CN114857206B - Active control vibration reduction system and method based on electro-hydraulic compound cylinder - Google Patents

Active control vibration reduction system and method based on electro-hydraulic compound cylinder Download PDF

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CN114857206B
CN114857206B CN202210789873.XA CN202210789873A CN114857206B CN 114857206 B CN114857206 B CN 114857206B CN 202210789873 A CN202210789873 A CN 202210789873A CN 114857206 B CN114857206 B CN 114857206B
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electro
cylinder
hydraulic
valve
hydraulic compound
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CN114857206A (en
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李泽鹏
权龙�
乔舒斐
郝云晓
黄伟男
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Taiyuan University of Technology
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Taiyuan University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • F15B15/068—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement the motor being of the helical type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/088—Characterised by the construction of the motor unit the motor using combined actuation, e.g. electric and fluid actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B3/00—Intensifiers or fluid-pressure converters, e.g. pressure exchangers; Conveying pressure from one fluid system to another, without contact between the fluids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
    • F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B2013/0448—Actuation by solenoid and permanent magnet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/06—Fluid filling or discharging
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/08—Sensor arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/18—Control arrangements

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to the technical field of hydraulic transmission and electromechanical transmission, in particular to an active control vibration damping system and method based on an electro-hydraulic composite cylinder.

Description

Active control vibration reduction system and method based on electro-hydraulic composite cylinder
Technical Field
The invention relates to the technical field of hydraulic transmission and electromechanical transmission, in particular to an active control vibration reduction system and method based on an electro-hydraulic composite cylinder.
Background
The electro-hydraulic compound cylinder is an electro-mechanical linear actuator: on the basis of converting the rotary motion of the motor into the linear motion of the screw rod transmission pair through devices such as a synchronous belt, a speed reducer and the like, a novel transmission device which is similar to a hydraulic cylinder and is used for pushing a piston to move by high-pressure oil is added. Compared with a hydraulic transmission system, the electro-hydraulic compound cylinder has the advantages of high control precision, quick response and high transmission efficiency. The principle of the hydraulic transmission system is as follows: the high-pressure oil output by the power source enters the cavity of the hydraulic cylinder through the distribution of the control valve and pushes the hydraulic cylinder to stretch by using the oil pressure. The hydraulic-electric coupling driving multi-actuator system based on the advantages of hydraulic transmission and electric transmission integrates the driving of the electro-hydraulic composite cylinder with the hydraulic driving, has the advantages of high control precision, high transmission efficiency, high power density and the like, and can be widely applied to various non-road mobile equipment such as aerospace, deep sea equipment, engineering machinery, road building machinery, mining machinery, forestry machinery, agricultural machinery and the like.
However, the electro-hydraulic composite cylinder completes the force transmission by the mutual engagement of the lead screw and the nut, so that the impact bearing capacity is poor, and the application of the electro-hydraulic cylinder in the frequent impact environment is limited.
Based on the above problems, a new active damping method for an electro-hydraulic compound cylinder system is needed to improve the service life of the electro-hydraulic compound cylinder.
Disclosure of Invention
The invention aims to provide an active control vibration reduction system and method based on an electro-hydraulic compound cylinder, which can reduce vibration impact of the electro-hydraulic compound cylinder in the using process and prolong the service life of the electro-hydraulic compound cylinder.
