CN116447191A - Active damping compensation vibration suppression method for dual-actuator valve port independent control system - Google Patents
Active damping compensation vibration suppression method for dual-actuator valve port independent control system Download PDFInfo
- Publication number
- CN116447191A CN116447191A CN202310375717.3A CN202310375717A CN116447191A CN 116447191 A CN116447191 A CN 116447191A CN 202310375717 A CN202310375717 A CN 202310375717A CN 116447191 A CN116447191 A CN 116447191A
- Authority
- CN
- China
- Prior art keywords
- actuator
- mode
- damping compensation
- working mode
- dual
- 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.)
- Granted
Links
- 238000013016 damping Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000001629 suppression Effects 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 35
- 239000002131 composite material Substances 0.000 claims abstract description 6
- 150000001875 compounds Chemical class 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 125000003275 alpha amino acid group Chemical group 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- 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
- F15B21/008—Reduction of noise or vibration
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of hydraulic control, in particular to an active damping compensation vibration suppression method of a dual-actuator valve port independent control system, which comprises the following steps of S1, acquiring a handle signal and the pressure of two cavities of an actuator to obtain an acquisition signal; s2, establishing a motion mode judging model and a working mode judging model of the actuator based on the acquired signals; s3, if the motion mode is a single-actuator motion mode, executing S4, and if the working mode is a double-actuator composite motion mode, executing S5; s4, a damping compensation model of a single actuator is established, and the displacement of the pump or the opening of an outlet valve is dynamically adjusted; s5, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening of the outlet valve is dynamically regulated.
Description
Technical Field
The invention relates to the technical field of hydraulic control, in particular to an active damping compensation vibration suppression method for a dual-actuator valve port independent control system.
Background
Because the hydraulic system has the characteristics of compact structure and high energy density, the hydraulic system is widely applied to various engineering machinery, the traditional hydraulic control system of the engineering machinery controls an actuator through a directional valve, and in the mode, because of the mechanical coupling relation of inlet and outlet valve ports, the inlet valve and the outlet valve of the actuator have larger throttling loss, so that the energy utilization rate is lower. In order to pursue higher energy utilization rate to save energy and reduce emission, a valve port independent control loop is introduced, and the traditional coupling relation of the inlet valve port and the outlet valve port is broken through by the double valve cores of the inlet valve port and the outlet valve port, so that throttling loss is reduced, and the energy utilization rate is improved.
However, in the valve port independent control loop, since the valve port is fully opened in certain modes and the back cavity pressure is regulated to be in a lower state, the actuators are in a low damping state, the vibration impact caused by external load and speed change in the movement process is serious, the working modes of the actuators can be different and the movement states can be mutually influenced in the movement process of the multiple actuators, so that the impact vibration is more serious in the combined movement process, the whole movement process is unstable, and in the actual working process, particularly under the condition of heavy load of a large-scale engineering machine, the impact vibration not only can aggravate the abrasion speed of each part in the system, but also can influence the comfort and even the operation safety of operators.
Disclosure of Invention
The invention aims to provide an active damping compensation vibration suppression method for a dual-actuator valve port independent control system, which aims to reduce impact vibration generated in the movement process of an actuator under a valve port independent control loop.
In order to achieve the above purpose, the invention provides an active damping compensation vibration suppression method of a dual-actuator valve port independent control system, which comprises the following steps:
s1, acquiring a handle signal and the pressure of two cavities of an actuator to obtain an acquisition signal;
s2, establishing a motion mode judging model and a working mode judging model of the actuator based on the acquired signals;
s3, if the motion mode is a single-actuator motion mode, executing S4, and if the working mode is a double-actuator composite motion mode, executing S5;
s4, a damping compensation model of a single actuator is established, and the displacement of the pump or the opening of an outlet valve is dynamically adjusted;
s5, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening degree of the outlet valve is dynamically adjusted.
Wherein the motion pattern determination model includes: if only one actuator acts, the actuator movement mode is a single actuator movement mode, and if two actuators act in a compound way, the actuator movement mode is a double actuator compound movement mode.
The working mode judging model judges whether the actuator is in an impedance extending working mode, an impedance retracting working mode, an exceeding extending working mode or an exceeding retracting working mode.
