CN112555208A - Hydraulic device suitable for ultrahigh pressure precision force loading and step control method - Google Patents
Hydraulic device suitable for ultrahigh pressure precision force loading and step control method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 239000003921 oil Substances 0.000 claims description 72
- 230000001105 regulatory effect Effects 0.000 claims description 23
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000010349 pulsation Effects 0.000 abstract description 2
- 239000007788 liquid Substances 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20538—Type of pump constant capacity
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
Abstract
The invention belongs to the technical field of hydraulic power devices, particularly relates to a hydraulic device suitable for ultrahigh pressure precise force loading and a step control method, and aims to solve the problems of low accuracy and poor stability of ultrahigh pressure loading. The hydraulic device comprises an actuating mechanism, a first loading assembly and a second loading assembly, wherein the first loading assembly is connected with the actuating mechanism and used for providing a force value close to a target force value for the actuating mechanism, the second loading assembly is connected with the actuating mechanism and used for taking over the first loading assembly to enable the actuating mechanism to reach the target force value, and the loading output ends of the first loading assembly and the second loading assembly are connected and then connected with the actuating mechanism. According to the ladder control method of the device, the first loading assembly is used for rapidly pressurizing, and when the force value is close to the target force value, the second loading assembly replaces the first loading assembly for precisely pressurizing so that the executing mechanism reaches the target force value. The invention can realize the precise loading and adjustment of the ultrahigh pressure and can reduce the influence of pressure pulsation.
Description
Technical Field
The invention belongs to the technical field of hydraulic power devices, and particularly relates to a hydraulic device suitable for ultrahigh pressure precise force loading and a step control method, which can be widely applied to the technical field with high-precision force control requirements.
Background
In the fields of scientific research and engineering applications, it is often necessary to use a precisely controllable ultra-high pressure source, for example, calibration and calibration of wide-range force sensors place high demands on force loading devices. At present, hydraulic pressure sources mainly have two loading modes: one is that a common motor is adopted to drive a common fixed displacement pump to convey oil into a hydraulic cylinder, and the flow entering the hydraulic cylinder is regulated through a servo valve, so that the output force control of a piston rod is realized; the other is to control a servo motor through a computer, and the servo motor adjusts the flow rate entering the hydraulic cylinder by changing the rotating speed. The servo valve loading mode can obtain a large adjusting range, the system is easy to maintain, precise force control is difficult to realize due to middle position leakage of the servo valve and valve port nonlinearity, and the motor variable-frequency speed regulation mode has the advantages of simple hydraulic structure, energy conservation and reliability, large motor rotating speed, slow response, easiness in forming an overshoot effect, and incapability of ensuring the accuracy and stability of force output in high-pressure loading due to the influence of oil pump pulsation.
Disclosure of Invention
In view of this, the present invention provides a hydraulic apparatus and a step control method suitable for ultrahigh pressure precise force loading, and aims to solve the problems of low precision and poor stability of ultrahigh pressure loading.
In order to achieve the purpose, the invention provides the following technical scheme:
a hydraulic device suitable for ultrahigh pressure precise force loading comprises an execution mechanism, a first loading assembly and a second loading assembly, wherein the first loading assembly is connected with the execution mechanism and used for providing a force value close to a target force value for the execution mechanism, the second loading assembly is connected with the execution mechanism and used for replacing the first loading assembly to enable the execution mechanism to reach the target force value, and loading output ends of the first loading assembly and the second loading assembly are connected and then connected with the execution mechanism.
Further, first loading subassembly comprises oil tank, speed governing motor, hydraulic pump, governing valve, electromagnetism stop valve, single pole pneumatic cylinder, and the speed governing motor links to each other with the hydraulic pump, and the hydraulic pump passes through the electromagnetism stop valve and links to each other with single pole pneumatic cylinder one side, and single pole pneumatic cylinder opposite side links to each other with actuating mechanism, and the hydraulic pump still links to each other with the oil tank, is equipped with the governing valve that links to each other with the oil tank between hydraulic pump and the electromagnetism stop valve.
Further, the speed regulating motor is a servo motor, a variable frequency motor or a stepping motor; the hydraulic pump is a gear pump or a plunger pump; the actuating mechanism is a hydraulic oil cylinder.
Furthermore, the second loading assembly consists of a servo electric cylinder, a connecting piece and a double-rod hydraulic cylinder, wherein the servo electric cylinder is connected with one side of the double-rod hydraulic cylinder through the connecting piece, and the other side of the double-rod hydraulic cylinder is connected between the actuating mechanism and the single-rod hydraulic cylinder.