The technical scheme adopted by the invention is as follows: an active control vibration damping system based on an electro-hydraulic composite cylinder comprises the electro-hydraulic composite cylinder, a first electromagnetic directional valve, a driver, a motor, a power source and an oil tank, wherein an oil inlet of the first electromagnetic directional valve is connected with the power source, an oil return port is connected with the oil tank, two working oil ports are respectively connected with a rodless cavity and a rod cavity of the electro-hydraulic composite cylinder, and a processor, a controller, a first pressure sensor, an acceleration sensor, a third pressure sensor and an electromagnetic proportional switch valve are additionally arranged;
the power source is communicated with an oil inlet of the first electromagnetic reversing valve, and the oil tank is communicated with an oil return port of the first electromagnetic reversing valve;
a working oil port A of the first electromagnetic directional valve is communicated with a rodless cavity of the electro-hydraulic composite cylinder, and a working oil port B is communicated with a rod cavity of the electro-hydraulic composite cylinder;
one working oil port of the electromagnetic proportional switch valve is communicated with a rodless cavity of the electro-hydraulic composite cylinder through a third pressure sensor, and the other working oil port of the electromagnetic proportional switch valve is communicated with a rod cavity of the electro-hydraulic composite cylinder through a first pressure sensor;
the acceleration sensor is arranged at the end part of a piston rod of the electro-hydraulic composite cylinder;
the controller is connected with the first pressure sensor, the third pressure sensor, the electromagnets on the two sides of the first electromagnetic directional valve, the electromagnets of the electromagnetic proportional switch valve, the acceleration sensor and the driver.
The active control vibration reduction system based on the electro-hydraulic composite cylinder is characterized in that: the hydraulic control system is characterized by further comprising a second electromagnetic directional valve, a pressure cylinder and a second pressure sensor, wherein the electro-hydraulic composite cylinder comprises a rodless cavity, a rod cavity and a piston rod inner cavity formed by a lead screw and a piston rod.
The power source is communicated with an oil inlet of the first electromagnetic reversing valve and an oil inlet of the second electromagnetic reversing valve, and the oil tank is communicated with an oil return port of the first electromagnetic reversing valve and an oil return port of the second electromagnetic reversing valve;
the controller is connected with electromagnets on two sides of the second electromagnetic directional valve;
a working oil port A of the second electromagnetic directional valve is communicated with a rodless cavity of the pressure cylinder, and a working oil port B is communicated with a rod cavity of the pressure cylinder;
and a pressurizing cavity of the pressurizing cylinder is communicated with an inner cavity of a piston rod of the electro-hydraulic composite cylinder through a second pressure sensor.
The active control vibration reduction system based on the electro-hydraulic composite cylinder is characterized in that: the screw transmission pair of the electro-hydraulic compound cylinder is a ball screw transmission pair or a roller screw transmission pair, and the screw of the electro-hydraulic compound cylinder is a rectangular screw or a trapezoidal screw.
An active control vibration damping method based on an electro-hydraulic compound cylinder comprises the following steps:
step 1, judging the load direction according to the oil pressure comparison of a rod cavity and a rodless cavity of the electro-hydraulic composite cylinder;
step 2, comparing the sensed vibration acceleration value with a set acceleration value, and if the sensed vibration acceleration value does not exceed the set value, no action is performed; if the preset value is exceeded, continuing to execute the step 3;
step 3, judging whether the acceleration signal is forward or backward;
and 4, controlling the motor and the electromagnetic proportional switch valve according to the load direction judged in the step 1 and the acceleration direction judged in the step 3, wherein the specific control steps are as follows:
step 4.1, when the load direction is to block the electro-hydraulic compound cylinder from extending out, and the acceleration signal is forward, increasing the opening degree of a valve port of the electromagnetic proportional switch valve, and enabling a motor of the electro-hydraulic compound cylinder to rotate forwards;
step 4.2, when the load direction is in a direction of preventing the electro-hydraulic compound cylinder from extending out, and the acceleration signal is backward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, and reversely rotating a motor of the electro-hydraulic compound cylinder;
4.3, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is forward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, and rotating the motor of the electro-hydraulic compound cylinder forwards;
and 4.4, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is backward, increasing the opening degree of a valve port of the electromagnetic proportional switch valve, and reversely rotating a motor of the electro-hydraulic compound cylinder.
