CN113960942A - Servo valve control circuit, method and device based on feedforward compensation and flutter compensation - Google Patents
Servo valve control circuit, method and device based on feedforward compensation and flutter compensation Download PDFInfo
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Abstract
The invention provides a servo valve control circuit, a method and a device based on feedforward compensation and flutter compensation, wherein the control circuit comprises a signal generation processing circuit, a reference signal unit, a flutter signal compensation circuit, a feedforward compensation circuit and a servo valve, a complex software algorithm is replaced by a simple circuit structure mode, and a flutter signal is superposed on a direct control signal required by the servo valve, so that the software algorithm is omitted, the execution complexity of the software algorithm is avoided, the expenditure of a CPU (central processing unit) processor is reduced, the response speed of the servo valve is accelerated, and the control quality is improved; under the known controlled trend of the servo valve, the feedforward compensation adjustment of the servo valve is realized based on the feedforward compensation circuit according to the requirement of the controlled trend, the interference resistance of software and the influence of the software algorithm cycle are avoided, and the control effect of the servo valve is further strengthened.
Description
Technical Field
The invention relates to the technical field of servo valve control, in particular to a servo valve control circuit, a method and a device based on feedforward compensation and flutter compensation.
Background
The electrohydraulic servo valve is a key element in electrohydraulic servo control and fuel control system, is a hydraulic control valve which can output modulated current and pressure after receiving analog electric signal, and is an interface of electric control part and hydraulic execution part to realize small signal control and high power amplifying element. The electro-hydraulic servo valve has the advantages of fast dynamic response, high control precision, long service life and the like, and is widely applied to electro-hydraulic servo control systems in the fields of aviation, aerospace, ships, metallurgy, chemical industry and the like.
In the actual working process, the relative motion of the moving component of the electrohydraulic servo valve and the valve cavity inevitably forms friction, in addition, a mechanical gap is usually existed between the moving components of the valve, which may aggravate static friction to cause the occurrence of the jamming phenomenon of the servo valve, in order to reduce friction influence, reduce the jamming probability of the servo valve and ensure the sensitive control performance of the electrohydraulic servo valve, a flutter signal with low frequency and small amplitude of 100 Hz-400 Hz is usually superimposed on the control signal of the electrohydraulic servo valve, but in a digital electronic controller, a software control algorithm is usually used to superimpose the flutter signal on the control signal of the electrohydraulic servo valve, but the software algorithm becomes complicated, such as 21/12/2016, an integrated flutter signal self-adaptive proportional valve amplifier is disclosed in Chinese patent (publication No. CN106246986A), which comprises a flutter control closed loop, a valve position control closed loop, a proportional valve position control loop, The flutter superposition algorithm unit and the sampling current unit accurately extract flutter amplitude and flutter frequency from current through an intelligent signal processing algorithm, input the amplitude and the frequency into a flutter signal self-adaptive closed-loop control algorithm, and calculate the new flutter amplitude and the new flutter frequency which are adaptive to the position of a valve core, the pressure difference before and after the valve and the flow.
In addition, considering the automatic control field, under the condition of known controlled trend of the servo valve, the adverse effect is usually eliminated by adopting a feedforward control mode, in a digital electronic controller, software is used for receiving and judging signals, a feedforward compensation algorithm is executed, and then a feedforward control signal is output to the electro-hydraulic servo valve.
