CN114412885A - Method and device for improving mechanical flexibility of hydraulic valve cylinder control system - Google Patents
Method and device for improving mechanical flexibility of hydraulic valve cylinder control system Download PDFInfo
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- CN114412885A CN114412885A CN202210068261.1A CN202210068261A CN114412885A CN 114412885 A CN114412885 A CN 114412885A CN 202210068261 A CN202210068261 A CN 202210068261A CN 114412885 A CN114412885 A CN 114412885A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 39
- 238000004364 calculation method Methods 0.000 claims description 12
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- 239000003921 oil Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/021—Installations or systems with accumulators used for damping
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Abstract
The invention discloses a method and a device for improving mechanical flexibility of a hydraulic valve cylinder control system, wherein the method comprises the following steps: constructing a flexible valve control cylinder system and obtaining a hydraulic driver model and an energy accumulator model; acquiring pressure data of a hydraulic driver; calculating coulomb friction force in the hydraulic cylinder according to the pressure data; calculating the average working pressure data and the gas volume data of the hydraulic accumulator; calculating a hydraulic capacitive reactance value; inputting a displacement instruction and calculating by combining with an actual displacement value of the hydraulic cylinder actuator to obtain an actuator displacement error; constructing an error time integral; and (4) evaluating the maximum mechanical compliance of the valve control cylinder system and performing feedback control. The device comprises a module for realizing the method for improving the mechanical flexibility of the hydraulic valve cylinder control system. By using the invention, the compliance of the cylinder control system is promoted. The method and the device for improving the mechanical flexibility of the hydraulic valve cylinder control system can be widely applied to the field of servo control.
Description
Technical Field
The invention relates to the field of servo control, in particular to a method and a device for improving mechanical flexibility of a hydraulic valve cylinder control system.
Background
At present, methods for improving the flexibility of a valve control cylinder system are generally divided into a passive method and an active method. The passive method is mainly characterized in that flexible parts such as springs and dampers are added on a mechanical system structure to absorb and store energy so as to improve the flexibility of the system, but the flexibility is not adjustable, the control is difficult, and the integrated design is complicated. The active method is generally to completely embody position and force information in a valve control cylinder system, and improve the flexibility of the system while ensuring high control precision of an actuator by designing a control algorithm, but the active method usually needs to increase the number of sensors, improve the technical means of information processing, and design a complex control algorithm, thereby greatly increasing the workload of the whole system design. In both passive and active methods, no consideration is given to how much the friction affects the compliance of the hydraulic cylinder system.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a method and a device for improving the mechanical flexibility of a hydraulic valve cylinder control system so as to improve the flexibility of the hydraulic valve cylinder control system.
The first technical scheme adopted by the invention is as follows: a method for improving mechanical flexibility of a hydraulic valve cylinder control system comprises the following steps:
connecting a hydraulic accumulator to a rodless cavity of a hydraulic cylinder, constructing a flexible valve control cylinder system and obtaining a hydraulic driver model and an accumulator model;
acquiring pressure data of a hydraulic driver through a sensor preset on a hydraulic cylinder;
obtaining Coulomb friction force according to pressure data of the hydraulic actuator based on the hydraulic actuator model;
acquiring the volume and input pressure of gas in the hydraulic accumulator, and calculating the average working pressure and the corresponding volume of the gas of the hydraulic accumulator based on an accumulator model;
calculating according to the average working pressure and the corresponding gas volume to obtain a hydraulic capacitive reactance value;
inputting a displacement instruction and calculating by combining with an actual displacement value of the hydraulic cylinder actuator to obtain an actuator displacement error;
constructing an error time integral according to the displacement error of the actuator, the hydraulic capacitive reactance value and the coulomb friction force;
and (4) evaluating the maximum mechanical compliance of the valve control cylinder system according to the error time integral and performing feedback control.
