CN113960942B - 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
- Publication number
- CN113960942B CN113960942B CN202111109836.1A CN202111109836A CN113960942B CN 113960942 B CN113960942 B CN 113960942B CN 202111109836 A CN202111109836 A CN 202111109836A CN 113960942 B CN113960942 B CN 113960942B
- Authority
- CN
- China
- Prior art keywords
- signal
- servo valve
- flutter
- initial
- compensation
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 17
- 238000005070 sampling Methods 0.000 claims description 36
- 238000007599 discharging Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000002441 reversible effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 230000002829 reductive effect Effects 0.000 abstract description 4
- 239000003990 capacitor Substances 0.000 description 17
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 244000145845 chattering Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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 superimposed 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 cost of a CPU processor is reduced, the response speed of the servo valve is accelerated, and the control quality is improved; and 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, so that the influence of the software anti-interference countermeasure and the software algorithm cycle period is avoided, and the control effect of the servo valve is further consolidated.
Description
Technical Field
The invention relates to the technical field of servo valve control, in particular to a servo valve control circuit, a servo valve control method and a servo valve control 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 receives analog electric signals and outputs modulated current and pressure correspondingly, is an interface of an electric control part and a hydraulic execution part, and is an amplifying element for realizing small-signal control and high power. The electrohydraulic servo valve has the advantages of quick dynamic response, high control precision, long service life and the like, and is widely applied to electrohydraulic 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 assembly of the electrohydraulic servo valve and the valve cavity inevitably forms friction force, in addition, a mechanical gap is usually formed between the moving assemblies of the valve, static friction is possibly aggravated, the blocking phenomenon of the servo valve occurs, in order to reduce the friction influence, the blocking probability of the servo valve is reduced, the sensitive control performance of the electrohydraulic servo valve is ensured, a dither signal with low frequency and small amplitude of 100 Hz-400 Hz is usually superimposed on a control signal of the electrohydraulic servo valve, but in a digital electronic controller, a software control algorithm is usually used for superimposing the dither signal on the control signal of the electrohydraulic servo valve, but the software algorithm becomes complex, for example, the control signal of 2016, 12 months and 21 days of China patent (publication number: CN106246986 a) discloses an integrated flutter signal self-adaptive proportional valve amplifier, which comprises a flutter control closed loop, a valve position control closed loop, a flutter superposition algorithm unit and a sampling current unit, wherein the flutter amplitude and the flutter frequency are accurately extracted from the current through an intelligent signal processing algorithm and are input into the flutter signal self-adaptive closed loop control algorithm, so that the flutter amplitude and the frequency of the new adaptive valve core position, the pressure difference before and after the valve and the flow are calculated, the full-stroke minimum hysteresis and the high dynamic response characteristic of the reciprocating motion of the servo valve core can be realized, the hardware circuit design is simplified, the complex algorithm execution and processing process is involved, the software main cycle execution time is increased, the CPU processor resource is occupied, and the improvement of the control quality is not facilitated.
In addition, considering the automatic control field, under the condition that the controlled trend of the servo valve is known, the adverse effect is usually eliminated by adopting a feedforward control mode, in a digital electronic controller, a software is used for receiving and judging signals, a feedforward compensation algorithm is executed, and a feedforward control signal is output to the electrohydraulic servo valve, but in the actual working process, the feedforward cannot be output at the first time due to the influence of software anti-interference measures and a cycle period, and the control effect of the servo valve is affected.
Disclosure of Invention
In order to solve the problems that the current mode of guaranteeing the control performance of the servo valve through a software algorithm has long algorithm execution time, large occupied resources and long feedback time, the invention provides a servo valve control circuit, a servo valve control method and a servo valve control device based on feedforward compensation and flutter compensation, which replace a complex software algorithm in a mode of a simple circuit structure, reduce the cost of a CPU processor and accelerate the response speed of the servo valve, thereby improving the control quality.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a servo valve control circuit based on feedforward compensation and chatter compensation, comprising:
the device comprises a signal generation 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 outputs a reference frequency signal A; the signal generation processing circuit outputs an analog electric signal B required by servo valve control, the analog electric signal B is transmitted to the flutter signal compensation circuit and amplified into an initial electric signal required by servo valve control, the initial control signal is input from the input end of the flutter signal compensation circuit, and the initial control signal is converted into an initial flutter signal C superimposed on the output end of the flutter signal compensation circuit together with the initial electric signal by taking the frequency of the reference frequency signal A as a standard;
the feedforward compensation circuit is connected with the flutter signal compensation circuit, and when feedforward signal input exists at the input end of the feedforward compensation circuit, the initial flutter signal C superposed at the output end of the flutter signal compensation circuit is increased; otherwise, the initial flutter signal C superimposed 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 overlapped 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 superimposed on the direct control signal required by the servo valve based on the hardware circuits such as the signal generation processing circuit, the reference signal unit and the flutter signal compensation circuit, so that a software algorithm is omitted, the execution complexity of the software algorithm is avoided, the cost of a CPU processor is reduced, the response speed of the servo valve is accelerated, and the control quality is improved; and 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, so that the influence of the software anti-interference countermeasure and the software algorithm cycle period is avoided, and the control effect of the servo valve is further consolidated.
