CN113931890B - Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof - Google Patents

Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof Download PDF

Info

Publication number
CN113931890B
CN113931890B CN202111358352.0A CN202111358352A CN113931890B CN 113931890 B CN113931890 B CN 113931890B CN 202111358352 A CN202111358352 A CN 202111358352A CN 113931890 B CN113931890 B CN 113931890B
Authority
CN
China
Prior art keywords
cylinder
hydraulic
electric hybrid
strain
auxiliary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111358352.0A
Other languages
Chinese (zh)
Other versions
CN113931890A (en
Inventor
权龙�
乔舒斐
郝云晓
夏连鹏
王翔宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taiyuan University of Technology
Original Assignee
Taiyuan University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taiyuan University of Technology filed Critical Taiyuan University of Technology
Priority to CN202111358352.0A priority Critical patent/CN113931890B/en
Publication of CN113931890A publication Critical patent/CN113931890A/en
Application granted granted Critical
Publication of CN113931890B publication Critical patent/CN113931890B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/088—Characterised by the construction of the motor unit the motor using combined actuation, e.g. electric and fluid actuation
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B2015/206—Combined actuation, e.g. electric and fluid actuated
    • 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
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2046—Screw mechanisms with gears arranged perpendicular to screw shaft axis, e.g. helical gears engaging tangentially the screw shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2081—Parallel arrangement of drive motor to screw axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/209—Arrangements for driving the actuator using worm gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2096—Arrangements for driving the actuator using endless flexible members

Landscapes

  • 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)
  • Power Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention provides a multi-cylinder synchronous system capable of inhibiting force fighting and a control method thereof, belonging to the field of synchronous control, wherein the multi-cylinder synchronous control system comprises a plurality of hydraulic-electric hybrid-driven integrated cylinders, each hydraulic-electric hybrid-driven integrated cylinder is connected with a displacement sensor and a strain gauge, and the displacement sensors detect the position information of the corresponding hydraulic-electric hybrid-driven integrated cylinders; the strain gauge detects strain information of the corresponding hydro-electric hybrid drive integrated cylinder; the driving unit drives each hydraulic-electric hybrid drive integrated cylinder to operate; and the calculation control unit controls the operation of each hydraulic-electric hybrid drive integrated cylinder according to the position information and the strain information of each hydraulic-electric hybrid drive integrated cylinder. The problem of structural damage caused by serious force dispute and stress concentration due to position deviation and strain deviation is avoided, the control precision of multi-cylinder synchronous motion is improved, the problem of multi-cylinder motion asynchronism in various forms can be effectively solved, and the limitation of the type, the number and the motion stroke of the motion cylinders is avoided.

