CN112039334B - Controller of direct-drive electro-hydraulic servo valve for multi-parameter requirements - Google Patents
Controller of direct-drive electro-hydraulic servo valve for multi-parameter requirements Download PDFInfo
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- CN112039334B CN112039334B CN202010740150.1A CN202010740150A CN112039334B CN 112039334 B CN112039334 B CN 112039334B CN 202010740150 A CN202010740150 A CN 202010740150A CN 112039334 B CN112039334 B CN 112039334B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/06—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using resistors or capacitors, e.g. potential divider
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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
- 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
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
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Abstract
The invention discloses a controller of a direct-drive electrohydraulic servo valve for multi-parameter requirements, which comprises: the device comprises a power supply module, an instruction analysis processing module, a position analysis processing module, a comprehensive operation and PID control module, a PWM modulation module, a power amplification module, a position sensor excitation circuit module and a position signal external output module. The invention solves the problems that the single power supply and the single signal position output can not meet the diversified industrial requirements and the power device is frequently damaged in the industrial production and use of a foreign controller.
Description
Technical Field
The invention belongs to the technical field of direct-drive electrohydraulic servo valves, and particularly relates to a controller of a direct-drive electrohydraulic servo valve for multi-parameter requirements.
Background
The electro-hydraulic servo valve is a key element in an electro-hydraulic servo control system, and in recent years, along with the rapid development of engineering machinery and the widening of the application field of the electro-hydraulic servo system, higher technical requirements such as high pressure, high flow, interference resistance, pollution resistance, high frequency response and the like are provided for the electro-hydraulic servo valve. Conventional nozzle flapper type electro-hydraulic servo valves have been difficult to meet these requirements, and thus there is an urgent need for a novel electro-hydraulic servo valve which eliminates the nozzle flapper group, replaces the torque motor with a linear force motor, and improves the anti-contamination capability and reliability of the valve.
The servo controller is used as a main control component of the direct drive type servo valve and is used for instruction analysis, position sampling and resolving, current sampling and comprehensive operation processing of the direct drive type servo valve, PWM waves are formed through PID regulation and are subjected to power amplification through a driving circuit, and finally a motor coil is driven to drive a valve core to move, so that double closed loop control of a current loop and a position loop of the servo valve is realized, and the performance of the servo controller has great influence on the function and performance of the whole electro-hydraulic servo valve.
At present, most of direct-drive servo valve controllers used in domestic markets are MOOG-D633 and 634 series models, and the servo valve controllers mainly have the following problems and defects in industrial production and use:
(1) the power supply is powered by a +24V single power supply, the position output signal is 4-20mA, and the power supply mode and the position output mode are single and cannot meet diversified industrial requirements;
(2) in the production line of severe environments such as metallurgy, steelmaking and the like, the phenomenon of power device damage often occurs, so that production is suspended, and great loss is brought to industrial production and national property.
Disclosure of Invention
The technical problem solved by the invention is as follows: the controller based on the direct-drive type electro-hydraulic servo valve is designed and improved, and the problems that the single power supply and the single signal position output cannot meet diversified industrial requirements and the power device is frequently damaged in the process of industrial production and use of foreign controllers are solved.
The purpose of the invention is realized by the following technical scheme: a controller for a direct drive electro-hydraulic servo valve for multi-parameter demand, comprising: the device comprises a power supply module, an instruction analysis processing module, a position analysis processing module, a comprehensive operation and PID control module, a PWM (pulse width modulation) module, a power amplification module, a position sensor excitation circuit module and a position signal external output module; the power supply module supplies power to the instruction analysis processing module, the position analysis processing module, the comprehensive operation and PID control module, the PWM modulation module, the power amplification module, the position sensor excitation circuit module and the position signal external output module respectively; the instruction signal of the upper computer is transmitted to an instruction analysis processing module, the instruction analysis processing module amplifies the instruction to obtain an amplification instruction signal, and the amplification instruction signal is transmitted to a comprehensive operation and PID control module; the alternating current position signal of the direct-drive electro-hydraulic servo valve is transmitted to a position analysis processing module, the position analysis processing module converts the alternating current position signal into a direct current position signal, and the direct current position signal is respectively transmitted to a comprehensive operation and PID control module and a position signal external output module; the comprehensive operation and PID control module performs difference processing on the amplification instruction signal and the direct current position signal, performs PID control adjustment after amplification processing to obtain a stably-changing voltage signal, and transmits the stably-changing voltage signal to the PWM module; the PWM module compares the voltage signal which changes stably with a triangular wave signal generated by the PWM module to obtain a PWM waveform signal, and transmits the PWM waveform signal to the power amplification module; the power amplification module amplifies the PWM waveform signal to obtain an amplified PWM waveform signal, and transmits the amplified PWM waveform signal to the direct-drive electro-hydraulic servo valve; the position sensor excitation circuit module transmits an excitation signal to the direct-drive electro-hydraulic servo valve; the position signal external output module converts the direct current position signal into a +/-10V voltage signal or a +/-10 mA current signal or a 4-20mA current signal.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the power module includes: the power supply module comprises an integrated chip 2U1, an integrated chip 2U2, an integrated chip 2AJ1A, an integrated chip 2AJ2A, a resistor 2R1, a resistor 2R2, a resistor 2R3, a resistor 2R4, a resistor 2R5, a resistor 2R6, a capacitor 2C1, a capacitor 2C2, a capacitor 2C3, a capacitor 2C4, a capacitor 2C5, a capacitor 2C6, a capacitor 2C7, a capacitor 2C8, a capacitor 2C9, a capacitor 2C10, a diode 2D1, a diode 2D2, a short-circuit point 2J1, a short-circuit point 2J2, a short-circuit point 2J3, a short-circuit point 2J4, a short-circuit point 2J5, a short-circuit point 2J6, a short-circuit point 2J7, a short-circuit point 2J8, a short-circuit point 2J9 and a short-circuit point 2J 10; the +24V is connected with the pin 1 of the short-circuit point 2J1, and the pin 2 of the short-circuit point 2J1 is connected with the pin 1 of the diode 2D 1; a pin 2 of the diode 2D1 is connected with a pin 1 of the capacitor 2C1, a pin 1 of the capacitor 2C2, a pin 1 of the capacitor 2C3 and a pin 1 of the short-circuit point 2J 3; the pin 2 of the short-circuit point 2J3 is connected with the pin 3 of the integrated chip 2U1 and the pin 1 of the diode 2D 2; 24VGND is connected to pin 1 of short-circuit point 2J 2; pin 2 of the short-circuit point 2J2 is connected with pin 2 of the capacitor 2C1, pin 2 of the capacitor 2C2, pin 2 of the capacitor 2C3 and pin 1 of the short-circuit point 2J 4; pin 2 of the short-circuit point 2J4 is connected with pin 2 of the diode 2D2, pin 2 of the capacitor 2C4, pin 2 of the resistor 2R2, pin 2 of the capacitor 2C5, pin 2 of the capacitor 2C6, pin 1 of the short-circuit point 2J8 and GND; pin 2 of the integrated chip 2U1 is connected with pin 1 of the resistor 2R1, pin 1 of the capacitor 2C5, pin 1 of the capacitor 2C6, pin 1 of the short-circuit point 2J7 and pin + 16V; pin 1 of the short-circuit point 2J5 is connected with + 15V; pin 2 of the short-circuit point 2J5 is connected with pin 2 of the short-circuit point 2J7 and VCC; pin 1 of the short-circuit point 2J6 is connected with-15V; pin 2 of the short-circuit point 2J6 is connected with pin 2 of the short-circuit point 2J8 and VEE; pin 1 of the integrated chip 2AJ1A is connected with pin 1 of the capacitor 2C10, pin 1 of the short-circuit point 2J10 and pin 2 of the integrated chip 2AJ1A at + 8V; pins 3 of the integrated chip 2AJ1A are connected with pins 1 of the capacitor 2C9, pins 1 of the resistor 2R4 and pins 2 of the resistor 2R 3; the pin 4 of the integrated chip 2AJ1A is connected with GND; the pin 8 of the integrated chip 2AJ1A is connected with + 16V; pin 1 of the resistor 2R3 is connected with + 16V; pin 2 of the resistor 2R4 is connected with pin 2 of the capacitor 2C9, pin 2 of the capacitor 2C10 and GND; pin 1 of the short-circuit point 2J9 is connected with 15 VGND; pin 2 of the short-circuit point 2J9 is connected with pin 2 of the short-circuit point 2J10 and is connected with reference ground; pin 2 of the integrated chip 2U2 is connected with VCC; the 4 feet of the integrated chip 2U2 are connected with the 2 feet of the capacitor 2C7 and the reference ground; the pin 6 of the integrated chip 2U2 is connected with the pin 1 of the capacitor 2C7 and the pin + VC 1; pin 1 of the integrated chip 2AJ2A is connected with pin 2 of the capacitor 2C8, pin 2 of the resistor 2R6 and-VC 1; pin 2 of the integrated chip 2AJ2A is connected with pin 1 of the capacitor 2C8, pin 1 of the resistor 2R6 and pin 1 of the resistor 2R 5; pin 2 of the resistor 2R5 is connected with + VC 1; the pin 4 of the integrated chip 2AJ2A is connected with VCC; the 11 pin of the integrated chip 2AJ2A is connected with VEE.