Further, the signal generation processing circuit comprises a singlechip for generating an original digital quantity signal and a D/A converter for converting the original digital quantity signal into an analog electric signal, a first output end of the singlechip is connected with an input end of the D/A converter, and an output end of the D/A converter is connected with a flutter signal compensation circuit; 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 utilized to generate an 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 control of the servo valve, and the singlechip can ensure the configuration of the signal output frequency of the reference signal unit, and can stably output the reference frequency signal required by the control circuit under the frequency configuration of the reference signal unit.
Further, 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 in-phase input end of the operational amplifier N1, the output end of the D/A converter is respectively connected with the reverse 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 an input voltage of the non-inverting input terminal of the operational amplifier N1.
Through adopting above-mentioned technical scheme, the amplitude of reference frequency signal that reference signal unit output passes through input regulation module adjustment, with the input voltage of the homophase input of operational amplifier N1 as initial control signal, follow the frequency of reference frequency signal, D/A converter output analog electric signal to operational amplifier N1's reverse input, operational amplifier N1 has optimized the signal compensation circuit that shakes, initial control signal and analog electric signal pass through transmission resistance R5 in proper order, sampling resistance R13 accomplish signal transmission and the emergence of the signal that shakes, the compensation of feed forward compensation circuit again, output the direct control signal of servo valve through output control module, make the shake signal that overlaps on the direct control signal of electrohydraulic servo valve more accurate, the hysteresis characteristic of servo valve hydraulic spare has been improved.
Preferably, the feedforward compensation circuit comprises a discharging module and a sampling module, the discharging module is connected with the sampling module, a first switch V6 is arranged in the discharging 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 the second switch V7, when feedforward signal input exists at the input end of the feedforward compensation circuit, the discharging module discharges, the first switch V6 and the second switch V7 are both conducted, 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 the discharging module finishes discharging, and the flutter signal C at the output end of the flutter signal compensation circuit is recovered.
According to the technical scheme, when the feedforward signal is input to 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 discharging module is discharged, the flutter signal C at the output end of the flutter signal compensation circuit is recovered, namely feedforward compensation is canceled, the feedforward adjustment is realized according to the requirement of the controlled trend of the servo valve through the charging and discharging of the discharging module, the control of complex software algorithm is omitted, the circuit structure is simple, and the control quality of the servo valve is further improved.
Further, the reference signal unit is a timer, the signal output frequency is configured by the singlechip in the initialization stage, then the configuration parameters are automatically updated, 100 Hz-400 Hz square wave signals are output, and the compensation accuracy of the flutter signals 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 electric signal B and an initial control signal, and amplifying the analog electric signal B into an initial electric signal;
the frequency of the reference frequency signal A is taken as a standard, and the initial control signal and the initial electric signal are converted into an initial flutter signal C;
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 serve as a direct control signal of the servo valve to control the servo valve;
according to the controlled trend of the servo valve, a time period t2 for canceling the input of the feedforward signal is set, when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electric signal and the initial flutter signal C are overlapped and used as direct control signals of the servo valve to control the servo valve.
Further, the analog electrical signal B is converted from the original digital quantity signal by a D/a converter.
Further, the frequency of the initial chatter 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 obtained by directly controlling the frequency of the reference frequency signal A.