Description

Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof
Technical Field
The invention relates to the field of synchronous control, in particular to a multi-cylinder synchronous system capable of inhibiting force fighting and a control method thereof.
Background
In modern mobile and industrial mechanical equipment, with the increasing of the driving load, the application of a plurality of actuators simultaneously acting on the same equipment is increasing, such as the ejection of carrier-based airplanes and the multi-cylinder ejection device of satellite transmission in the field of aerospace, the multi-cylinder synchronous driving of large-scale forging hydraulic machines in the field of industry and the like.
In a multi-cylinder synchronous driving system, each actuator has interference such as element manufacturing errors, driving system parameter errors, load distribution differences and the like, and in order to ensure the synchronism of the multiple cylinders and prevent dangerous situations such as equipment breaking and execution structure locking caused by force dispute due to the asynchronization of the multiple cylinders, the synchronous control method of the multi-cylinder synchronous driving system is very important besides the requirement that the parameters of each actuator are consistent. The existing multi-hydraulic cylinder synchronous control method and multi-hydraulic cylinder synchronous control method compensate the position synchronous control of the actuator through the position difference value of multiple cylinders, and the multi-cylinder synchronous problem is not solved from the fundamental characteristic of structural damage caused by force dispute.
Based on the above problems, a new multi-cylinder synchronization system and control method are needed to realize accurate multi-cylinder synchronization control and ensure the safety and reliability of the equipment.
Disclosure of Invention
The invention aims to provide a multi-cylinder synchronization system capable of inhibiting force dispute and a control method thereof, which solve the problem of structural damage caused by low multi-cylinder synchronization driving precision on the basis of the fundamental problem of multi-cylinder force dispute and stress concentration caused by non-synchronization, effectively solve the problem of multi-cylinder movement asynchronization in various forms and improve the control precision and reliability of multi-cylinder synchronization.
In order to achieve the purpose, the invention provides the following scheme:
a suppressible force fighting multi-cylinder synchronization system, comprising:
a plurality of hydro-electric hybrid driving integrated cylinders;
the number of the displacement sensors is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, each displacement sensor is connected with one hydraulic-electric hybrid drive integrated cylinder, and the displacement sensors are used for detecting position information of the corresponding hydraulic-electric hybrid drive integrated cylinders;
the number of the strain gauges is consistent with that of the hydraulic-electric hybrid drive integration cylinders, each strain gauge is connected with one hydraulic-electric hybrid drive integration cylinder, each strain gauge is arranged at the output end of the hydraulic-electric hybrid drive integration cylinder, and the strain gauges are used for detecting strain information of the corresponding hydraulic-electric hybrid drive integration cylinder;
the driving unit is connected with each hydraulic-electric hybrid drive integrated cylinder and is used for driving each hydraulic-electric hybrid drive integrated cylinder to operate;
and the calculation control unit is respectively connected with the displacement sensor, the strain gauge and the driving unit and is used for controlling the operation of each hydraulic-electric hybrid drive integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid drive integrated cylinder.
Optionally, the force fighting multi-cylinder synchronization system further includes:
and the number of the transmitters is consistent with that of the strain gauges, and each transmitter is respectively connected with one strain gauge and the calculation control unit.
Optionally, the plurality of hydraulic-electric hybrid driving integrated cylinders comprise a main cylinder and a plurality of auxiliary cylinders;
the calculation control unit includes:
the position synchronous compensation controllers are in the same number as the auxiliary cylinders, and are respectively connected with the displacement sensors of the corresponding auxiliary cylinders and the displacement sensor of the main cylinder and used for generating position compensation signals according to the position information of the auxiliary cylinders and the position information of the main cylinder;
the strain synchronous compensation controllers are in the same number as the auxiliary cylinders, and each strain synchronous compensation controller is respectively connected with the corresponding strain gauge of the auxiliary cylinder and the corresponding strain gauge of the main cylinder and used for generating strain compensation deviation rectifying signals according to the strain information of the auxiliary cylinders and the strain information of the main cylinder;
the auxiliary cylinder controllers are connected with the corresponding position synchronous compensation controller, the corresponding strain synchronous compensation controller and the corresponding driving unit respectively, and are used for generating auxiliary cylinder control signals according to the position compensation signals, the strain compensation deviation correction signals, the position instructions and the position information of the auxiliary cylinders and controlling the auxiliary cylinders to operate through the driving unit;
and the master cylinder controller is connected with the driving unit and used for generating a master cylinder control signal according to the position command and the position information of the master cylinder, and the master cylinder is controlled to operate by the driving unit.
Optionally, the hydro-electric hybrid driving integrated cylinder includes:
a first motor connected with the driving unit;
the speed reducer is connected with the first motor;
the cylinder barrel is fixedly connected with the speed reducer;
the push rod is arranged in the cylinder barrel and is movably connected with the cylinder barrel, and the strain gauge and the displacement sensor are both arranged on the push rod;
the screw rod is arranged in the cylinder barrel, one end of the screw rod is connected with the speed reducer, and the other end of the screw rod is connected with the push rod through a screw transmission pair; the screw rod generates rotary motion under the control of the first motor and the speed reducer, and the screw transmission pair drives the push rod to generate linear motion.
Optionally, the drive unit comprises:
the hydraulic driving module is connected with each hydraulic-electric hybrid drive integrated cylinder and used for supplying oil to each hydraulic-electric hybrid drive integrated cylinder and performing power compensation;
and the electric driving module is respectively connected with each hydraulic-electric hybrid driving integrated cylinder and the hydraulic driving module and is used for driving each hydraulic-electric hybrid driving integrated cylinder and the hydraulic driving module to operate.
Optionally, the hydraulic drive module comprises: the second motor, the hydraulic pump, the overflow valve, the oil tank and the control valve;
the second motor is connected with the electric drive module;
the hydraulic pump is coaxially connected with the second motor;
an oil suction port of the hydraulic pump is communicated with the oil tank;
an oil outlet of the hydraulic pump is respectively communicated with an oil inlet of the control valve and an oil inlet of the overflow valve;
the number of the control valves is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, and the working oil port of each control valve is communicated with one hydraulic-electric hybrid drive integrated cylinder; the oil outlet of each control valve is communicated with the oil tank.