In the controller of the direct-drive electrohydraulic servo valve for multi-parameter requirements, the instruction analyzing and processing module includes an integrated chip AJ1B, an integrated chip AJ1C, an integrated chip AJ1D, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20, a short-circuit point J1, a short-circuit point J2, a short-circuit point J3, a short-circuit point J4, a short-circuit point J5, a short-circuit point J6, a short-circuit point J7, a short-circuit point J8, a short-circuit point J9, and a short-circuit point J10; wherein, IN + is connected with pin 1 of resistor R1, pin 1 of short-circuit point J3 of pin 2 of resistor R3, pin 1 of short-circuit point J4 and pin 1 of resistor R6; pin 2 of the resistor R1 is connected with pin 1 of the short-circuit point J1; pin 2 of the short-circuit point J1 is connected with pin 1 of the short-circuit point J2 and is connected with reference ground; IN-is connected with the pin 1 of the 2-pin resistor R3 of the resistor R2, the pin 1 of the resistor R4, the pin 2 of the short-circuit point J5 and the pin 2 of the resistor R7; pin 1 of the resistor R2 is connected with pin 2 of the short-circuit point J2; pin 2 of the short-circuit point J3 is connected with pin 2 of the resistor R4; pin 2 of the short-circuit point J4 is connected with pin 1 of the short-circuit point J5 and pin 2 of the resistor R5; pin 1 of the resistor R5 is connected with VCC; the pin 13 of the integrated chip AJ1D is connected with the pin 2 of the resistor R6, the pin 2 of the resistor R10 and the pin 2 of the resistor R11; pin 1 of the resistor R10 is connected with VCC; the pin 12 of the integrated chip AJ1D is connected with the pin 1 of the resistor R7, the pin 2 of the resistor R8 and the pin 2 of the resistor R9; pin 1 of the resistor R8 is connected with VCC; pin 1 of the resistor R9 is connected to ground; the pin 14 of the integrated chip AJ1D is connected with the pin 1 of the resistor R11 and the pin 2 of the resistor R12; the pin 9 of the integrated chip AJ1C is connected with the pin 1 of the resistor R12, the pin 2 of the resistor R13, the pin 1 of the resistor R14 and the pin 2 of the resistor R15; pin 1 of the resistor R13 is connected with pin 1 of the short-circuit point J8; pin 2 of the resistor R14 is connected with pin 1 of the short-circuit point J7; pin 1 of the resistor R15 is connected with pin 1 of the short-circuit point J6; the pin 8 of the integrated chip AJ1C is connected with the pin 2 of the short-circuit point J6, the pin 2 of the short-circuit point J7, the pin 2 of the short-circuit point J8, the pin 2 of the resistor R16, the pin 1 of the short-circuit point J9 and the pin 5 of the integrated chip AJ 1B; the 10 feet of the integrated chip AJ1C are connected with the reference ground; pins 6 of the integrated chip AJ1B are connected with pins 2 of the resistor R18 and pins 2 of the resistor R19; pin 1 of the resistor R18 is connected to ground; pins 7 of the integrated chip AJ1B are connected with pins 1 of the resistor R19 and pins 1 of the short-circuit point J10; pin 2 of the short-circuit point J10 is connected with pin 2 of the resistor R20; pin 1 of the resistor R16 is connected with pin 2 of the resistor R17 and pin 2 of the short-circuit point J9; pin 1 of the resistor R17 and pin 1 of the resistor R20 are connected.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the position analyzing and processing module includes an integrated chip 2AJ3A, an integrated chip 2AJ3C, a resistor 2R28, a resistor 2R29, a resistor 2R30, a resistor 2R31, a resistor 2R32, a resistor 2R33, a capacitor 2C13, and a capacitor 2C 14; wherein, pin 1 of the integrated chip 2AJ3A is connected with pin 2 of the resistor 2R31, pin 2 of the resistor 2R32 and pin 2 of the capacitor 2C 13; the pin 2 of the integrated chip 2AJ3A is connected with the pin 1 of the resistor 2R31, the pin 1 of the resistor 2R28 and the pin 1 of the capacitor 2C 13; the pin 3 of the integrated chip 2AJ3A is connected with the pin 2 of the resistor 2R29 and the pin 2 of the resistor 2R 30; pin 1 of the resistor 2R30 is connected to the reference ground; a pin 1 of the resistor 2R29 is connected with 2J6_2, and a pin 2 of the resistor 2R28 is connected with 2J6_ 9; the pin 4 of the integrated chip 2AJ3A is connected with VCC; the 11 pin of the integrated chip 2AJ3A is connected with VEE; the pin 9 of the integrated chip 2AJ3C is connected with the pin 8 of the integrated chip 2AJ3C and the pin 2 of the integrated chip 2C 25; the pin 10 of the integrated chip 2AJ3C is connected with the pin 2 of the resistor 2R33 and the pin 1 of the capacitor 2C 14; pin 1 of the resistor 2R32 is connected with pin 1 of the resistor 2R33 and pin 1 of the resistor 2C 25; the 2 pin of the capacitor 2C14 is connected with the reference ground; the pin 4 of the integrated chip 2AJ3A is connected with VCC; the 11 pin of the integrated chip 2AJ3A is connected with VEE.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the comprehensive operation and PID control module includes an integrated chip AJ2C, an integrated chip AJ2D, an integrated chip AJ3C, an integrated chip AJ3D, a resistor R33, a resistor R34, a resistor R35, a resistor R36, a resistor R37, a resistor R38, a resistor R39, a resistor R40, a resistor R41, a resistor R42, a capacitor C4, a capacitor C5, a capacitor C6, a diode D3 and a diode D4; wherein, the pin 9 of the integrated chip AJ2C is connected with the pin 2 of the resistor R33, the anode of the diode D3 and the cathode of the diode D4; the pin 8 of the integrated chip AJ2C is connected with the pin 1 of the resistor R33, the cathode of the diode D3, the anode of the diode D4 and the pin 2 of the resistor R34; the 10 feet of the integrated chip AJ2C are connected with the reference ground; a pin 13 of the integrated chip AJ2D is connected with a pin 2 of the capacitor C4, a pin 1 of the resistor R36, a pin 1 of the capacitor C5 and one end of the JUMP; the 12 pin of the integrated chip AJ2D is connected with the reference ground; the pin 14 of the integrated chip AJ2D is connected with the pin 1 of the resistor R38 and the pin 2 of the resistor R39; a pin 2 of the resistor R38 is connected with a pin 1 of the capacitor C4 and the other ends of a pin 2 and a pin JUM2 of the resistor R37; pin 1 of the resistor R37 is connected to ground; the pin 2 of the resistor R36 is connected with the pin 2 of the capacitor C5, the pin 2 of the resistor R35 and the pin 1 of the resistor R34; pin 1 of the resistor R35 is connected to ground; the pin 9 of the integrated chip AJ3C is connected with the pin 2 of the 1-pin capacitor C6 of the resistor R39 and the pin 2 of the resistor R40; the 10 feet of the integrated chip AJ3C are connected with the reference ground; the pin 8 of the integrated chip AJ3C is connected with the pin 2 of the resistor R41, the pin 1 of the capacitor C6 and the pin 1 of the resistor R40; the pin 13 of the integrated chip AJ3D is connected with the pin 1 of the resistor R41 and the pin 2 of the resistor R42; the 12 pin of the integrated chip AJ3D is connected with the reference ground; pin 14 of the integrated chip AJ3D is connected with pin 1 of the resistor R42; the pin 4 of the integrated chip AJ3D is connected with VCC; the 11 pin of the integrated chip AJ3D is connected with VEE.