributed flow, which is specifically as follows:
when g isi(Usi(T-t)-ΔUsi)≤Qyi(T)≤gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-1)+ΔUsi；
When Q isyi(T)＜gi(Usi(T-t)-ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-1)-ΔUsi；
When g isi(Usi(T-t)-ΔUsi)≤Qyi(T)≤gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to
Figure RE-GDA0002602387210000061
Wherein S isiIncrement of voltage value of
Figure RE-GDA0002602387210000062
UsimaxIs a servo valve SiMaximum output voltage of, TsiServo valve SiValve element response time gi(Usi(T-t)+ΔUsi) Representing the maximum value of the flow that can be output by the servo valve in the current control period, gi(Usi(T-t)-ΔUsi) Represents the minimum value, U, of the flow that can be output by the servo valve in the current control periodsi(T-T) represents the output voltage of the servo valve in the last control period;
(6) working time T < Tmax0Then, the next control period is controlled, the self-adaptive adjustable parameters are updated, and then the steps (1) - (5) are repeated until T is more than or equal to Tmax0And the system stops control, and the updating of the self-adaptive adjustable parameters specifically comprises the following steps:
adaptive adjustable parameter MyAccording to the formula
Figure RE-GDA0002602387210000063
Performing updating when updating value My＞MymaxWhen M is in contact withy＝Mymax(ii) a When updating value My＜MyminWhen M is in contact withy＝Mymin；
Adaptive adjustable parameter ByAccording to the formula
Figure RE-GDA0002602387210000064
Performing updating when updating value By＞BymaxWhen, By＝Bymax(ii) a When updating value By＜ByminWhen, By＝Bymin；
Adaptive adjustable parameter CyAccording to the formula
Figure RE-GDA0002602387210000065
Performing updating when updating value Cy＞CymaxWhen, Cy＝Cymax(ii) a When updating value Cy＜CyminWhen, Cy＝Cymin；
Adaptive tunable parameter DyAccording to the formula
Figure RE-GDA0002602387210000072
Updating is carried out when the value D is updatedy＞DymaxWhen D isy＝Dymax(ii) a When updating value Dy＜DyminWhen D isy＝Dymin；
Adaptive adjustable parameter dyAccording to the formula
Figure RE-GDA0002602387210000071
Performing updating when the updated value d isy＞dymaxWhen d is greater thany＝dymax(ii) a When updating value dy＜dyminWhen d is greater thany＝dymin；
Wherein M isymin、MymaxAre respectively MyMinimum and maximum of, Bymin、BymaxAre respectively ByMinimum and maximum of, Cymin、CymaxAre respectively CyMinimum and maximum of, Dymin、DymaxAre respectively DyMinimum and maximum of dymin、dymaxAre respectively dyλ is the system gain.
When carrying out simulation test aiming at the system:
(1) numbering the proportional valves according to the response speeds of the proportional valves, wherein the proportional valve with the slowest response speed is numbered as P1The proportional valve number of the response time is P2,., the proportional valve with the fastest response is numbered Pm. Numbering the servo valves according to the response speeds of the servo valves, wherein the servo valve with the slowest response speed is numbered Sm+1The servo valve number with the second slowest response is Sm+2,., the servo valve with the fastest response is numbered Sn. The priority of operation of the proportional valve and the servo valve is thus P1＞P2＞...＞Pm＞Sm+1＞Sm+2＞...＞SnThe control period t is 1 ms; working time T; total working time Tmax(ii) a Total flow Q of the systemy(T), proportional valve PiControl voltage U ofpi(T), output flow rate Qpi(T), wherein i represents the serial number of the valve, i is more than or equal to 1 and less than or equal to m; servo valve SiControl voltage U ofsi(T), output flow rate Qsi(T), wherein i represents the serial number of the valve, and m +1 is not less than i not more than n; target displacement x of hydraulic cylinder Hd，xdF (T) is a function that varies with the operating time T. Each control period of the system calculates the target displacement x at the current moment according to the working time Td(ii) a Actual trajectory x of hydraulic cylinder HpAnd each control cycle of the system can carry out actual displacement x through the displacement sensorpSampling is carried out; the target displacement x is obtained in each control cycle of the systemdAnd the actual displacement xpTaking the difference to obtain the displacement deviation, i.e. e ═ xp-xdPresetting a system adaptive adjustable parameter My，Mymin、MymaxAre respectively MyMinimum and maximum, system adaptive adjustable parameter By，Bymin、BymaxAre respectively ByMinimum and maximum, system adaptive adjustable parameter Cy，Cymin、CymaxAre respectively CyMinimum and maximum, system adaptive adjustable parameter Dy，Dymin、DymaxAre respectively DyMinimum and maximum values of; system adaptive adjustable parameter dy， dymin、dymaxAre respectively dyMinimum and maximum values of; the system gain is lambda;
the proportional valve P being dependent on the physical characteristics of the proportional valveiOutput flow rate Q ofpi(T) and a control voltage Upi(T) formula:
Figure RE-GDA0002602387210000081
k in formula ①piIndicating the proportional valve PiGain of (D)iIndicating the proportional valve PiWherein i is more than or equal to 1 and less than or equal to m.