Disclosure of Invention
In order to solve the problems of long algorithm execution time, more occupied resources and long feedback time in the current mode of ensuring the control performance of the servo valve through a software algorithm, the invention provides a servo valve control circuit, a method and a device based on feedforward compensation and flutter compensation.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a servo valve control circuit based on feed forward compensation and flutter compensation comprising:
the device comprises a signal generating and processing circuit, a reference signal unit, a flutter signal compensation circuit, a feedforward compensation circuit and a servo valve;
the signal generation processing circuit is connected with the reference signal unit, configures the signal output frequency of the reference signal unit, and the reference signal unit outputs a reference frequency signal A; the signal generation processing circuit outputs an analog electrical signal B required by servo valve control, the analog electrical signal B is transmitted to the flutter signal compensation circuit and amplified into an initial electrical signal required by the servo valve control, the initial control signal is input from the input end of the flutter signal compensation circuit, the frequency of the reference frequency signal A is taken as a standard, and the initial control signal and the initial electrical signal are converted into an initial flutter signal C which is superposed on the output end of the flutter signal compensation circuit;
the feedforward compensation circuit is connected with the flutter signal compensation circuit, and when the feedforward signal input exists at the input end of the feedforward compensation circuit, the initial flutter signal C superposed on the output end of the flutter signal compensation circuit is increased; otherwise, the initial flutter signal C superposed on the output end of the flutter signal compensation circuit is unchanged;
the output end of the flutter signal compensation circuit is connected with the servo valve, and the initial electric signal and the changed initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
By adopting the technical scheme, the flutter signal is superposed on the direct control signal required by the servo valve completely based on the hardware circuits such as the signal generation processing circuit, the reference signal unit, the flutter signal compensation circuit and the like, so that a software algorithm is omitted, the execution complexity of the software algorithm is avoided, the expense of a CPU (central processing unit) is reduced, the response speed of the servo valve is accelerated, and the control quality is improved; under the known controlled trend of the servo valve, the feedforward compensation adjustment of the servo valve is realized based on the feedforward compensation circuit according to the requirement of the controlled trend, the interference resistance of software and the influence of the software algorithm cycle are avoided, and the control effect of the servo valve is further strengthened.
Furthermore, the signal generation processing circuit comprises a single chip microcomputer for generating an original digital quantity signal and a D/A converter for converting the original digital quantity signal into an analog electric signal, wherein a first output end of the single chip microcomputer is connected with an input end of the D/A converter, and an output end of the D/A converter is connected with the flutter signal compensation circuit; and the second output end of the singlechip is connected with the input end of the reference signal unit, and the signal output frequency of the reference signal unit is configured for the reference signal unit in the initialization stage.
By adopting the technical scheme, when the singlechip is used for generating the original digital quantity signal, the D/A converter is introduced to realize the conversion from the digital quantity signal to the analog quantity signal, so that the digital quantity signal is converted into the analog signal required by the servo valve control, and the singlechip can ensure that the reference signal unit stably outputs the reference frequency signal required by the control circuit under the frequency configuration by configuring the signal output frequency of the reference signal unit.
Furthermore, the flutter signal compensation circuit comprises an input adjusting module, an operational amplifier N1, an output control module, a transmission resistor R5 and a sampling resistor R13, wherein the reference signal unit is connected with one end of the input adjusting module, the other end of the input adjusting module is connected with the non-inverting input end of the operational amplifier N1, the output end of the D/A converter is respectively connected with the inverting input end of the operational amplifier N1 and one end of the transmission resistor R5, the other end of the transmission resistor R5 is respectively connected with one end of the output control module, one end of the sampling resistor R13 and the feedforward compensation circuit, the other end of the output control module is connected with the servo valve, and the other end of the sampling resistor R13 is grounded.
Further, the initial control signal is the input voltage of the non-inverting input terminal of the operational amplifier N1.
By adopting the technical scheme, the amplitude of the reference frequency signal output by the reference signal unit is adjusted by the input adjusting module, the input voltage of the non-inverting input end of the operational amplifier N1 is taken as an initial control signal, the frequency of the reference frequency signal is followed, the D/A converter outputs an analog electric signal to the inverting input end of the operational amplifier N1, the operational amplifier N1 optimizes the flutter signal compensation circuit, the initial control signal and the analog electric signal sequentially pass through the transmission resistor R5 and the sampling resistor R13 to complete signal transmission and generation of the flutter signal, and then the compensation of the feedforward compensation circuit is combined, the direct control signal of the servo valve is output by the output control module, so that the flutter signal superposed on the direct control signal of the electro-hydraulic servo valve is more accurate, and the hysteresis characteristic of the hydraulic piece of the servo valve is improved.
Preferably, the feedforward compensation circuit comprises a discharge module and a sampling module, the discharge module is connected with the sampling module, a first switch V6 is arranged in the discharge module, a second switch V7 and a sampling resistor R12 connected with the second switch V7 in series are arranged in the sampling module, the other end of the sampling resistor R12 is grounded, a transmission resistor R5 is connected with a second switch V7, when a feedforward signal is input at the input end of the feedforward compensation circuit, the discharge module discharges, the first switch V6 and the second switch V7 are both turned on, the sampling resistor R12 is connected with the sampling resistor R12 in parallel, and a flutter signal C at the output end of the flutter signal compensation circuit is increased; and after the discharging of the discharging module is finished, the flutter signal C at the output end of the flutter signal compensation circuit is recovered.