Further, the hydraulic actuator model includes a piston force balance equation and a flow equation, and the equations are expressed as follows:
PcAp-PsAa-Ff＝Fh
in the above formula, PcFor rodless cavity pressure, PsFor rod cavity pressure, ApIs the area of the piston without a rod cavity, AaArea of piston ring zone with rod cavity, FhFor outputting a resultant force of the hydraulic actuators, FfIs a friction force; qaIn order to be the piston-side flow rate,
is the piston rod movement speed.
Further, the formula of the accumulator model is as follows:
in the above formula, V is the gas volume in the accumulator, V0Is the initial gas volume, VmVolume of gas at average working pressure, P0For pre-charging the gas, PaFor delivery of pressure, P, to the accumulatormN is the adiabatic index for the average operating pressure.
Further, the calculation formula of the hydraulic capacitive reactance value is as follows:
in the above formula, EhThe hydraulic capacitive reactance value is indicated.
Further, the expression of the error time integral is as follows:
in the above formula, epFor position tracking error, M is the load mass, CxValve flow coefficient, K, corresponding to the displacement of the valve corepIs a proportional gain.
The second technical scheme adopted by the invention is as follows: an apparatus for improving mechanical compliance of a hydraulic valve controlled cylinder system, comprising:
the flexible valve control cylinder system building module is used for connecting the hydraulic accumulator to a rodless cavity of the hydraulic cylinder, building the flexible valve control cylinder system and obtaining a hydraulic driver model and an accumulator model;
the pressure data acquisition module is used for acquiring pressure data of the hydraulic driver through a sensor preset on the hydraulic cylinder;
the friction force calculation module is used for obtaining the coulomb friction force according to the pressure data of the hydraulic driver based on the hydraulic driver model;
the energy accumulator data acquisition module is used for acquiring the gas volume and the input pressure in the hydraulic energy accumulator and calculating the average working pressure and the corresponding gas volume of the hydraulic energy accumulator based on the energy accumulator model;
the hydraulic capacitive reactance value calculation module is used for calculating according to the average working pressure and the corresponding gas volume to obtain a hydraulic capacitive reactance value;
the displacement error calculation module is used for inputting instruction displacement and calculating by combining with the actual displacement value of the hydraulic cylinder actuator to obtain the actuator displacement error;
the error time integral construction module is used for constructing error time integral according to the displacement error of the actuator, the hydraulic capacitive reactance value and the coulomb friction force;
and the feedback module is used for evaluating the maximum mechanical compliance of the valve control cylinder system according to the error time integral and performing feedback control.
The method and the device have the beneficial effects that: according to the method, the quantitative index of the influence degree of the coulomb friction force on the flexibility of the hydraulic valve control cylinder system is established, so that the proper friction and capacitive reactance level is obtained and fed back to system equipment for adjustment, and the flexibility of the system is improved to the maximum extent on the premise of ensuring the control requirement of the valve control cylinder system.
Drawings
FIG. 1 is a flow chart of steps of a method of improving mechanical compliance of a hydraulic valve controlled cylinder system of the present invention;
FIG. 2 is a block diagram of an apparatus for improving mechanical compliance of a hydraulic valve cylinder control system in accordance with the present invention;
FIG. 3 is a schematic illustration of a flexible valve cylinder system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a closed loop control system for a flexible valve cylinder system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
In the whole technical completion process, the necessary parts of the valve control cylinder system are as follows: the hydraulic system comprises a hydraulic cylinder, a hydraulic accumulator, a proportional valve and a displacement sensor; configuration relationship: the hydraulic accumulator is connected to the rodless cavity of the hydraulic cylinder through a loop; the proportional valve is connected to two cavities of the hydraulic cylinder through a loop; the displacement sensor is arranged on the hydraulic cylinder; the part connecting loop is completed through a hydraulic oil pipe, and the displacement sensor is connected with the hydraulic cylinder in parallel. The components of the flexible valve cylinder system and their connections are described with reference to fig. 3.