The method comprises the following steps of establishing a damping compensation model of a single actuator, and dynamically adjusting the discharge capacity of a pump or the opening of an outlet valve in a specific mode:
and establishing a damping compensation model of the single actuator, dynamically adjusting the displacement of the pump if the actuator works in an impedance extension or impedance retraction working mode, and dynamically adjusting the opening of the outlet valve if the actuator works in an overrunning extension or overrunning retraction working mode without supplying oil to the pump and controlling the flow of the outlet valve.
The specific mode of dynamically adjusting the discharge capacity of the pump or the opening of the outlet valve is that the damping compensation model of the double executors is built:
establishing a dual-actuator damping compensation model, decoupling a dual-actuator loop if each actuator works in an impedance extension or impedance retraction working mode, dynamically adjusting the displacement of a pump by a heavy-load actuator loop, and dynamically adjusting the opening of an inlet valve by a light-load actuator; if each actuator works in an overrun extension or overrun retraction working mode, dynamically adjusting the opening of the outlet valve corresponding to each actuator; if one actuator works in an impedance extending or impedance retracting working mode and the other actuator works in an overrunning extending or overrunning retracting working mode, a loop working in the impedance extending or impedance retracting working mode dynamically adjusts the pump displacement; the loop operating in the overrun extend or overrun retract mode of operation dynamically adjusts the outlet valve opening.
The invention relates to an active damping compensation vibration suppression method for a dual-actuator valve port independent control system, which comprises the steps of S1, collecting handle signals and actuator two-cavity pressure to obtain collected signals; s2, establishing a motion mode judging model and a working mode judging model of the actuator based on the acquired signals; s3, if the motion mode is a single-actuator motion mode, executing S4, and if the working mode is a double-actuator composite motion mode, executing S5; s4, a damping compensation model of a single actuator is established, and the displacement of the pump or the opening of an outlet valve is dynamically adjusted; s5, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening of the outlet valve is dynamically regulated, so that damping compensation can be effectively carried out under the motion states of different quantity of actuators and different working modes through judging the quantity of the actuators and the opening of the outlet valve.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an electrical control method of a hydraulic system according to the present invention.
Fig. 2 is a general schematic of the hydraulic system of the present invention.
Fig. 3 is a schematic diagram of equivalent single-actuator hydraulic circuit damping compensation after decoupling.
FIG. 4 is a flow chart of an active damping compensation vibration suppression method for a dual-actuator valve port independent control system provided by the invention.
FIG. 5 is a step diagram of an active damping compensation vibration suppression method for a dual-actuator valve port independent control system provided by the invention.
In the figure: the motor 1, the electric control variable pump 2, the oil tank 3, the variable pump displacement signal 4, the first pressure sensor 51, the second pressure sensor 52, the third pressure sensor 53, the fourth pressure sensor 54, the fifth pressure sensor 55, the sixth pressure sensor 56, the valve port independent control valve group first linkage valve 61, the valve port independent control valve group second linkage valve 62, the valve port independent control valve group third linkage valve 63, the valve port independent control valve group fourth linkage valve 64, the first actuator 71, the second actuator 72, the control handle 8, the active damping compensation controller 9 and the check valve 10.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Referring to fig. 1 to 5, the present invention provides an active damping compensation vibration suppression method for a dual-actuator valve port independent control system, comprising the following steps:
s1, acquiring a handle signal and the pressure of two cavities of an actuator to obtain an acquisition signal;
s2, establishing a motion mode judging model and a working mode judging model of the actuator based on the acquired signals;
specifically, the motion pattern determination model includes if there is only one actuator action (i.e., u 1 ≠0，u 2 =0 or u 1 ＝0，u 2 Not equal to 0), the actuator movement pattern is a single actuator movement pattern, if the two actuators are combined actions (u) 1 ≠0，u 2 Not equal to 0), the actuator motion pattern is a dual actuator compound motion pattern, where u i A signal (i=1 or 2) indicating the emission of the operating handle;
the working mode judging model judges whether the actuator is in an impedance extending working mode, an impedance retracting working mode, an overrunning extending working mode or an overrunning retracting working mode.