Optionally, the hydraulic drive module comprises: the system comprises a second motor, a pump/motor, a first hydraulic control one-way valve, a second overflow valve, a third overflow valve and an energy accumulator;
the second motor is connected with the electric drive module;
the pump/motor is coaxially connected with the second motor and is communicated with the hydraulic-electric hybrid drive integrated cylinder, the oil inlet of the second overflow valve and the oil inlet of the third overflow valve;
the oil outlet of the second overflow valve and the oil outlet of the third overflow valve are both communicated with the energy accumulator;
the oil outlet of the first hydraulic control one-way valve and the oil outlet of the second hydraulic control one-way valve are both communicated with the hydraulic-electric hybrid drive integrated cylinder;
the oil inlet of the first hydraulic control one-way valve and the oil inlet of the second hydraulic control one-way valve are communicated with the energy accumulator.
In order to achieve the above purpose, the invention also provides the following scheme:
a force-suppressible dispute multi-cylinder synchronous control method comprises the following steps:
acquiring position information of each hydraulic-electric hybrid drive integrated cylinder through a displacement sensor;
strain information of each hydraulic-electric hybrid drive integrated cylinder is acquired through a strain gauge;
and the calculation control unit controls the operation of each hydraulic-electric hybrid drive integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid drive integrated cylinder.
Optionally, the calculation control unit controls the operation of each hydraulic-electric hybrid-driven integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid-driven integrated cylinder, and specifically includes:
when the hydro-electric hybrid drive integrated cylinder is controlled by the first motor, the calculation control unit generates a main cylinder control signal according to the position instruction and the position information of the main cylinder to control the operation of the main cylinder;
aiming at any one auxiliary cylinder, the position synchronous compensation controller generates a position compensation signal according to the position information of the auxiliary cylinder and the position information of the main cylinder;
the strain synchronous compensation controller generates a strain compensation deviation correcting signal according to the strain information of the auxiliary cylinder and the strain information of the main cylinder;
and the auxiliary cylinder controller generates an auxiliary cylinder control signal according to the position compensation signal, the strain compensation deviation correction signal, the position instruction and the position information of the auxiliary cylinder, and controls a first motor of the auxiliary cylinder to operate through an electric drive unit.
Optionally, the calculation control unit controls the operation of each hydraulic-electric hybrid-driven integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid-driven integrated cylinder, and specifically includes:
when the hydraulic drive module is used for controlling the hydraulic-electric hybrid drive integrated cylinder, the calculation control unit generates a master cylinder control signal according to the position instruction and the position information of the master cylinder, and the master cylinder is controlled to operate by the hydraulic drive module;
aiming at any one auxiliary cylinder, the position synchronous compensation controller generates a position compensation signal according to the position information of the auxiliary cylinder and the position information of the main cylinder;
the strain synchronous compensation controller generates a strain compensation deviation correcting signal according to the strain information of the auxiliary cylinder and the strain information of the main cylinder;
and the auxiliary cylinder controller generates an auxiliary cylinder control signal according to the position compensation signal, the strain compensation deviation correction signal, the position instruction and the position information of the auxiliary cylinder, and controls the auxiliary cylinder to operate through a hydraulic driving module.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the displacement sensors and the strain gauges are respectively and correspondingly arranged on the hydraulic-electric hybrid drive integrated cylinders, and the operation of each hydraulic-electric hybrid drive integrated cylinder is controlled by the driving unit according to the position information and the strain information of the main cylinder and the auxiliary cylinder through the calculation control unit, so that the problem of structural damage caused by serious force dispute and stress concentration due to position deviation and strain deviation is solved, and the control precision and the safety reliability of multi-cylinder synchronous motion are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a multi-cylinder synchronization system capable of inhibiting force fighting;
FIG. 2 is a diagram of a synchronous control strategy structure for controlling a first motor of a hydraulic-electric hybrid drive integrated cylinder;
FIG. 3 is a block diagram of a synchronous control strategy for controlling a hydraulic-electric hybrid integrated cylinder by using a hydraulic drive module;
fig. 4 is a schematic structural diagram of the hydraulic drive module when a pump control unit is adopted.
Description of the symbols:
a load mechanism-1, hydraulic-electric hybrid drive integrated cylinders-2-1 and 2-2, a first motor-3, a speed reducer-4, a lead screw-5, a sealing part-6, a cylinder-7, a push rod-8, displacement sensors-9-1 and 9-2, strain gauges-10-1 and 10-2, transmitters-11-1 and 11-2, drivers-12-1, 12-2, 12-3 and 12-4, a power switch-13, a calculation control unit-14, a signal source-15, control valves-16-1 and 16-2, a second motor-17, a hydraulic pump-18, an overflow valve-19, an oil tank-20, pump control units-21-1 and 21-2, the hydraulic control system comprises a first hydraulic control check valve-22, a second hydraulic control check valve-23, a second overflow valve-24, a third overflow valve-25, a pump/motor-26 and an accumulator-27.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a multi-cylinder synchronization system capable of inhibiting force dispute and a control method thereof.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the multi-cylinder synchronization system capable of suppressing force fighting of the present invention comprises: the hydraulic-electric hybrid drive integrated cylinder, the displacement sensor, the strain gauge, the driving unit and the calculation control unit 14.
The number of the displacement sensors is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, each displacement sensor is connected with one hydraulic-electric hybrid drive integrated cylinder, and the displacement sensors are used for detecting position information of the corresponding hydraulic-electric hybrid drive integrated cylinders.
The number of the strain gauges is consistent with that of the hydraulic-electric hybrid drive integration cylinders, each strain gauge is connected with one of the hydraulic-electric hybrid drive integration cylinders, each strain gauge is arranged at a position where the corresponding hydraulic-electric hybrid drive integration cylinder is connected with the load mechanism 1, and the strain gauges are used for detecting strain information of output ends of the corresponding hydraulic-electric hybrid drive integration cylinders.
The driving unit is connected with each hydraulic-electric hybrid-driven integrated cylinder and is used for driving each hydraulic-electric hybrid-driven integrated cylinder to operate.
The calculation control unit 14 is respectively connected to the displacement sensor, the strain gauge and the driving unit, and the calculation control unit 14 is configured to control the operation of the hydraulic-electric hybrid-driven integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid-driven integrated cylinder.
