CN111779728B - Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof - Google Patents
Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof Download PDFInfo
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- CN111779728B CN111779728B CN202010499842.1A CN202010499842A CN111779728B CN 111779728 B CN111779728 B CN 111779728B CN 202010499842 A CN202010499842 A CN 202010499842A CN 111779728 B CN111779728 B CN 111779728B
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/088—Characterised by the construction of the motor unit the motor using combined actuation, e.g. electric and fluid actuation
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/18—Combined units comprising both motor and pump
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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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
- 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
- F15B2015/206—Combined actuation, e.g. electric and fluid actuated
Abstract
The invention relates to a bidirectional speed regulating system for a stacked intelligent material driven electro-hydrostatic actuator, which can realize bidirectional servo control of the stacked intelligent material driven electro-hydrostatic actuator. Two-way speed control system of pile intelligent material drive electro-hydrostatic actuator includes: the device comprises a signal generator, a digital signal processing controller, two power amplifiers and a stack intelligent material driving electro-hydrostatic actuator; according to the relation between the output speed of the stacked intelligent material driven electro-hydrostatic actuator and the phase of the driving signal, the voltage signal generated by the signal generator is processed and modulated, so that the accurate adjustment of the movement direction and the movement speed of the stacked intelligent material driven electro-hydrostatic actuator is realized, and the speed regulating system is simple in control structure, flexible to control and free of lag in reversing. The invention also discloses a control method of the bidirectional speed regulating system for driving the electro-hydrostatic actuator by stacking the intelligent materials.
Description
Technical Field
The invention relates to the technical field of intelligent electro-hydrostatic actuators, in particular to bidirectional speed regulation of a stacked intelligent material driven electro-hydrostatic actuator.
Background
In an aircraft actuating system, although the traditional centralized hydraulic technology is mature, a series of problems of heavy weight, low efficiency, high leakage and maintenance cost and the like exist. Meanwhile, the conventional centralized hydraulic oil source is not practical due to certain limitations on the volume and weight of aircrafts such as modern unmanned combat aircrafts. Therefore, the power telex technology is one of the development trends of the actuation system of the aircraft in the future. Intelligent materials such as magnetostrictive materials, piezoelectric materials, etc. have the characteristics of large strain, large electromechanical coupling coefficient, high frequency response, etc. The stack intelligent material driven electro-hydrostatic actuator has the advantages of small volume, high integration level, quick response and the like, and has great development potential in the fields of multi-electric airplanes/full-electric airplanes and the like. Research on the stacked intelligent material driving actuator mostly focuses on the aspects of output flow characteristics and structure optimization of the actuator, most stacked intelligent material driving actuators can only output unidirectional motion, and devices such as a reversing valve and the like are additionally used for realizing bidirectional motion output. There is currently less of a concern with stack smart material drive actuator output speed control.
Therefore, a new technical solution is needed to solve the above problems.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems, the invention provides a bidirectional speed regulating system for driving an electro-hydrostatic actuator by stacked intelligent materials, which applies different driving signals to the stacked intelligent materials to enable the actuator to output different movement speeds and movement directions so as to adapt to different working condition requirements.
Meanwhile, the invention also provides a control method capable of meeting the requirement of bidirectional speed regulation, and the actuator can also output different movement speeds and movement directions to adapt to different working condition requirements.
In order to achieve the purpose, the invention adopts the following technical scheme:
a bidirectional speed regulating system of a stacked intelligent material driving electro-hydrostatic actuator comprises a signal generator, a digital signal processing controller, two power amplifiers and a stacked intelligent material driving electro-hydrostatic actuator; the digital signal processing controller comprises an ADC module, a DAC module, an eQep encoder module and a control module; the stacked intelligent material driving electro-hydrostatic actuator comprises two stacked intelligent material electro-mechanical converters driven by stacked intelligent materials, and the two power amplifiers are respectively connected with the two stacked intelligent material electro-mechanical converters;
the signal generator is used for generating a voltage signal; the ADC module is used for sampling voltage signals generated by the signal generator and converting the voltage signals into two paths of sinusoidal digital signals, the DAC module is used for converting the two paths of sinusoidal digital signals converted by the ADC module into two paths of sinusoidal voltage signals, the control module performs phase modulation on the two paths of sinusoidal voltage signals output by the DAC module to enable the phase difference of the two paths of sinusoidal voltage signals to be pi all the time, the two power amplifiers are respectively used for linearly amplifying the two paths of sinusoidal voltage signals subjected to phase modulation, the phase difference of the two paths of amplified driving signals is still pi all the time, the motion states of the two stacked intelligent materials are opposite all the time under the action of the two paths of driving signals with the phase difference of pi, namely when one stacked intelligent material is elongated, the other stacked intelligent material is shortened.