Referring to fig. 1, the present invention provides a method for improving mechanical compliance of a hydraulic valve cylinder control system, comprising the steps of:
s1, connecting the hydraulic accumulator to a rodless cavity of the hydraulic cylinder, constructing a flexible valve control cylinder system and obtaining a hydraulic driver model and an accumulator model;
specifically, first a hydraulic accumulator is connected to the rodless chamber of the hydraulic cylinder and the movement of the hydraulic cylinder is controlled by controlling the flow of this chamber via a proportional valve.
The hydraulic actuator model includes a piston force balance equation (1) and a flow equation (2), as follows:
PcAp-PsAa-Ff＝Fh (1)
in the above formula, PcFor rodless cavity pressure, PsFor rod cavity pressure, ApIs the area of the piston without a rod cavity, AaArea of piston ring zone with rod cavity, FhFor outputting a resultant force of the hydraulic actuators, FfIs a friction force; qaIn order to be the piston-side flow rate,
is the piston rod movement speed.
The formula of the accumulator model is as follows:
in the above formula, V is the gas volume in the accumulator, V0Is the initial gas volume, VmVolume of gas at average working pressure, P0For pre-charging the gas, PaFor delivery of pressure, P, to the accumulatormN is the adiabatic index for the average operating pressure.
S2, acquiring pressure data of the hydraulic driver through a sensor preset on the hydraulic cylinder;
in particular, the pressure data comprise the rodless chamber pressure P in the pressure hydraulic cylinder chambercPressure of rod cavity PsAnd the resultant force F of the hydraulic actuator outputh。
S3, based on the hydraulic actuator model, according to the pressure P of the rodless cavity in the containing cavity of the pressure hydraulic cylindercPressure of rod cavity PsHydraulic driver output resultant force FhObtaining the internal coulomb friction force F of the hydraulic cylinderc；
In particular, the friction force during the movement of the piston of the hydraulic cylinder is coulomb friction force, i.e. Ff＝Fc。
S4, collecting the gas volume and input pressure in the hydraulic accumulator, and calculating the average working pressure P of the hydraulic accumulator based on the accumulator modelmAnd volume V of gas at average operating pressurem；
S5 according to the average working pressure PmAnd volume V of gas at average operating pressuremCalculating to obtain a hydraulic capacitive reactance value;
specifically, for hydraulic systems, pressure fluctuations within the cavity due to variations in trapped oil volume are referred to as hydraulic capacitive reactance. A larger hydraulic capacitance will cause the pressure to change faster, resulting in a smaller position tracking error in the closed loop control system resulting in a larger pressure increase and vice versa. The larger the hydraulic capacitive reactance, the poorer the system compliance. The hydraulic capacitive reactance value calculation formula is as follows:
s6, inputting the instruction displacement and calculating by combining the actual displacement value of the hydraulic cylinder actuator to obtain the actuator displacement error;
specifically, the actual displacement value of the hydraulic cylinder actuator is obtained through a displacement sensor.
Meanwhile, position feedback control of a valve control cylinder system is realized by adopting a PI controller, and a control method and an expression of a closed-loop control system are as follows:
uc＝Kpe+Ki∫edt (5)
s7, constructing an error time integral according to the displacement error of the actuator, the hydraulic capacitive reactance value and the coulomb friction force;
specifically, the influence level of coulomb friction on the flexibility of the valve control cylinder system is quantified according to error time integral, and when the piston is static, a certain opening area of a valve oil hole is caused by position error, so that fluid enters an energy accumulator to generate pressure. In this case, the pressure variation of the hydraulic cylinder is small and insufficient to overcome the friction force, and the error time integral, which is a good quantitative indicator to represent the integral of the length of time that the error caused by the coulomb friction force must last to overcome, can relate the friction force to the compliance of the system. Referring to fig. 4, the closed-loop control system of the valve control cylinder at this time has the following expression of error time integral:
in the above formula, epFor position tracking error, M is the load mass, CxValve flow coefficient, K, corresponding to the displacement of the valve corepIs a proportional gain.