Preferably, the force fighting multi-cylinder synchronization system further comprises a transmitter. The number of the transmitters is consistent with that of the strain gauges, and each transmitter is respectively connected with one strain gauge and the calculation control unit 14.
Further, the plurality of hydraulic-electric hybrid driving integrated cylinders comprise a main cylinder and a plurality of auxiliary cylinders.
The calculation control unit 14 includes: the device comprises a position synchronous compensation controller, a strain synchronous compensation controller, a secondary cylinder controller and a main cylinder controller.
The number of the position synchronous compensation controllers is consistent with that of the auxiliary cylinders, each position synchronous compensation controller is respectively connected with the corresponding displacement sensor of the auxiliary cylinder and the corresponding displacement sensor of the main cylinder, and the position synchronous compensation controllers are used for generating position compensation signals according to the position information of the auxiliary cylinders and the position information of the main cylinder.
The strain synchronous compensation controller is used for generating strain compensation deviation rectifying signals according to strain information of the auxiliary cylinder and strain information of the main cylinder. And the strain synchronous controller receives strain information of the corresponding auxiliary cylinder through the transmitter.
The number of the auxiliary cylinder controllers is consistent with that of the auxiliary cylinders, each auxiliary cylinder controller is respectively connected with the corresponding position synchronous compensation controller, the corresponding strain synchronous compensation controller and the corresponding driving unit, and the auxiliary cylinder controllers are used for generating auxiliary cylinder control signals according to the position compensation signals, the strain compensation deviation correction signals, the position instructions and the position information of the auxiliary cylinders and controlling the auxiliary cylinders to operate through the driving units.
The master cylinder controller is connected with the driving unit and used for generating a master cylinder control signal according to a position instruction and position information of the master cylinder and controlling the master cylinder to operate through the driving unit.
Preferably, the hydro-electric hybrid driving integrated cylinder comprises: first motor 3, reduction gear 4, cylinder 7, push rod 8 and lead screw 5.
Wherein the first motor 3 is connected with the drive unit.
The speed reducer 4 is connected with the first motor 3. In the present embodiment, the speed reducer 4 is a gear drive, a belt drive or a worm gear drive, but is not limited thereto.
The cylinder barrel 7 is fixedly connected with the speed reducer 4.
The push rod 8 is arranged in the cylinder barrel 7 and is movably connected with the cylinder barrel 7, and the strain gauge and the displacement sensor are both arranged on the push rod 8.
The screw 5 is arranged in the cylinder barrel 7, one end of the screw is connected with the speed reducer 4, and the other end of the screw is connected with the push rod 8 through a screw transmission pair; the screw rod 5 generates rotary motion under the control of the first motor 3 and the speed reducer 4, and the screw transmission pair drives the push rod 8 to generate linear motion. In the present embodiment, the screw transmission pair is any one of a planetary roller screw pair, a ball screw pair or a trapezoidal screw pair, but is not limited thereto.
Further, the push rod 8 and the cylinder 7 are provided with a seal 6. The seal 6 divides the cylinder barrel 7 into two chambers. One side of the cylinder barrel 7 close to the speed reducer 4 is a rodless cavity, and one side close to the push rod 8 is a rod cavity.
In the multi-cylinder synchronous control system provided by the invention, the linear driving device adopts a hydraulic-electric mixed driving integrated cylinder, is provided with an electric driving system and a hydraulic driving system, realizes the motion control of the integrated cylinder through the electric driving system, and performs power compensation through the hydraulic driving system with high power density. Compared with the traditional valve-controlled hydraulic cylinder, the motion control of the load mechanism is realized through the motor and the mechanical transmission mechanism, and compared with the traditional multi-hydraulic-cylinder driving system, the motion driving mode in the invention has no throttling loss, high energy efficiency and high control precision. Compare traditional electronic jar, the output power of the hydraulic and electric thoughtlessly driving integrated jar is bigger, and it is higher to push against the heavy ratio.
The driving unit includes: hydraulic drive module and electric drive module.
The hydraulic driving module is connected with each hydraulic-electric hybrid-driven integrated cylinder and used for supplying oil to each hydraulic-electric hybrid-driven integrated cylinder and supplementing power.
The electric driving module is respectively connected with each hydraulic-electric hybrid driving integrated cylinder and the hydraulic driving module, and is used for driving each hydraulic-electric hybrid driving integrated cylinder and the hydraulic driving module to operate.
Further, the electric driving module includes a power switch 13 and a driver.
Wherein the number of said drives corresponds to the total number of first motors 3 and second motors 17. The drivers are connected in parallel and are connected to the power switch 13.
Each driver is connected with a corresponding first motor 3 or second motor 17 respectively, and the drivers are used for controlling the corresponding first motor 3 or second motor 17 to move. Furthermore, each driver is connected to the calculation control unit 14, and a control signal is obtained by the calculation control unit 14.
In this embodiment, the hydraulic drive module includes: a second electric motor 17, a hydraulic pump 18, an overflow valve 19, a tank 20 and a control valve.
In particular, the second electric machine 17 is connected to the electric drive module.
The hydraulic pump 18 is coaxially connected to the second electric motor 17.
The suction port of the hydraulic pump 18 communicates with the oil tank 20.
An oil outlet of the hydraulic pump 18 is respectively communicated with an oil inlet of the control valve and an oil inlet of the overflow valve 19.
The number of the control valves is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, and the working oil port of each control valve is communicated with one hydraulic-electric hybrid drive integrated cylinder; and oil outlets T of the control valves are communicated with the oil tank.
As another embodiment, as shown in FIG. 4, the hydraulic drive module employs pump control units 21-1, 21-2. The pump control unit includes: a second electric machine 17, a pump/motor 26, a first pilot operated check valve 22, a second pilot operated check valve 23, a second relief valve 24, a third relief valve 25, and an accumulator 27.
Wherein the second electric machine 17 is connected to the electric drive module.
The pump/motor 26 is coaxially connected with the second motor 17, and is communicated with the hydraulic-electric hybrid drive integrated cylinder, the oil inlet of the second overflow valve 24 and the oil inlet of the third overflow valve 25.
The oil outlet of the second overflow valve 24 and the oil outlet of the third overflow valve 25 are both communicated with the accumulator 27.
The oil outlet of the first hydraulic control one-way valve 22 and the oil outlet of the second hydraulic control one-way valve 23 are both communicated with the hydro-electric hybrid drive integrated cylinder.
The oil inlet of the first hydraulic control one-way valve 22 and the oil inlet of the second hydraulic control one-way valve 23 are both communicated with the energy accumulator 27. The first hydraulic control one-way valve 22 and the second hydraulic control one-way valve 23 are used for compensating asymmetric flow of two cavities of the hydraulic-electric hybrid drive integrated cylinder. When the pressure of the two cavities of the hydraulic-electric hybrid-drive integrated cylinder is lower than the pressure of the energy accumulator 27, the energy accumulator 27 supplements oil to the hydraulic-electric hybrid-drive integrated cylinder through the first hydraulic control one-way valve 22 or the second hydraulic control one-way valve 23, so that the oil cavity of the hydraulic-electric hybrid-drive integrated cylinder is prevented from being vacuumed.