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the PWM modulation module includes an integrated chip 2AJ2C, an integrated chip 2U3, a resistor 2R11, a resistor 2R12, a resistor 2R13, a resistor 2R14, a capacitor 2C20, and a capacitor 2C 21; wherein, the pin 9 of the integrated chip 2AJ2C is connected with the pin 1 of the resistor 2R14, the pin 2 of the resistor 2R13, the pin 2 of the capacitor 2C20 and the current feedback signal; the 10 pins of the integrated chip 2AJ2C are connected with the reference ground; the pin 8 of the integrated chip 2AJ2C is connected with the pin 2 of the resistor 2R12, the pin 1 of the resistor 2R13 and the pin 1 of the capacitor 2C 20; pin 2 of the resistor 2R14 is connected with a PID output signal; the pin 2 of the integrated chip 2U3 is connected with the pin 1 of the capacitor 2C21 and the pin 1 of the resistor 2R 12; the pin 3 of the integrated chip 2U3 is connected with a triangular wave signal; pin 7 of the integrated chip 2U3 is connected with pin 1 of the resistor 2R 11; pin 2 of the resistor 2R11 is connected with VCC; the 4 pins of the integrated chip 2U3 are connected with VCC; the 8 pin of the integrated chip 2U3 is connected to VEE.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the power amplification module includes an integrated chip 2U4, a resistor 2R6, a resistor 2R7, a resistor 2R8, a resistor 2R9, a resistor 2R10, a capacitor 2C22, a capacitor 2C23, a capacitor 2C24, a short-circuit point 2J11, a short-circuit point 2J12, a short-circuit point 2J13, and a short-circuit point 2J 14; wherein, pin 1 of the integrated chip 2U4 is connected with pin 2 of the capacitor 2C 23; the pin 2 of the integrated chip 2U4 is connected with the pin 2 of the resistor 2R6 and the pin 1 of the capacitor 2C 23; the pin 3 of the integrated chip 2U4 is connected with the pin 1 of the resistor 2R9 and the pin 1 of the resistor 2R 10; the pin 4 of the integrated chip 2U4 is connected with the pin 7 of the integrated chip 2U4, the pin 2 of the resistor 2R7, the pin 2 of the capacitor 2C22, the pin 1 of the short-circuit point 2J13 and the pin 1 of the short-circuit point 2J 14; the pin 5 of the integrated chip 2U4 is connected with the pin 1 of the resistor 2R7 and the pin 1 of the resistor 2R 8; the pin 6 of the integrated chip 2U4 is connected with the pin 1 of the capacitor 2C22, the pin 1 of the short-circuit point 2J11 and the pin 1 of the short-circuit point 2J 12; the pin 10 of the integrated chip 2U4 is connected with the pin 2 of the capacitor 2C 24; the pin 11 of the integrated chip 2U4 is connected with the pin 1 of the capacitor 2C24 and the pin 1 of the capacitor 2DJ 1; pin 1 of the resistor 2R6 is connected with pin 3 of the 2DJ 1; pin 2 of the resistor 2R9 is connected with VEE; pin 2 of the resistor 2R10 is connected with a PWM wave signal; pin 2 of the resistor 2R8 is connected with VCC; pin 2 of the short-circuit point 2J11 is connected with + 24V; pin 2 of the short-circuit point 2J12 is connected with + 15V; pin 2 of the short-circuit point 2J13 is connected with 24 VGND; pin 2 of short-circuit point 2J14 is connected to-15V.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the position sensor excitation circuit module comprises an integrated chip 2AJ2D, an integrated chip 2AJ3D, a resistor 2R22, a capacitor 2C17, a capacitor 2C18, a short-circuit point 2J15, a short-circuit point 2J16, a short-circuit point 2J17 and a short-circuit point 2J 18; wherein, the pin 12 of the integrated chip 2AJ2D is connected with the pin 2 of the capacitor 2C 17; pin 13 of the integrated chip 2AJ2D is connected with pin 1 of the resistor 2R22 and pin 1 of the capacitor 2C 18; the pin 14 of the integrated chip 2AJ2D is connected with the pin 2 of the resistor 2R22, the pin 2 of the capacitor 2C18, the pin 2 of the short-circuit point 2J16 and the pin 2 of the short-circuit point 2J 18; the pin 12 of the integrated chip 2AJ3D is connected with the reference ground; pin 13 of the integrated chip 2AJ3D is connected with pin 1 of the capacitor 2C17, pin 14 of the integrated chip 2AJ3D, pin 1 of the short-circuit point 2J17 and pin 1 of the short-circuit point 2J 15; the pin 2 of the short-circuit point 2J17 is connected with the pin 1 of the short-circuit point 2J18 and the sensor access point 2J6_ 8; the pin 2 of the short-circuit point 2J15 is connected with the pin 1 of the short-circuit point 2J16 and the sensor access point 2J6_ 3.
In the controller for the direct-drive electrohydraulic servo valve with multiple parameter requirements, the external position signal output module includes: the integrated circuit comprises an integrated chip AJ5A, an integrated chip AJ5B, a resistor R61, a resistor R62, a resistor R63, a resistor R64, a resistor R65, a resistor R66, a resistor R67, a resistor R68, a resistor R69, a resistor R70, a resistor R71, a potentiometer RP4, a capacitor C13, a diode D6, a short-circuit point J11, a short-circuit point J12 and a short-circuit point J13; wherein, pin 1 of the integrated chip AJ5A is connected with pin 1 of the resistor R62, pin 1 of the resistor R63 and pin 2 of the capacitor C13; pin 2 of the integrated chip AJ5A is connected with pin 1 of the capacitor C13, pin 1 of the short-circuit point J11, pin 1 of the short-circuit point J12 and pin 1 of the short-circuit point J13; the pin 3 of the integrated chip AJ5A is connected with the reference ground; the pin 5 of the integrated chip AJ5B is connected with the pin 1 of the resistor R64 and the pin 2 of the resistor R66; the pin 6 of the integrated chip AJ5B is connected with the pin 2 of the resistor R65 and the pin 2 of the resistor R67; pins 7 of the integrated chip AJ5B are connected with pin 1 of the resistor R67, pin 1 of the resistor R68 and pin 1 of the resistor R69; a pin 1 of the resistor R61 is connected with a pin 2 of the resistor R62, a pin 1 of the resistor R65, a positive terminal of the diode D6, a pin 2 of the potentiometer RP4 and a pin 3 of the potentiometer RP 4; a pin 1 of the potentiometer RP4 is connected with a pin 2 of the short-circuit point J13; pin 2 of the resistor R63 is connected with pin 2 of the resistor R64; pin 1 of the resistor R66 is connected to ground; pin 2 of the resistor R68 is connected with pin 2 of the short-circuit point J11; the pin 2 of the resistor R69 is connected with the pin 2 of the resistor R70 and the pin 2 of the short-circuit point J12; pin 1 of the resistor R70 is connected with pin 1 of the resistor R71; the 2 pin of the resistor R71 is connected with-VC 1.