Further, the two rods of the double-rod hydraulic cylinder have different diameters.
Furthermore, a piston of the double-rod hydraulic cylinder is provided with a through hole communicated with cavities on two sides of the piston.
Furthermore, the hydraulic device also comprises a control system which is respectively electrically connected with the speed regulating motor and the electromagnetic stop valve of the first loading assembly, the servo electric cylinder of the second loading assembly and the body to be loaded on the actuating mechanism, the control system is an industrial computer or a single chip microcomputer, and the body to be loaded is a force sensor.
The invention also provides a step control method suitable for ultrahigh pressure precision force loading, which comprises the following steps of: during loading, after the first loading assembly is used for boosting the executing mechanism and the first-level loading force value is approached, the first loading assembly is closed, and the second loading assembly is used for replacing the first loading assembly to enable the executing mechanism to reach the first-level loading force value; the first loading assembly is used for enabling the executing mechanism to be boosted again and close to the second-stage loading force value, then the first loading assembly is closed, and the second loading assembly is used for replacing the first loading assembly to enable the executing mechanism to reach the second-stage loading force value; in analogy, the executing mechanism is stepped and boosted by utilizing the alternating loading of the first loading assembly and the second loading assembly, and the Nth-level loading force value is reached; during unloading, the first loading assembly is used for continuously unloading or alternatively unloading with the second loading assembly, so that the actuating mechanism is depressurized to a zero value.
Preferably, the range of the double-rod hydraulic cylinder in the second loading assembly is adjusted while the first loading assembly works.
Preferably, the loading step-up and the unloading step-down can be performed alternately.
The invention has the beneficial effects that:
1) the invention utilizes the characteristic that the speed regulating motor in the first loading assembly has short high-speed working time to be responsible for quick pressurization, and when the second loading assembly works, the first loading assembly does not work, and the second loading assembly is responsible for precise pressurization, so that the integral loading efficiency is high, and the energy consumption is less.
2) The invention adopts a 'two-section' loading mode, and can avoid the situation that the first loading component is always loaded rapidly to form 'force overshoot/overshoot' effect.
3) According to the invention, by utilizing the characteristic that the action areas of two cavities of the double-rod hydraulic cylinder in the second loading assembly have small difference, the real-time force value deviation caused by leakage and other factors can be well compensated by using a simple closed-loop feedback algorithm (such as a PID algorithm), so that the control precision of the force value is ensured and the force value is maintained for a long time.
4) The output flow of the first loading assembly in the same time is far larger than that of the second loading assembly, and when the first loading assembly works, the double-rod hydraulic cylinder in the second loading assembly can move to any position at the same time, so that the whole loading cannot be limited by the range of the double-rod hydraulic cylinder, and the hydraulic device can work continuously and can provide high-precision stable force sources with different force values.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
fig. 1 is a schematic view of the overall arrangement of the hydraulic apparatus of the present invention.
FIG. 2 is a flow chart of the step loading and unloading of the hydraulic apparatus of the present invention.