Has the advantages that:
the control module simultaneously changes the same phase of the two sinusoidal voltage signals, so that the servo accurate adjustment of the movement direction and the movement rate of the stacked intelligent material driven electro-hydrostatic actuator can be realized, and the control structure is simple, flexible to control and free of lag in reversing.
Further, the voltage signal generated by the signal generator is determined according to a desired speed curve of the stack smart material driving the electro-hydrostatic actuator.
Further, the control module determines the phase of the DAC output sinusoidal voltage signal according to the relationship between the speed of the stack smart material driving the electro-hydrostatic actuator and the phase of the driving signal.
Further, the stack intelligent material driving electro-hydrostatic actuator comprises two stack intelligent material electro-mechanical converters, an active valve, a valve block, a hydraulic cylinder and a servo motor; a first pile of intelligent material electro-mechanical converters are arranged below the active valve, a second pile of intelligent material electro-mechanical converters are arranged on one side surface, a servo motor is arranged on the other side surface, the mounting surface of the servo motor is adjacent to the mounting surfaces of the two pile of intelligent material electro-mechanical converters, the valve block is arranged above the active valve, and the hydraulic cylinder is arranged above the valve block;
the first stack of intelligent material electric-mechanical converter and the second stack of intelligent material electric-mechanical converter are identical in structure and respectively comprise a shell, an end cover arranged on the end face of the shell, a stack of intelligent materials arranged in the shell, an output rod arranged on one side of the stack of intelligent materials, a pre-pressing disc spring arranged between the output rod and the end cover, and a piston arranged on one side, far away from the stack of intelligent materials, of the output rod;
the active valve comprises a valve body shell, a valve core, a valve cavity containing the valve core and formed in the valve body shell, a first pump cavity and a second pump cavity which are mutually independent, wherein the first stack of intelligent material electric-mechanical converters and the first pump cavity form a first telescopic pump, and the second stack of intelligent material electric-mechanical converters and the second pump cavity form a second telescopic pump; pistons in the first and second stacks of smart material electro-mechanical converters are in clearance fit with the first and second pump chambers, respectively; the first pump cavity and the second pump cavity are communicated with the valve cavity through a first pump cavity hole and a second pump cavity hole respectively;
grooves are formed in the left side and the right side of the shaft shoulder of the valve core, the grooves in the two sides are respectively a left groove and a right groove, the left groove and the right groove are formed in a staggered mode, the valve core of the driving valve is driven by a servo motor to rotate periodically, and the left groove and the right groove are alternately communicated with the first hole of the pump cavity and the second hole of the pump cavity;
the valve block comprises a left valve hole and a right valve hole, the left valve hole is communicated with the left cavity of the hydraulic cylinder, and the right valve hole is communicated with the right cavity of the hydraulic cylinder; the valve core rotates, when a left groove in the valve core is communicated with the first hole of the pump cavity, the left groove of the valve core is communicated with the left valve hole of the valve block, and the right groove is communicated with the second hole of the pump cavity; when the right groove of the valve core is communicated with the first hole of the pump cavity, the left groove is communicated with the second hole of the pump cavity.
Further, the stack intelligent material comprises a piezoelectric stack material, a magnetostrictive stack material and an electrostrictive stack material.
Further, the stack intelligent material is periodically lengthened and shortened under the driving of a sinusoidal voltage signal, and the period time of the lengthening and shortening of the stack material is the same as the time of the left groove and the right groove of the valve core which alternate once.