In the controller for the direct-drive type electro-hydraulic servo valve with the multi-parameter requirement, the instruction analysis processing module and the position analysis processing module are connected with the comprehensive operation and PID control module; the comprehensive operation and PID control module is connected with the PWM module; the PWM module is connected with the power amplification module; the power amplification module is connected with the direct-drive electro-hydraulic servo valve; the position analysis processing module is connected with the position signal external output module; the position analysis processing module and the position sensor exciting circuit module are connected with the direct-drive electro-hydraulic servo valve.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts two common different power supply modes of +24V and +/-15V, effectively solves the limitation of single power supply and enriches the selectivity of customers;
(2) the invention brings convenience and saves cost to the external output module through the instruction analysis processing module, the position sensor excitation circuit module and the position signal, and only needs to select the corresponding controller according to the parameters of the control system without changing the input and output parameters of the control system;
(3) the power amplification module not only can provide required voltage and current for the work of the servo valve, but also has the functions of protecting devices from overheating, overcurrent and short circuit, has high modularization integration level, prolongs the service life and is not easy to damage.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic circuit diagram of a power module provided by an embodiment of the invention;
FIG. 2 is a schematic circuit diagram of an instruction parsing module according to an embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a location resolution processing module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a comprehensive operation and PID control module circuit according to an embodiment of the invention;
FIG. 5 is a schematic circuit diagram of a PWM modulation module according to an embodiment of the present invention;
FIG. 6 is a schematic circuit diagram of a power amplification module according to an embodiment of the invention;
FIG. 7 is a schematic circuit diagram of a position sensor excitation circuit module provided by an embodiment of the invention;
fig. 8 is a schematic circuit diagram of a position signal external output module according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment provides a controller of a direct-drive electrohydraulic servo valve for multi-parameter requirements, which comprises: the device comprises a power supply module, an instruction analysis processing module, a position analysis processing module, a comprehensive operation and PID control module, a PWM (pulse width modulation) module, a power amplification module, a position sensor excitation circuit module and a position signal external output module; wherein:
the instruction analysis processing module and the position analysis processing module are connected with the comprehensive operation and PID control module; the comprehensive operation and PID control module is connected with the PWM module; the PWM module is connected with the power amplification module; the power amplification module is connected with the direct-drive electro-hydraulic servo valve; the position analysis processing module is connected with the position signal external output module; the position analysis processing module and the position sensor exciting circuit module are connected with the direct-drive electro-hydraulic servo valve.
The working principle is as follows: the instruction signal of the upper computer is transmitted to an instruction analysis processing module, the instruction analysis processing module amplifies the instruction to obtain an amplification instruction signal, and the amplification instruction signal is transmitted to a comprehensive operation and PID control module; the alternating current position signal of the direct-drive electro-hydraulic servo valve is transmitted to a position analysis processing module, the position analysis processing module converts the alternating current position signal into a direct current position signal, and the direct current position signal is respectively transmitted to a comprehensive operation and PID control module and a position output module; the comprehensive operation and PID control module performs difference processing on the amplification instruction signal and the direct current position signal, performs PID control adjustment after amplification processing to obtain a stably-changing voltage signal, and transmits the stably-changing voltage signal to the PWM module; the PWM module compares the voltage signal which changes stably with a triangular wave signal generated by the PWM module to obtain a PWM waveform signal, and transmits the PWM waveform signal to the power amplification module; the power amplification module amplifies the PWM waveform signal to obtain an amplified PWM waveform signal, and transmits the amplified PWM waveform signal to the direct-drive electro-hydraulic servo valve; the position sensor excitation circuit module transmits an excitation signal to the direct-drive electro-hydraulic servo valve; the position signal external output module converts the direct current position signal into a +/-10V voltage signal or a +/-10 mA current signal or a 4-20mA current signal.
As shown in fig. 1, the power supply module includes: the power supply module comprises an integrated chip 2U1, an integrated chip 2U2, an integrated chip 2AJ1A, an integrated chip 2AJ2A, a resistor 2R1, a resistor 2R2, a resistor 2R3, a resistor 2R4, a resistor 2R5, a resistor 2R6, a capacitor 2C1, a capacitor 2C2, a capacitor 2C3, a capacitor 2C4, a capacitor 2C5, a capacitor 2C6, a capacitor 2C7, a capacitor 2C8, a capacitor 2C9, a capacitor 2C10, a diode 2D1, a diode 2D2, a short-circuit point 2J1, a short-circuit point 2J2, a short-circuit point 2J3, a short-circuit point 2J4, a short-circuit point 2J5, a short-circuit point 2J6, a short-circuit point 2J7, a short-circuit point 2J8, a short-circuit point 2J9 and a short-circuit point 2J 10; wherein the content of the first and second substances,
+24V is connected to pin 1 of the short-circuit point 2J1, and pin 2 of the short-circuit point 2J1 is connected to pin 1 of the diode 2D 1; a pin 2 of the diode 2D1 is connected with a pin 1 of the capacitor 2C1, a pin 1 of the capacitor 2C2, a pin 1 of the capacitor 2C3 and a pin 1 of the short-circuit point 2J 3; the pin 2 of the short-circuit point 2J3 is connected with the pin 3 of the integrated chip 2U1 and the pin 1 of the diode 2D 2; 24VGND is connected to pin 1 of short-circuit point 2J 2; pin 2 of the short-circuit point 2J2 is connected with pin 2 of the capacitor 2C1, pin 2 of the capacitor 2C2, pin 2 of the capacitor 2C3 and pin 1 of the short-circuit point 2J 4; pin 2 of the short-circuit point 2J4 is connected with pin 2 of the diode 2D2, pin 2 of the capacitor 2C4, pin 2 of the resistor 2R2, pin 2 of the capacitor 2C5, pin 2 of the capacitor 2C6, pin 1 of the short-circuit point 2J8 and GND; pin 2 of the integrated chip 2U1 is connected with pin 1 of the resistor 2R1, pin 1 of the capacitor 2C5, pin 1 of the capacitor 2C6, pin 1 of the short-circuit point 2J7 and pin + 16V; pin 1 of the short-circuit point 2J5 is connected with + 15V; pin 2 of the short-circuit point 2J5 is connected with pin 2 of the short-circuit point 2J7 and VCC; pin 1 of the short-circuit point 2J6 is connected with-15V; pin 2 of the short-circuit point 2J6 is connected with pin 2 of the short-circuit point 2J8 and VEE;
As shown in fig. 2, the instruction parsing processing module includes: the instruction analysis processing module comprises an integrated chip AJ1B, an integrated chip AJ1C, an integrated chip AJ1D, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20, a short-circuit point J1, a short-circuit point J2, a short-circuit point J3, a short-circuit point J4, a short-circuit point J5, a short-circuit point J6, a short-circuit point J7, a short-circuit point J8, a short-circuit point J9 and a short-circuit point J10; wherein the content of the first and second substances,
IN + is connected with pin 1 of resistor R1, pin 1 of short-circuit point J3 of pin 2 of resistor R3, pin 1 of short-circuit point J4 and pin 1 of resistor R6; pin 2 of the resistor R1 is connected with pin 1 of the short-circuit point J1; pin 2 of the short-circuit point J1 is connected with pin 1 of the short-circuit point J2 and is connected with reference ground; IN-is connected with the pin 1 of the 2-pin resistor R3 of the resistor R2, the pin 1 of the resistor R4, the pin 2 of the short-circuit point J5 and the pin 2 of the resistor R7; pin 1 of the resistor R2 is connected with pin 2 of the short-circuit point J2; pin 2 of the short-circuit point J3 is connected with pin 2 of the resistor R4; pin 2 of the short-circuit point J4 is connected with pin 1 of the short-circuit point J5 and pin 2 of the resistor R5; pin 1 of the resistor R5 is connected with VCC;
the pin 13 of the integrated chip AJ1D is connected with the pin 2 of the resistor R6, the pin 2 of the resistor R10 and the pin 2 of the resistor R11; pin 1 of the resistor R10 is connected with VCC; the pin 12 of the integrated chip AJ1D is connected with the pin 1 of the resistor R7, the pin 2 of the resistor R8 and the pin 2 of the resistor R9; pin 1 of the resistor R8 is connected with VCC; pin 1 of the resistor R9 is connected to ground; the pin 14 of the integrated chip AJ1D is connected with the pin 1 of the resistor R11 and the pin 2 of the resistor R12;
the pin 9 of the integrated chip AJ1C is connected with the pin 1 of the resistor R12, the pin 2 of the resistor R13, the pin 1 of the resistor R14 and the pin 2 of the resistor R15; pin 1 of the resistor R13 is connected with pin 1 of the short-circuit point J8; pin 2 of the resistor R14 is connected with pin 1 of the short-circuit point J7; pin 1 of the resistor R15 is connected with pin 1 of the short-circuit point J6; the pin 8 of the integrated chip AJ1C is connected with the pin 2 of the short-circuit point J6, the pin 2 of the short-circuit point J7, the pin 2 of the short-circuit point J8, the pin 2 of the resistor R16, the pin 1 of the short-circuit point J9 and the pin 5 of the integrated chip AJ 1B; the 10 feet of the integrated chip AJ1C are connected with the reference ground;
As shown in fig. 3, the position resolution processing module includes an integrated chip 2AJ3A, an integrated chip 2AJ3C, a resistor 2R28, a resistor 2R29, a resistor 2R30, a resistor 2R31, a resistor 2R32, a resistor 2R33, a capacitor 2C13, and a capacitor 2C 14; wherein the content of the first and second substances,
the pin 9 of the integrated chip 2AJ3C is connected with the pin 8 of the integrated chip 2AJ3C and the pin 2 of the integrated chip 2C 25; the pin 10 of the integrated chip 2AJ3C is connected with the pin 2 of the resistor 2R33 and the pin 1 of the capacitor 2C 14; pin 1 of the resistor 2R32 is connected with pin 1 of the resistor 2R33 and pin 1 of the resistor 2C 25; the 2 pin of the capacitor 2C14 is connected with the reference ground; the pin 4 of the integrated chip 2AJ3A is connected with VCC; the 11 pin of the integrated chip 2AJ3A is connected with VEE.