Reference numerals: 1 is a first loading component, 2 is a second loading component, 3 is an actuating mechanism, 4 is a force sensor, and 5 is a control system; 1-1 is an oil tank, 1-2 is a speed regulating motor, 1-3 is a hydraulic pump, 1-4 is a speed regulating valve, 1-5 is an electromagnetic stop valve, and 1-6 is a single-rod hydraulic cylinder; 2-1 is a servo electric cylinder, 2-2 is a connecting piece, and 2-3 is a double-rod hydraulic cylinder.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Referring to fig. 1, the hydraulic apparatus suitable for ultra-high pressure precision force loading according to the present embodiment includes a first loading assembly 1 and a second loading assembly 2 jointly acting on an actuator 3, that is, the first loading assembly 1 and the second loading assembly 2 are connected to the actuator 3 after respective loading output ends thereof are connected, the first loading assembly 1 is configured to provide a fast loading force close to a target force value to the actuator 3, and includes an oil tank 1-1, a speed-regulating motor 1-2, a hydraulic pump 1-3, a speed-regulating valve 1-4, an electromagnetic stop valve 1-5, and a single-rod hydraulic cylinder 1-6, the speed-regulating motor 1-2 is connected to the hydraulic pump 1-3, the hydraulic pump 1-3 is connected to one side of the single-rod hydraulic cylinder 1-6 through the electromagnetic stop valve 1-5, and the other side of the single-rod hydraulic cylinder 1-6 is connected to the actuator 3, the hydraulic pump 1-3 is also connected with the oil tank 1-1, and a speed regulating valve 1-4 connected with the oil tank 1-1 is arranged between the hydraulic pump 1-3 and the electromagnetic stop valve 1-5; the speed regulating motor drives the hydraulic pump to pressurize a rodless cavity of the single-rod hydraulic cylinder, and the single-rod hydraulic cylinder amplifies the pressure to realize the ultrahigh pressure loading of the actuating mechanism; the second loading assembly 2 is used for taking over the first loading assembly 1 and providing accurate loading force for the actuating mechanism so that the actuating mechanism 3 can reach a target force value, and consists of a servo electric cylinder 2-1, a connecting piece 2-2 and a double-rod hydraulic cylinder 2-3, wherein the servo electric cylinder 2-1 is connected with one side of the double-rod hydraulic cylinder 2-3 through the connecting piece 2-2, and the other side of the double-rod hydraulic cylinder 2-3 is connected to an oil way between the actuating mechanism 3 and the single-rod hydraulic cylinder 1-6; the servo electric cylinder drives the double-rod hydraulic cylinder to accurately regulate and control the pressure, so that the precise loading of the actuating mechanism is realized; the actuator 3 adopts a single-rod hydraulic oil cylinder, and is used for correspondingly calibrating and calibrating a wide-range force sensor aiming at a to-be-added carrier, such as the force sensor 4 arranged above a piston rod of the to-be-added carrier. By adopting the scheme, the device takes charge of rapid pressurization by utilizing the characteristic that the speed regulating motor in the first loading assembly has short working time at high speed, and takes charge of precise pressurization when the second loading assembly works, and meanwhile, the first loading assembly does not work, and the output flow of the first loading assembly is far larger than that of the second loading assembly, so that the overall loading efficiency is high, and the energy consumption is less.
In this embodiment, the speed-regulating motor 1-2 may be one of a servo motor, a variable frequency motor, or a stepping motor, that is, a motor whose rotation speed is regulated by a motor driver may be selected; the hydraulic pumps 1-3 are gear pumps or plunger pumps, i.e. pumps that can output a variable flow rate.
Any chamber of the optional double-rod hydraulic cylinder, in which the double-rod hydraulic cylinder 2-3 is connected with the actuator 3 in the embodiment, can meet the requirement of the second loading assembly on the loading force of the actuator.
The two-rod hydraulic cylinder in this embodiment has unequal diameters of the two rodsBut with a small difference, e.g. a difference of less than 1mm between the diameters of the two rods. Therefore, the difference of the liquid volumes of the two cavities of the double-rod hydraulic cylinder is small, and the increase or decrease of the total liquid volume in the double-rod hydraulic cylinder is changed by controlling the servo electric cylinder to move forwards or backwards, so that the ultrahigh pressure is precisely adjusted. For example, the diameters of the piston rods of the two cavities of the double-rod hydraulic cylinder are respectively 40mm and 40.5mm, namely the difference of the effective areas of the two cavities of the double-rod hydraulic cylinder is 31.6mm2If the piston rod steps by 0.01mm, the supply of trace oil reaching 0.000316mL can be realized, thereby creating conditions for realizing precise force control.
The piston of the double-rod hydraulic cylinder in the embodiment is provided with a through hole communicated with cavities on two sides of the piston. The through hole adopts a small aperture, so that the pressure in the two cavities of the double-rod hydraulic cylinder can be ensured to be equal, and the oil leakage of the double-rod hydraulic cylinder is greatly reduced.
The hydraulic device in the embodiment further comprises a control system 5 which is electrically connected with the speed regulating motor 1-2 and the electromagnetic stop valve 1-5 of the first loading assembly 1, the servo electric cylinder 2-1 of the second loading assembly 2 and the force sensor 4 on the actuating mechanism 3 respectively, and the control system 5 adopts an industrial computer or a single chip microcomputer.