The active control vibration reduction method based on the electro-hydraulic composite cylinder is characterized by comprising the following steps: in the step 4, when the acceleration value exceeds the set value, the electro-hydraulic compound cylinder motor, the electromagnetic proportional switch valve and the second electromagnetic directional valve are controlled according to the load direction judged in the step 1 and the acceleration direction judged in the step 3, and the specific control steps are as follows:
step 4.1, when the load direction is to block the electro-hydraulic compound cylinder from extending out, and the acceleration signal is forward, increasing the opening degree of a valve port of the electromagnetic proportional switch valve, and enabling a motor of the electro-hydraulic compound cylinder to rotate forwards;
step 4.2, when the load direction is in a direction of preventing the electro-hydraulic compound cylinder from extending out, and the acceleration signal is backward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, and reversely rotating a motor of the electro-hydraulic compound cylinder;
4.3, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is forward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, enabling a motor of the electro-hydraulic compound cylinder to rotate forwards, and enabling the second electromagnetic directional valve to work at the left position;
step 4.4, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is backward, the opening degree of a valve port of the electromagnetic proportional switch valve is increased, and the motor of the electro-hydraulic compound cylinder rotates reversely;
step 4.5, when the step 4.1 or 4.3 is executed, the right position of the second electromagnetic directional valve works, and the pressure detected by the first pressure sensor is comparedp 1 With the pressure detected by the second pressure sensorp 2 The sum of the pressure detected by the third pressure sensor and the pressure detected by the second pressure sensorp 3 If, ifp 1 + p 2 > p 3 If the left electromagnet of the second electromagnetic reversing valve is electrified and reversed to the left positionp 1 + p 2 < p 3 The second electromagnetic directional valve continues to work at the right position if the second electromagnetic directional valve works at the right positionp 1 + p 2 = p 3 And the second electromagnetic directional valve works in a middle position.
The invention designs an active control vibration reduction mode aiming at the electro-hydraulic composite cylinder, can realize active vibration reduction of the electro-hydraulic composite cylinder only by adding an electromagnetic proportional switch valve in the original system, effectively relieves impact load when the electro-hydraulic composite cylinder drives the load, and can greatly improve the reliability and the service life of the electro-hydraulic composite cylinder.
Drawings
FIG. 1 is a schematic diagram of an active control damping system based on an electro-hydraulic compound cylinder according to the present invention;
FIG. 2 is a control flow chart of the active control damping system when the load direction is to prevent the piston rod of the electro-hydraulic compound cylinder from extending out;
FIG. 3 is a control flow chart of the active control damping system when the load direction is to drive the piston rod of the electro-hydraulic compound cylinder to extend.
In the figure: the hydraulic control system comprises an oil tank-1, a first electromagnetic directional valve-2, a processor-3, a second electromagnetic directional valve-4, a controller-5, a first pressure sensor-6, a pressure cylinder-7, a second pressure sensor-8, a mass block-9, an acceleration sensor-10, an electro-hydraulic composite cylinder-11, a driver-12, a third pressure sensor-13, an electromagnetic proportional switch valve-14 and a power source-15.
Detailed Description
As shown in fig. 1, an active control damping system based on an electro-hydraulic compound cylinder includes an oil tank 1, a first electromagnetic directional valve 2, a processor 3, a second electromagnetic directional valve 4, a controller 5, a first pressure sensor 6, a pressure cylinder 7, a second pressure sensor 8, a mass block 9, an acceleration sensor 10, an electro-hydraulic compound cylinder 11, a driver 12, a third pressure sensor 13, an electromagnetic proportional switch valve 14, and a power source 15.
The power source 15 is communicated with an oil inlet of the first electromagnetic directional valve 2 and an oil inlet of the second electromagnetic directional valve 4, and the oil tank 1 is communicated with an oil return port of the first electromagnetic directional valve 2 and an oil return port of the second electromagnetic directional valve 4.
The electro-hydraulic compound cylinder 11 comprises a rodless cavity, a rod cavity and a piston rod inner cavity formed by a lead screw and a piston rod, a lead screw transmission pair of the electro-hydraulic compound cylinder 11 is a ball screw transmission pair or a roller screw transmission pair, the lead screw of the electro-hydraulic compound cylinder 11 is a rectangular lead screw or a trapezoidal lead screw, and the electric part power of the electro-hydraulic compound cylinder 11 is provided by a driver 12 driving motor.
The working oil port A of the first electromagnetic directional valve 2 is communicated with a rodless cavity of the electro-hydraulic composite cylinder 11, and the working oil port B is communicated with a rod cavity of the electro-hydraulic composite cylinder 11.