As shown in fig. 4, the comprehensive operation and PID control module includes an integrated chip AJ2C, an integrated chip AJ2D, an integrated chip AJ3C, an integrated chip AJ3D, a resistor R33, a resistor R34, a resistor R35, a resistor R36, a resistor R37, a resistor R38, a resistor R39, a resistor R40, a resistor R41, a resistor R42, a capacitor C4, a capacitor C5, a capacitor C6, a diode D3, and a diode D4; wherein the content of the first and second substances,
a pin 9 of the integrated chip AJ2C is connected with a pin 2 of the resistor R33, the anode of the diode D3 and the cathode of the diode D4; the pin 8 of the integrated chip AJ2C is connected with the pin 1 of the resistor R33, the cathode of the diode D3, the anode of the diode D4 and the pin 2 of the resistor R34; the 10 feet of the integrated chip AJ2C are connected with the reference ground;
a pin 13 of the integrated chip AJ2D is connected with a pin 2 of the capacitor C4, a pin 1 of the resistor R36, a pin 1 of the capacitor C5 and one end of the JUMP; the 12 pin of the integrated chip AJ2D is connected with the reference ground; the pin 14 of the integrated chip AJ2D is connected with the pin 1 of the resistor R38 and the pin 2 of the resistor R39; a pin 2 of the resistor R38 is connected with a pin 1 of the capacitor C4 and the other ends of a pin 2 and a pin JUM2 of the resistor R37; pin 1 of the resistor R37 is connected to ground; the pin 2 of the resistor R36 is connected with the pin 2 of the capacitor C5, the pin 2 of the resistor R35 and the pin 1 of the resistor R34; pin 1 of the resistor R35 is connected to ground;
the pin 9 of the integrated chip AJ3C is connected with the pin 2 of the 1-pin capacitor C6 of the resistor R39 and the pin 2 of the resistor R40; the 10 feet of the integrated chip AJ3C are connected with the reference ground; the pin 8 of the integrated chip AJ3C is connected with the pin 2 of the resistor R41, the pin 1 of the capacitor C6 and the pin 1 of the resistor R40;
the pin 13 of the integrated chip AJ3D is connected with the pin 1 of the resistor R41 and the pin 2 of the resistor R42; the 12 pin of the integrated chip AJ3D is connected with the reference ground; pin 14 of the integrated chip AJ3D is connected with pin 1 of the resistor R42; the pin 4 of the integrated chip AJ3D is connected with VCC; the 11 pin of the integrated chip AJ3D is connected with VEE.
As shown in fig. 5, the PWM modulation module includes an integrated chip 2AJ2C, an integrated chip 2U3, a resistor 2R11, a resistor 2R12, a resistor 2R13, a resistor 2R14, a capacitor 2C20, and a capacitor 2C 21; wherein the content of the first and second substances,
the pin 9 of the integrated chip 2AJ2C is connected with the pin 1 of the resistor 2R14, the pin 2 of the resistor 2R13, the pin 2 of the capacitor 2C20 and a current feedback signal; the 10 pins of the integrated chip 2AJ2C are connected with the reference ground; the pin 8 of the integrated chip 2AJ2C is connected with the pin 2 of the resistor 2R12, the pin 1 of the resistor 2R13 and the pin 1 of the capacitor 2C 20; pin 2 of the resistor 2R14 is connected with a PID output signal;
the pin 2 of the integrated chip 2U3 is connected with the pin 1 of the capacitor 2C21 and the pin 1 of the resistor 2R 12; the pin 3 of the integrated chip 2U3 is connected with a triangular wave signal; pin 7 of the integrated chip 2U3 is connected with pin 1 of the resistor 2R 11; pin 2 of the resistor 2R11 is connected with VCC; the 4 pins of the integrated chip 2U3 are connected with VCC; the 8 pin of the integrated chip 2U3 is connected to VEE.
As shown in fig. 6, the power amplification module includes an integrated chip 2U4, a resistor 2R6, a resistor 2R7, a resistor 2R8, a resistor 2R9, a resistor 2R10, a capacitor 2C22, a capacitor 2C23, a capacitor 2C24, a short-circuit point 2J11, a short-circuit point 2J12, a short-circuit point 2J13, and a short-circuit point 2J 14; wherein the content of the first and second substances,
pin 1 of the integrated chip 2U4 is connected with pin 2 of the capacitor 2C 23; the pin 2 of the integrated chip 2U4 is connected with the pin 2 of the resistor 2R6 and the pin 1 of the capacitor 2C 23; the pin 3 of the integrated chip 2U4 is connected with the pin 1 of the resistor 2R9 and the pin 1 of the resistor 2R 10; the pin 4 of the integrated chip 2U4 is connected with the pin 7 of the integrated chip 2U4, the pin 2 of the resistor 2R7, the pin 2 of the capacitor 2C22, the pin 1 of the short-circuit point 2J13 and the pin 1 of the short-circuit point 2J 14; the pin 5 of the integrated chip 2U4 is connected with the pin 1 of the resistor 2R7 and the pin 1 of the resistor 2R 8; the pin 6 of the integrated chip 2U4 is connected with the pin 1 of the capacitor 2C22, the pin 1 of the short-circuit point 2J11 and the pin 1 of the short-circuit point 2J 12; the pin 10 of the integrated chip 2U4 is connected with the pin 2 of the capacitor 2C 24; the pin 11 of the integrated chip 2U4 is connected with the pin 1 of the capacitor 2C24 and the pin 1 of the capacitor 2DJ 1; pin 1 of the resistor 2R6 is connected with pin 3 of the 2DJ 1; pin 2 of the resistor 2R9 is connected with VEE; pin 2 of the resistor 2R10 is connected with a PWM wave signal; pin 2 of the resistor 2R8 is connected with VCC; pin 2 of the short-circuit point 2J11 is connected with + 24V; pin 2 of the short-circuit point 2J12 is connected with + 15V; pin 2 of the short-circuit point 2J13 is connected with 24 VGND; pin 2 of short-circuit point 2J14 is connected to-15V.
As shown in fig. 7, the position sensor excitation circuit module includes an integrated chip 2AJ2D, an integrated chip 2AJ3D, a resistor 2R22, a capacitor 2C17, a capacitor 2C18, a short-circuit point 2J15, a short-circuit point 2J16, a short-circuit point 2J17, and a short-circuit point 2J 18; wherein the content of the first and second substances,
the pin 12 of the integrated chip 2AJ2D is connected with the pin 2 of the capacitor 2C 17; pin 13 of the integrated chip 2AJ2D is connected with pin 1 of the resistor 2R22 and pin 1 of the capacitor 2C 18; the pin 14 of the integrated chip 2AJ2D is connected with the pin 2 of the resistor 2R22, the pin 2 of the capacitor 2C18, the pin 2 of the short-circuit point 2J16 and the pin 2 of the short-circuit point 2J 18; the pin 12 of the integrated chip 2AJ3D is connected with the reference ground; pin 13 of the integrated chip 2AJ3D is connected with pin 1 of the capacitor 2C17, pin 14 of the integrated chip 2AJ3D, pin 1 of the short-circuit point 2J17 and pin 1 of the short-circuit point 2J 15; pin 2 of the short-circuit point 2J17 is connected with pin 1 of the short-circuit point 2J18 and pin 2J6_ 8; pin 2 of the short-circuit point 2J15 is connected to pin 1 of the short-circuit point 2J16 and pin 2J6_ 3.