Through the technical scheme, when the feedforward signal is input into the input end of the feedforward compensation circuit, the flutter signal C at the output end of the flutter signal compensation circuit is increased, the discharge of the discharge module is completed, the flutter signal C at the output end of the flutter signal compensation circuit is recovered, namely, the feedforward compensation is cancelled, and the feedforward adjustment is realized through the charge and discharge of the discharge module according to the requirement of the controlled trend of the servo valve, so that the complicated software algorithm control is saved, the circuit structure is simple, and the control quality of the servo valve is further improved.
Furthermore, the reference signal unit is a timer, the singlechip configures the signal output frequency in the initialization stage, then the configuration parameters are automatically updated, and the square wave signal of 100 Hz-400 Hz is output, so that the compensation accuracy of the flutter signal is optimized.
The application also provides a servo valve control method based on feedforward compensation and flutter compensation, which comprises the following steps:
acquiring a reference frequency signal A, an analog electrical signal B and an initial control signal, and amplifying the analog electrical signal B into an initial electrical signal;
converting the initial control signal and the initial electric signal into an initial flutter signal C by taking the frequency of the reference frequency signal A as a standard;
setting a time period t1 of feedforward signal input according to the controlled trend of the servo valve, increasing an initial flutter signal C when the feedforward signal is input, and superposing the initial electric signal and the increased initial flutter signal C to be used as a direct control signal of the servo valve to control the servo valve;
and setting a time period t2 for canceling input of the feedforward signal according to the controlled trend of the servo valve, wherein when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electrical signal and the initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
Further, the analog electrical signal B is converted from a raw digital signal by a D/a converter.
Further, the frequency of the initial dither signal C is the same as the frequency of the reference frequency signal a.
By adopting the technical scheme, the frequency of the required flutter signal can be conveniently acquired by directly controlling the frequency of the reference frequency signal A.
The present application further provides a servo control device based on feedforward compensation and flutter compensation, comprising:
the signal acquisition module acquires a reference frequency signal A, an analog electrical signal B and an initial control signal, and amplifies the analog electrical signal B into an initial electrical signal;
the flutter signal compensation module is used for converting the initial control signal and the analog electric signal B into an initial flutter signal C by taking the frequency of the reference frequency signal A as a standard;
the first feedforward compensation module is used for setting a time period t1 for inputting a feedforward signal according to the controlled trend of the servo valve, increasing an initial flutter signal C when the feedforward signal is input, and superposing the initial electrical signal and the increased initial flutter signal C to be used as a direct control signal of the servo valve to control the servo valve;
and the second feedforward compensation module is used for setting a time period t2 for canceling input of a feedforward signal according to the controlled trend of the servo valve, when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electrical signal and the initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
The invention has the following beneficial effects:
the invention is completely based on hardware circuits such as a signal generating and processing circuit, a reference signal unit, a flutter signal compensation circuit and the like, replaces a complex software algorithm in a simple circuit structure mode, and superposes the flutter signal on a direct control signal required by the servo valve, thereby saving the software algorithm, avoiding the execution complexity of the software algorithm, reducing the expenditure of a CPU processor, accelerating the response speed of the servo valve and further improving the control quality; under the known controlled trend of the servo valve, the feedforward compensation adjustment of the servo valve is realized based on the feedforward compensation circuit according to the requirement of the controlled trend, the interference resistance of software and the influence of the software algorithm cycle are avoided, and the control effect of the servo valve is further strengthened.
Drawings
FIG. 1 is a schematic diagram showing the overall structure of a servo valve control circuit based on feedforward compensation and flutter compensation proposed in an embodiment of the present invention;
FIG. 2 is a schematic diagram showing a specific structure of a servo valve control circuit based on feedforward compensation and flutter compensation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the superposition of the waveform of the flutter signal obtained by using the specific structure of the servo valve control circuit based on feedforward compensation and flutter compensation proposed by the embodiment of the invention in FIG. 2;
fig. 4 shows a configuration diagram of a servo valve control apparatus based on feedforward compensation and chattering compensation proposed in the embodiment of the present invention.