The working oil port A of the second electromagnetic directional valve 4 is communicated with a rod cavity of the pressure cylinder 7, and the working oil port B is communicated with a rodless cavity of the pressure cylinder 7.
One working oil port of the electromagnetic proportional switch valve 14 is communicated with a rodless cavity of the electro-hydraulic composite cylinder 11 through the third pressure sensor 13, and the other working oil port is communicated with a rod cavity of the electro-hydraulic composite cylinder 11 through the first pressure sensor 6.
And an oil port of a pressurizing cavity of the pressurizing cylinder 7 is communicated with an inner cavity of a piston rod of the electro-hydraulic composite cylinder 11 through a second pressure sensor 8.
The piston rod of the electro-hydraulic compound cylinder 11 is rigidly connected with the mass block 9.
The acceleration sensor 10 is installed at the end of the piston rod of the electro-hydraulic compound cylinder 11.
The controller 5 is connected with the first pressure sensor 6, the second pressure sensor 8, the third pressure sensor 13, the electromagnets on the two sides of the first electromagnetic directional valve 2, the electromagnets on the two sides of the second electromagnetic directional valve 4, the electromagnets of the electromagnetic proportional switch valve, the acceleration sensor 10 and the driver 12.
The pressure of the rod cavity of the electro-hydraulic composite cylinder 11 detected by the first pressure sensor 6p 1 The pressure of the inner cavity of the piston rod of the electro-hydraulic composite cylinder 11 detected by the second pressure sensor 8p 2 The pressure of the rodless cavity of the electro-hydraulic compound cylinder 11 detected by the third pressure sensor 13p 3 The vibration acceleration a of the piston rod end detected by the acceleration sensor 10 and the electric signal of the driver 12 are transmitted to the processor 3 through the controller 5, the processor 3 processes the collected signals and sends out control signals, the control signals are transmitted to the electromagnets on the two sides of the first electromagnetic directional valve 2, the electromagnets on the two sides of the second electromagnetic directional valve 4 and the valve core in the valve body driven by the electromagnets of the electromagnetic proportional switch valve through the controller 5, and the control signals are transmitted to the driver 12 through the controller 5 to control the motor to rotate.
The processor 3 processes the signals and sends and receives the electrical signals through the controller 5.
When the load direction is to block the piston rod of the electro-hydraulic compound cylinder from extending out, the oil pressure of the rodless cavity of the electro-hydraulic compound cylinder is at the momentp 3 Higher than oil pressure of rod cavityp 1 The processor 3 determines the load direction accordingly. As shown in figures 1 and 2, when vibration occurs outside, the peak value of the vibration and the time of reaching the peak value are collected, an acceleration sensor 10 transmits a vibration signal to a processor 3 through a controller 5, and the processor 3 judges whether the acceleration a generated by the vibration exceeds a set acceleration value a or not Is provided with And when the acceleration exceeds a set safety value, the processor further judges whether the acceleration is forward or not. When the acceleration signal is forward, the piston rod of the electro-hydraulic compound cylinder is indicated to have forward vibration, at the moment, the time from generation to peak value of the vibration signal is combined with the response time of the electromagnetic proportional switch valve 14 and the response time of the motor, a control signal is sent out, the opening degree of the valve port of the electromagnetic proportional switch valve 14 is increased, high-pressure oil in the rodless cavity of the electro-hydraulic compound cylinder 11 is introduced into the rod cavity of the electro-hydraulic compound cylinder, the electromagnet on the right side of the second electromagnetic reversing valve 4 is electrified and reversed to the right position, and the high-pressure oil is introduced into the piston rod cavity of the electro-hydraulic compound cylinder 11 by the pressure cylinder 7 and is used for resisting external impact vibration. Compares the pressures detected by the first pressure sensor 6p 1 With the pressure detected by the second pressure sensor 8p 2 The sum of which and the pressure detected by the third pressure sensor 13p 3 . If it isp 1 + p 2 > p 3 The left electromagnet of the second electromagnetic directional valve 4 is electrified and is reversed to a left position; if it isp 1 + p 2 < p 3 The second electromagnetic directional valve 4 continues to work at the right position; if it isp 1 + p 2 = p 3 And the second electromagnetic directional valve 4 works in a neutral position. Meanwhile, the driver 12 drives the motor to rotate forwards, and the lead screw transmission pair of the electro-hydraulic composite cylinder 11 drives the piston rod to move forwards, so that direct rigid contact between threads on the lead screw and threads on the nut under external impact is avoided; when the acceleration signal is backward, the piston rod of the electro-hydraulic compound cylinder is indicated to have backward vibration of the initial quantity, at the moment, the time from generation to peak value of the vibration signal is combined with the response time of the electromagnetic proportional switch valve 14 and the response time of the motor to send a control signal, the opening degree of the valve port of the electromagnetic proportional switch valve 14 is reduced, so that oil in the rodless cavity of the electro-hydraulic compound cylinder keeps high pressure and resists external impact, meanwhile, the driver 12 drives the motor to rotate reversely, the screw rod transmission pair of the electro-hydraulic compound cylinder 11 drives the piston rod to move backward, and the direct rigid contact of the thread on the screw rod and the thread on the nut under the external impact is avoided.