The embodiment also provides a step control method suitable for ultrahigh pressure precise force loading, which comprises the following steps of: during loading, after the first loading assembly 1 is used for boosting the executing mechanism 3 and the first-level loading force value is approached, the first loading assembly 1 is closed, and the second loading assembly 2 is used for replacing the first loading assembly 1 to enable the executing mechanism 3 to reach the first-level loading force value; after the first loading component 1 is used for enabling the executing mechanism 3 to be boosted again and approach to the second-level loading force value, the first loading component 1 is closed, and the second loading component 2 is used for replacing the first loading component 1 to enable the executing mechanism 3 to reach the second-level loading force value; in analogy, the executing mechanism 3 is stepped and boosted by utilizing the alternating loading of the first loading assembly 1 and the second loading assembly 2, and the Nth-level loading force value is reached; the first-level loading force value, the second-level loading force value, … … and the Nth-level loading force value can be used as target force values for loading, and in the process of requiring different levels of loading force values, the pressure can be directly increased on the basis of the target force value of the previous level to achieve the target force value of the next level, starting from an initial zero value is not needed, and the purpose of step loading control is well achieved. During unloading, the first loading assembly 1 is used for continuously unloading or alternately unloading with the second loading assembly 2, so that the actuating mechanism 3 is depressurized to a zero value. The alternating unloading times and force values of the first loading assembly and the second loading assembly can correspond to the alternating loading times and force values of the first loading assembly and the second loading assembly or not.
In brief, the first loading assembly 1 is used for rapidly pressurizing, the first loading assembly 1 is closed after the actuating mechanism 3 approaches the target force value, and the second loading assembly 2 replaces the first loading assembly 1 for precisely pressurizing so that the actuating mechanism 3 reaches the target force value. Thus, the situation of force overshoot/overshoot effect caused by the rapid loading of the first loading assembly can be avoided by adopting a two-stage loading mode. In addition, when the first loading assembly 1 works, the range of the double-rod hydraulic cylinder in the second loading assembly 2 can be adjusted, so that the double-rod hydraulic cylinder has the characteristic of simultaneously moving to any position, the whole loading is not limited by the range of the double-rod hydraulic cylinder, the double-rod hydraulic cylinder can continuously work, and high-precision stability force sources with different force values can be provided.
The load boosting and unload dropping in another embodiment can be alternated. In the loading experiment process, when the loading force values of different levels are changed in the middle, one target force value can be loaded first, if the second target force value is smaller than the first target force value, the unloading is carried out, and if the second target force value is larger than the first target force value, the loading is carried out. That is to say: in particular embodiments, the loading/unloading may not be continuous step loading and then continuous step unloading, and the loading/unloading may be performed alternately or continuously.
Referring to fig. 2, a two-stage loading/unloading embodiment is used to illustrate the implementation of the extra-high pressure step loading and unloading by the step control method of the present apparatus, and the operation process is as follows.
1) Load from O to a: firstly, the control system 5 controls the electromagnetic stop valve 1-5 to the passage, then the control system controls the rotating speed of the speed regulating motor 1-2, the speed regulating motor drives the hydraulic pump 1-3, the hydraulic pump pressurizes the rodless cavity of the single-rod hydraulic cylinder 1-6, the hydraulic pressure is amplified due to the large piston area of the single-rod hydraulic cylinder and the large volume of the compressible oil, so that the pressure is rapidly increased, and when the hydraulic pressure rises to be close to but not reach a first-stage loading force value F1 (point A in figure 2), the electromagnetic stop valve 1-5 is controlled to be closed.
2) Loading from A to B: the servo electric cylinder 2-1 is controlled by the control system 5, and if the rod diameter of one end of the double-rod hydraulic cylinder 2-3 connected with the connecting piece 2-2 is larger than that of the other end, when the servo electric cylinder moves upwards, oil in an upper cavity of the double-rod hydraulic cylinder is pressed into a lower cavity through a small-aperture through hole in a piston rod, and because the area of the oil in the upper cavity of the double-rod hydraulic cylinder is larger than that of the oil in the lower cavity, redundant oil is pressed into a main oil way to repressurize the oil pressure; on the contrary, when the servo electric cylinder moves downwards, the double-rod hydraulic cylinder needs to suck oil from the main oil way so as to reduce the oil pressure of the system. The force sensor 4 collects the output real-time force value of the actuating mechanism 3 and feeds the real-time force value back to the control system, and the control system controls the rotating speed of the servo electric cylinder by comparing the real-time force value with the first-stage loading force value F1 and then adopting a PID algorithm. Because the oil liquid level difference of the upper cavity and the lower cavity of the double-rod hydraulic cylinder is very small, the control system adjusts the speed of the servo electric cylinder to finely adjust the oil liquid pressure of the main oil way, so that the force value control precision meets the requirement of a first-stage loading force value F1 and is kept for a period of time. Since the loading is required to reach the first-stage loading force value F1 from A to B and then the loading is maintained for a period of time, the double-rod hydraulic cylinder ascends for a period after the loading from A to B is completed.