The application also proposes a servo control device based on feedforward compensation and chatter compensation, comprising:
the signal acquisition module acquires a reference frequency signal A, an analog electric signal B and an initial control signal, and amplifies the analog electric signal B into an initial electric signal;
the flutter signal compensation module is used for converting an initial control signal and an 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 sets a time period t1 for inputting feedforward signals according to the controlled trend of the servo valve, increases an initial flutter signal C when the feedforward signals are input, and the initial electric signals and the increased initial flutter signal C are overlapped to serve as direct control signals of the servo valve to control the servo valve;
the second feedforward compensation module sets a time period t2 for canceling input of a feedforward signal according to a controlled trend of the servo valve, and when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electric signal and the initial flutter signal C are overlapped and serve as direct control signals of the servo valve to control the servo valve.
The invention has the following beneficial effects:
the invention is based on hardware circuits such as a signal generation processing circuit, a reference signal unit, a flutter signal compensation circuit and the like completely, replaces complex software algorithms in a simple circuit structure mode, and superimposes the flutter signal on a direct control signal required by the servo valve, thereby omitting the software algorithms, avoiding the execution complexity of the software algorithms, reducing the cost of a CPU processor, accelerating the response speed of the servo valve and further improving the control quality; and 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, so that the influence of the software anti-interference countermeasure and the software algorithm cycle period is avoided, and the control effect of the servo valve is further consolidated.
Drawings
FIG. 1 is a schematic diagram showing the overall structure of a servo valve control circuit based on feedforward compensation and chatter compensation according to 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 chatter compensation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing superimposed waveforms of the flutter signals obtained by using the specific structure of the servo valve control circuit based on feedforward compensation and flutter compensation according to the embodiment of the present invention shown in FIG. 2;
fig. 4 is a block diagram showing a servo valve control apparatus based on feedforward compensation and chatter compensation according to an embodiment of the present invention.
The device comprises a signal generation processing circuit, a signal generation processing circuit and a signal processing circuit, wherein 1; 11. a single chip microcomputer; a d/a converter; 2. a reference signal unit; 3. a chatter 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 attached drawings, but the invention can be implemented in a number of different ways defined and covered by the following description;
considering that in the actual working process of the electrohydraulic servo valve, the relative motion of a motion assembly of the electrohydraulic servo valve and a valve cavity inevitably forms friction force, static friction is possibly aggravated, the electrohydraulic servo valve is blocked, in order to reduce friction influence and reduce the blocking probability of the electrohydraulic servo valve, the embodiment of the invention provides a servo valve control circuit, a servo valve control method and a servo valve control device based on feedforward compensation and flutter compensation, wherein the overall structure schematic diagram of the servo valve control circuit based on feedforward compensation and flutter compensation is shown in fig. 1, and the servo valve control circuit comprises: 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, wherein in the embodiment, the servo valve 5 refers to an electrohydraulic servo valve; the signal generation processing circuit 1 is connected with the reference signal unit 2, configures the signal output frequency of the reference signal unit 2, 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 into 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 initial control signal is converted into an initial flutter signal C overlapped on the output end of the flutter signal compensation circuit 3 by taking the frequency of the reference frequency signal A as a standard together with the initial electric signal, namely, the flutter signal is overlapped 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 cost 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 process, under the condition of knowing the controlled trend of the servo valve 5, 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, introducing a feedforward compensation circuit to increase the compensation of the servo valve 5; if the servo valve itself only needs a conventional direct control signal at certain moment, the feedforward compensation circuit is canceled to compensate the servo valve 5, specifically, referring to fig. 1, the feedforward compensation circuit 4 is connected with the flutter signal compensation circuit 3, when the feedforward signal input exists at the input end of the feedforward compensation circuit 4, the initial flutter signal C superimposed on the output end of the flutter signal compensation circuit 3 increases; otherwise, the initial flutter signal C superimposed 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 overlapped and used as direct control signals of the servo valve 5 to control the servo valve 5.
Referring to fig. 1, a signal generating and processing circuit 1 includes 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 electrical signal, wherein 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 a flutter signal compensation circuit 3; the second output end of the singlechip 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 microcomputer 11 outputs digital quantity signals of D0 to D7, the digital quantity signals are converted into current of 0 to 2mA through the D/a converter 12, that is, the analog electric signal B is a current signal of 0 to 2mA, the analog electric signal B is transmitted to the chatter signal compensation circuit 3, and amplified into an initial electric signal required by the servo valve 5 to be controlled, that is, amplified into a current signal of 0 to 200mA required by the servo valve to be controlled, the single chip microcomputer 11 configures the signal output frequency of the reference signal unit 2 in an initialization stage, in this embodiment, the reference signal unit 2 is a timer, the single chip microcomputer 11 configures the signal output frequency in the initialization stage, then automatically updates configuration parameters, outputs square wave signals of 100Hz to 400Hz, and finally, a direct control signal of the servo valve 5 is current.