Wherein, 1, the signal generating and processing circuit; 11. a single chip microcomputer; a D/A converter; 2. a reference signal unit; 3. a dither signal compensation circuit; 31. an input adjustment module; 32. an output control module; 4. a feedforward compensation circuit; 41. a discharge module; 42. a sampling module; 5. a servo valve.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered below;
considering that in the actual working process of the electro-hydraulic servo valve, the relative motion of the motion component and the valve cavity of the electro-hydraulic servo valve inevitably forms friction force, which may aggravate static friction to cause the occurrence of the jamming phenomenon of the electro-hydraulic servo valve, in order to reduce the friction influence and reduce the jamming probability of the electro-hydraulic servo valve, the embodiment of the invention provides a servo valve control circuit, a method and a device based on feedforward compensation and flutter compensation, wherein the overall structural schematic diagram of the servo valve control circuit based on the feedforward compensation and the flutter compensation is shown in fig. 1, and referring to fig. 1, the control circuit comprises: a signal generating and processing circuit 1, a reference signal unit 2, a flutter signal compensation circuit 3, a feedforward compensation circuit 4 and a servo valve 5, wherein the servo valve 5 is an electro-hydraulic servo valve in the embodiment; the signal generation processing circuit 1 is connected with the reference signal unit 2, the signal output frequency of the reference signal unit 2 is configured, and the reference signal unit 2 outputs a reference frequency signal A; the signal generation processing circuit 1 outputs an analog electric signal B, the analog electric signal B is transmitted to the flutter signal compensation circuit 3 and amplified to be an initial electric signal required by the control of the servo valve 5, the initial control signal is input from the input end of the flutter signal compensation circuit 3, the frequency of the reference frequency signal A is taken as a standard, the initial control signal and the initial electric signal are converted into an initial flutter signal C which is superposed on the output end of the flutter signal compensation circuit 3, namely, the flutter signal is superposed on a direct control signal required by the servo valve based on the hardware circuits such as the signal generation processing circuit 1, the reference signal unit 2, the flutter signal compensation circuit 3 and the like, a software algorithm is omitted, the execution complexity of the software algorithm is avoided, the expense of a CPU processor is reduced, the response speed of the servo valve is accelerated, and the control quality is improved.
If, in the implementation, the controlled trend of the servo valve 5 is known, the compensation for the servo valve 5 is increased by introducing a feed-forward compensation circuit according to the requirement of the controlled trend, for example, if the direct control signal required by the servo valve 5 itself needs to be increased at some time; if the servo valve only needs a conventional direct control signal at some moment, the compensation of a feedforward compensation circuit to the servo valve 5 is cancelled, specifically, referring to fig. 1, the feedforward compensation circuit 4 is connected with a flutter signal compensation circuit 3, and when the feedforward signal input exists at the input end of the feedforward compensation circuit 4, an initial flutter signal C superposed on the output end of the flutter signal compensation circuit 3 is increased; otherwise, the initial flutter signal C superposed on the output end of the flutter signal compensation circuit 3 is unchanged; the output end of the flutter signal compensation circuit 3 is connected with the servo valve 5, and the initial electric signal and the changed initial flutter signal C are superposed to be used as a direct control signal of the servo valve 5 to control the servo valve 5.
Referring to fig. 1, the signal generating and processing circuit 1 includes a single chip microcomputer 11 for generating an original digital signal and a D/a converter 12 for converting the original digital signal into an analog electrical signal, a first output terminal of the single chip microcomputer 11 is connected to an input terminal of the D/a converter 12, and an output terminal of the D/a converter 12 is connected to the dither signal compensating circuit 3; the second output end of the single chip microcomputer 11 is connected with the input end of the reference signal unit 2, and in the initialization stage, the signal output frequency of the reference signal unit 2 is configured. In this embodiment, the single chip 11 outputs D0-D7 digital quantity signals, which are converted into 0-2 mA currents by the D/a converter 12, that is, the analog electrical signal B is a 0-2 mA current signal, the analog electrical signal B is transmitted to the dither signal compensation circuit 3, which is amplified to be an initial electrical signal required by the control of the servo valve 5, that is, an initial electrical signal required by the control of the servo valve, that is, an electrical signal of 0-200 mA required by the control of the servo valve, the single chip 11 configures the signal output frequency for the reference signal unit 2 in an initialization stage, in this embodiment, the reference signal unit 2 is a timer, the single chip 11 configures the signal output frequency in the initialization stage, then automatically updates the configuration parameters, outputs 100 Hz-400 Hz square wave signals, and finally, the direct control signal of the servo valve 5 is a current.