3) Loading from B to C: when the first-stage loading force value F1 is loaded, firstly, the control system 5 is used for controlling the rotating speed of the speed regulating motor 1-2, then the electromagnetic stop valve 1-5 is controlled to be communicated with the passage, the speed regulating motor drives the hydraulic pump 1-3, the hydraulic pump pressurizes the rodless cavity of the single-rod hydraulic cylinder 1-6, meanwhile, the control system is used for controlling the servo electric cylinder 2-1 to rapidly move downwards to the bottommost end, considering that the oil level difference of the two cavities of the double-rod hydraulic cylinder 2-3 is small, the flow and the speed of oil suction from the main oil way are small when the single-rod hydraulic cylinder 1-6 moves downwards rapidly, the piston area of the single-rod hydraulic cylinder 1-6 is large, and the volume of compressible oil is large, so that the flow and the speed of the oil suction from the main oil way are far different from the flow and the speed of the oil pressed into the, when the oil pressure rises to be close to but not reach the second-stage loading force value F2 (point C in FIG. 2), the electromagnetic cut-off valve is controlled to be closed.
4) Loading from C to D: the servo electric cylinder 2-1 is controlled by the control system 5, the force sensor 4 collects the output real-time force value of the actuating mechanism 3 and feeds the real-time force value back to the control system, and the control system controls the rotating speed of the servo electric cylinder by comparing the real-time force value with a second-stage loading force value F2 and then adopting a PID algorithm. Because the oil liquid level difference of the upper cavity and the lower cavity of the double-rod hydraulic cylinder 2-3 is very small, the control system adjusts the speed of the servo electric cylinder to finely adjust the oil liquid pressure of the main oil way, and the force value control precision meets the requirement of a second-stage loading force value F2 and is kept for a period of time. When B to C are loaded, the servo electric cylinder is moved downwards to the bottom end, so that the measuring range of the double-rod hydraulic cylinder can meet the loading from C to D.
5) Unloading from D to E: the rotating speed of a speed regulating motor 1-2 is controlled to be 0 through a control system 5, then an electromagnetic stop valve 1-5 is controlled to be communicated with a passage, because the oil pressure in a main oil passage is higher and is a second-stage loading force value F2, the oil pressure of an oil tank 1-1 is 0, the oil in the main oil passage flows back to the oil tank rapidly through the oil pressure difference, meanwhile, a servo electric cylinder 2-1 is controlled to move up to the top rapidly through the control system, the flow and the speed of the oil pressed into the main oil passage are smaller when the oil pressure difference between two cavities of a double-rod hydraulic cylinder 2-3 is considered to be smaller, the flow and the speed of the oil pressed into the main oil passage are smaller when the servo electric cylinder moves up, the flow and the speed of the oil pressed into the main oil passage when the servo electric cylinder moves up are far smaller than the flow and the speed of the oil pressed into, the main line oil pressure also drops rapidly, and when the oil pressure drops to a value close to but not reaching the unload force value F3 (point E in fig. 2), the electromagnetic cut-off valve is controlled to close.
6) Unloading from E to F: the servo electric cylinder 2-1 is controlled by the control system 5, the force sensor 4 collects the output real-time force value of the actuating mechanism 3 and feeds the real-time force value back to the control system, and the control system controls the rotating speed of the servo electric cylinder by comparing the real-time force value with an unloading force value F3 and then adopting a PID algorithm. Because the oil liquid level difference of the upper cavity and the lower cavity of the double-rod hydraulic cylinder 2-3 is very small, the control system adjusts the speed of the servo electric cylinder to finely adjust the oil liquid pressure of the main oil way, so that the force value control precision meets the requirement of the unloading force value F3 and is kept for a period of time. Because the servo electric cylinder is moved to the topmost end when D to E are unloaded, the range of the double-rod hydraulic cylinder can meet the unloading from E to F.