The invention also discloses a servo control method of the two-way speed regulating system of the stack intelligent material driven electro-hydrostatic actuator, which comprises the following steps:
(1) analyzing the relation between the output speed of the stack intelligent material driving electro-hydrostatic actuator and the phase of the driving signal, and importing the obtained relation into a digital signal processing controller;
(2) the signal generator generates a corresponding voltage signal;
(3) the ADC module collects the voltage signals in the step (2) and converts the voltage signals into two paths of sine digital signals;
(4) the DAC module converts the sinusoidal digital signals in the step (3) into two paths of sinusoidal voltage signals;
(5) the control module performs phase modulation on the two paths of sinusoidal voltage signals in the step (4) and outputs two paths of sinusoidal voltage signals with the phase difference of pi all the time;
(6) the two power amplifiers respectively perform linear amplification on the two paths of sinusoidal voltage signals in the step (5) and output two paths of driving signals with the phase difference still being pi all the time;
(7) and (4) respectively driving the two stacked intelligent materials to do stretching and shortening movements with opposite movement states by the two driving signals in the step (6).
Further, the two sinusoidal voltage signals amplified by the two power amplifiers increase a dc bias signal, and the two driving signals U1 and U2 are represented as:
U1＝A/2+sin(2πft+θ)*A/2
U2＝A/2+sin(2πft+θ+π)*A/2
a is a signal peak value, f is a driving frequency, and theta is an initial phase angle;
the valve core of the active valve rotates for a circle, and the reciprocating motion times of the stacked intelligent materials are equal to the number of grooves on one side of the valve core of the active valve. The driving frequency f is therefore expressed as:
f＝N*n/60
n is the number of the grooves on the single side of the valve core, and N is the rotating speed of the valve core of the active valve, unit: rpm.
Further, when the stacked intelligent material drives the electro-hydrostatic actuator to normally work, the control module modulates the phase angles of the two sinusoidal voltage signals to change the same value at the same time, and the stacked intelligent material drives the output speed of the electro-hydrostatic actuator to change.
Further, when the stacked intelligent material drives the electro-hydrostatic actuator to normally work, the control module modulates the phase angles of the two sinusoidal voltage signals to change +/-pi simultaneously, the output speed of the stacked intelligent material driving the electro-hydrostatic actuator is unchanged, and the direction of the output speed is changed.
Drawings
FIG. 1 is a schematic diagram of a bidirectional speed regulation control system of a stacked intelligent material driven electro-hydrostatic actuator in the invention;
FIG. 2 is a schematic structural diagram of a stacked smart material driven electro-hydrostatic actuator according to the present invention;
FIG. 3 is a control schematic block diagram of a two-way speed control system of a stack intelligent material driven electro-hydrostatic actuator in the invention;
fig. 4 is a schematic diagram of a driving signal of a stacked intelligent material driving electro-hydrostatic actuator bidirectional speed regulating system in the invention.
Detailed Description
Example one
Referring to fig. 1, a bidirectional speed regulating system of a stacked intelligent material driven electro-hydrostatic actuator includes a signal generator II, a digital signal processing controller vi, two power amplifiers (III, iv), and a stacked intelligent material driven electro-hydrostatic actuator v; the digital signal processing controller VI comprises an ADC module for sampling voltage signals, a DAC module for outputting sinusoidal voltage signals and a control module; the stack smart material driving electro-hydraulic actuator V comprises two stack smart material electro-mechanical converters (A, A '), and the two power amplifiers (III and IV) are respectively connected with the two stack smart material electro-mechanical converters (A, A');
as shown in fig. 2, the stacked smart material driven electro-hydraulic actuator v comprises two stacked smart material electro-mechanical converters (A, A'), an active valve B, a valve block C, a hydraulic cylinder D, and a servo motor 22; a first pile of intelligent material electric-mechanical converters A is arranged below the active valve B, a second pile of intelligent material electric-mechanical converters A 'is arranged on one side surface, a servo motor 22 is arranged on the other side surface, the mounting surface of the servo motor 22 is adjacent to the mounting surfaces of the two pile of intelligent material electric-mechanical converters (A, A'), the valve block C is arranged above the active valve B, and the hydraulic cylinder D is arranged above the valve block C.
The first stack of intelligent material electric-mechanical converter A and the second stack of intelligent material electric-mechanical converter A' are identical in structure and respectively comprise a shell 5, an end cover 10 installed on the end face of the shell, a stack of intelligent materials 2 installed in the shell, an output rod 7 installed on one side of the stack of intelligent materials 2, a pre-pressing disc spring 9 installed between the output rod 7 and the end cover 10, and a piston 27 installed on one side, far away from the stack of intelligent materials 2, of the output rod 7. When the stack of intelligent materials 2 extends, the output rod 7 is driven to move upwards; when the stack of intelligent materials 2 is shortened, the output rod 7 moves downwards under the action of elastic force generated by the pre-pressing disc spring 9, and the piston 27 reciprocates along with the output rod.
The active valve B comprises a valve body shell 11, a valve core 13, a valve cavity which is formed in the valve body shell and contains the valve core, a first pump cavity and a second pump cavity which are mutually independent, wherein the first stack of intelligent material electric-mechanical converter A and the first pump cavity form a first telescopic pump, and the second stack of intelligent material electric-mechanical converter A' and the second pump cavity form a second telescopic pump. The first telescopic pump and the second telescopic pump have the same structure, and the structure of the first telescopic pump is described below, wherein the piston 27 of the first stack of intelligent material electric-mechanical converter is in clearance fit with the first pump cavity 1; the first pump cavity 1 is communicated with the valve cavity through a pump cavity hole 12; when the stack of intelligent materials 2 extends, the volume of the first telescopic pump is reduced, oil in the pump cavity is discharged, and when the stack of intelligent materials 2 shortens, the volume of the first telescopic pump is increased, and the oil is sucked in the pump cavity.
Grooves are formed in the left side and the right side of a shaft shoulder of the valve core 13, the grooves in the two sides are a left groove 20 and a right groove 14 respectively, the left groove 20 and the right groove 14 are formed in a staggered mode, the valve core 13 is driven by a servo motor 22 to rotate periodically, and the left groove and the right groove are communicated with a first pump cavity hole 12 and a second pump cavity hole alternately;
the valve block C comprises a left valve hole 15 and a right valve hole 16, the left valve hole 15 is communicated with a left cavity 19 of the hydraulic cylinder D and a left groove 20 of the valve core 13, and the right valve hole 16 is communicated with a right cavity 17 of the hydraulic cylinder D and a right groove 14 of the valve core 13; the valve core 13 rotates, and when the left groove 20 on the valve core 13 is communicated with the first pump cavity hole 12, the right groove 14 is communicated with the second pump cavity hole; while the right groove 14 of the valve core 13 communicates with the pump chamber one port 12, the left groove 20 communicates with the pump chamber two port. The extension and the shortening of the stacked intelligent materials drive the flow of oil liquid, so that pressure difference is generated between the left cavity and the right cavity of the hydraulic cylinder D, the hydraulic cylinder D generates displacement output under the action of the pressure difference, and the working principle of the electro-hydrostatic actuator is common knowledge in the field and is not described herein any more.
Referring to fig. 3, a computer i analyzes the relationship between the output speed of the stack smart material driving electro-hydrostatic actuator v and the phase of the driving signal, and then introduces the relationship into a digital signal processing controller vi, and a signal generator ii is used for generating a voltage signal with an arbitrary waveform, wherein the voltage signal is determined by the expected speed curve of the stack smart material driving electro-hydrostatic actuator v in the embodiment.