Wherein i=1 or 2,F i Represents the external load force, where:
F i ＝p ai A ai -p bi A bi (1)
wherein p is ai Representing the rodless cavity pressure, p, of the hydraulic cylinder bi Representing the pressure of a rod cavity of a hydraulic cylinder, A ai Representing the rodless cavity area of the hydraulic cylinder, A bi Indicating the rod chamber area of the hydraulic cylinder.
S3, if the motion mode is a single-actuator motion mode, executing S4, and if the working mode is a double-actuator composite motion mode, executing S5;
s4, a damping compensation model of a single actuator is established, and the displacement of the pump or the opening of an outlet valve is dynamically adjusted;
the specific mode is as follows:
and establishing a damping compensation model of the single actuator, dynamically adjusting the displacement of the pump if the actuator works in an impedance extension or impedance retraction working mode, and dynamically adjusting the opening of the outlet valve if the actuator works in an overrunning extension or overrunning retraction working mode without supplying oil to the pump and controlling the flow of the outlet valve.
Specifically, the single-actuator damping compensation model adopts the following calculation mode:
when the actuator is in an impedance extension or impedance retraction working mode, the variable pump signal is dynamically regulated to achieve the effect of active damping compensation, and the following control signals are adopted:
wherein u' p Representing the signal before compensation of the variable pump, u p Compensation message indicating variable displacement pumpNumber u p Representing the compensated variable pump signal, A 1i Representing the inlet area, v, of the hydraulic cylinder i ref,i Indicating the desired speed, k, of the hydraulic cylinder i lp Represents the leakage coefficient of the variable pump, p p Represents the outlet pressure of the variable pump, n p Represents the rotation speed, k of the variable pump pp Represents the maximum displacement, k, of the variable displacement pump com Representing the feedback gain, ω, of the damping compensator c Represents the cut-off frequency, p, of the high pass filter 1i The pressure at the inlet side of the hydraulic cylinder i is indicated.
When the actuator is in an overrun extension mode or an overrun retraction mode, the outlet valve signal is dynamically regulated to achieve the effect of active damping compensation, and the following control signals are adopted:
wherein u' mo Indicating the signal before compensation of the outlet valve, u mo A compensation signal representing the outlet valve, u mo Representing the signal after the outlet valve compensation, defining the coefficients:A 2i representing the outlet side cylinder area, the differential pressure Δp is defined as: Δp=p 2i -p t ，p 2i The pressure at the outlet side of the actuator is indicated, pt is the return pressure.
S5, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening degree of the outlet valve is dynamically adjusted.
The specific mode is as follows:
establishing a dual-actuator damping compensation model, decoupling a dual-actuator loop if each actuator works in an impedance extension or impedance retraction working mode, dynamically adjusting the displacement of a pump by a heavy-load actuator loop, and dynamically adjusting the opening of an inlet valve by a light-load actuator; if each actuator works in an overrun extension or overrun retraction working mode, dynamically adjusting the opening of the outlet valve corresponding to each actuator; if one actuator works in an impedance extending or impedance retracting working mode and the other actuator works in an overrunning extending or overrunning retracting working mode, a loop working in the impedance extending or impedance retracting working mode dynamically adjusts the pump displacement; the loop operating in the overrun extend or overrun retract mode of operation dynamically adjusts the outlet valve opening.
Specifically, if each actuator is in an impedance extension or impedance retraction working mode, equivalently decoupling a dual-actuator valve port independent control loop into a plurality of single-actuator valve port independent control loops, judging the load of each actuator, taking a variable pump as a damping compensation object for a heavy-load actuator and taking a corresponding inlet valve as a damping compensation object for a light-load actuator;
according to the mathematical model of the valve port independent control loop, the speed of each actuator meets the following relational expression:
wherein v is ci Representing the speed of a heavy load actuator, v cj Representing the speed of the light load actuator, s representing the Laplacian, beta e Representing the effective bulk modulus; alpha represents the flow rate ratio required by each actuator, m ci Representing equivalent load mass of each actuator, b representing constant back cavity pressure value, A 1i Representing the area of the rodless cavity of the actuator, F ei The external load force of the actuator is represented, and in order to realize damping compensation after the decoupling of the valve port independent control double-actuator loop, the opening degree of an inlet valve of the light-load actuator and the pump displacement are required to meet the following relational expression:
wherein:
the damping compensation signals of the corresponding electric control variable pump 2 and the light load actuator inlet valve can be obtained through the relational expression;
if each actuator works in the overrun extension or overrun retraction mode, each actuator can be regarded as an overrun working mode under a single actuator, and the active damping compensation method of the outlet valve corresponding to each actuator is consistent with the active damping compensation method of the single actuator under the overrun working mode.