Setting proportional valve PiHas a maximum output voltage of UpimaxProportional valve PiValve core response time of TpiProportional valve PiHas a voltage value increment of
Figure RE-GDA0002602387210000082
Defining the servo valve S according to the physical characteristics of the servo valveiOutput flow rate Q ofsi(T) and a control voltage Usi(T) formula:
Qsi(T)＝gi(Ui(T))＝KsiUsi(T) ②
k in formula ②siIndicating a servo valve SiWherein m +1 is not less than i not more than n.
Servo valve SiHas a maximum output voltage of UsimaxA servo valve SiValve core response time of Tsi，SiIncrement of voltage value of
Figure RE-GDA0002602387210000083
(2) Initializing the parameters, specifically:
working time T is 0 ms; total working time Tmax300 ms; control voltage U of proportional valvepi(T) ═ 0V, where i ═ 1, 2, 3, …, m; control voltage U of servo valvesi(T) ═ 0V, where i ═ m +1, m +2, m +3, …, n; my0＝4.5×10-7，Mymin＝1×10-7、Mymax＝10×10-7；By0＝8.5×10-5，Bymin＝1×10-5、Bymax＝9×10-5；Cy0＝0.36，Cymin＝0.1、Cymax＝0.6；Dy0＝5.3×10-7，Dymin＝1×10-7、Dymax＝10×10-7；dy0＝0， dymin＝-10×10-7、dymax＝10×10-7；λ0110; initialization xdAnd the function F (T) is a slope curve with 20 slope and 1mm amplitude.
(3) The system starts/continues to work, and the working time T is T + 1. System according to function xdF (t) calculating the current target displacement xdAnd to xdFirst derivative of
Figure RE-GDA0002602387210000091
Second derivative of
Figure RE-GDA0002602387210000092
Third derivative
Figure RE-GDA0002602387210000093
Meanwhile, the displacement sensor R collects the actual displacement x at the current momentpAnd sends it to the motion control card C; the system calculates the displacement deviation e and calculates the first derivative thereof
Figure RE-GDA0002602387210000094
Second derivative of
Figure RE-GDA0002602387210000095
Third derivative
Figure RE-GDA0002602387210000096
(4) According to the formula
Figure RE-GDA0002602387210000097
Calculating the current sumFlow rate Qy(T)。
(5) The system is used for obtaining the total flow Q in the step (4)y(T) carrying out flow distribution.
Let Qyi(T) is the residual flow, let Qyi(T)＝Qy(T), i is 1, and the process proceeds to step (5.1).
(5.1) the system distributes flow to each proportional valve according to the operating priority of the proportional valve:
(5.1.1) when Qyi(T)＞fi(Upi(T-t)+ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)+ΔUpi。
(5.1.2) when Q isyi(T)＜fi(Upi(T-t)-ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)-ΔUpi。
(5.1.2) cases of dividing (5.1.1) and (5.1.2), when Q isyi(T) > 0 proportional valve PiIs set to
Figure RE-GDA0002602387210000098
When Q isyiWhen (T) < 0, the control voltage is set to
Figure RE-GDA0002602387210000099
(5.1.4) the flow is then further dispensed by the next proportional valve, i.e. i + 1. The system is based on formula Qyi(T)＝Qy(i-1)(T)-f(i-1)(Up(i-1)(T)) calculating the residual flow rate and returning to step (5.1.1). Until i > m, proceed to step (5.2).