In addition, the multi-cylinder synchronization system capable of inhibiting force fighting further comprises a load mechanism 1. The hydraulic-electric hybrid driving integrated cylinder is connected with the loading mechanism 1.
And the displacement sensor is arranged on a push rod 8 which is connected with the hydraulic-electric hybrid drive integrated cylinder and the load mechanism 1.
The multi-cylinder synchronization system capable of inhibiting force fighting also comprises a signal source 15. The signal source 15 is connected to the calculation control unit 14. The signal source 15 is used to generate position commands.
Preferably, the hydraulic-electric hybrid driving integrated cylinder can be controlled to move by the first motor 3 of the hydraulic-electric hybrid driving integrated cylinder, and can also be controlled to move by the hydraulic driving module, so that two driving redundancies are realized.
If the hydro-electric hybrid drive integrated cylinder adopts the first motor 3 to control the movement, the calculation control unit 14 adopts a multi-cylinder synchronous control strategy which can inhibit force fighting as shown in fig. 2. Wherein, each hydraulic-electric hybrid drive integrated cylinder adopts position closed-loop control as basic control, and the position instruction of each hydraulic-electric hybrid drive integrated cylinderx eAll come from the signal source 15, feeding back the position information of the linkx r1、x r2Self-arranged hydraulic-electric hybrid drive integrated cylinder pusherDisplacement sensors on the rod 8, strain informations 1、s 2The control signal is taken from a strain gauge and a transmitter which are arranged on a push rod 8 of the hydraulic-electric hybrid drive integrated cylinder, a given position instruction and fed back position information are compared and processed by a controller, and the output control signal controls the movement of the hydraulic-electric hybrid drive integrated cylinder through a driver, so that position closed-loop control is realized.
Further, the position deviation compensation is carried out on the movement of each hydraulic-electric hybrid drive integrated cylinder, and the method specifically comprises the following steps: the method comprises the following steps of taking a hydraulic-electric hybrid-driving integrated cylinder 2-1 as a main cylinder, taking the other hydraulic-electric hybrid-driving integrated cylinders as auxiliary cylinders, respectively adding position synchronous compensation controllers to the auxiliary cylinders on the basis of position closed-loop control, taking position feedback signals of the position synchronous compensation controllers from displacement sensors arranged on the matched auxiliary cylinders and the main cylinder, comparing position information of the auxiliary cylinders with position information of the main cylinder and processing the position information through the position synchronous compensation controllers, and superposing output position compensation signals to control signals of the auxiliary cylinder controllers to compensate and correct position closed-loop control signals of the auxiliary cylinders.
The position synchronous compensation controller needs to compare the position information of the auxiliary cylinder and the main cylinder, subtract the two position information, then perform PID control on the difference signal, and take the signal after the PID control as the position compensation signal.
Further, the strain deviation compensation is carried out on the motion of each hydraulic-electric hybrid drive integrated cylinder, and the strain deviation compensation method specifically comprises the following steps: the method comprises the following steps of taking a hydraulic-electric hybrid-driving integrated cylinder 2-1 as a main cylinder, taking the other hydraulic-electric hybrid-driving integrated cylinders as auxiliary cylinders, respectively adding a strain synchronous compensation controller to the auxiliary cylinders on the basis of position closed-loop control, taking strain feedback signals of the strain synchronous compensation controller from strain gauges arranged on the matched auxiliary cylinders and the main cylinder and a transmitter for transmitting signals of the strain gauges, comparing strain information of a push rod 8 of the auxiliary cylinder with strain information of a push rod 8 of the main cylinder, processing the strain feedback signals through the strain synchronous compensation controller, and superposing output strain compensation deviation-correcting signals to control signals output by the auxiliary cylinder controller to compensate and correct position closed-loop control signals of the auxiliary cylinder controller.
According to the method, the strain gauges are arranged on the bearing part, the value of each strain gauge is guaranteed to be within a reasonable range through a control strategy, stress concentration does not occur, signals measured back by the strain gauges can reflect the synchronous characteristics of multiple cylinders, whether force dispute occurs between the multiple cylinders or not and whether serious asynchronism occurs or not are reflected, the respective position control signals of each cylinder are corrected through the strain information of different cylinders, the difference value of strain is gradually reduced, and the synchronism is guaranteed.
If the hydraulic-electric hybrid driving integrated cylinder controls the movement through the control valve of the hydraulic driving module, the multi-cylinder synchronous control strategy capable of inhibiting force fighting shown in the figure 3 is adopted. The synchronous control strategy is the same as the synchronous control strategy described in fig. 2, except that the synchronous control signal of the calculation control unit 14 is output to a control valve, and the control valve controls the motion of the hydraulic-electric hybrid drive integrated cylinder matched with the control valve.
If the hydraulic-electric hybrid drive integrated cylinder is controlled to move by the hydraulic drive module pump control unit 21, the synchronous control strategy is the same as the synchronous control strategy described in fig. 2, except that after the synchronous control signal of the calculation control unit 14 is output to the second electric motor 17, the second electric motor 17 controls the output flow of the pump/motor 26, and further controls the movement speed of the hydraulic-electric hybrid drive integrated cylinder.
The hydraulic-electric hybrid driving integrated cylinder can be controlled by synchronous motion under electric drive and can also be controlled by synchronous motion under a hydraulic drive system, and the hydraulic-electric hybrid driving integrated cylinder has two safety redundant degrees of freedom. The device has great significance for the safety requirements of airplanes and the like.
When the first motor, the speed reducer, the lead screw and other electromechanical transmission components of the hydraulic-electric hybrid drive integrated cylinder have faults, the hydraulic-electric hybrid drive integrated cylinder is driven to move through the second motor, the hydraulic pump and the control valve of the hydraulic drive module. When the hydraulic driving module has faults such as leakage and the like, the hydraulic-electric hybrid driving integrated cylinder can still move under the driving of the first motor, the speed reducer and the lead screw. And further, the switching of the two control methods is realized, and the reliability of the system is improved.