If one actuator works in the impedance extending or impedance retracting mode, the other actuator works in the exceeding extending or exceeding retracting mode, the actuator in the impedance extending or impedance retracting mode can be regarded as the impedance extending or impedance retracting mode under the single actuator, the active damping compensation method for the variable pump is consistent with the active damping compensation method of the single actuator in the impedance operating mode, the actuator in the exceeding extending or exceeding retracting mode can be regarded as the exceeding extending or exceeding retracting mode under the single actuator, and the active damping compensation method of the outlet valve corresponding to the actuator is consistent with the active damping compensation method of the single actuator in the exceeding operating mode.
For a better understanding of the technical scheme, the present invention provides the following examples for further description
The embodiment relates to an active damping compensation vibration suppression method of a dual-actuator valve port independent control system, wherein a hydraulic system is shown in fig. 2, a valve port independent control hydraulic loop consists of an electric control variable pump 2, an oil tank 3, a valve port independent control valve group, an actuating mechanism, an active damping compensation controller 9, a pressure sensor, a control handle 8 and a one-way valve 10, one end of the valve port independent control valve group is connected with a rod cavity or a rodless cavity of an actuator, and the other end of the valve port independent control valve group is connected with the electric control variable pump 2 and the oil tank 3.
In this embodiment, the active damping compensation controller 9 sends out a variable pump displacement signal 4, the first pressure sensor 51 is connected to the outlet of the electronically controlled variable pump 2, the second pressure sensor 52 is connected to the rod-less chamber side of the first actuator 71, the third pressure sensor 53 is connected to the rod-less chamber side of the first actuator 71, the fourth pressure sensor 54 is connected to the oil return port, the fifth pressure sensor 55 is connected to the rod-less chamber side of the second actuator 72, the sixth pressure sensor 56 is connected to the rod-less chamber side of the second actuator 72, the valve port independent control valve bank first linkage valve 61 is connected to the rod-less chamber side of the first actuator 71, the valve port independent control valve bank second linkage valve 62 is connected to the rod-less chamber side of the first actuator 71, the valve port independent valve bank third linkage valve 63 is connected to the rod-less chamber side of the second actuator 72, the valve port independent control valve bank fourth linkage valve 64 is connected to the rod-less chamber side of the second actuator 72, the active damping compensation controller 9 receives the handle and pressure sensor signals and sends out pump displacement signals and valve spool displacement signals, the load of each actuator may be different, and the actuators may relate to the working modes of impedance extension, impedance retraction, overrunning extension and overrunning retraction, and the actuators may be single-actuator or double-actuator during working, and different actuators may work in different working modes, so the active damping compensation method firstly collects the pressure signals of the two cavities of the operating handle and the actuators; establishing an actuator motion mode judging model and each actuator working mode judging model according to the collected handle and actuator two-cavity pressure signals; if the actuator motion mode is single actuator motion, active damping compensation is performed through a single actuator damping compensation model, and if the actuator motion mode is double actuator compound motion, active damping compensation is performed through a double actuator damping compensation model; establishing a damping compensation model of a single actuator, and dynamically adjusting the displacement of the pump or the opening of an outlet valve according to the working mode of the single actuator; and establishing a dual-actuator damping compensation model, and dynamically adjusting the displacement of the pump or the opening of the inlet and outlet valves of each actuator according to different actuator working modes. The control for reducing the impact vibration in the motion process of the valve port independent control loop is realized by the method.
The method comprises the following steps:
s1, acquiring a handle signal and the pressure of two cavities of an actuator to obtain an acquisition signal;
s2, establishing a motion mode judging model and a working mode judging model of the actuator based on the acquired signals;
actuator movementThe mode decision model uses the following formula: if there is and only one actuator action (i.e., u 1 ≠0，u 2 =0 or u 1 ＝0，u 2 Not equal to 0), the actuator movement pattern is a single actuator movement pattern, if the two actuators are combined actions (u) 1 ≠0，u 2 Not equal to 0), the actuator motion pattern is a dual actuator compound motion pattern, where u i A signal (i=1 or 2) indicating the emission of the operating handle;
the working mode judging model judges whether the actuator is in an impedance extending working mode, an impedance retracting working mode, an overrunning extending working mode or an overrunning retracting working mode.