(5.2) the system distributes the residual flow to each servo valve according to the working priority of the servo valve:
(5.2.1) when Qyi(T)＞gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-1)+ΔUsi；
(5.2.2) when Q isyi(T)＜gi(Usi(T-t)-ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-1)-ΔUsi；
(5.2.3) otherwise, the servo valve SiIs set to
Figure RE-GDA00026023872100000910
(5.2.4) then the next servo valve continues to dispense flow, i.e., i +1, the system follows equation Qyi(T)＝Qy(i-1)(T)-f(i-1)(Up(i-1)(T)) calculating the residual flow rate, returning to step (5.2.1) until i>When n, go to step (6).
(6) The system updates the adaptive adjustable parameters of the next control period.
(7) And (4) returning to the step (3) if the working time T is less than 300ms, and automatically stopping control and setting the control signal output of all valves to be 0 if T is more than or equal to 300 ms.
The simulation result is shown in fig. 3, and it can be seen from fig. 3 that the response speed and tracking accuracy of the tracking curve of the control method of the invention are obviously improved compared with the existing single-valve PID control method.

Claims (6)

1. The utility model provides a heterogeneous many valves drive electricity liquid servo system that connects in parallel which characterized in that, includes the plunger pump, the oil tank is connected to the plunger pump oil inlet, the plunger pump oil-out passes through behind the check valve through branch road intercommunication each parallelly connected servo valve and proportional valve, and the oil return opening of each servo valve and proportional valve passes through pipeline and oil tank intercommunication, and the oil-out of each servo valve and proportional valve passes through pipeline and pneumatic cylinder intercommunication, the piston rod signal connection displacement sensor of pneumatic cylinder, displacement sensor and the input signal connection of controller, the output and each proportional valve and the servo valve signal connection of controller.
2. The heterogeneous multi-valve parallel drive electro-hydraulic servo system as claimed in claim 1, wherein the plunger pump is electrically connected with a three-phase motor, and the three-phase motor controls the plunger pump to work.
3. The heterogeneous multi-valve parallel drive electro-hydraulic servo system as claimed in claim 1, wherein the one-way valve is communicated with an oil tank through an oil return branch, and an overflow valve and an oil filter are arranged on the oil return branch.
4. The control method of the heterogeneous multi-valve parallel drive electro-hydraulic servo system according to claim 1, characterized by comprising the following steps:
(1) the controller calculates and obtains the target displacement x of the current hydraulic cylinder according to the working time T of the systemdAnd to xdFirst derivative of
Figure FDA0002469160650000011
Second derivative of
Figure FDA0002469160650000012
And third derivative
Figure FDA0002469160650000013
The displacement sensor R collects the actual displacement x at the current momentpComparing the actual displacement xpAnd a target displacement xdObtaining the displacement deviation e and calculating the first derivative of e
Figure FDA0002469160650000014
Second derivative of
Figure FDA0002469160650000015
Third derivative
Figure FDA0002469160650000016
(2) Calculating to obtain the total flow Q of the hydraulic cylinder according to the obtained target displacement, the displacement deviation and the derivativey(T), the calculation formula is as follows:
Figure FDA0002469160650000017
wherein d isy、My、By、DyAnd CyAll the parameters are self-adaptive adjustable parameters obtained by a hydraulic system through a mathematical model;
(3) taking the total flow obtained in the step (2) for driving the hydraulic cylinder to move as an initial residual total flow, and taking the initial residual total flow Qyi(T)＝Qy(T)；
(4) And sequentially distributing the residual total flow to the flow of each proportional valve according to the working priority of each proportional valve, and obtaining the control voltage of the proportional valve in the current control period according to the distributed flow, wherein the control voltage is as follows:
when Q isyi(T)＞fi(Upi(T-t)+ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)+ΔUpi；