FIG. 2 is a detailed structure diagram of a servo valve control circuit based on feedforward compensation and flutter compensation, referring to FIG. 2, a single chip 11 outputs D0-D7 digital quantity signals, which are then transmitted to input terminals D0-D7 of a D/A converter 12, one IOUT of the D/A converter 12 is grounded, and the other IOUT outputs an analog electrical signal B, i.e. current I0(ii) a The dither signal compensation circuit 3 includes an input adjustment module 31, an operational amplifier N1, an output control module 32, a transmission resistor R5, and a sampling resistor R13, and IN the specific circuit structure shown IN fig. 2, the input adjustment module 31 includes a capacitor C1, a resistor R3, a resistor R2, and a capacitor C3, the capacitor C1 is connected IN parallel with the resistor R3, one end of the parallel capacitor C1 is grounded, the other end of the parallel capacitor C1 and one end of the resistor R2 are connected to the non-inverting input terminal IN + of the operational amplifier N1, and the other end of the resistor R2 is connected to the reference signal unit 2 through the capacitor C3, IN this embodiment, the reference signal unit 2 is a timer. Output current I in D/A converter 120The IOUT terminal of the operational amplifier is connected with the inverting input terminal IN-of the operational amplifier N1 and one terminal of the transmission resistor R5 respectively, and the current I0Amplified into an initial electrical signal by an operational amplifier N1, i.e. a current I of 0-20 mA0The current signal is converted into a current signal of about 0-200 mA, the output control module 32 includes a resistor R1, a resistor R4, a switch V1 and a switch V2, in this embodiment, the switch V1 and the switch V2 are both triodes, one end of the resistor R1 is connected to the output end of the operational amplifier N1, the other end of the resistor R1 is connected to the base of the switch V1 and one end of the resistor R4, the other end of the resistor R4 is grounded, the collector of the switch V1 is connected to the collector of the switch V2 and serves as the output end of the output control module 32, the emitter of the switch V1 is connected to the base of the switch V2, the emitter of the switch V2 is connected to the other end of the transmission resistor R5, and one end of the sampling resistor R13 and the feedforward compensation module are connected to the output end of the feedforward compensation module 32In the circuit 4, the other end of the sampling resistor R13 is grounded, and the output end of the output control module 32 is connected to the servo valve 5, in this embodiment, as shown in fig. 2, the servo valve 5 is represented by an inductive load mark, and in the process of intuitive measurement, the flutter signal directly output to the servo valve is considered.
In this embodiment, referring to fig. 2, the feedforward compensation circuit 4 includes a discharge module 41 and a sampling module 42, the discharge module 41 is connected to the sampling module 42, a first switch V6 is disposed in the discharge module 41, a second switch V7 and a sampling resistor R12 connected in series with the second switch V7 are disposed in the sampling module 42, the other end of the sampling resistor R12 is grounded, a transmission resistor R5 is connected to the second switch V7, the second switch V7 is a field effect transistor, as shown in fig. 2, the discharge module 41 further includes a diode V3, a diode V4, a resistor R6, a diode V5, a capacitor C2, a resistor R7, a resistor R8, a resistor R9 and a capacitor C4, the sampling module 42 further includes a resistor R11, a capacitor C5 and a resistor R10, wherein, for the entire feedforward compensation circuit 4, whether a feedforward signal is input through a feedforward switch, a cathode of the diode V3 in the discharge module 41 is connected to the feedforward compensation circuit, the anode of the diode V3 is connected with the anode of the diode V4, the diode V4 is connected with the resistor R6 in parallel, one end of the diode V4, which is connected with the resistor R6 in parallel, is connected with one end of the capacitor C4, and the other end of the diode V4, which is connected with the cathode of the diode V5, the other end of the capacitor C2, the other end of the resistor R7 and the emitter of the first switch V6 are respectively connected with the other end of the diode V3838 and the resistor R6 in parallel; the other end of the capacitor C4 is connected with one end of a resistor R8, the other end of the resistor R8 is connected with the anode of the diode V5, one end of the capacitor C2, one end of the electric group R7 and the base of the first switch V6, the collector of the first switch V6 is connected with one end of the resistor R9, the other end of the resistor R9 is connected with one end of the resistor R11, one end of the resistor R10 and the gate of the second switch V7, the other end of the resistor R10 is connected with one end of the capacitor C5, the other end of the capacitor C5 and the other end of the resistor R11 are grounded, one end of the sampling resistor R12 is connected with the source of the second switch V7, and the drain of the second switch V7 is connected with the transmission resistor R5.