The ADC module is used for sampling the voltage signal generated by the signal generator II and converting the voltage signal into two paths of sinusoidal digital signals, the amplitude of the two paths of converted sinusoidal digital signals is unchanged, and the phase of the two paths of converted sinusoidal digital signals is correspondingly changed; the DAC module is used for converting the two paths of digital voltage signals converted by the ADC module into two paths of sinusoidal voltage signals, the control module is used for carrying out phase modulation on the two paths of sinusoidal voltage signals output by the DAC module, determining the phase of the sinusoidal voltage signals output by the DAC according to the relation between the speed of the stacked intelligent material driving electro-hydrostatic actuator V and the input voltage phase, enabling the phase difference of the two paths of sinusoidal voltage signals to be pi all the time, the two power amplifiers (III and IV) are respectively used for carrying out linear amplification on the two paths of sinusoidal voltage signals after phase modulation, and the phase difference of the two paths of amplified driving signals is still pi all the time; the two power amplifiers (III, IV) are respectively connected with the two stacked smart material electro-mechanical converters (A, A '), and the driving signals control the periodic lengthening and shortening of the stacked smart materials in the two stacked smart material electro-mechanical converters (A, A'). And because the phase difference of the two driving signals is still pi all the time, the two stacked intelligent materials have opposite motion states under the action of the two driving signals, namely when one stacked intelligent material is elongated, the other stacked intelligent material is shortened.
When the phase angles of the two paths of driving signals are changed by the same value at the same time, the flow rates of the oil suction and the oil discharge of the two telescopic pumps are changed, so that the output speed of the stack intelligent material driving electro-hydrostatic actuator V is changed, and the purpose of adjusting the speed is achieved; particularly, when the phase angles of the two paths of driving signals are changed by +/-pi simultaneously, the oil suction and discharge states of the two telescopic pumps of the stacked intelligent material driving electro-hydrostatic actuator V are changed instantaneously, but the oil suction and discharge flow rates are unchanged, so that the output speed direction of the stacked intelligent material driving electro-hydrostatic actuator V is changed, and the output speed is kept unchanged.
Example two
The embodiment is a control method of a bidirectional speed regulating system of a stack intelligent material driven electro-hydrostatic actuator in the first embodiment, and the method includes the following specific steps:
(1) analyzing the relation between the output speed of the stack intelligent material driving electro-hydrostatic actuator and the phase of the driving signal, and importing the obtained relation into a digital signal processing controller;
(2) the signal generator generates a corresponding voltage signal;
(3) the ADC module collects the voltage signals in the step (2) and converts the voltage signals into two paths of sine digital signals;
(4) the DAC module converts the sinusoidal digital signals in the step (3) into two paths of sinusoidal voltage signals;
(5) the control module performs phase modulation on the two paths of sinusoidal voltage signals in the step (4) and outputs two paths of sinusoidal voltage signals with the phase difference of pi all the time;
(6) the two power amplifiers respectively perform linear amplification on the two paths of sinusoidal voltage signals in the step (5) and output two paths of driving signals with the phase difference still being pi all the time;
(7) and (4) respectively driving the two stacked intelligent materials to do stretching and shortening movements with opposite movement states by the two driving signals in the step (6).
As shown in fig. 4, the amplitude and the frequency of the two driving signals are the same, the phase angle difference is pi, in order to make the stacked smart material work in the linear region and eliminate the frequency doubling effect, a dc bias signal is added to a single sinusoidal signal, and the two driving signals U1 and U2 can be represented as:
U1＝A/2+sin(2πft+θ)*A/2 (1)
U2＝A/2+sin(2πft+θ+π)*A/2 (2)
a is the peak value of the signal peak, f is the driving frequency, and theta is the initial phase angle.
The valve core of the active valve rotates for a circle, and the reciprocating motion times of the stacked intelligent materials are equal to the number of grooves on one side of the valve core of the active valve. The driving frequency f can be expressed as:
f＝N*n/60 (3)
n is the number of grooves on one side of the valve core, and N is the rotating speed (unit: rpm) of the valve core of the active valve.
When the stacked intelligent material drives the electro-hydrostatic actuator to normally work, the control module modulates the phase angles of the two sinusoidal voltage signals to change the same value at the same time, and the output speed of the stacked intelligent material driving the electro-hydrostatic actuator changes.