7) Unloading from F to G: the rotating speed of the speed regulating motor 1-2 is controlled to be 0 through the control system 5, then the electromagnetic stop valve 1-5 is controlled to be communicated with the passage, as the oil pressure in the main oil way is higher and is an unloading force value F3, and the oil pressure of the oil tank 1-1 is 0, the oil in the main oil way rapidly flows back to the oil tank through the oil pressure difference, meanwhile, the servo electric cylinder 2-1 is controlled to move downwards to the bottommost end through the control system, and the double-rod hydraulic cylinder 2-3 sucks residual oil from the main oil way, so that the oil pressure in the main oil way is reduced to be 0.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. The hydraulic device suitable for ultrahigh pressure precise force loading comprises an actuating mechanism (3) and is characterized by further comprising a first loading assembly (1) connected with the actuating mechanism and used for providing a force value close to a target force value for the actuating mechanism, and a second loading assembly (2) connected with the actuating mechanism and used for replacing the first loading assembly to enable the actuating mechanism to reach the target force value, wherein loading output ends of the first loading assembly and the second loading assembly are connected and then connected with the actuating mechanism.
2. The hydraulic device suitable for ultrahigh-pressure precise force loading according to claim 1, wherein the first loading assembly consists of an oil tank (1-1), a speed regulating motor (1-2), a hydraulic pump (1-3), a speed regulating valve (1-4), an electromagnetic stop valve (1-5) and a single-rod hydraulic cylinder (1-6), the speed regulating motor is connected with the hydraulic pump, the hydraulic pump is connected with one side of the single-rod hydraulic cylinder through the electromagnetic stop valve, the other side of the single-rod hydraulic cylinder is connected with an executing mechanism, the hydraulic pump is further connected with the oil tank, and the speed regulating valve connected with the oil tank is arranged between the hydraulic pump and the electromagnetic stop valve.
3. The hydraulic device suitable for ultrahigh pressure precision force loading according to claim 2, wherein the speed regulating motor is a servo motor, a variable frequency motor or a stepping motor; the hydraulic pump is a gear pump or a plunger pump; the actuating mechanism is a hydraulic oil cylinder.
4. The hydraulic device suitable for ultrahigh-pressure precise force loading according to claim 2 or 3, wherein the second loading assembly consists of an electric servo cylinder (2-1), a connecting piece (2-2) and a double-rod hydraulic cylinder (2-3), the electric servo cylinder is connected with one side of the double-rod hydraulic cylinder through the connecting piece, and the other side of the double-rod hydraulic cylinder is connected between the actuating mechanism and the single-rod hydraulic cylinder.
5. The hydraulic apparatus suitable for ultrahigh pressure precision force loading according to claim 4, wherein the two rods of the double rod hydraulic cylinder have different diameters.
6. The hydraulic device suitable for ultrahigh pressure precise force loading according to claim 4, wherein the piston of the double-rod hydraulic cylinder is provided with a through hole communicated with the cavities on two sides of the piston.
7. The hydraulic device suitable for ultrahigh-pressure precise force loading according to claim 4, further comprising a control system electrically connected to the speed regulating motor and the electromagnetic stop valve of the first loading assembly, the servo electric cylinder of the second loading assembly and the body to be loaded on the actuating mechanism, wherein the control system is an industrial computer or a single chip microcomputer, and the body to be loaded is the force sensor (4).
8. A step control method suitable for ultrahigh pressure precision force loading, which is characterized in that the hydraulic device according to any one of claims 1 to 7 is adopted, and the step control method comprises the following steps: during loading, after the first loading assembly is used for boosting the executing mechanism and the first-level loading force value is approached, the first loading assembly is closed, and the second loading assembly is used for replacing the first loading assembly to enable the executing mechanism to reach the first-level loading force value; the first loading assembly is used for enabling the executing mechanism to be boosted again and close to the second-stage loading force value, then the first loading assembly is closed, and the second loading assembly is used for replacing the first loading assembly to enable the executing mechanism to reach the second-stage loading force value; in analogy, the executing mechanism is stepped and boosted by utilizing the alternating loading of the first loading assembly and the second loading assembly, and the Nth-level loading force value is reached; during unloading, the first loading assembly is used for continuously unloading or alternatively unloading with the second loading assembly, so that the actuating mechanism is depressurized to a zero value.
9. The stair control method suitable for ultrahigh pressure precision force loading according to claim 8, wherein the range of the double-rod hydraulic cylinder in the second loading assembly is adjusted while the first loading assembly is operated.
10. The stair control method suitable for ultrahigh pressure precise force loading according to claim 8, wherein the loading and the pressure increasing and the unloading and the pressure reducing can be performed alternately.
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