In the present embodiment, the initial control signal is the input voltage at the non-inverting input of the operational amplifier N1, and is set to upTransporting and transportingInput voltage u of non-inverting input terminal of operational amplifier N1pThe voltage of the capacitor C1 and the capacitor C3 is periodically changed along with the square wave output by the timer and the charging and discharging of the capacitor C1 and the capacitor C3. When the feedforward signal is input at the input end of the feedforward compensation circuit 4, the discharging module 41 discharges, the first switch V6 and the second switch V7 are both switched on, the sampling resistor R12 is connected with the sampling resistor R12 in parallel, and the flutter signal C at the output end of the flutter signal compensation circuit 3 is increased; the discharging module 41 finishes discharging, and the flutter signal C at the output end of the flutter signal compensation circuit 3 is recovered. Specifically, take the control current finally output to the electrohydraulic servo valve as an example, that is, the direct control signal is the current signal, and the other IOUT of the D/a converter 12 outputs the analog electrical signal B as the current I0Then the current flowing through the sampling resistor R13 is
Wherein the content of the first and second substances,
(2mA is N7 output current), then output to the control current I of the electrohydraulic servo valveCApproximately equal to:
wherein, I0The output of one IOUT terminal of the D/A converter 12 is controlled by software and is at I0At a fixed value, a direct control signal I of the servo valve 5 output by the output of the control module 32 is outputCA small flutter signal with the same frequency as the input square wave is superimposed on the signal, specifically as shown in fig. 3, the lower end is an analog electrical signal B converted by the D/a converter 12, the analog electrical signal B is amplified by an operational amplifier in the flutter signal compensation circuit 3 to be an initial electrical signal, the square wave waveform at the upper end is a flutter signal, the flutter signal is superimposed on the initial electrical signal, different amplitudes can be obtained by adjusting the resistor R2, the resistor R3, the capacitor C1 and the capacitor C3, the square wave signal is generated by a timer, and the single chip microcomputer 11 configures the output frequency of the timer in the initialization stage, and the output frequency of the timer is the same as that of the single chip microcomputer 11The rear timer automatically reloads the configuration parameters, and the precision of the precision square wave frequency can reach +/-0.1 Hz.
When the feedforward switch is switched on, the capacitor C4 starts to discharge, the first switch V6 and the second switch V7 are switched on, the resistor R12 is connected into the flutter compensation circuit 3 in parallel, and the control current I is finally output to the electro-hydraulic servo valveCThe following steps are changed:
when the discharge of the C4 is finished, the first switch V6 and the second switch V7 are cut off, the resistor R12 is disconnected with the flutter compensation circuit 3, and the control current I is finally output to the electro-hydraulic servo valveCAnd then changing back:
in this embodiment, the input of the feedforward compensation circuit 4 is the switching value signal, the low level is active, when the input changes to the low level, the output of the feedforward compensation circuit 4 will increase the amplification ratio instantaneously, and then gradually return to the original amplification ratio, i.e. when the feedforward signal is input, the current of the electro-hydraulic servo valve is increased instantaneously, and then the feedforward compensation is cancelled.