Wherein i=1 or 2,F i Represents the external load force, where:
F i ＝p ai A ai -p bi A bi (6)
wherein p is ai Representing the rodless cavity pressure, p, of the hydraulic cylinder bi Representing the pressure of a rod cavity of a hydraulic cylinder, A ai Representing the rodless cavity area of the hydraulic cylinder, A bi Indicating the rod chamber area of the hydraulic cylinder.
S3, if the motion mode is a single-actuator motion mode, executing S4, and if the working mode is a double-actuator composite motion mode, executing S5;
s4, a damping compensation model of a single actuator is established, and the displacement of the pump or the opening of an outlet valve is dynamically adjusted;
specifically, when the actuator is in an impedance extension or impedance retraction working mode, the variable pump signal is dynamically adjusted to achieve the effect of active damping compensation, and the following control signals are adopted:
wherein u' p Information indicating before compensation of variable pumpNumber u p Compensation signal representing variable displacement pump, u p Representing the compensated variable pump signal, A 1i Representing the inlet area, v, of the hydraulic cylinder i ref,i Indicating the desired speed, k, of the hydraulic cylinder i lp Represents the leakage coefficient of the variable pump, p p Represents the outlet pressure of the variable pump, n p Represents the rotation speed, k of the variable pump pp Represents the maximum displacement, k, of the variable displacement pump com Representing the feedback gain, ω, of the damping compensator c Represents the cut-off frequency, p, of the high pass filter 1i The pressure at the inlet side of the hydraulic cylinder i is indicated.
When the actuator is in an overrun extension mode or an overrun retraction mode, the outlet valve signal is dynamically regulated to achieve the effect of active damping compensation, and the following control signals are adopted:
wherein u' mo Indicating the signal before compensation of the outlet valve, u mo A compensation signal representing the outlet valve, u mo Representing the signal after the outlet valve compensation, defining the coefficients:
A 2i representing the outlet side cylinder area, the differential pressure Δp is defined as: Δp=p 2i -p t ，p 2i The pressure at the outlet side of the actuator is indicated, pt is the return pressure.
S5, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening degree of the outlet valve is dynamically adjusted.
Specifically, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening of the inlet and outlet valves of each actuator is dynamically adjusted according to different working modes of the actuators;
if each actuator is in an impedance extension or impedance retraction working mode, equivalently decoupling a double-actuator valve port independent control loop into a plurality of single-actuator valve port independent control loops, judging the load of each actuator, taking a variable pump as a damping compensation object for heavy-load actuators and taking a corresponding inlet valve as a damping compensation object for light-load actuators;
judging the load of each actuator, and fully opening an inlet valve of the heavy-load actuator:
u 1i ＝u max (8)
and (3) performing pressure control on the back pressure cavity of each actuator:
u 2j ＝k p e j +k I ∫e j dt,j＝1,2 (9)
establishing a valve port independent control double-actuator hydraulic circuit mathematical model, and obtaining by using a flow continuous equation:
where pp represents pump outlet pressure, s represents Laplacian, qp represents pump generated flow, qli represents flow of each actuator, β e Representing the effective bulk modulus;
the flow through the ports on both sides of the actuator can be expressed by a linear expression as follows:
wherein q1i represents the flow rate of the rod-free cavity side of the actuator, and q2i represents the flow rate of the rod-free cavity side of the actuator;
the actuator two-chamber pressure can be expressed by the flow continuity equation as follows (assuming the actuator is extended):
wherein, p1i represents the lateral pressure of the rod-free cavity of the actuator, and p2i represents the lateral pressure of the rod-free cavity of the actuator;
from the actuator dynamic balance equation, the following expression can be obtained:
(m ci s+b ci )v ci (s)＝A 1i p 1i (s)-A 2i p 2i (s)-F ei (s) (15)
wherein mci represents the equivalent load mass of the actuator, bci represents the viscous damping coefficient of the actuator, vci represents the actuator speed, A1i represents the rod-free chamber area of the actuator, A2i represents the rod-free chamber area of the actuator, and Fei represents the external load force of the actuator;
dispensing flow required by each actuator via handle signal
(u i Indicating the signal from the handle
The pressure expression of each cavity of the actuator is obtained through the established mathematical model and various simultaneous solutions
For the back cavity pressure value controlled to be a certain value, if b is set, the back cavity pressure expression is obtained
From the pressure expression and the dynamic balance equation of the actuator, the velocity expression of the actuator can be obtained
By the expression of the speed of each actuator, the speed of the heavy-duty actuator is represented by alpha i A 1i β e n p V p (s) determining that for a light load actuator, the speed is k pq1i β e A 1j α j n p V p (s)+A 1j V pi k q1j k vj su vj (s) determining that when decoupling the dual actuator loop is equivalent to a plurality of single actuator loops, that is, ensuring that the movement speeds of the respective actuators are equal before and after decoupling.