When the load direction is to drive the piston rod of the electro-hydraulic composite cylinder to extend out, the oil pressure of the rod cavity of the electro-hydraulic composite cylinder is at the momentp 1 Higher than the oil pressure of rodless cavityp 3 The processor 3 determines the load direction accordingly. As shown in figures 1 and 3, when vibration occurs outside, the peak value of the vibration and the time of reaching the peak value are collected, the acceleration sensor 10 transmits a vibration signal to the processor 3 through the controller 5, and the processor 3 judges whether the acceleration a generated by the vibration exceeds a set acceleration value a or not Is provided with And when the acceleration exceeds a set safety value, the processor further judges whether the acceleration is forward or not. When the acceleration signal is forward, the vibration indicating that the piston rod of the electro-hydraulic composite cylinder 11 has forward vibration of the initial amount is shown, at the moment, the time from generation to peak value of the vibration signal is combined with the response time of the electromagnetic proportional switch valve 14 and the response time of the motor to send a control signal, and the opening degree of the valve port of the electromagnetic proportional switch valve 14 is reduced, so that the electro-hydraulic composite cylinder is enabled to be forwardThe oil in the rod chamber of the compound cylinder 11 is maintained at a high pressure. The electromagnet on the right side of the second electromagnetic directional valve 4 is electrified and is switched to the right position, and the booster cylinder introduces high-pressure oil into the inner cavity of the piston rod of the electro-hydraulic composite cylinder 11 and is used for resisting external impact vibration. Compares the pressures detected by the first pressure sensor 6p 1 With the pressure detected by the second pressure sensor 8p 2 The sum of which and the pressure detected by the third pressure sensor 13p 3 If, ifp 1 + p 2 > p 3 If the left electromagnet of the second electromagnetic directional valve 4 is electrified and is reversed to the left positionp 1 + p 2 <p 3 The second electromagnetic directional valve 4 continues to work at the right position ifp 1 + p 2 = p 3 And the second electromagnetic directional valve 4 works in a neutral position. Meanwhile, the driver 12 drives the motor to rotate forwards, and the screw rod transmission pair of the electro-hydraulic composite cylinder 11 pushes the screw rod to move forwards, so that direct rigid contact between threads on the screw rod and threads on the nut under external impact is avoided; when the acceleration signal is backward, the piston rod of the electro-hydraulic composite cylinder 11 is indicated to have backward vibration of the initial quantity, at the moment, the time from generation to peak value of the vibration signal is combined with the response time of the electromagnetic proportional switch valve and the response time of the motor to send a control signal, the opening degree of the valve port of the electromagnetic proportional switch valve 14 is increased, high-pressure oil in the rod cavity of the electro-hydraulic composite cylinder 11 is introduced into the rodless cavity to resist external impact, meanwhile, the driver 12 drives the motor to rotate reversely, a screw rod transmission pair of the electro-hydraulic composite cylinder 11 pushes the screw rod to move backward, and direct rigid contact of threads on the screw rod and threads on the nut under external impact is avoided.