When the stacked intelligent material drives the electro-hydrostatic actuator to normally work, the control module modulates the phase angles of the two sinusoidal voltage signals to change +/-pi simultaneously, the output speed of the stacked intelligent material driving the electro-hydrostatic actuator is unchanged, and the direction of the output speed is changed.
In addition, the present invention has many specific implementations and ways, and the above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (10)
1. A bidirectional speed regulating system of a stacked intelligent material driving electro-hydrostatic actuator is characterized by comprising a signal generator, a digital signal processing controller, two power amplifiers and a stacked intelligent material driving electro-hydrostatic actuator; the digital signal processing controller comprises an ADC module, a DAC module, an Eqep encoder module and a control module; the stacked intelligent material driven electro-hydrostatic actuator comprises two stacked intelligent material electro-mechanical converters driven by stacked intelligent materials, a rotary distributing valve and a driving motor of the rotary distributing valve, wherein the two power amplifiers are respectively connected with the two stacked intelligent material electro-mechanical converters; a pile of intelligent materials is respectively arranged in the two pile of intelligent material electric-mechanical converters;
the signal generator is used for generating a voltage signal; the ADC module is used for sampling voltage signals generated by the signal generator and converting the voltage signals into two paths of sinusoidal digital signals, the DAC module is used for converting the two paths of sinusoidal digital signals converted by the ADC module into two paths of sinusoidal voltage signals, the control module performs phase modulation on the two paths of sinusoidal voltage signals output by the DAC module to enable the phase difference of the two paths of sinusoidal voltage signals to be pi all the time, the two power amplifiers are respectively used for linearly amplifying the two paths of sinusoidal voltage signals subjected to phase modulation, the phase difference of the two paths of amplified driving signals is still pi all the time, the motion states of two stacked intelligent materials are symmetrical and opposite all the time under the action of the two paths of driving signals with the phase difference of pi, namely when one stacked intelligent material is elongated, the other stacked intelligent material is shortened.
2. The bi-directional speed regulation system of a stack smart material driven electro-hydrostatic actuator of claim 1, wherein the voltage signal generated by the signal generator is determined according to a desired speed profile of the stack smart material driven electro-hydrostatic actuator.
3. The bi-directional speed regulation system of a stacked smart material driven electro-hydrostatic actuator of claim 1, wherein the control module determines the phase of the DAC output sinusoidal voltage signal based on a relationship between the speed of the stacked smart material driven electro-hydrostatic actuator and the phase of the drive signal.
4. The bi-directional speed regulation system of a stacked smart material driven electro-hydrostatic actuator of claim 1, wherein the stacked smart material driven electro-hydrostatic actuator comprises two stacked smart material electro-mechanical converters, an active valve, a valve block, a hydraulic cylinder, and a servo motor; a first pile of intelligent material electro-mechanical converters are arranged below the active valve, a second pile of intelligent material electro-mechanical converters are arranged on one side surface, a servo motor is arranged on the other side surface, the mounting surface of the servo motor is adjacent to the mounting surfaces of the two pile of intelligent material electro-mechanical converters, the valve block is arranged above the active valve, and the hydraulic cylinder is arranged above the valve block;
the first stack of intelligent material electric-mechanical converter and the second stack of intelligent material electric-mechanical converter are identical in structure and respectively comprise a shell, an end cover arranged on the end face of the shell, a stack of intelligent materials arranged in the shell, an output rod arranged on one side of the stack of intelligent materials, a pre-pressing disc spring arranged between the output rod and the end cover, and a piston arranged on one side, far away from the stack of intelligent materials, of the output rod;
the active valve comprises a valve body shell, a valve core, a valve cavity containing the valve core and formed in the valve body shell, a first pump cavity and a second pump cavity which are mutually independent, wherein the first stack of intelligent material electric-mechanical converters and the first pump cavity form a first telescopic pump, and the second stack of intelligent material electric-mechanical converters and the second pump cavity form a second telescopic pump; pistons in the first and second stacks of smart material electro-mechanical converters are in clearance fit with the first and second pump chambers, respectively; the first pump cavity and the second pump cavity are communicated with the valve cavity through a first pump cavity hole and a second pump cavity hole respectively;
grooves are formed in the left side and the right side of the shaft shoulder of the valve core, the grooves in the two sides are respectively a left groove and a right groove, the left groove and the right groove are formed in a staggered mode, the valve core is driven by a servo motor to rotate periodically, and the left groove and the right groove are alternately communicated with the first hole of the pump cavity and the second hole of the pump cavity;
the valve block comprises a left valve hole and a right valve hole, the left valve hole is communicated with the left cavity of the hydraulic cylinder, and the right valve hole is communicated with the right cavity of the hydraulic cylinder; the valve core rotates, when a left groove in the valve core is communicated with the first hole of the pump cavity, the left groove of the valve core is communicated with the left valve hole of the valve block, and the right groove is communicated with the second hole of the pump cavity; when the right groove of the valve core is communicated with the first hole of the pump cavity, the left groove is communicated with the second hole of the pump cavity.