FIG. 2 is a detailed block diagram of a servo valve control circuit based on feedforward compensation and chatter compensation, see FIG. 2, singleThe chip machine 11 outputs digital signals from D0 to D7, and then transmits the digital signals to the input ends D0 to D7 of the D/A converter 12, one IOUT of the D/A converter 12 is grounded, and the other IOUT outputs an analog electric signal B, namely current I 0 The method comprises the steps of carrying out a first treatment on the surface of the The flutter 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, 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 of the parallel ends is grounded, the other end is connected with one end of the resistor R2 to the IN-phase input end in+ of the operational amplifier N1, and the other end of the resistor R2 is connected with 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 12 0 IOUT terminal of the operational amplifier N1 is respectively connected with the inverting input terminal IN-and one end of the transmission resistor R5, and the current I 0 Amplified by an operational amplifier N1 into an initial electrical signal, i.e. a current I of 0-20 mA 0 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 all triodes, one end of the resistor R1 is connected to the output end of the operational amplifier N1, the other end is respectively 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 is jointly used 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 is further connected to one end of the sampling resistor R13 and the feedforward compensation 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, referring to fig. 2, the feedforward compensation circuit 4 includes a discharging module 41 and a sampling module 42, the discharging module 41 is connected with the sampling module 42, a first switch V6 is disposed in the discharging 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 with the second switch V7, the second switch V7 is a field effect transistor, as shown in fig. 2, the discharging 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 whole feedforward compensation circuit 4, the input of a feedforward signal is reflected by the on-off state of the feedforward switch, the cathode of the diode V3 in the discharging module 41 is connected with the feedforward switch, the anode of the diode V3 is connected with the anode of the diode V4, the diode V4 is connected with the diode parallel with the resistor R6, the diode V6 is connected with the other end of the diode V6, and the other end of the diode V4 is connected with the resistor C6 and the other end of the resistor C2 is connected with the resistor C6 in parallel with the capacitor C6; the other end of the capacitor C4 is connected with one end of the resistor R8, the other end of the resistor R8 is respectively 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 respectively connected with one end of the resistor R11, one end of the resistor R10 and the grid 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 terminal of the operational amplifier N1, which is denoted by u p The non-inverting input end of the operational amplifier N1 inputs the voltage u p The square wave output by the timer and the charge and discharge of the capacitor C1 and the capacitor C3 are periodically changed. When the feedforward signal is input to 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 conducted, 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 discharges completely, and the flutter signal C at the output end of the flutter signal compensation circuit 3 is recovered. Specifically, taking the control current finally output to the electrohydraulic servo valve as an example, namely, the direct control signal isThe current signal, set the analog electrical signal B output by another IOUT of the D/A converter 12 as current I 0 The current flowing through the sampling resistor R13 is
Wherein,(2 mA is N7 output current), the control current I is output to the electrohydraulic servo valve C About equal to:
wherein I is 0 For the output of one of the IOUT terminals of the D/A converter 12, under software control, then at I 0 When the output is fixed, the output end of the output control module 32 outputs the direct control signal I of the servo valve 5 C In fig. 3, the lower end is an analog electric signal B converted by the D/a converter 12, amplified into an initial electric signal by an operational amplifier in the chatter signal compensation circuit 3, the upper end waveform is a chatter signal, superimposed on the initial electric signal, the adjusting resistor R2, the resistor R3, the capacitor C1 and the capacitor C3 can obtain different amplitudes, the square wave signal is generated by a timer, the singlechip 11 configures the output frequency of the timer in the initialization stage, the timer automatically reloads configuration parameters, and the accuracy of the precision square wave frequency can reach +/-0.1 Hz.