And S8, evaluating the maximum mechanical compliance of the valve control cylinder system according to the error time integral and carrying out feedback control.
Specifically, the maximum mechanical flexibility of the used valve control cylinder system can be evaluated by error time integration, and the quantitative index is fed back to equipment for corresponding adjustment, so that the mechanical flexibility of the valve control cylinder system is improved.
If the Coulomb friction level of the hydraulic cylinder is 105N, the calculated error time integral data is 10-2 magnitude when the energy accumulator is connected, and the calculated error time integral data is 10-4 magnitude when no energy accumulator is connected, the maximum mechanical flexibility of the system is the best.
The method for indicating that the system rigidity is too high, the mechanical flexibility of the hydraulic valve control cylinder is reduced due to the improper friction force level at the moment, and the hydraulic pressure capacitive reactance level needs to be controlled and reduced can be as follows: 1) controlling the proportional valve drive signal to increase the amount of oil trapped in the actuator; 2) replacing a low-friction horizontal rubber sealing ring at the piston head part of the hydraulic cylinder; 3) using a small rate spring or damping device; 4) and replacing the hydraulic oil with small volume and elastic modulus.
Through error time integral, not only can quantify the influence that frictional force acted on hydraulic valve accuse jar mechanical compliance, by the quantization index of error time integral moreover, can feed back to and design and select suitable subassembly in the equipment is used, reduce flexible spare part lectotype calculation process in a large number, brought very big convenience. For example, if the time error integral value is not large enough, it indicates that the hydraulic capacitance resistance value is large, the system spring stiffness is high, and the influence of the friction force on the mechanical compliance of the hydraulic valve cylinder control is large, and then the indexes are fed back to the equipment application, so that the maximum improvement of the mechanical compliance of the hydraulic valve cylinder control system can be realized while high-precision control is completed by selecting the modes of reducing the friction sealing level of the hydraulic cylinder piston part, reducing the system spring stiffness, replacing an energy accumulator with an appropriate model and the like.
The technical scheme has the advantages that the method is an optimized design method: the method comprises the steps of firstly determining the friction level and the hydraulic capacitive reactance of a system, then calculating the error time integral, estimating the maximum flexibility of a mechanical system under the condition of ensuring the displacement/force control precision of a hydraulic cylinder, and then feeding back the maximum flexibility to equipment for design adjustment to improve the mechanical flexibility of a valve control cylinder to the maximum extent, wherein a large number of sensors, a complex control algorithm and an electromechanical-hydraulic system structure are not required to be designed, and the design workload is greatly reduced.
As shown in fig. 2, an apparatus for improving mechanical compliance of a hydraulic cylinder control system comprises:
the flexible valve control cylinder system building module is used for connecting the hydraulic accumulator to a rodless cavity of the hydraulic cylinder, building the flexible valve control cylinder system and obtaining a hydraulic driver model and an accumulator model;
the pressure data acquisition module is used for acquiring pressure data of the hydraulic driver through a sensor preset on the hydraulic cylinder;
the friction force calculation module is used for obtaining the coulomb friction force according to the pressure data of the hydraulic driver based on the hydraulic driver model;
the energy accumulator data acquisition module is used for acquiring the gas volume and the input pressure in the hydraulic energy accumulator and calculating the average working pressure and the corresponding gas volume of the hydraulic energy accumulator based on the energy accumulator model;
the hydraulic capacitive reactance value calculation module is used for calculating according to the average working pressure and the corresponding gas volume to obtain a hydraulic capacitive reactance value;
the displacement error calculation module is used for inputting instruction displacement and calculating by combining with the actual displacement value of the hydraulic cylinder actuator to obtain the actuator displacement error;
the error time integral construction module is used for constructing error time integral according to the displacement error of the actuator, the hydraulic capacitive reactance value and the coulomb friction force;
and the feedback module is used for evaluating the maximum mechanical compliance of the valve control cylinder system according to the error time integral and performing feedback control.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A method for improving mechanical flexibility of a hydraulic valve cylinder control system is characterized by comprising the following steps:
connecting a hydraulic accumulator to a rodless cavity of a hydraulic cylinder, constructing a flexible valve control cylinder system and obtaining a hydraulic driver model and an accumulator model;
acquiring pressure data of a hydraulic driver through a sensor preset on a hydraulic cylinder;
obtaining Coulomb friction force according to pressure data of the hydraulic actuator based on the hydraulic actuator model;
acquiring the volume and input pressure of gas in the hydraulic accumulator, and calculating the average working pressure and the corresponding volume of the gas of the hydraulic accumulator based on an accumulator model;
calculating according to the average working pressure and the corresponding gas volume to obtain a hydraulic capacitive reactance value;
inputting a displacement instruction and calculating by combining with an actual displacement value of the hydraulic cylinder actuator to obtain an actuator displacement error;
constructing an error time integral according to the displacement error of the actuator, the hydraulic capacitive reactance value and the coulomb friction force;
and (4) evaluating the maximum mechanical compliance of the valve control cylinder system according to the error time integral and performing feedback control.