5. The bi-directional speed regulation system of a stacked smart material driven electro-hydrostatic actuator of claim 4, wherein the stacked smart material comprises a piezoelectric stack material, a magnetostrictive stack material, an electrostrictive stack material.
6. The bi-directional speed regulation system of a stack smart material driven electro-hydrostatic actuator of claim 4, wherein the stack smart material is driven by the driving signal to periodically elongate and shorten, and the period of time for the stack material to elongate and shorten is the same as the time for the left groove and the right groove of the valve core to alternate once.
7. A control method of a two-way governor system of a stack smart material driven electro-hydrostatic actuator according to any one of claims 1-6, characterized by the steps of:
(1) analyzing the relation between the output speed of the stack intelligent material driving electro-hydrostatic actuator and the phase of the driving signal, and importing the obtained relation into a digital signal processing controller;
(2) the signal generator generates a corresponding voltage signal;
(3) the ADC module collects the voltage signals in the step (2) and converts the voltage signals into two paths of sine digital signals;
(4) the DAC module converts the sinusoidal digital signals in the step (3) into two paths of sinusoidal voltage signals;
(5) the control module performs phase modulation on the two paths of sinusoidal voltage signals in the step (4) and outputs two paths of sinusoidal voltage signals with the phase difference of pi all the time;
(6) the two power amplifiers respectively perform linear amplification on the two paths of sinusoidal voltage signals in the step (5) and output two paths of driving signals with the phase difference still being pi all the time;
(7) and (4) respectively driving the two stacked intelligent materials to do stretching and shortening movements with opposite movement states by the two driving signals in the step (6).
8. The control method according to claim 7, wherein the two sinusoidal voltage signals amplified by the two power amplifiers add a dc bias signal, and the two driving signals U1 and U2 are represented as:
U1=A/2+sin(2πft+θ)*A/2
U2=A/2+sin(2πft+θ+π)*A/2
a is a signal peak value, f is a driving frequency, and theta is an initial phase angle;
the reciprocating times of the stacked intelligent materials are equal to the number of grooves on one side of the valve core of the active valve every time the valve core of the active valve rotates for one circle; the driving frequency f is therefore expressed as:
f=N*n/60
n is the number of the grooves on the single side of the valve core, and N is the rotating speed of the valve core of the active valve, unit: rpm.
9. The control method according to claim 7, wherein when the stack smart material driven electro-hydrostatic actuator works normally, the control module modulates the phase angles of the two sinusoidal voltage signals to change the same value at the same time, and the output speed of the stack smart material driven electro-hydrostatic actuator changes.
10. The control method according to claim 7, wherein when the stacked smart material driven electro-hydrostatic actuator works normally, the control module modulates the phase angle of the two sinusoidal voltage signals to change by ± pi simultaneously, the output speed of the stacked smart material driven electro-hydrostatic actuator is unchanged in magnitude, and the output speed direction is changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010499842.1A CN111779728B (en) | 2020-06-04 | 2020-06-04 | Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof |
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| CN202010499842.1A CN111779728B (en) | 2020-06-04 | 2020-06-04 | Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof |
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| Publication Number | Publication Date |
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