When the feedforward switch is turned on, the capacitor C4 starts to discharge, the first switch V6 and the second switch V7 are turned on, the resistor R12 is connected in parallel with the flutter compensation circuit 3, and the control current I finally output to the electrohydraulic servo valve C The process is as follows:
when C4 is putAfter electricity is completed, the first switch V6 and the second switch V7 are cut off, the resistor R12 is disconnected with the flutter compensation circuit 3, and finally the control current I of the electrohydraulic servo valve is output C And then change back to:
in this embodiment, the input of the feedforward compensation circuit 4 is a switching value signal, the low level is effective, and when the input becomes 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, that is, when the feedforward signal is input, the current of the electrohydraulic 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 the servo valve control circuit provided in the embodiment of the invention and comprises the following specific steps:
s1, acquiring a reference frequency signal A, an analog electric 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 the D/a converter, is a weak current signal, and is amplified by the chattering compensation circuit 3 to be an initial electrical signal, and the initial control signal is an input voltage of the non-inverting input terminal of the operational amplifier N1 in the servo valve control circuit;
s2, taking the frequency of the reference frequency signal A as a standard, and converting the initial control signal and the analog electric signal B into an initial flutter signal C;
s3, setting a time period t1 for inputting a feedforward signal according to a 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 serve as a direct control signal of the servo valve to control the servo valve;
s4, 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 electric signal and the initial flutter signal C are overlapped and used as direct control signals of the servo valve to control the servo valve.
In specific implementation, S3 and S4 may be performed simultaneously, or either one may be selected to be performed in front of the other; the frequency of the initial dither signal C is the same as the frequency of the reference frequency signal a. For the time period t1 of the feedforward signal input and the time period t2 of the feedforward signal cancel input, the setting can be carried out according to the requirement of the current controlled trend of the electrohydraulic 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 chatter compensation, including:
the signal acquisition module acquires a reference frequency signal A, an analog electric signal B and an initial control signal, and amplifies the analog electric signal B into an initial electric signal;
the flutter signal compensation module is used for converting an initial control signal and an 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 sets a time period t1 for inputting feedforward signals according to the controlled trend of the servo valve, increases an initial flutter signal C when the feedforward signals are input, and the initial electric signals and the increased initial flutter signal C are overlapped to serve as direct control signals of the servo valve to control the servo valve;
the second feedforward compensation module sets a time period t2 for canceling input of a feedforward signal according to a controlled trend of the servo valve, and when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electric signal and the initial flutter signal C are overlapped and serve as direct control signals of the servo valve to control the servo valve.
The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;
it is to be understood that the above examples of the present invention are provided by way of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. A servo valve control circuit based on feedforward compensation and chatter compensation, comprising:
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) comprises a singlechip (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, wherein a first output end of the singlechip (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); the second output end of the singlechip (11) is connected with the input end of the reference signal unit (2), and the signal output frequency of the reference signal unit (2) is configured in an initialization stage;
the signal generation processing circuit (1) is connected with the reference signal unit (2), and is used for configuring the signal output frequency of the reference signal unit (2), 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 into 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), and the initial control signal is converted into an initial flutter signal C which is overlapped on the output end of the flutter signal compensation circuit (3) together with the initial electric signal by taking the frequency of the reference frequency signal A as a standard;
the feedforward compensation circuit (4) is connected with the flutter signal compensation circuit (3), and when 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 superimposed 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 a servo valve (5), and an initial electric signal and a changed initial flutter signal C are overlapped to be used as a direct control signal of the servo valve (5) to control the servo valve (5);
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, wherein the 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 the in-phase input end of the operational amplifier N1, the output end of the D/A converter (12) is respectively connected with the reverse 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 the feedforward compensation circuit (4), the other end of the output control module (32) is connected with the servo valve (5), and the other end of the sampling resistor R13 is grounded.
2. The servo valve control circuit based on feedforward compensation and chatter compensation of claim 1, wherein the initial control signal is an input voltage at a non-inverting input of the operational amplifier N1.
3. The servo valve control circuit based on feedforward compensation and flutter compensation according to claim 1, wherein the feedforward compensation circuit (4) comprises a discharging module (41) and a sampling module (42), the discharging module (41) is connected with the sampling module (42), a first switch V6 is arranged in the discharging 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 feedforward signal input exists 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 conducted, 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; 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.
4. A servo valve control circuit based on feedforward compensation and flutter compensation according to any one of claims 1-3, characterized in that the reference signal unit (2) is a timer, the signal output frequency is configured by the single chip microcomputer (11) in the initialization stage, and then the configuration parameters are automatically updated to output 100 Hz-400 Hz square wave signals.
5. A servo valve control method based on feedforward compensation and chatter compensation, characterized in that the method is implemented based on the servo valve control circuit based on feedforward compensation and chatter compensation according to claim 1, comprising:
acquiring a reference frequency signal A, an analog electric signal B and an initial control signal, and amplifying the analog electric signal B into an initial electric signal;
the frequency of the reference frequency signal A is taken as a standard, and the initial control signal and the initial electric signal are converted into an initial flutter signal C;
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 serve as a direct control signal of the servo valve to control the servo valve;
according to the controlled trend of the servo valve, a time period t2 for canceling the input of the feedforward signal is set, when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electric signal and the initial flutter signal C are overlapped and used as direct control signals of the servo valve to control the servo valve.
6. The servo valve control method based on feedforward compensation and chatter compensation according to claim 5, wherein the analog electrical signal B is converted from a raw digital quantity signal by a D/a converter.
7. The servo valve control method based on feedforward compensation and chatter compensation according to claim 6, wherein the frequency of the initial chatter signal C is the same as the frequency of the reference frequency signal a.
8. A servo control device based on feedforward compensation and chatter compensation, characterized in that the device is implemented based on the servo valve control circuit based on feedforward compensation and chatter compensation according to claim 1, comprising:
the signal acquisition module acquires a reference frequency signal A, an analog electric signal B and an initial control signal, and amplifies the analog electric signal B into an initial electric signal;
the flutter signal compensation module is used for converting an initial control signal and an 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 sets a time period t1 for inputting feedforward signals according to the controlled trend of the servo valve, increases an initial flutter signal C when the feedforward signals are input, and the initial electric signals and the increased initial flutter signal C are overlapped to serve as direct control signals of the servo valve to control the servo valve;
the second feedforward compensation module sets a time period t2 for canceling input of a feedforward signal according to a controlled trend of the servo valve, and when no feedforward signal is input, the initial flutter signal C is unchanged, and the initial electric signal and the initial flutter signal C are overlapped and serve as direct control signals of the servo valve to control the servo valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111109836.1A CN113960942B (en) | 2021-09-18 | 2021-09-18 | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111109836.1A CN113960942B (en) | 2021-09-18 | 2021-09-18 | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113960942A CN113960942A (en) | 2022-01-21 |
| CN113960942B true CN113960942B (en) | 2024-03-12 |
Family
ID=79462173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111109836.1A Active CN113960942B (en) | 2021-09-18 | 2021-09-18 | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113960942B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003217244A (en) * | 2002-01-15 | 2003-07-31 | Data Strage Inst | Actuator to be arranged near magnetic data memory disk by supporting read/write head and method of compensating disk flutter in hard disk driver |
| CN104075017A (en) * | 2014-06-27 | 2014-10-01 | 安徽江淮汽车股份有限公司 | Flutter control method and system of solenoid valve |
| CN105119579A (en) * | 2015-09-09 | 2015-12-02 | 浙江大学 | Servo valve amplifier |
| CN204993259U (en) * | 2015-09-09 | 2016-01-20 | 上海申磬产业有限公司 | Servovalve amplifier |
| CN105487456A (en) * | 2016-01-22 | 2016-04-13 | 安徽江淮汽车股份有限公司 | Clutch solenoid valve control circuit and method |
| CN205559928U (en) * | 2016-02-22 | 2016-09-07 | 西安强源电气有限公司 | High -speed electro hydraulic servo valve controller based on FPGA |
| CN106051269A (en) * | 2016-06-27 | 2016-10-26 | 南昌大学 | Integrated flutter signal self-adaptive proportional pump amplifier |
| CN106246986A (en) * | 2016-06-27 | 2016-12-21 | 南昌大学 | Integrated form vibrating signal self adaptation proportional valve amplifier |
| CN109139623A (en) * | 2018-09-14 | 2019-01-04 | 襄阳航宇机电液压应用技术有限公司 | A kind of analogue type closed loop servo actuator controller |