When Q isyi(T)＜fi(Upi(T-t)-ΔUpi) While, the proportional valve PiIs set to Upi(T)＝Upi(T-t)-ΔUpi；
When f isi(Upi(T-t)-ΔUpi)≤Qyi(T)≤fi(Upi(T-t)+ΔUpi) When is, Qyi(T) > 0 then the proportional valve PiIs set to
Figure FDA0002469160650000021
Qyi(T) < 0, the control voltage is set to
Figure FDA0002469160650000022
Wherein the content of the first and second substances,
Figure FDA0002469160650000023
indicating the maximum increment of the control voltage, U, per control cyclepimaxIndicating the proportional valve PiMaximum output voltage of, TpiIndicating the proportional valve PiResponse time of spool, DiIndicating the proportional valve PiThe dead zone of (a) is,Kpiindicating the proportional valve PiT denotes a control period, fi(Upi(T-t)+ΔUpi) Indicating the maximum flow f of the proportional valve output of the current control cyclei(Upi(T-t)-ΔUpi) Indicating the minimum flow, U, of the proportional valve output for the current control cyclepi(T-T) represents the voltage output by the proportional valve for the last control cycle;
(5) the residual flow after the flow of each proportional valve is distributed sequentially distributes the flow of each servo valve according to the working priority of the servo valve, and the control voltage of the servo valve in the current control period is obtained according to the distributed flow, which is specifically as follows:
when g isi(Usi(T-t)-ΔUsi)≤Qyi(T)≤gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-t)+ΔUsi；
When Q isyi(T)＜gi(Usi(T-t)-ΔUsi) Time, servo valve SiIs set to Usi(T)＝Usi(T-t)-ΔUsi；
When g isi(Usi(T-t)-ΔUsi)≤Qyi(T)≤gi(Usi(T-t)+ΔUsi) Time, servo valve SiIs set to
Figure FDA0002469160650000024
Wherein S isiIncrement of voltage value of
Figure FDA0002469160650000025
UsimaxIs a servo valve SiMaximum output voltage of, TsiServo valve SiValve element response time, gi(Usi(T-t)+ΔUsi) Representing the maximum value of the flow that can be output by the servo valve in the current control period, gi(Usi(T-t)-ΔUsi) Represents the minimum value, U, of the flow that can be output by the servo valve in the current control periodsi(T-T) tableDisplaying the output voltage of the servo valve in the last control period;
(6) working time T < Tmax0And (3) carrying out control of the next control period, updating the self-adaptive adjustable parameters, and repeating the steps (1) - (5) until T is more than or equal to Tmax0The system stops the control.
5. The control method of the heterogeneous multi-valve parallel drive electro-hydraulic servo system according to claim 4, wherein the step (1) is performed according to a preset function xdF (t) calculating the target displacement of the hydraulic cylinder according to e xp-xdAnd calculating the displacement deviation.
6. The control method of the heterogeneous multi-valve parallel drive electro-hydraulic servo system according to claim 4, wherein the step (6) of updating the adaptive adjustable parameters specifically comprises the following steps:
adaptive adjustable parameter MyAccording to the formula
Figure FDA0002469160650000031
Performing updating when updating value My＞MymaxWhen M is in contact withy＝Mymax(ii) a When updating value My＜MyminWhen M is in contact withy＝Mymin；
Adaptive adjustable parameter ByAccording to the formula
Figure FDA0002469160650000032
Performing updating when updating value By＞BymaxWhen, By＝Bymax(ii) a When updating value By＜ByminWhen, By＝Bymin；
Adaptive adjustable parameter CyAccording to the formula
Figure FDA0002469160650000033
Performing updating when updating value Cy＞CymaxWhen, Cy＝Cymax(ii) a When updating value Cy＜CyminWhen, Cy＝Cymin；
Adaptive tunable parameter DyAccording to the formula
Figure FDA0002469160650000034
Updating is carried out when the value D is updatedy＞DymaxWhen D isy＝Dymax(ii) a When updating value Dy＜DyminWhen D isy＝Dymin；
Adaptive adjustable parameter dyAccording to the formula
Figure FDA0002469160650000035
Performing updating when the updated value d isy＞dymaxWhen d is greater thany＝dymax(ii) a When updating value dy＜dyminWhen d is greater thany＝dymin；
Wherein M isymin、MymaxAre respectively MyMinimum and maximum of, Bymin、BymaxAre respectively ByMinimum and maximum of, Cymin、CymaxAre respectively CyMinimum and maximum of, Dymin、DymaxAre respectively DyMinimum and maximum of dymin、dymaxAre respectively dyλ is the system gain.
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