And predicting the frequency and amplitude of the subsequent vibration, converting the predicted signal into a control signal by the processor, and controlling the opening of a valve port of the electromagnetic proportional switch valve 14 and the forward and reverse rotation of the motor, so that each cavity in the electro-hydraulic composite cylinder has enough pressure to resist the impact caused by the vibration and the forward and reverse rotation of the motor to avoid the impact vibration of the screw transmission pair directly facing the outside.
The hydraulic system in this embodiment has an auxiliary function for both power assistance and buffering, wherein if the second electric reversing valve 4, the pressure cylinder 7 and related pipelines and controls are cancelled, the hydraulic system can still have a buffering protection function, or even if the hydraulic system is cancelled, the embodiment still has all functions of the electric cylinder and buffering protection functions on the screw transmission pair, the speed reducer 2 and the motor 1.
In the invention, the driving control parts such as the power source, the valve and the like matched with the pressure cylinder are hydraulic elements or pneumatic elements, the control principle is the same, and the difference of the method does not exceed the replacement of the conventional technical means in the field of hydraulic pneumatics, so that even if all the hydraulic driving control parts in the embodiment are replaced by pneumatic parts, the hydraulic driving control parts still fall into the protection scope of the invention.

Claims (4)

1. The utility model provides an active control damping system based on compound jar of electricity liquid, includes compound jar of electricity liquid (11), first electromagnetic directional valve (2), driver (12), motor, power supply (15), oil tank (1), power supply (15) are connected to first electromagnetic directional valve (2) oil inlet, oil tank (1) is connected to the oil return opening, and the no pole chamber of compound jar of electricity liquid (11), have pole chamber, characterized by are connected respectively to two working fluid ports: a processor (3), a controller (5), a first pressure sensor (6), an acceleration sensor (10), a third pressure sensor (13) and an electromagnetic proportional switch valve (14) are additionally arranged;
the power source (15) is communicated with an oil inlet of the first electromagnetic reversing valve (2), and the oil tank (1) is communicated with an oil return port of the first electromagnetic reversing valve (2);
a working oil port A of the first electromagnetic directional valve (2) is communicated with a rodless cavity of the electro-hydraulic composite cylinder (11), and a working oil port B is communicated with a rod cavity of the electro-hydraulic composite cylinder (11);
one working oil port of the electromagnetic proportional switch valve (14) is communicated with a rodless cavity of the electro-hydraulic composite cylinder (11) through a third pressure sensor (13), and the other working oil port is communicated with a rod cavity of the electro-hydraulic composite cylinder (11) through a first pressure sensor (6);
the acceleration sensor (10) is arranged at the end part of a piston rod of the electro-hydraulic compound cylinder (11);
the controller (5) is connected with the first pressure sensor (6), the third pressure sensor (13), electromagnets on two sides of the first electromagnetic directional valve (2), electromagnets of the electromagnetic proportional switch valve, the acceleration sensor (10) and the driver (12);
the hydraulic control system is characterized by further comprising a second electromagnetic directional valve (4), a pressure cylinder (7) and a second pressure sensor (8), wherein a rodless cavity, a rod cavity and a piston rod inner cavity formed by a lead screw and a piston rod are contained in the electro-hydraulic composite cylinder (11);
the power source (15) is communicated with an oil inlet of the first electromagnetic directional valve (2) and an oil inlet of the second electromagnetic directional valve (4), and the oil tank (1) is communicated with an oil return port of the first electromagnetic directional valve (2) and an oil return port of the second electromagnetic directional valve (4);
the controller (5) is connected with electromagnets on two sides of the second electromagnetic directional valve (4);
a working oil port A of the second electromagnetic directional valve (4) is communicated with a rodless cavity of the pressure cylinder (7), and a working oil port B is communicated with a rod cavity of the pressure cylinder (7);
and a pressurizing cavity of the pressurizing cylinder (7) is communicated with an inner cavity of a piston rod of the electro-hydraulic composite cylinder (11) through a second pressure sensor (8).
2. The active control damping system based on the electro-hydraulic compound cylinder as claimed in claim 1, wherein: the screw transmission pair of the electro-hydraulic compound cylinder is a ball screw transmission pair or a roller screw transmission pair, and the screw of the electro-hydraulic compound cylinder is a rectangular screw or a trapezoidal screw.
3. An active control damping method based on an electro-hydraulic compound cylinder, which adopts the active control damping system based on the electro-hydraulic compound cylinder as claimed in claim 1, and is characterized in that: comprises the following steps:
step 1, judging the load direction according to the oil pressure comparison of a rod cavity and a rodless cavity of the electro-hydraulic composite cylinder;
step 2, comparing the sensed vibration acceleration value with a set acceleration value, and if the sensed vibration acceleration value does not exceed the set value, no action is performed; if the preset value is exceeded, continuing to execute the step 3;
step 3, judging whether the acceleration signal is forward or backward;
and 4, controlling the motor and the electromagnetic proportional switch valve according to the load direction judged in the step 1 and the acceleration direction judged in the step 3, wherein the specific control steps are as follows:
step 4.1, when the load direction is to block the electro-hydraulic compound cylinder from extending out, and the acceleration signal is forward, increasing the opening degree of a valve port of the electromagnetic proportional switch valve, and enabling a motor of the electro-hydraulic compound cylinder to rotate forwards;
step 4.2, when the load direction is in a direction of preventing the electro-hydraulic compound cylinder from extending out, and the acceleration signal is backward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, and reversely rotating a motor of the electro-hydraulic compound cylinder;
4.3, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is forward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, and rotating the motor of the electro-hydraulic compound cylinder forward;
and 4.4, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is backward, increasing the opening degree of a valve port of the electromagnetic proportional switch valve, and reversely rotating a motor of the electro-hydraulic compound cylinder.
4. The active control damping method based on the electro-hydraulic compound cylinder as claimed in claim 3, wherein: in the step 4, when the acceleration value exceeds the set value, the electro-hydraulic compound cylinder motor, the electromagnetic proportional switch valve and the second electromagnetic directional valve are controlled according to the load direction judged in the step 1 and the acceleration direction judged in the step 3, and the specific control steps are as follows:
step 4.1, when the load direction is to block the electro-hydraulic compound cylinder from extending out, and the acceleration signal is forward, increasing the opening degree of a valve port of the electromagnetic proportional switch valve, and enabling a motor of the electro-hydraulic compound cylinder to rotate forwards;
step 4.2, when the load direction is in a direction of preventing the electro-hydraulic compound cylinder from extending out, and the acceleration signal is backward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, and reversely rotating a motor of the electro-hydraulic compound cylinder;
4.3, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is forward, reducing the opening degree of a valve port of the electromagnetic proportional switch valve, enabling a motor of the electro-hydraulic compound cylinder to rotate forwards, and enabling the second electromagnetic directional valve to work at the left position;
step 4.4, when the load direction is to drive the electro-hydraulic compound cylinder to extend out, and the acceleration signal is backward, the opening degree of a valve port of the electromagnetic proportional switch valve is increased, and the motor of the electro-hydraulic compound cylinder rotates reversely;
step 4.5, when the step 4.1 or 4.3 is executed, the second electromagnetic directional valve works at the right position, and the pressure detected by the first pressure sensor is comparedp 1 With the pressure detected by the second pressure sensorp 2 The sum of the pressure detected by the third pressure sensor and the pressure detected by the second pressure sensorp 3 If, ifp 1 + p 2 > p 3 If the left electromagnet of the second electromagnetic reversing valve is electrified and reversed to the left positionp 1 + p 2 < p 3 The second electromagnetic directional valve continues to work at the right position if the second electromagnetic directional valve works at the right positionp 1 + p 2 = p 3 And the middle position of the second electromagnetic directional valve works.
CN202210789873.XA 2022-07-06 2022-07-06 Active control vibration reduction system and method based on electro-hydraulic compound cylinder Active CN114857206B (en)

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