2. The method for improving mechanical compliance of a hydraulic valve cylinder control system according to claim 1, wherein the hydraulic actuator model comprises a piston force balance equation and a flow equation, and the formula is as follows:
PcAp-PsAa-Ff＝Fh
in the above formula, PcFor rodless cavity pressure, PsFor rod cavity pressure, ApIs the area of the piston without a rod cavity, AaArea of piston ring zone with rod cavity, FhFor outputting a resultant force of the hydraulic actuators, FfIs friction force, QaIn order to be the piston-side flow rate,
is the piston rod movement speed.
3. The method for improving mechanical compliance of a hydraulic valve controlled cylinder system according to claim 2, wherein the formula of the accumulator model is as follows:
in the above formula, V is the gas volume in the accumulator, V0Is the initial gas volume, VmVolume of gas at average working pressure, P0For pre-charging the gas, PaFor delivery of pressure, P, to the accumulatormN is the adiabatic index for the average operating pressure.
4. The method for improving the mechanical flexibility of the hydraulic valve cylinder control system according to claim 3, wherein the hydraulic capacitive reactance value is calculated according to the following formula:
in the above formula, EhThe hydraulic capacitive reactance value is indicated.
5. The method for improving mechanical compliance of a hydraulic valve cylinder control system according to claim 4, wherein the error time integral is expressed as follows:
in the above formula, epFor position tracking error, M is the load mass, CxValve flow coefficient, K, corresponding to the displacement of the valve corepIs a proportional gain.
6. An apparatus for improving mechanical compliance of a hydraulic valve cylinder control system, comprising:
the flexible valve control cylinder system building module is used for connecting the hydraulic accumulator to a rodless cavity of the hydraulic cylinder, building the flexible valve control cylinder system and obtaining a hydraulic driver model and an accumulator model;
the pressure data acquisition module is used for acquiring pressure data of the hydraulic driver through a sensor preset on the hydraulic cylinder;
the friction force calculation module is used for obtaining the coulomb friction force according to the pressure data of the hydraulic driver based on the hydraulic driver model;
the energy accumulator data acquisition module is used for acquiring the gas volume and the input pressure in the hydraulic energy accumulator and calculating the average working pressure and the corresponding gas volume of the hydraulic energy accumulator based on the energy accumulator model;
the hydraulic capacitive reactance value calculation module is used for calculating according to the average working pressure and the corresponding gas volume to obtain a hydraulic capacitive reactance value;
the displacement error calculation module is used for inputting instruction displacement and calculating by combining with the actual displacement value of the hydraulic cylinder actuator to obtain the actuator displacement error;
the error time integral construction module is used for constructing error time integral according to the displacement error of the actuator, the hydraulic capacitive reactance value and the coulomb friction force;
and the feedback module is used for evaluating the maximum mechanical compliance of the valve control cylinder system according to the error time integral and performing feedback control.
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