The multi-cylinder synchronous system capable of inhibiting force fighting can be used for synchronous movement of multiple electric cylinders and synchronous movement of multiple hydraulic cylinders, and is good in universality. The structural form that strain gauges are arranged at the connecting part of the hydraulic-electric hybrid drive integrated cylinder and the load mechanism, and a displacement sensor is arranged on each hydraulic-electric hybrid drive integrated cylinder is adopted, so that the position deviation compensation and the strain deviation compensation are increased on the basis of a multi-hydraulic-electric hybrid drive integrated cylinder position closed-loop control signal, the synchronization of multiple cylinders is corrected in real time, the structural damage problem of multi-cylinder synchronous drive is solved on the basis of the fundamental problem of force fighting caused by asynchronization, the problem of multi-cylinder movement asynchronization in various forms can be effectively solved, and the limitation of the type, the number and the movement stroke of the moving cylinder is avoided.
As shown in FIG. 2, the multi-cylinder synchronous control method capable of inhibiting force fighting comprises the following steps:
and acquiring the position information of each hydraulic-electric hybrid drive integrated cylinder through a displacement sensor.
And strain information of each hydraulic-electric hybrid drive integrated cylinder is collected through the strain gauge and the transmitter.
And the calculation control unit controls the operation of each hydraulic-electric hybrid drive integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid drive integrated cylinder.
Specifically, when the hydro-electric hybrid drive integrated cylinder is controlled by the first motor of the hydro-electric hybrid drive integrated cylinder, the calculation control unit generates a master cylinder control signal according to the position command and the position information of the master cylinder to control the operation of the master cylinder.
And aiming at any one auxiliary cylinder, the position synchronous compensation controller generates a position compensation signal according to the position information of the auxiliary cylinder and the position information of the main cylinder.
And the strain synchronous compensation controller generates a strain compensation deviation correcting signal according to the strain information of the auxiliary cylinder and the strain information of the main cylinder.
And the auxiliary cylinder controller generates an auxiliary cylinder control signal according to the position compensation signal, the strain compensation deviation correction signal, the position instruction and the position information of the auxiliary cylinder, and controls the motor of the auxiliary cylinder to operate through an electric drive unit.
When the hydraulic drive module is used for controlling the hydraulic-electric hybrid drive integrated cylinder, the calculation control unit generates a master cylinder control signal according to the position instruction and the position information of the master cylinder, and the master cylinder is controlled to operate through the hydraulic drive module.
And aiming at any one auxiliary cylinder, the position synchronous compensation controller generates a position compensation signal according to the position information of the auxiliary cylinder and the position information of the main cylinder.
And the strain synchronous compensation controller generates a strain compensation deviation correcting signal according to the strain information of the auxiliary cylinder and the strain information of the main cylinder.
And the auxiliary cylinder controller generates an auxiliary cylinder control signal according to the position compensation signal, the strain compensation deviation correction signal, the position instruction and the position information of the auxiliary cylinder, and controls the auxiliary cylinder to operate through a hydraulic driving module.
Compared with the prior art, the force fighting multi-cylinder synchronous control method has the same beneficial effects as the force fighting multi-cylinder synchronous system, and is not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The method disclosed by the embodiment corresponds to the system disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A force-suppressible dispute multi-cylinder synchronization system, comprising:
a plurality of hydro-electric hybrid driving integrated cylinders;
the number of the displacement sensors is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, each displacement sensor is connected with one hydraulic-electric hybrid drive integrated cylinder, and the displacement sensors are used for detecting position information of the corresponding hydraulic-electric hybrid drive integrated cylinders;
the number of the strain gauges is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, each strain gauge is connected with one hydraulic-electric hybrid drive integrated cylinder, and the strain gauges are used for detecting strain information of the corresponding hydraulic-electric hybrid drive integrated cylinders;
the driving unit is connected with each hydraulic-electric hybrid drive integrated cylinder and is used for driving each hydraulic-electric hybrid drive integrated cylinder to operate;
and the calculation control unit is respectively connected with the displacement sensor, the strain gauge and the driving unit and is used for controlling the operation of each hydraulic-electric hybrid drive integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid drive integrated cylinder.
2. The suppressible force fighting multi-cylinder synchronization system of claim 1, further comprising:
and the number of the transmitters is consistent with that of the displacement sensors, and each transmitter is respectively connected with one strain gauge and the calculation control unit.
3. The multi-cylinder synchronization system capable of inhibiting force fighting according to claim 1, wherein the plurality of hydraulic-electric hybrid drive integrated cylinders comprise a main cylinder and a plurality of auxiliary cylinders;
the calculation control unit includes:
the position synchronous compensation controllers are in the same number as the auxiliary cylinders, and are respectively connected with the displacement sensors of the corresponding auxiliary cylinders and the displacement sensor of the main cylinder and used for generating position compensation signals according to the position information of the auxiliary cylinders and the position information of the main cylinder;
the strain synchronous compensation controllers are in the same number as the auxiliary cylinders, and each strain synchronous compensation controller is respectively connected with the corresponding strain gauge of the auxiliary cylinder and the corresponding strain gauge of the main cylinder and used for generating strain compensation deviation rectifying signals according to the strain information of the auxiliary cylinders and the strain information of the main cylinder;
the auxiliary cylinder controllers are connected with the corresponding position synchronous compensation controller, the corresponding strain synchronous compensation controller and the corresponding driving unit respectively, and are used for generating auxiliary cylinder control signals according to the position compensation signals, the strain compensation deviation correction signals, the position instructions and the position information of the auxiliary cylinders and controlling the auxiliary cylinders to operate through the driving unit;
and the master cylinder controller is connected with the driving unit and used for generating a master cylinder control signal according to the position command and the position information of the master cylinder, and the master cylinder is controlled to operate by the driving unit.
4. The multi-cylinder synchronization system capable of inhibiting force fighting according to claim 1, wherein the hydraulic-electric hybrid drive integrated cylinder comprises:
a first motor connected with the driving unit;
the speed reducer is connected with the first motor;
the cylinder barrel is fixedly connected with the speed reducer;
the push rod is arranged in the cylinder barrel and is movably connected with the cylinder barrel, and the strain gauge and the displacement sensor are both arranged on the push rod;