As shown in fig. 8, the position signal external output module includes: the integrated circuit comprises an integrated chip AJ5A, an integrated chip AJ5B, a resistor R61, a resistor R62, a resistor R63, a resistor R64, a resistor R65, a resistor R66, a resistor R67, a resistor R68, a resistor R69, a resistor R70, a resistor R71, a potentiometer RP4, a capacitor C13, a diode D6, a short-circuit point J11, a short-circuit point J12 and a short-circuit point J13; wherein the content of the first and second substances,
pin 1 of the integrated chip AJ5A is connected with pin 1 of the resistor R62, pin 1 of the resistor R63 and pin 2 of the capacitor C13; pin 2 of the integrated chip AJ5A is connected with pin 1 of the capacitor C13, pin 1 of the short-circuit point J11, pin 1 of the short-circuit point J12 and pin 1 of the short-circuit point J13; the pin 3 of the integrated chip AJ5A is connected with the reference ground; the pin 5 of the integrated chip AJ5B is connected with the pin 1 of the resistor R64 and the pin 2 of the resistor R66; the pin 6 of the integrated chip AJ5B is connected with the pin 2 of the resistor R65 and the pin 2 of the resistor R67; pins 7 of the integrated chip AJ5B are connected with pin 1 of the resistor R67, pin 1 of the resistor R68 and pin 1 of the resistor R69; a pin 1 of the resistor R61 is connected with a pin 2 of the resistor R62, a pin 1 of the resistor R65, a positive terminal of the diode D6, a pin 2 of the potentiometer RP4 and a pin 3 of the potentiometer RP 4; a pin 1 of the potentiometer RP4 is connected with a pin 2 of the short-circuit point J13; pin 2 of the resistor R63 is connected with pin 2 of the resistor R64; pin 1 of the resistor R66 is connected to ground; pin 2 of the resistor R68 is connected with pin 2 of the short-circuit point J11; the pin 2 of the resistor R69 is connected with the pin 2 of the resistor R70 and the pin 2 of the short-circuit point J12; pin 1 of the resistor R70 is connected with pin 1 of the resistor R71; the 2 pin of the resistor R71 is connected with-VC 1.
The invention adopts two common different power supply modes of +24V and +/-15V, effectively solves the limitation of single power supply and enriches the selectivity of customers; the invention brings convenience and saves cost to the external output module through the instruction analysis processing module, the position sensor excitation circuit module and the position signal, and only needs to select the corresponding controller according to the parameters of the control system without changing the input and output parameters of the control system; the power amplification module not only can provide required voltage and current for the work of the servo valve, but also has the functions of protecting devices from overheating, overcurrent and short circuit, has high modularization integration level, prolongs the service life and is not easy to damage.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (9)
1. A controller for a direct drive electro-hydraulic servo valve for multi-parameter demand, comprising: the device comprises a power supply module, an instruction analysis processing module, a position analysis processing module, a comprehensive operation and PID control module, a PWM (pulse width modulation) module, a power amplification module, a position sensor excitation circuit module and a position signal external output module; wherein the content of the first and second substances,
the power supply module respectively supplies power to the instruction analysis processing module, the position analysis processing module, the comprehensive operation and PID control module, the PWM modulation module, the power amplification module, the position sensor excitation circuit module and the position signal external output module;
the instruction signal of the upper computer is transmitted to an instruction analysis processing module, the instruction analysis processing module amplifies the instruction to obtain an amplification instruction signal, and the amplification instruction signal is transmitted to a comprehensive operation and PID control module;
the alternating current position signal of the direct-drive electro-hydraulic servo valve is transmitted to a position analysis processing module, the position analysis processing module converts the alternating current position signal into a direct current position signal, and the direct current position signal is respectively transmitted to a comprehensive operation and PID control module and a position signal external output module;
the comprehensive operation and PID control module performs difference processing on the amplification instruction signal and the direct current position signal, performs PID control adjustment after amplification processing to obtain a stably-changing voltage signal, and transmits the stably-changing voltage signal to the PWM module;
the PWM module compares the voltage signal which changes stably with a triangular wave signal generated by the PWM module to obtain a PWM waveform signal, and transmits the PWM waveform signal to the power amplification module;
the power amplification module amplifies the PWM waveform signal to obtain an amplified PWM waveform signal, and transmits the amplified PWM waveform signal to the direct-drive electro-hydraulic servo valve;
the position sensor excitation circuit module transmits an excitation signal to the direct-drive electro-hydraulic servo valve;
the position signal external output module converts the direct current position signal into a +/-10V voltage signal or a +/-10 mA current signal or a 4-20mA current signal;
the power module includes: the power supply module comprises an integrated chip 2U1, an integrated chip 2U2, an integrated chip 2AJ1A, an integrated chip 2AJ2A, a resistor 2R1, a resistor 2R2, a resistor 2R3, a resistor 2R4, a resistor 2R5, a resistor 2R6, a capacitor 2C1, a capacitor 2C2, a capacitor 2C3, a capacitor 2C4, a capacitor 2C5, a capacitor 2C6, a capacitor 2C7, a capacitor 2C8, a capacitor 2C9, a capacitor 2C10, a diode 2D1, a diode 2D2, a short-circuit point 2J1, a short-circuit point 2J2, a short-circuit point 2J3, a short-circuit point 2J4, a short-circuit point 2J5, a short-circuit point 2J6, a short-circuit point 2J7, a short-circuit point 2J8, a short-circuit point 2J9 and a short-circuit point 2J 10; wherein the content of the first and second substances,
+24V is connected to pin 1 of the short-circuit point 2J1, and pin 2 of the short-circuit point 2J1 is connected to pin 1 of the diode 2D 1; a pin 2 of the diode 2D1 is connected with a pin 1 of the capacitor 2C1, a pin 1 of the capacitor 2C2, a pin 1 of the capacitor 2C3 and a pin 1 of the short-circuit point 2J 3; the pin 2 of the short-circuit point 2J3 is connected with the pin 3 of the integrated chip 2U1 and the pin 1 of the diode 2D 2; 24VGND is connected to pin 1 of short-circuit point 2J 2; pin 2 of the short-circuit point 2J2 is connected with pin 2 of the capacitor 2C1, pin 2 of the capacitor 2C2, pin 2 of the capacitor 2C3 and pin 1 of the short-circuit point 2J 4; pin 2 of the short-circuit point 2J4 is connected with pin 2 of the diode 2D2, pin 2 of the capacitor 2C4, pin 2 of the resistor 2R2, pin 2 of the capacitor 2C5, pin 2 of the capacitor 2C6, pin 1 of the short-circuit point 2J8 and GND; pin 2 of the integrated chip 2U1 is connected with pin 1 of the resistor 2R1, pin 1 of the capacitor 2C5, pin 1 of the capacitor 2C6, pin 1 of the short-circuit point 2J7 and pin + 16V; pin 1 of the short-circuit point 2J5 is connected with + 15V; pin 2 of the short-circuit point 2J5 is connected with pin 2 of the short-circuit point 2J7 and VCC; pin 1 of the short-circuit point 2J6 is connected with-15V; pin 2 of the short-circuit point 2J6 is connected with pin 2 of the short-circuit point 2J8 and VEE;
pin 1 of the integrated chip 2AJ1A is connected with pin 1 of the capacitor 2C10, pin 1 of the short-circuit point 2J10 and pin 2 of the integrated chip 2AJ1A at + 8V; pins 3 of the integrated chip 2AJ1A are connected with pins 1 of the capacitor 2C9, pins 1 of the resistor 2R4 and pins 2 of the resistor 2R 3; the pin 4 of the integrated chip 2AJ1A is connected with GND; the pin 8 of the integrated chip 2AJ1A is connected with + 16V; pin 1 of the resistor 2R3 is connected with + 16V; pin 2 of the resistor 2R4 is connected with pin 2 of the capacitor 2C9, pin 2 of the capacitor 2C10 and GND; pin 1 of the short-circuit point 2J9 is connected with 15 VGND; pin 2 of the short-circuit point 2J9 is connected with pin 2 of the short-circuit point 2J10 and is connected with reference ground;
pin 2 of the integrated chip 2U2 is connected with VCC; the 4 feet of the integrated chip 2U2 are connected with the 2 feet of the capacitor 2C7 and the reference ground; the pin 6 of the integrated chip 2U2 is connected with the pin 1 of the capacitor 2C7 and the pin + VC 1;
pin 1 of the integrated chip 2AJ2A is connected with pin 2 of the capacitor 2C8, pin 2 of the resistor 2R6 and-VC 1; pin 2 of the integrated chip 2AJ2A is connected with pin 1 of the capacitor 2C8, pin 1 of the resistor 2R6 and pin 1 of the resistor 2R 5; pin 2 of the resistor 2R5 is connected with + VC 1; the pin 4 of the integrated chip 2AJ2A is connected with VCC; the 11 pin of the integrated chip 2AJ2A is connected with VEE.
2. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the instruction analysis processing module comprises an integrated chip AJ1B, an integrated chip AJ1C, an integrated chip AJ1D, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20, a short-circuit point J1, a short-circuit point J2, a short-circuit point J3, a short-circuit point J4, a short-circuit point J5, a short-circuit point J6, a short-circuit point J7, a short-circuit point J8, a short-circuit point J9 and a short-circuit point J10; wherein the content of the first and second substances,
IN + is connected with pin 1 of resistor R1, pin 1 of short-circuit point J3 of pin 2 of resistor R3, pin 1 of short-circuit point J4 and pin 1 of resistor R6; pin 2 of the resistor R1 is connected with pin 1 of the short-circuit point J1; pin 2 of the short-circuit point J1 is connected with pin 1 of the short-circuit point J2 and is connected with reference ground; IN-is connected with the pin 1 of the 2-pin resistor R3 of the resistor R2, the pin 1 of the resistor R4, the pin 2 of the short-circuit point J5 and the pin 2 of the resistor R7; pin 1 of the resistor R2 is connected with pin 2 of the short-circuit point J2; pin 2 of the short-circuit point J3 is connected with pin 2 of the resistor R4; pin 2 of the short-circuit point J4 is connected with pin 1 of the short-circuit point J5 and pin 2 of the resistor R5; pin 1 of the resistor R5 is connected with VCC;
the pin 13 of the integrated chip AJ1D is connected with the pin 2 of the resistor R6, the pin 2 of the resistor R10 and the pin 2 of the resistor R11; pin 1 of the resistor R10 is connected with VCC; the pin 12 of the integrated chip AJ1D is connected with the pin 1 of the resistor R7, the pin 2 of the resistor R8 and the pin 2 of the resistor R9; pin 1 of the resistor R8 is connected with VCC; pin 1 of the resistor R9 is connected to ground; the pin 14 of the integrated chip AJ1D is connected with the pin 1 of the resistor R11 and the pin 2 of the resistor R12;
the pin 9 of the integrated chip AJ1C is connected with the pin 1 of the resistor R12, the pin 2 of the resistor R13, the pin 1 of the resistor R14 and the pin 2 of the resistor R15; pin 1 of the resistor R13 is connected with pin 1 of the short-circuit point J8; pin 2 of the resistor R14 is connected with pin 1 of the short-circuit point J7; pin 1 of the resistor R15 is connected with pin 1 of the short-circuit point J6; the pin 8 of the integrated chip AJ1C is connected with the pin 2 of the short-circuit point J6, the pin 2 of the short-circuit point J7, the pin 2 of the short-circuit point J8, the pin 2 of the resistor R16, the pin 1 of the short-circuit point J9 and the pin 5 of the integrated chip AJ 1B; the 10 feet of the integrated chip AJ1C are connected with the reference ground;
pins 6 of the integrated chip AJ1B are connected with pins 2 of the resistor R18 and pins 2 of the resistor R19; pin 1 of the resistor R18 is connected to ground; pins 7 of the integrated chip AJ1B are connected with pins 1 of the resistor R19 and pins 1 of the short-circuit point J10; pin 2 of the short-circuit point J10 is connected with pin 2 of the resistor R20; pin 1 of the resistor R16 is connected with pin 2 of the resistor R17 and pin 2 of the short-circuit point J9; pin 1 of the resistor R17 and pin 1 of the resistor R20 are connected.
3. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the position analysis processing module comprises an integrated chip 2AJ3A, an integrated chip 2AJ3C, a resistor 2R28, a resistor 2R29, a resistor 2R30, a resistor 2R31, a resistor 2R32, a resistor 2R33, a capacitor 2C13 and a capacitor 2C 14; wherein the content of the first and second substances,
pin 1 of the integrated chip 2AJ3A is connected with pin 2 of the resistor 2R31, pin 2 of the resistor 2R32 and pin 2 of the capacitor 2C 13; the pin 2 of the integrated chip 2AJ3A is connected with the pin 1 of the resistor 2R31, the pin 1 of the resistor 2R28 and the pin 1 of the capacitor 2C 13; the pin 3 of the integrated chip 2AJ3A is connected with the pin 2 of the resistor 2R29 and the pin 2 of the resistor 2R 30; pin 1 of the resistor 2R30 is connected to the reference ground; a pin 1 of the resistor 2R29 is connected with 2J6_2, and a pin 2 of the resistor 2R28 is connected with 2J6_ 9; the pin 4 of the integrated chip 2AJ3A is connected with VCC; the 11 pin of the integrated chip 2AJ3A is connected with VEE;
the pin 9 of the integrated chip 2AJ3C is connected with the pin 8 of the integrated chip 2AJ3C and the pin 2 of the integrated chip 2C 25; the pin 10 of the integrated chip 2AJ3C is connected with the pin 2 of the resistor 2R33 and the pin 1 of the capacitor 2C 14; pin 1 of the resistor 2R32 is connected with pin 1 of the resistor 2R33 and pin 1 of the resistor 2C 25; the 2 pin of the capacitor 2C14 is connected with the reference ground; the pin 4 of the integrated chip 2AJ3A is connected with VCC; the 11 pin of the integrated chip 2AJ3A is connected with VEE.
4. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the comprehensive operation and PID control module comprises an integrated chip AJ2C, an integrated chip AJ2D, an integrated chip AJ3C, an integrated chip AJ3D, a resistor R33, a resistor R34, a resistor R35, a resistor R36, a resistor R37, a resistor R38, a resistor R39, a resistor R40, a resistor R41, a resistor R42, a capacitor C4, a capacitor C5, a capacitor C6, a diode D3 and a diode D4; wherein the content of the first and second substances,
a pin 9 of the integrated chip AJ2C is connected with a pin 2 of the resistor R33, the anode of the diode D3 and the cathode of the diode D4; the pin 8 of the integrated chip AJ2C is connected with the pin 1 of the resistor R33, the cathode of the diode D3, the anode of the diode D4 and the pin 2 of the resistor R34; the 10 feet of the integrated chip AJ2C are connected with the reference ground;
a pin 13 of the integrated chip AJ2D is connected with a pin 2 of the capacitor C4, a pin 1 of the resistor R36, a pin 1 of the capacitor C5 and one end of the JUMP; the 12 pin of the integrated chip AJ2D is connected with the reference ground; the pin 14 of the integrated chip AJ2D is connected with the pin 1 of the resistor R38 and the pin 2 of the resistor R39; a pin 2 of the resistor R38 is connected with a pin 1 of the capacitor C4 and the other ends of a pin 2 and a pin JUM2 of the resistor R37; pin 1 of the resistor R37 is connected to ground; the pin 2 of the resistor R36 is connected with the pin 2 of the capacitor C5, the pin 2 of the resistor R35 and the pin 1 of the resistor R34; pin 1 of the resistor R35 is connected to ground;
the pin 9 of the integrated chip AJ3C is connected with the pin 2 of the 1-pin capacitor C6 of the resistor R39 and the pin 2 of the resistor R40; the 10 feet of the integrated chip AJ3C are connected with the reference ground; the pin 8 of the integrated chip AJ3C is connected with the pin 2 of the resistor R41, the pin 1 of the capacitor C6 and the pin 1 of the resistor R40;
the pin 13 of the integrated chip AJ3D is connected with the pin 1 of the resistor R41 and the pin 2 of the resistor R42; the 12 pin of the integrated chip AJ3D is connected with the reference ground; pin 14 of the integrated chip AJ3D is connected with pin 1 of the resistor R42; the pin 4 of the integrated chip AJ3D is connected with VCC; the 11 pin of the integrated chip AJ3D is connected with VEE.
5. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the PWM modulation module comprises an integrated chip 2AJ2C, an integrated chip 2U3, a resistor 2R11, a resistor 2R12, a resistor 2R13, a resistor 2R14, a capacitor 2C20 and a capacitor 2C 21; wherein the content of the first and second substances,
the pin 9 of the integrated chip 2AJ2C is connected with the pin 1 of the resistor 2R14, the pin 2 of the resistor 2R13, the pin 2 of the capacitor 2C20 and a current feedback signal; the 10 pins of the integrated chip 2AJ2C are connected with the reference ground; the pin 8 of the integrated chip 2AJ2C is connected with the pin 2 of the resistor 2R12, the pin 1 of the resistor 2R13 and the pin 1 of the capacitor 2C 20; pin 2 of the resistor 2R14 is connected with a PID output signal;
the pin 2 of the integrated chip 2U3 is connected with the pin 1 of the capacitor 2C21 and the pin 1 of the resistor 2R 12; the pin 3 of the integrated chip 2U3 is connected with a triangular wave signal; pin 7 of the integrated chip 2U3 is connected with pin 1 of the resistor 2R 11; pin 2 of the resistor 2R11 is connected with VCC; the 4 pins of the integrated chip 2U3 are connected with VCC; the 8 pin of the integrated chip 2U3 is connected to VEE.
6. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the power amplification module comprises an integrated chip 2U4, a resistor 2R6, a resistor 2R7, a resistor 2R8, a resistor 2R9, a resistor 2R10, a capacitor 2C22, a capacitor 2C23, a capacitor 2C24, a short-circuit point 2J11, a short-circuit point 2J12, a short-circuit point 2J13 and a short-circuit point 2J 14; wherein the content of the first and second substances,
pin 1 of the integrated chip 2U4 is connected with pin 2 of the capacitor 2C 23; the pin 2 of the integrated chip 2U4 is connected with the pin 2 of the resistor 2R6 and the pin 1 of the capacitor 2C 23; the pin 3 of the integrated chip 2U4 is connected with the pin 1 of the resistor 2R9 and the pin 1 of the resistor 2R 10; the pin 4 of the integrated chip 2U4 is connected with the pin 7 of the integrated chip 2U4, the pin 2 of the resistor 2R7, the pin 2 of the capacitor 2C22, the pin 1 of the short-circuit point 2J13 and the pin 1 of the short-circuit point 2J 14; the pin 5 of the integrated chip 2U4 is connected with the pin 1 of the resistor 2R7 and the pin 1 of the resistor 2R 8; the pin 6 of the integrated chip 2U4 is connected with the pin 1 of the capacitor 2C22, the pin 1 of the short-circuit point 2J11 and the pin 1 of the short-circuit point 2J 12; the pin 10 of the integrated chip 2U4 is connected with the pin 2 of the capacitor 2C 24; the pin 11 of the integrated chip 2U4 is connected with the pin 1 of the capacitor 2C24 and the pin 1 of the capacitor 2DJ 1; pin 1 of the resistor 2R6 is connected with pin 3 of the 2DJ 1; pin 2 of the resistor 2R9 is connected with VEE; pin 2 of the resistor 2R10 is connected with a PWM wave signal; pin 2 of the resistor 2R8 is connected with VCC; pin 2 of the short-circuit point 2J11 is connected with + 24V; pin 2 of the short-circuit point 2J12 is connected with + 15V; pin 2 of the short-circuit point 2J13 is connected with 24 VGND; pin 2 of short-circuit point 2J14 is connected to-15V.
7. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the position sensor excitation circuit module comprises an integrated chip 2AJ2D, an integrated chip 2AJ3D, a resistor 2R22, a capacitor 2C17, a capacitor 2C18, a short-circuit point 2J15, a short-circuit point 2J16, a short-circuit point 2J17 and a short-circuit point 2J 18; wherein the content of the first and second substances,
the pin 12 of the integrated chip 2AJ2D is connected with the pin 2 of the capacitor 2C 17; pin 13 of the integrated chip 2AJ2D is connected with pin 1 of the resistor 2R22 and pin 1 of the capacitor 2C 18; the pin 14 of the integrated chip 2AJ2D is connected with the pin 2 of the resistor 2R22, the pin 2 of the capacitor 2C18, the pin 2 of the short-circuit point 2J16 and the pin 2 of the short-circuit point 2J 18; the pin 12 of the integrated chip 2AJ3D is connected with the reference ground; pin 13 of the integrated chip 2AJ3D is connected with pin 1 of the capacitor 2C17, pin 14 of the integrated chip 2AJ3D, pin 1 of the short-circuit point 2J17 and pin 1 of the short-circuit point 2J 15; the pin 2 of the short-circuit point 2J17 is connected with the pin 1 of the short-circuit point 2J18 and the sensor access point 2J6_ 8; the pin 2 of the short-circuit point 2J15 is connected with the pin 1 of the short-circuit point 2J16 and the sensor access point 2J6_ 3.
8. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the position signal external output module comprises: the integrated circuit comprises an integrated chip AJ5A, an integrated chip AJ5B, a resistor R61, a resistor R62, a resistor R63, a resistor R64, a resistor R65, a resistor R66, a resistor R67, a resistor R68, a resistor R69, a resistor R70, a resistor R71, a potentiometer RP4, a capacitor C13, a diode D6, a short-circuit point J11, a short-circuit point J12 and a short-circuit point J13; wherein the content of the first and second substances,
pin 1 of the integrated chip AJ5A is connected with pin 1 of the resistor R62, pin 1 of the resistor R63 and pin 2 of the capacitor C13; pin 2 of the integrated chip AJ5A is connected with pin 1 of the capacitor C13, pin 1 of the short-circuit point J11, pin 1 of the short-circuit point J12 and pin 1 of the short-circuit point J13; the pin 3 of the integrated chip AJ5A is connected with the reference ground; the pin 5 of the integrated chip AJ5B is connected with the pin 1 of the resistor R64 and the pin 2 of the resistor R66; the pin 6 of the integrated chip AJ5B is connected with the pin 2 of the resistor R65 and the pin 2 of the resistor R67; pins 7 of the integrated chip AJ5B are connected with pin 1 of the resistor R67, pin 1 of the resistor R68 and pin 1 of the resistor R69; a pin 1 of the resistor R61 is connected with a pin 2 of the resistor R62, a pin 1 of the resistor R65, a positive terminal of the diode D6, a pin 2 of the potentiometer RP4 and a pin 3 of the potentiometer RP 4; a pin 1 of the potentiometer RP4 is connected with a pin 2 of the short-circuit point J13; pin 2 of the resistor R63 is connected with pin 2 of the resistor R64; pin 1 of the resistor R66 is connected to ground; pin 2 of the resistor R68 is connected with pin 2 of the short-circuit point J11; the pin 2 of the resistor R69 is connected with the pin 2 of the resistor R70 and the pin 2 of the short-circuit point J12; pin 1 of the resistor R70 is connected with pin 1 of the resistor R71; the 2 pin of the resistor R71 is connected with-VC 1.
9. The controller for a direct drive electro-hydraulic servo valve for multiparameter demand of claim 1, wherein: the instruction analysis processing module and the position analysis processing module are connected with the comprehensive operation and PID control module; the comprehensive operation and PID control module is connected with the PWM module; the PWM module is connected with the power amplification module; the power amplification module is connected with the direct-drive electro-hydraulic servo valve; the position analysis processing module is connected with the position signal external output module; the position analysis processing module and the position sensor exciting circuit module are connected with the direct-drive electro-hydraulic servo valve.
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| CN104554711B (en) * | 2014-09-12 | 2017-05-17 | 北京精密机电控制设备研究所 | Aerodynamic control servo system for controlling load tilt angle of aerial rudder of aircraft |
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