The embodiment of the invention provides a servo valve control method based on feedforward compensation and flutter compensation, which is realized based on a servo valve control circuit provided by the embodiment of the invention and comprises the following specific steps:
s1, acquiring a reference frequency signal A, an analog electrical signal B and an initial control signal; in this embodiment, the reference frequency signal a is a square wave signal, which is used as a reference for periodic transformation, the analog electrical signal B is a current signal, which is converted by a D/a converter, and is a weak current signal, which is amplified by the flutter compensation circuit 3 to be an initial electrical signal, and the initial control signal is an input voltage at the non-inverting input terminal of the operational amplifier N1 in the servo valve control circuit;
s2, converting the initial control signal and the analog electrical signal B into an initial flutter signal C by taking the frequency of the reference frequency signal A as a standard;
s3, setting a time period t1 for inputting a feedforward signal according to the controlled trend of the servo valve, increasing an initial flutter signal C when the feedforward signal is input, and superposing the initial electric signal and the increased initial flutter signal C to be used as a direct control signal of the servo valve to control the servo valve;
s4, according to the controlled trend of the servo valve, setting a time period t2 for canceling input of the feedforward signal, wherein when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electrical signal and the initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
In specific implementation, S3 and S4 may be performed simultaneously, or either one of them may be performed before the other; the frequency of the initial dither signal C is the same as the frequency of the reference frequency signal a. The time period t1 for inputting the feedforward signal and the time period t2 for canceling the feedforward signal can be set according to the requirement of the current controlled trend of the electro-hydraulic servo valve so as to achieve better control performance.
Referring to fig. 4, the present embodiment further proposes a servo control device based on feedforward compensation and flutter compensation, comprising:
the signal acquisition module acquires a reference frequency signal A, an analog electrical signal B and an initial control signal, and amplifies the analog electrical signal B into an initial electrical signal;
the flutter signal compensation module is used for converting the initial control signal and the initial electric signal into an initial flutter signal C by taking the frequency of the reference frequency signal A as a standard;
the first feedforward compensation module is used for setting a time period t1 for inputting a feedforward signal according to the controlled trend of the servo valve, increasing an initial flutter signal C when the feedforward signal is input, and superposing the initial electrical signal and the increased initial flutter signal C to be used as a direct control signal of the servo valve to control the servo valve;
and the second feedforward compensation module is used for setting a time period t2 for canceling input of a feedforward signal according to the controlled trend of the servo valve, when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electrical signal and the initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A servo valve control circuit based on feed forward compensation and flutter compensation, comprising:
the device comprises a signal generation processing circuit (1), a reference signal unit (2), a flutter signal compensation circuit (3), a feedforward compensation circuit (4) and a servo valve (5);
the signal generation processing circuit (1) is connected with the reference signal unit (2), the signal output frequency of the reference signal unit (2) is configured, and the reference signal unit (2) outputs a reference frequency signal A; the signal generation processing circuit (1) outputs an analog electric signal B, the analog electric signal B is transmitted to the flutter signal compensation circuit (3) and is amplified into an initial electric signal required by the control of the servo valve (5), an initial control signal is input from the input end of the flutter signal compensation circuit (3), and the initial control signal and the initial electric signal are converted into an initial flutter signal C which is superposed on the output end of the flutter signal compensation circuit (3) by taking the frequency of a reference frequency signal A as a standard;
the feedforward compensation circuit (4) is connected with the flutter signal compensation circuit (3), and when the feedforward signal input exists at the input end of the feedforward compensation circuit (4), the initial flutter signal C superposed on the output end of the flutter signal compensation circuit (3) is increased; otherwise, the initial flutter signal C superposed on the output end of the flutter signal compensation circuit (3) is unchanged;
the output end of the flutter signal compensation circuit (3) is connected with the servo valve (5), and the initial electric signal and the changed initial flutter signal C are superposed to be used as a direct control signal of the servo valve (5) to control the servo valve (5).
2. A servo valve control circuit based on feedforward compensation and flutter compensation according to claim 1, wherein the signal generating and processing circuit (1) comprises a single chip microcomputer (11) for generating an original digital quantity signal and a D/a converter (12) for converting the original digital quantity signal into an analog electric signal, a first output end of the single chip microcomputer (11) is connected with an input end of the D/a converter (12), and an output end of the D/a converter (12) is connected with the flutter signal compensation circuit (3); and a second output end of the singlechip (11) is connected with an input end of the reference signal unit (2), and signal output frequency of the reference signal unit (2) is configured in an initialization stage.