The speed expression of each actuator is used for obtaining the expression of equivalent of a plurality of actuator loops into a plurality of independent loops, namely, the speed is ensured to be consistent before and after damping compensation decoupling;
in the formula (17), the amino acid sequence of the compound,
formulas (19) and (20) represent a high-pass filter, ω ph And omega vhj The cut-off frequency of the high-pass filter is represented, the cut-off frequency is selected according to the natural characteristic frequency of the hydraulic system, the pressure signal at the high-pressure side of the actuator is filtered by the high-pass filter and then combined with feedback gain to obtain a compensation signal, and the decoupled compensation signal is then decoupled according to a formula (17);
if each actuator works in the overrun extension or overrun retraction mode, the outlet valve corresponding to each actuator is used as a damping compensation object, and the opening degree of each outlet valve is adjusted by a pressure feedback method to perform damping compensation
Wherein i=1 or 2;
if one actuator works in the impedance extension or impedance retraction working mode and one actuator works in the overrunning extension or overrunning retraction working mode, the damping compensation object of the actuator corresponding to the impedance extension or impedance retraction working mode is a variable pump, and at the moment, the signals of the variable pump are as follows:
the damping compensation object of the actuator corresponding to the overrun extension or overrun retraction working mode is an outlet valve, and the signal of the outlet valve is:
the above disclosure is only a preferred embodiment of the active damping compensation vibration suppression method for a dual-actuator valve port independent control system of the present invention, and it should be understood that the scope of the present invention is not limited thereto, and those skilled in the art will understand that all or part of the above-described embodiments may be implemented and equivalent changes may be made according to the claims of the present invention, which still fall within the scope of the present invention.
Claims (5)
1. The active damping compensation vibration suppression method of the dual-actuator valve port independent control system is characterized by comprising the following steps of:
s1, acquiring a handle signal and the pressure of two cavities of an actuator to obtain an acquisition signal;
s2, establishing a motion mode judging model and a working mode judging model of the actuator based on the acquired signals;
s3, if the motion mode is a single-actuator motion mode, executing S4, and if the working mode is a double-actuator composite motion mode, executing S5;
s4, a damping compensation model of a single actuator is established, and the displacement of the pump or the opening of an outlet valve is dynamically adjusted;
s5, a dual-actuator damping compensation model is established, and the displacement of the pump or the opening degree of the outlet valve is dynamically adjusted.
2. The method for active damping compensation vibration suppression of a dual-actuator valve port independent control system of claim 1,
the motion pattern determination model includes: if only one actuator acts, the actuator movement mode is a single actuator movement mode, and if two actuators act in a compound way, the actuator movement mode is a double actuator compound movement mode.
3. The method for active damping compensation vibration suppression of a dual-actuator valve port independent control system of claim 1,
the working mode judging model judges whether the actuator is in an impedance extending working mode, an impedance retracting working mode, an overrunning extending working mode or an overrunning retracting working mode.
4. The method for active damping compensation vibration suppression of dual-actuator valve port independent control system of claim 3,
the method for establishing the damping compensation model of the single actuator comprises the following specific steps of dynamically adjusting the discharge capacity of the pump or the opening of an outlet valve:
and establishing a damping compensation model of the single actuator, dynamically adjusting the displacement of the pump if the actuator works in an impedance extension or impedance retraction working mode, and dynamically adjusting the opening of the outlet valve if the actuator works in an overrunning extension or overrunning retraction working mode without supplying oil to the pump and controlling the flow of the outlet valve.