the screw rod is arranged in the cylinder barrel, one end of the screw rod is connected with the speed reducer, and the other end of the screw rod is connected with the push rod through a screw transmission pair; the screw rod generates rotary motion under the control of the first motor and the speed reducer, and the screw transmission pair drives the push rod to generate linear motion.
5. The multi-cylinder synchronization system capable of suppressing force fighting according to claim 1, characterized in that the drive unit comprises:
the hydraulic driving module is connected with each hydraulic-electric hybrid drive integrated cylinder and used for supplying oil to each hydraulic-electric hybrid drive integrated cylinder and performing power compensation;
and the electric driving module is respectively connected with each hydraulic-electric hybrid driving integrated cylinder and the hydraulic driving module and is used for driving each hydraulic-electric hybrid driving integrated cylinder and the hydraulic driving module to operate.
6. The multi-cylinder synchronization system capable of inhibiting force fighting according to claim 5, wherein the hydraulic drive module comprises: the second motor, the hydraulic pump, the overflow valve, the oil tank and the control valve;
the second motor is connected with the electric drive module;
the hydraulic pump is coaxially connected with the second motor;
an oil suction port of the hydraulic pump is communicated with the oil tank;
an oil outlet of the hydraulic pump is respectively communicated with an oil inlet of the control valve and an oil inlet of the overflow valve;
the number of the control valves is consistent with that of the hydraulic-electric hybrid drive integrated cylinders, and the working oil port of each control valve is communicated with one hydraulic-electric hybrid drive integrated cylinder; the oil outlet of each control valve is communicated with the oil tank.
7. The multi-cylinder synchronization system capable of inhibiting force fighting according to claim 5, wherein the hydraulic drive module comprises: the system comprises a second motor, a pump/motor, a first hydraulic control one-way valve, a second overflow valve, a third overflow valve and an energy accumulator;
the second motor is connected with the electric drive module;
the pump/motor is coaxially connected with the second motor and is communicated with the hydraulic-electric hybrid drive integrated cylinder, the oil inlet of the second overflow valve and the oil inlet of the third overflow valve;
the oil outlet of the second overflow valve and the oil outlet of the third overflow valve are both communicated with the energy accumulator;
the oil outlet of the first hydraulic control one-way valve and the oil outlet of the second hydraulic control one-way valve are both communicated with the hydraulic-electric hybrid drive integrated cylinder;
the oil inlet of the first hydraulic control one-way valve and the oil inlet of the second hydraulic control one-way valve are communicated with the energy accumulator.
8. A force-suppressive dispute multi-cylinder synchronous control method applied to the force-suppressive dispute multi-cylinder synchronous system of any one of claims 1 to 7, the force-suppressive dispute multi-cylinder synchronous control method comprising:
acquiring position information of each hydraulic-electric hybrid drive integrated cylinder through a displacement sensor;
strain information of each hydraulic-electric hybrid drive integrated cylinder is acquired through a strain gauge;
and the calculation control unit controls the operation of each hydraulic-electric hybrid drive integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid drive integrated cylinder.
9. The multi-cylinder synchronous control method capable of inhibiting force fighting according to claim 8, wherein the calculation control unit controls the operation of each hydraulic-electric hybrid-driven integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid-driven integrated cylinder, and specifically comprises:
when the hydro-electric hybrid drive integrated cylinder is controlled by the first motor, the calculation control unit generates a main cylinder control signal according to the position instruction and the position information of the main cylinder to control the operation of the main cylinder; the plurality of hydraulic-electric hybrid driving integrated cylinders comprise a main cylinder and a plurality of auxiliary cylinders;
aiming at any one auxiliary cylinder, the position synchronous compensation controller generates a position compensation signal according to the position information of the auxiliary cylinder and the position information of the main cylinder; the number of the position synchronous compensation controllers is consistent with that of the auxiliary cylinders, and each position synchronous compensation controller is respectively connected with the corresponding displacement sensor of the auxiliary cylinder and the corresponding displacement sensor of the main cylinder;
the strain synchronous compensation controller generates a strain compensation deviation correcting signal according to the strain information of the auxiliary cylinder and the strain information of the main cylinder; the number of the strain synchronous compensation controllers is consistent with that of the auxiliary cylinders, and each strain synchronous compensation controller is respectively connected with the corresponding strain gauge of the auxiliary cylinder and the corresponding strain gauge of the main cylinder;
the auxiliary cylinder controller generates an auxiliary cylinder control signal according to the position compensation signal, the strain compensation deviation correction signal, the position instruction and the position information of the auxiliary cylinder, and controls a first motor of the auxiliary cylinder to operate through a driving unit; the number of the auxiliary cylinder controllers is consistent with that of the auxiliary cylinders, and each auxiliary cylinder controller is respectively connected with the corresponding position synchronous compensation controller, the corresponding strain synchronous compensation controller and the corresponding driving unit.
10. The multi-cylinder synchronous control method capable of inhibiting force fighting according to claim 9, wherein the calculation control unit controls the operation of each hydraulic-electric hybrid-driven integrated cylinder through the driving unit according to the position information and the strain information of each hydraulic-electric hybrid-driven integrated cylinder, and specifically comprises:
when the hydraulic drive module is used for controlling the hydraulic-electric hybrid drive integrated cylinder, the calculation control unit generates a master cylinder control signal according to the position instruction and the position information of the master cylinder, and the master cylinder is controlled to operate by the hydraulic drive module; the driving unit comprises a hydraulic driving module; the hydraulic driving module is connected with each hydraulic-electric hybrid driving integrated cylinder;
aiming at any one auxiliary cylinder, the position synchronous compensation controller generates a position compensation signal according to the position information of the auxiliary cylinder and the position information of the main cylinder;
the strain synchronous compensation controller generates a strain compensation deviation correcting signal according to the strain information of the auxiliary cylinder and the strain information of the main cylinder;
and the auxiliary cylinder controller generates an auxiliary cylinder control signal according to the position compensation signal, the strain compensation deviation correction signal, the position instruction and the position information of the auxiliary cylinder, and controls the auxiliary cylinder to operate through a hydraulic driving module.
CN202111358352.0A 2021-11-17 2021-11-17 Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof Active CN113931890B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111358352.0A CN113931890B (en) 2021-11-17 2021-11-17 Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111358352.0A CN113931890B (en) 2021-11-17 2021-11-17 Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof

Publications (2)

Publication Number Publication Date
CN113931890A CN113931890A (en) 2022-01-14
CN113931890B true CN113931890B (en) 2022-03-08

Family

ID=79286884

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111358352.0A Active CN113931890B (en) 2021-11-17 2021-11-17 Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof

Country Status (1)

Country Link
CN (1) CN113931890B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114518284B (en) * 2022-04-02 2022-07-22 太原理工大学 High-power electro-hydraulic control system for compression-shear testing machine
CN115076174B (en) * 2022-07-21 2022-10-25 太原理工大学 Asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2322097A1 (en) * 1999-10-05 2001-04-05 Bell Helicopter Textron Inc. Method and apparatus for controlling force fights in a rotating shaft
CN101922483A (en) * 2010-07-12 2010-12-22 无锡市长江液压缸厂 Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor
KR20150063690A (en) * 2013-12-02 2015-06-10 주식회사 포스코 Hydraulic system with reduced loading/unloading impact and method for reducing impact occurred on loading/unloading
CN107906068A (en) * 2017-10-31 2018-04-13 北京精密机电控制设备研究所 A kind of device for effectively solving double-driving force dispute
CN112324719A (en) * 2020-11-04 2021-02-05 北京自动化控制设备研究所 Redundancy electro-hydrostatic actuating system and control method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2278219C1 (en) * 2005-02-28 2006-06-20 Московский государственный горный университет (МГГУ) Device to control working equipment of drag-line excavator
CN101372990A (en) * 2007-08-24 2009-02-25 同济大学 Dissymmetrical pneumatic servo valve with spring and containing cavity compensations
FI125918B (en) * 2008-10-10 2016-04-15 Norrhydro Oy Pressure medium system for load control, turning device for controlling the rotational movement of the load and eccentric turning device for controlling the rotation of the load
CN102242743B (en) * 2011-07-11 2013-08-21 南京航空航天大学 Multi-nozzle baffle plate electro-hydraulic servo valve and working method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2322097A1 (en) * 1999-10-05 2001-04-05 Bell Helicopter Textron Inc. Method and apparatus for controlling force fights in a rotating shaft
CN101922483A (en) * 2010-07-12 2010-12-22 无锡市长江液压缸厂 Short-range pressure-retaining high-pressure heavy hydraulic cylinder with built-in linear displacement sensor
KR20150063690A (en) * 2013-12-02 2015-06-10 주식회사 포스코 Hydraulic system with reduced loading/unloading impact and method for reducing impact occurred on loading/unloading
CN107906068A (en) * 2017-10-31 2018-04-13 北京精密机电控制设备研究所 A kind of device for effectively solving double-driving force dispute
CN112324719A (en) * 2020-11-04 2021-02-05 北京自动化控制设备研究所 Redundancy electro-hydrostatic actuating system and control method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
《启闭机采用电液比例同步控制液压系统的设计应用》;葛玉麟;《液压气动与密封》;20100415(第4期);第13-15页 *

Also Published As

Publication number Publication date
CN113931890A (en) 2022-01-14

Similar Documents

Publication Publication Date Title
CN113931890B (en) Multi-cylinder synchronization system capable of inhibiting force fighting and control method thereof
CN103267034B (en) Load sensitive hydraulic system with compensation valve energy recovery function
CN101793275B (en) High-precision hydraulic servo control system
CN102650304A (en) Hydraulic synchronous driving system for adjusting unbalanced load based on proportional valve controlled energy accumulator
CN202579384U (en) Hydraulic synchronous driving system for adjusting eccentric loads based on proportional valve -controlled energy accumulators
CN202165353U (en) High-precision hydraulic servo control system
CN103334973A (en) Synchronizing system for multiple hydraulic cylinders and control method for synchronizing system for multiple hydraulic cylinders
CN101865169A (en) Synchronous drive control system and engineering machinery
CN113653686B (en) Piston cylinder system and control method, AMT gear shifting system and control method
CN1817611A (en) Injection machine system with electromechanical liquid composite control
CN203680578U (en) Hydraulic control device of internal mixer
CN202174208U (en) Hydraulic circuit of rolling and riveting system
CN201972980U (en) Closed type hydraulic system used on cylindrical dumper
CN106743435B (en) Pneumatic turnover positioner with double power heads
CN1807903A (en) Hydraulic system
CN115076174B (en) Asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system
CN101787993B (en) Method for improving hydraulic transmission rigidity of hydraulic system
CN115978020A (en) Injection hydraulic system of die casting machine based on independent load port
CN203730676U (en) Automatic tensioning hydraulic device of chain of heavy-duty production line
CN113529843B (en) Pressure coupling hydraulic hybrid power driving circuit, control method thereof and excavator
CN201521512U (en) Digital electro-hydraulic servo driving device adopting servo motor for direct drive
CN108757879B (en) Hydraulic-mechanical composite driving device
CN104454718A (en) Hydraulic system of BIPV solar module positive-pressure packaging device
CN2818870Y (en) Hydraulic system
CN209818444U (en) Hydraulic cylinder position control system based on bidirectional pressure regulation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant