CN113417898B - Electro-hydraulic actuator system based on electromagnetic proportional valve and displacement control method thereof - Google Patents

Electro-hydraulic actuator system based on electromagnetic proportional valve and displacement control method thereof Download PDF

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CN113417898B
CN113417898B CN202110722525.6A CN202110722525A CN113417898B CN 113417898 B CN113417898 B CN 113417898B CN 202110722525 A CN202110722525 A CN 202110722525A CN 113417898 B CN113417898 B CN 113417898B
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piston
actuator
proportional valve
displacement
electromagnetic proportional
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CN113417898A (en
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张辉
张思龙
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Beihang University
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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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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
    • 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention provides an electro-hydraulic actuator system based on an electromagnetic proportional valve and a displacement control method thereof.

Description

Electro-hydraulic actuator system based on electromagnetic proportional valve and displacement control method thereof
Technical Field
The invention relates to the field of electro-hydraulic actuators, in particular to a method for controlling the accurate position of an electro-hydraulic actuator.
Background
The electro-hydraulic actuator system is widely applied to various industrial fields. The system is characterized by the ability to deliver large forces and high dynamic response, and has high durability and high power-to-weight ratio, and can provide large forces at high speeds in relatively small size. In recent years, high-precision position control of electro-hydraulic actuator systems has received much attention, and various electro-hydraulic actuator systems and control schemes thereof have been widely applied to the fields of mobile equipment, machine tools, plastic industry, automobile detection, mine oil exploration and the like.
Disclosure of Invention
Aiming at the application requirements of the electro-hydraulic actuator, the invention provides an electro-hydraulic actuator system based on an electromagnetic proportional valve and a displacement control method thereof.
The technical scheme of the invention is as follows:
an electro-hydraulic actuator system based on an electromagnetic proportional valve, comprising: the device comprises a three-position four-way electromagnetic proportional valve 1, a displacement pump 2, a double-acting hydraulic piston cylinder 3, a position sensor 4 and an oil tank 5;
the three-position four-way electromagnetic proportional valve 1 is respectively connected with the double-action hydraulic piston cylinder 3, the displacement pump 2 and the oil tank 5 through hydraulic pipelines;
and the position sensor 4 is connected with the piston of the double-acting hydraulic piston cylinder 3 to measure the actual position of the piston of the double-acting hydraulic piston cylinder.
Furthermore, the three-position four-way electromagnetic proportional valve 1 controls the flow direction of fluid, and keeps the flow and the pressure of an actuator by controlling the opening of a port of the proportional valve.
Further, the displacement pump 2 is used as a pressurizing power source and is coupled with an electric motor to provide constant pressurized fluid for the system.
Further, a pressure regulating valve 6 is included as a system safety valve.
A displacement control method using the electro-hydraulic actuator system comprises the following steps:
s1, establishing a dynamic model of an actuating mechanism of the electro-hydraulic actuator system:
Figure BDA0003136410100000021
wherein A iskIs the piston area, M is the piston external load mass,
Figure BDA0003136410100000022
in order to accelerate the actuator, the acceleration of the actuator is measured,
Figure BDA0003136410100000023
is the actuator speed, C is the leakage coefficient, P1And P2The pressures of the left and right piston chambers are shown respectively.
The pressure of the left piston cavity and the right piston cavity of the actuator is as follows:
Figure BDA0003136410100000024
Figure BDA0003136410100000025
wherein beta is the fluid bulk modulus, VhIs half the volume of the actuator, Q1、Q2Flow into and out of the actuator, Q, respectivelyLIs formed by a ringThe flow of the piston area leaking from one chamber to the other, Y being the displacement of the actuator piston.
Flow rate Q of the inflow actuator and the outflow actuator1、Q2And meter the leakage flow rate QLCalculated from the following formula:
Figure BDA0003136410100000026
Figure BDA0003136410100000027
Figure BDA0003136410100000028
in the formula, CdIs the flow coefficient, APMetering the area of a port for a three-position four-way electromagnetic proportional valve, wherein rho is the fluid density and P issPressure supplied to the pump, PrIs the reservoir pressure, dkIs the diameter of the actuator, hsIs a ring gap ofsIs the spool length.
The method for calculating the area of the metering port of the three-position four-way electromagnetic proportional valve comprises the following steps:
Figure BDA0003136410100000029
wherein r is radius of a metering port of the three-position four-way electromagnetic proportional valve, xSPThe valve core of the three-position four-way electromagnetic proportional valve is displaced.
The three-position four-way electromagnetic proportional valve drives the valve core after being electrified, and the relationship between the current and the displacement of the valve core is as follows:
xSP＝f(ISC)
wherein, IscThe current is the current of the three-position four-way electromagnetic proportional valve.