5. The method for active damping compensation vibration suppression of dual-actuator valve port independent control system of claim 3,
the specific mode of establishing the dual-actuator damping compensation model and dynamically adjusting the discharge capacity of the pump or the opening of the outlet valve is as follows:
establishing a dual-actuator damping compensation model, decoupling a dual-actuator loop if each actuator works in an impedance extension or impedance retraction working mode, dynamically adjusting the displacement of a pump by a heavy-load actuator loop, and dynamically adjusting the opening of an inlet valve by a light-load actuator; if each actuator works in an overrun extension or overrun retraction working mode, dynamically adjusting the opening of the outlet valve corresponding to each actuator; if one actuator works in an impedance extending or impedance retracting working mode and the other actuator works in an overrunning extending or overrunning retracting working mode, a loop working in the impedance extending or impedance retracting working mode dynamically adjusts the pump displacement; the loop operating in the overrun extend or overrun retract mode of operation dynamically adjusts the outlet valve opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310375717.3A CN116447191B (en) | 2023-04-10 | 2023-04-10 | Active damping compensation vibration suppression method for dual-actuator valve port independent control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310375717.3A CN116447191B (en) | 2023-04-10 | 2023-04-10 | Active damping compensation vibration suppression method for dual-actuator valve port independent control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116447191A true CN116447191A (en) | 2023-07-18 |
| CN116447191B CN116447191B (en) | 2024-01-16 |
Family
ID=87131519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310375717.3A Active CN116447191B (en) | 2023-04-10 | 2023-04-10 | Active damping compensation vibration suppression method for dual-actuator valve port independent control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116447191B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117514974B (en) * | 2023-11-07 | 2024-06-07 | 华东交通大学 | Method for diagnosing faults of electrohydraulic system pressure sensors by parallel display and hidden double controllers |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07229169A (en) * | 1994-02-21 | 1995-08-29 | Hitachi Constr Mach Co Ltd | Hydraulic pressure control device of construction machine |
| DE102005008217A1 (en) * | 2005-02-22 | 2006-08-31 | Putzmeister Ag | Hydraulic drive for two-cylinder thick matter pumps, has main pump, and blocking valve to block rinsing oil flow and to release oil flow after time delay, while diverting oil flow from low pressure side of hydraulic circuit into oil tank |
| CN104603468A (en) * | 2012-10-17 | 2015-05-06 | 日立建机株式会社 | Hydraulic drive device for construction machinery |
| CN108343649A (en) * | 2018-04-14 | 2018-07-31 | 华东交通大学 | Load port based on single side outlet throttling control valve group/discharge capacity autonomous control system |
| US20200124061A1 (en) * | 2017-04-28 | 2020-04-23 | Eaton Intelligent Power Limited | Drift compensation system for drift related to damping of mass-induced vibration in machines |
| CN212744559U (en) * | 2020-09-21 | 2021-03-19 | 徐工集团工程机械股份有限公司建设机械分公司 | Crane extension valve group and hydraulic system |
| CN113202833A (en) * | 2021-05-24 | 2021-08-03 | 华东交通大学 | Load port independent control system matched with electro-hydraulic flow |
| CN113775603A (en) * | 2021-02-19 | 2021-12-10 | 太原理工大学 | Electro-hydraulic multi-actuator flow control system and method |
| CN115076162A (en) * | 2022-06-21 | 2022-09-20 | 重庆大学 | Double-pump double-loop electro-hydraulic load sensing system with independently controlled valve ports and control method |
-
2023
- 2023-04-10 CN CN202310375717.3A patent/CN116447191B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07229169A (en) * | 1994-02-21 | 1995-08-29 | Hitachi Constr Mach Co Ltd | Hydraulic pressure control device of construction machine |