| CN111694320A (en) * | 2020-06-10 | 2020-09-22 | 大连理工大学 | Machine tool self-adaptive control method considering flutter suppression |
| CN112445165A (en) * | 2020-11-06 | 2021-03-05 | 江苏徐工工程机械研究院有限公司 | Proportional solenoid valve control method and control system |
-
2021
- 2021-09-18 CN CN202111109836.1A patent/CN113960942B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003217244A (en) * | 2002-01-15 | 2003-07-31 | Data Strage Inst | Actuator to be arranged near magnetic data memory disk by supporting read/write head and method of compensating disk flutter in hard disk driver |
| SG126688A1 (en) * | 2002-01-15 | 2006-11-29 | Inst Data Storage | Active control system and method for reducing diskfluttering induced track misregistrations |
| CN104075017A (en) * | 2014-06-27 | 2014-10-01 | 安徽江淮汽车股份有限公司 | Flutter control method and system of solenoid valve |
| CN105119579A (en) * | 2015-09-09 | 2015-12-02 | 浙江大学 | Servo valve amplifier |
| CN204993259U (en) * | 2015-09-09 | 2016-01-20 | 上海申磬产业有限公司 | Servovalve amplifier |
| CN105487456A (en) * | 2016-01-22 | 2016-04-13 | 安徽江淮汽车股份有限公司 | Clutch solenoid valve control circuit and method |
| CN205559928U (en) * | 2016-02-22 | 2016-09-07 | 西安强源电气有限公司 | High -speed electro hydraulic servo valve controller based on FPGA |
| CN106051269A (en) * | 2016-06-27 | 2016-10-26 | 南昌大学 | Integrated flutter signal self-adaptive proportional pump amplifier |
| CN106246986A (en) * | 2016-06-27 | 2016-12-21 | 南昌大学 | Integrated form vibrating signal self adaptation proportional valve amplifier |
| CN109139623A (en) * | 2018-09-14 | 2019-01-04 | 襄阳航宇机电液压应用技术有限公司 | A kind of analogue type closed loop servo actuator controller |
| CN111694320A (en) * | 2020-06-10 | 2020-09-22 | 大连理工大学 | Machine tool self-adaptive control method considering flutter suppression |
| CN112445165A (en) * | 2020-11-06 | 2021-03-05 | 江苏徐工工程机械研究院有限公司 | Proportional solenoid valve control method and control system |
Non-Patent Citations (2)
| Title |
|---|
| 气动伺服定位技术及其应用;周洪;液压与气动;19990215(第01期);全文 * |
| 电液比例放大器双边驱动电路设计及颤振信号比较研究;刘宁;游有鹏;;机电工程(第06期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113960942A (en) | 2022-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9665110B2 (en) | Parallel current-sharing device and control method without current-sharing bus | |
| KR101126671B1 (en) | High efficiency amplification | |
| US9065393B2 (en) | Power amplifier, radio-frequency power amplification device, and amplification control method | |
| JP2596314B2 (en) | Switching power supply circuit | |
| CN108808685B (en) | Power supply voltage digital compensation system and method | |
| EP2019479B1 (en) | A single-desk power supply and a method for providing a power supply | |
| KR970703654A (en) | Output power control device | |
| KR20010005877A (en) | Pulse referenced control method for enhanced power amplification of a pulse modulated signal | |
| US6291975B1 (en) | Method and system for efficiently regulating power supply voltages with reduced propagation of power transients capable of communicating information | |
| SE510611C2 (en) | BUCK-BOOST VOLTAGE REGULATOR | |
| KR930015805A (en) | Control Circuits and Power Supplies for Television | |
| CN111664287B (en) | Constant-current control device, method and system for electromagnetic valve | |
| CN113960942B (en) | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation | |
| US7720457B2 (en) | Method and apparatus for minimizing noise on a power supply line of a mobile radio | |
| CN110677043B (en) | Multiphase DCDC power supply control circuit with self-adaptive output voltage adjustment function | |
| CN101911495B (en) | Oscillation frequency control circuit, DC-DC converter including the oscillation frequency control circuit, and semiconductor device | |
| US10605836B2 (en) | Voltage detection device | |
| US6274999B1 (en) | Induction motor load compensation for power steering applications | |
| JP2002140130A (en) | Method and device for synchronizing clock modulation with electric power source modulation in spread spectrum clock system | |
| JP6292325B1 (en) | Semiconductor integrated circuit, semiconductor system and method | |
| US8265306B2 (en) | Digital microphone and power supply unit for a digital microphone | |
| EP0003260A1 (en) | Integrated injection logic digital-to-analog converter employing feedback regulation and method therefor | |
| KR20160071491A (en) | Method for controlling electrical vacuum pump | |
| KR20020020990A (en) | Magnetic bearing apparatus of quick response | |
| US20020060608A1 (en) | Electronic apparatus comprising a power amplifier |
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 |