S2, the position of the electro-hydraulic actuator is controlled by adopting a closed-loop PID controller, and the position sensor feeds back a piston displacement signal to the PID controller in real timeIn (3), the PID controller will expect to input variable YdDifference with piston displacement Y to obtain displacement tracking error, i.e. e ═ YdY, the PID controller calculates and obtains a duty ratio eta according to the displacement tracking error e, wherein eta is more than or equal to 0 and less than or equal to 1, and drives the three-position four-way electromagnetic proportional valve to act through current to adjust the pressure of the left piston cavity and the right piston cavity so that the piston displacement Y of the electro-hydraulic actuator gradually reaches the expected displacement YdAnd completing the displacement closed-loop control of the electro-hydraulic actuator.
Compared with the prior art, the technical scheme of the invention adopts the three-position four-way electromagnetic valve to control the flow direction of the fluid, establishes a reliable mathematical model in a pertinence way, and realizes the position accurate control of high dynamic response and low tracking error of the electro-hydraulic actuator by matching with the PID controller.
Drawings
The invention may be better understood by reference to the following drawings. The components in the figures are not to be considered as drawn to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a schematic view of an electro-hydraulic actuator system of the present invention;
Detailed Description
For the purpose of facilitating an understanding and enabling persons of ordinary skill in the art, the invention will be described in further detail below with reference to the accompanying drawings and detailed description:
as shown in FIG. 1, the electro-hydraulic actuator system based on the electromagnetic proportional valve comprises: the device comprises a three-position four-way electromagnetic proportional valve 1, a displacement pump 2, a double-acting hydraulic piston cylinder 3, a position sensor 4 and an oil tank 5; the three-position four-way electromagnetic proportional valve 1 is respectively connected with the double-action hydraulic piston cylinder 3, the displacement pump 2 and the oil tank 5 through hydraulic pipelines; and the position sensor 4 is connected with the piston of the double-acting hydraulic piston cylinder 3 to measure the actual position of the piston of the double-acting hydraulic piston cylinder.
The three-position four-way electromagnetic proportional valve 1 controls the flow direction of fluid, and keeps the flow and the pressure of an actuator by controlling the opening of a port of the proportional valve.
The displacement pump 2 is used as a pressurizing power source and is coupled with the motor to form a structure, and constant pressurized fluid is provided for the system.
And a pressure regulating valve 6 as a system safety valve.
A displacement control method using the electro-hydraulic actuator system comprises the following steps:
s1, establishing a dynamic model of an actuating mechanism of the electro-hydraulic actuator system:
Figure BDA0003136410100000031
wherein A iskIs the piston area, M is the piston external load mass,
Figure BDA0003136410100000032
in order to accelerate the actuator, the acceleration of the actuator is measured,
Figure BDA0003136410100000033
is the actuator speed, C is the leakage coefficient, P1And P2The pressures of the left and right piston chambers are shown respectively.
The pressure of the left piston cavity and the right piston cavity of the actuator is as follows:
Figure BDA0003136410100000034
Figure BDA0003136410100000041
wherein beta is the fluid bulk modulus, VhIs half the volume of the actuator, Q1、Q2Flow into and out of the actuator, Q, respectivelyLFor flow leaking from one chamber to another through the annular piston area, Y is the displacement of the actuator piston.
Flow rate Q of the inflow actuator and the outflow actuator1、Q2And meter the leakage flow rate QLCalculated from the following formula:
Figure BDA0003136410100000042
Figure BDA0003136410100000043
Figure BDA0003136410100000044
in the formula, CdIs the flow coefficient, APMetering the area of a port for a three-position four-way electromagnetic proportional valve, wherein rho is the fluid density and P issPressure supplied to the pump, PrIs the reservoir pressure, dkTo the actuator diameter, hsIs an annular space ofsIs the spool length.
The method for calculating the area of the metering port of the three-position four-way electromagnetic proportional valve comprises the following steps:
Figure BDA0003136410100000045
wherein r is radius of a metering port of the three-position four-way electromagnetic proportional valve, xSPThe valve core of the three-position four-way electromagnetic proportional valve is displaced.
The three-position four-way electromagnetic proportional valve drives the valve core after being electrified, and the relationship between the current and the displacement of the valve core is as follows:
xSP＝f(ISC)
wherein, IscIs the current of the three-position four-way electromagnetic proportional valve.
S2, the position of the electro-hydraulic actuator is controlled by adopting a closed-loop PID controller, the position sensor feeds back a piston displacement signal to the PID controller in real time, and the PID controller inputs an expected input variable YdDifference with piston displacement Y to obtain displacement tracking error, i.e. e ═ YdY, the PID controller calculates and obtains a duty ratio eta according to the displacement tracking error e, wherein eta is more than or equal to 0 and less than or equal to 1, and drives the three-position four-way electromagnetic proportional valve to act through current to adjust the pressure of the left piston cavity and the right piston cavity so that the piston displacement Y of the electro-hydraulic actuator gradually reaches the expected displacement YdTo finishAnd (4) performing displacement closed-loop control on the electro-hydraulic actuator.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, a first feature "on," "above," and "over" a second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "under", "beneath" and "beneath" a first feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is at a lesser elevation than the second feature.
In the present invention, the terms "first", "second", third "and" fourth "are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. A displacement control method of an electro-hydraulic actuator system based on an electromagnetic proportional valve is used, and the electro-hydraulic actuator system comprises a three-position four-way electromagnetic proportional valve (1), a displacement pump (2), a double-action hydraulic piston cylinder (3), a position sensor (4) and an oil tank (5); the three-position four-way electromagnetic proportional valve (1) is respectively connected with the double-action hydraulic piston cylinder (3), the displacement pump (2) and the oil tank (5) through hydraulic pipelines; the position sensor (4) is connected with the piston of the double-action hydraulic piston cylinder (3) to measure the actual position of the piston of the double-action hydraulic piston cylinder; the method is characterized by comprising the following steps:
s1, establishing a dynamic model of an actuating mechanism of the electro-hydraulic actuator system:
Figure FDA0003679166670000011
wherein A iskIs the piston area, M is the piston external load mass,
Figure FDA0003679166670000012
in order to provide for an acceleration of the actuator piston,
Figure FDA0003679166670000013
is the actuator piston velocity, C is the leakage coefficient, P1And P2The pressures of the left piston cavity and the right piston cavity are respectively;
the pressure of the left piston cavity and the right piston cavity of the actuator is as follows:
Figure FDA0003679166670000014
Figure FDA0003679166670000015
wherein beta is the fluid bulk modulus, VhIs half the volume of the actuator, Q1、Q2Flow into and out of the actuator, Q, respectivelyLFor leakage from one piston chamber to another via the annular piston regionThe flow of the piston cavity, and Y is the displacement of the actuator piston;
flow rate Q of the inflow actuator and the outflow actuator1、Q2And leakage flow rate QLCalculated from the following formula:
Figure FDA0003679166670000016
Figure FDA0003679166670000017
Figure FDA0003679166670000018
in the formula, CdIs the flow coefficient, APMetering the area of a port for a three-position four-way electromagnetic proportional valve, wherein rho is the fluid density and P issPressure, P, supplied to the displacement pumprIs the reservoir pressure, dkTo the actuator diameter, hsIs a ring gap ofsIs the length of the valve core;
the calculation method of the area of the metering port of the three-position four-way electromagnetic proportional valve comprises the following steps:
Figure FDA0003679166670000019
wherein r is radius of a metering port of the three-position four-way electromagnetic proportional valve, xSPThe valve core of the three-position four-way electromagnetic proportional valve is displaced;
the three-position four-way electromagnetic proportional valve drives the valve core after being electrified, and the relationship between the current and the displacement of the valve core is as follows:
xSP＝f(ISC)
wherein, IscThe current of the three-position four-way electromagnetic proportional valve;
s2, the position of the electro-hydraulic actuator is controlled by a closed-loop PID controller, and the position sensor feeds back a piston displacement signal in real timeInto a PID controller, which will expect an input variable YdObtaining the displacement tracking error by subtracting the displacement Y of the piston of the actuator, namely e is YdY, the PID controller calculates and obtains a duty ratio eta according to the displacement tracking error e, wherein eta is more than or equal to 0 and less than or equal to 1, and regulates the pressure of the left piston cavity and the right piston cavity by driving a three-position four-way electromagnetic proportional valve to act through current so that the displacement Y of the piston of the actuator gradually reaches an expected input variable YdAnd completing the displacement closed-loop control of the electro-hydraulic actuator.
2. The displacement control method according to claim 1, characterized in that the three-position four-way electromagnetic proportional valve (1) controls the flow direction of the fluid, and the flow rate and the pressure of an actuator are maintained by controlling the opening degree of the port of the three-position four-way electromagnetic proportional valve.
3. A displacement control method according to claim 1, characterized in that the displacement pump (2) is coupled to the electric motor as a source of pressurized power, providing a constant pressurized fluid to the system.
4. The displacement control method according to claim 1, characterized in that the electro-hydraulic actuator system based on a solenoid proportional valve further comprises a pressure regulating valve (6), the pressure regulating valve (6) acting as a system safety valve.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10159809A (en) * 1996-11-28 1998-06-16 Kobe Steel Ltd Flow controller for hydraulic actuator
CN204591851U (en) * 2015-04-30 2015-08-26 南京埃尔法电液技术有限公司 Multistage flow pressure compound control system
CN110873083A (en) * 2018-09-03 2020-03-10 江苏科技大学 Double-valve parallel electro-hydraulic servo system and control method thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10159809A (en) * 1996-11-28 1998-06-16 Kobe Steel Ltd Flow controller for hydraulic actuator
CN204591851U (en) * 2015-04-30 2015-08-26 南京埃尔法电液技术有限公司 Multistage flow pressure compound control system
CN110873083A (en) * 2018-09-03 2020-03-10 江苏科技大学 Double-valve parallel electro-hydraulic servo system and control method thereof

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