3. The feed forward compensation and flutter compensation based servo valve control circuit of claim 2, the flutter signal compensation circuit is characterized in that the flutter signal compensation circuit (3) comprises an input adjusting module (31), an operational amplifier N1, an output control module (32), a transmission resistor R5 and a sampling resistor R13, a reference signal unit (2) is connected with one end of the input adjusting module (31), the other end of the input adjusting module (31) is connected with a non-inverting input end of the operational amplifier N1, an output end of a D/A converter (12) is respectively connected with an inverting input end of the operational amplifier N1 and one end of the transmission resistor R5, the other end of the transmission resistor R5 is respectively connected with one end of the output control module (32), one end of the sampling resistor R13 and a feedforward compensation circuit (4), the other end of the output control module (32) is connected with a servo valve (5), and the other end of the sampling resistor R13 is grounded.
4. A feed forward compensation and dither compensation based servo valve control circuit as set forth in claim 3 wherein the initial control signal is the input voltage at the non-inverting input of operational amplifier N1.
5. A servo valve control circuit based on feedforward compensation and flutter compensation according to claim 3, wherein the feedforward compensation circuit (4) comprises a discharge module (41) and a sampling module (42), the discharge module (41) is connected with the sampling module (42), a first switch V6 is arranged in the discharge module (41), a second switch V7 and a sampling resistor R12 connected with the second switch V7 in series are arranged in the sampling module (42), the other end of the sampling resistor R12 is grounded, a transmission resistor R5 is connected with the second switch V7, when a feedforward signal is input at the input end of the feedforward compensation circuit (4), the discharge module (41) discharges, the first switch V6 and the second switch V7 are both turned on, the sampling resistor R12 is connected with the sampling resistor R12 in parallel, and the flutter signal C at the output end of the flutter signal compensation circuit (3) increases; and the discharging module (41) finishes discharging, and the flutter signal C at the output end of the flutter signal compensation circuit (3) is recovered.
6. A servo valve control circuit based on feedforward compensation and flutter compensation according to any one of claims 2-5, wherein the reference signal unit (2) is a timer, and the single-chip microcomputer (11) configures the signal output frequency in the initialization stage, and then automatically updates the configuration parameters and outputs a square wave signal of 100 Hz-400 Hz.
7. A method for controlling a servo valve based on feedforward compensation and flutter compensation, wherein the method is implemented based on the feedforward compensation and flutter compensation based servo valve control circuit of claim 1, and comprises:
acquiring a reference frequency signal A, an analog electrical signal B and an initial control signal, and amplifying the analog electrical signal B into an initial electrical signal;
converting the initial control signal and the initial electric signal into an initial flutter signal C by taking the frequency of the reference frequency signal A as a standard;
setting a time period t1 of feedforward signal input according to the controlled trend of the servo valve, increasing an initial flutter signal C when the feedforward signal is input, and superposing the initial electric signal and the increased initial flutter signal C to be used as a direct control signal of the servo valve to control the servo valve;
and setting a time period t2 for canceling input of the feedforward signal according to the controlled trend of the servo valve, wherein when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electrical signal and the initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
8. A servo valve control method based on feedforward compensation and flutter compensation according to claim 7, wherein the analog electrical signal B is converted from a raw digital signal through a D/A converter.
9. A servo valve control method based on feed forward compensation and dither compensation as claimed in claim 8 wherein the frequency of the initial dither signal C is the same as the frequency of the reference frequency signal a.
10. A servo control apparatus based on feedforward compensation and flutter compensation, comprising:
the signal acquisition module acquires a reference frequency signal A, an analog electrical signal B and an initial control signal, and amplifies the analog electrical signal B into an initial electrical signal;
the flutter signal compensation module is used for converting the initial control signal and the initial electric signal into an initial flutter signal C by taking the frequency of the reference frequency signal A as a standard;
the first feedforward compensation module is used for setting a time period t1 for inputting a feedforward signal according to the controlled trend of the servo valve, increasing an initial flutter signal C when the feedforward signal is input, and superposing the initial electrical signal and the increased initial flutter signal C to be used as a direct control signal of the servo valve to control the servo valve;
and the second feedforward compensation module is used for setting a time period t2 for canceling input of a feedforward signal according to the controlled trend of the servo valve, when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electrical signal and the initial flutter signal C are superposed to be used as a direct control signal of the servo valve to control the servo valve.
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