| DE102005008217A1 (en) * | 2005-02-22 | 2006-08-31 | Putzmeister Ag | Hydraulic drive for two-cylinder thick matter pumps, has main pump, and blocking valve to block rinsing oil flow and to release oil flow after time delay, while diverting oil flow from low pressure side of hydraulic circuit into oil tank |
| CN104603468A (en) * | 2012-10-17 | 2015-05-06 | 日立建机株式会社 | Hydraulic drive device for construction machinery |
| US20200124061A1 (en) * | 2017-04-28 | 2020-04-23 | Eaton Intelligent Power Limited | Drift compensation system for drift related to damping of mass-induced vibration in machines |
| CN108343649A (en) * | 2018-04-14 | 2018-07-31 | 华东交通大学 | Load port based on single side outlet throttling control valve group/discharge capacity autonomous control system |
| CN212744559U (en) * | 2020-09-21 | 2021-03-19 | 徐工集团工程机械股份有限公司建设机械分公司 | Crane extension valve group and hydraulic system |
| CN113775603A (en) * | 2021-02-19 | 2021-12-10 | 太原理工大学 | Electro-hydraulic multi-actuator flow control system and method |
| CN113202833A (en) * | 2021-05-24 | 2021-08-03 | 华东交通大学 | Load port independent control system matched with electro-hydraulic flow |
| CN115076162A (en) * | 2022-06-21 | 2022-09-20 | 重庆大学 | Double-pump double-loop electro-hydraulic load sensing system with independently controlled valve ports and control method |
Non-Patent Citations (3)
| Title |
|---|
| 徐兵;丁孺琦;张军辉;: "基于泵阀联合控制的负载口独立系统试验研究", 浙江大学学报(工学版), no. 01, pages 98 - 106 * |
| 徐兵;曾定荣;葛耀峥;刘英杰;: "负载口独立控制负载敏感系统模式切换特性", 浙江大学学报(工学版), no. 05, pages 78 - 61 * |
| 程敏;于今;丁孺琦;蔡乐平;: "基于流量前馈与压力反馈复合控制的电液负载敏感系统", 机械工程学报, no. 20, pages 284 - 292 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117514974B (en) * | 2023-11-07 | 2024-06-07 | 华东交通大学 | Method for diagnosing faults of electrohydraulic system pressure sensors by parallel display and hidden double controllers |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116447191B (en) | 2024-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5630317A (en) | Controller for hydraulic drive machine | |
| US9938691B2 (en) | Hydraulic system for work machine | |
| EP1703143B1 (en) | Hydraulic control system with cross function regeneration | |
| DE112009001293T5 (en) | Controller for a hybrid construction machine | |
| CN101761105B (en) | Power matching method of hydraulic excavator | |
| CN102261351A (en) | Simple proportional load sensitive hydraulic system | |
| CN107143540A (en) | Digital load sensing hydraulic control system and method | |
| CN108678045B (en) | Pump control hybrid power hydraulic system of loader and control method thereof | |
| DE112017000044T5 (en) | Control system and work machine | |
| CN115163582B (en) | Distributed independent variable-rotation-speed closed pump control hydraulic system for excavator | |
| CN116447191B (en) | Active damping compensation vibration suppression method for dual-actuator valve port independent control system | |
| CN203297181U (en) | System adopting load sensitivity control | |
| Aoki et al. | Load sensing fluid power systems | |
| Fassbender et al. | Improving the energy efficiency of single actuators with high energy consumption: An electro-hydraulic extension of conventional multi-actuator load-sensing systems | |
| CN202851491U (en) | Load-sensitive multi-way valve used in loader variable system | |
| CN112895832A (en) | Vehicle posture and damping adjustment control method | |
| DE102022212178A1 (en) | Construction machine with active chassis control | |
| CN110410532A (en) | A kind of variable pressure difference flow divider and hydraulic control system based on damping bridge | |
| CN210344387U (en) | Variable differential pressure flow divider valve based on damping bridge circuit and hydraulic control system | |
| CN212509026U (en) | Load sensing loop based on load sensing pump and Vaivistor valve | |
| Bao et al. | A multi-pump multi-actuator hydraulic system with on-off valve matrix for energy saving | |
| Kärnell et al. | Pump-controlled actuators with dump valves | |
| CN114855920B (en) | Electro-hydraulic proportional control method for cooperative optimization of all-electric control excavator working device | |
| CN115111227B (en) | Load port independent decoupling control system based on speed and pressure feedback | |
| CN219492725U (en) | Novel multi-actuator pump control variable-voltage differential speed regulation system |
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 |