CN117847053A - Hydraulic control method and device for throttle plate in strong vibration environment - Google Patents
Hydraulic control method and device for throttle plate in strong vibration environment Download PDFInfo
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- CN117847053A CN117847053A CN202311734482.9A CN202311734482A CN117847053A CN 117847053 A CN117847053 A CN 117847053A CN 202311734482 A CN202311734482 A CN 202311734482A CN 117847053 A CN117847053 A CN 117847053A
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Abstract
A hydraulic control method of a throttle plate under a strong vibration environment and a control device applying the method mainly comprise the following steps: establishing a complete corresponding relation between a theoretical value and an actual value of the throttle plate movement speed, and further establishing a compensation relation curve according to a difference value between the theoretical value and the actual value; this compensation relationship is introduced into the control process of the hydraulic servo system. The method can effectively solve the problem of nonlinearity of hydraulic control, shortens the transition process, improves the control precision of the throttle plate and reduces vibration.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a control system for stably controlling a hydraulic mechanism in a strong vibration environment.
Background
The important component parts of the second throat mechanism of the throttling sheet device are closely related to flow field control, are positioned at the downstream of the central flow field, are one of direct regulation means for Mach number control, and have direct influence on Mach number control accuracy by positioning accuracy, and in order to ensure that Mach number control accuracy is less than or equal to delta M and less than or equal to +/-0.001, the positioning accuracy of the throttling sheet mechanism is required to be superior to 0.1mm, which is one of key influence factors related to whether the flow field index can reach the standard. On the other hand, the throttle plate mechanism is driven by a hydraulic servo system, the positioning precision of the throttle plate mechanism is closely related to control output, position feedback, controller equipment, a control algorithm and the like, and careful precision analysis and calculation are needed to verify whether the design can meet the precision requirement.
When the electric servo system is controlled, an executing mechanism (usually a servo motor) can change the running speed according to the given speed, the response is fast, the dynamic characteristic is good, and the given and output are in a linear proportional relation; the hydraulic servo system is determined by the physical characteristics of hydraulic oil, and large hysteresis occurs when the hydraulic servo system is started, stopped and commutated, so that the relation between output setting and execution speed is not linear, if a model for controlling a linear electric shaft is used for controlling a nonlinear hydraulic shaft, the speed is very unstable, and the position deviation caused by the unstable speed can be continuously corrected by a position closed loop, at the moment, a hydraulic actuator can jump back and forth or shake, so that positioning errors are large and even mechanical equipment is damaged, and therefore, the accurate and stable control of the hydraulic servo system is realized, and the hydraulic servo system is a key technical link of the control system.
Disclosure of Invention
The invention provides a throttle plate hydraulic control method and a throttle plate hydraulic control system in a strong vibration environment, which can effectively solve the problem of nonlinearity of hydraulic control, shorten the transition process and improve the control precision and shock resistance.
The hydraulic control method for the throttle plate in the strong vibration environment comprises the following steps:
s1, measuring theoretical values of opening degrees of servo valves of hydraulic mechanisms corresponding to different throttle plate movement speeds, and establishing a complete corresponding relation curve between the theoretical values and the actual values of the throttle plate movement speeds, wherein the throttle plate movement speeds are obtained in practice;
s2, establishing a compensation relation curve according to the difference between the theoretical value and the actual value;
and S3, performing compensation-based control in the control process of the hydraulic servo system according to the compensation relation.
Further, the specific method of step S1 includes:
according to a certain resolution, a position signal is given to the servo valve according to the theoretical value of the opening of the servo valve of the hydraulic mechanism corresponding to the throttle plate movement speed one by one, the servo valve is controlled to reach the theoretical position opening, and the change of the throttle plate movement speed which is actually realized is measured.
Further, in the step S2 or S3, the resolution of compensating the throttle plate speed is taken to be 0.0015mm/S, and the control cycle time and the response time are not more than 8ms.
Further, the method comprises the following steps: the method for controlling different speeds by adopting the sectional PID algorithm specifically comprises the following steps:
the control error is differentiated into three regions: the small error area, the medium error area and the large error area are respectively and correspondingly subjected to proportional control, proportional integral control and proportional integral derivative control.
The hydraulic control device for the throttle plate in the strong vibration environment, which is obtained by the method, mainly comprises:
the PLC hydraulic control module is a high-speed analog quantity module; wherein:
the hydraulic control module is used for carrying out high-frequency and high-precision control compensation on the opening of the servo valve of the hydraulic mechanism according to the corresponding relation between the theoretical value and the actual value of the throttle plate movement speed;
the high-speed analog quantity module is used for collecting main feedback signals of the controlled hydraulic mechanism, converting digital quantity output by the hydraulic control module into analog quantity and controlling the hydraulic mechanism.
Further, the hydraulic control module includes:
the compensation relation module is used for recording the difference value between the throttle plate movement speed theory value and the actual value of the servo valve of the hydraulic mechanism under different hydraulic pressures and different opening positions;
and the hydraulic control module is used for controlling the opening of the servo valve according to the required throttle plate movement speed and the difference relation between the throttle plate movement speed theory value and the actual value.
Further, in the compensation relation module, the resolution ratio of the throttle plate movement speed is 0.0015mm/s;
the control period and the actuator response time of the hydraulic control module are not greater than 8ms.
Furthermore, the PLC hydraulic control module adopts a SIMOTION controller.
Further, the hydraulic control module adopts a sectional PID algorithm to control different speeds, and specifically comprises:
the control error is differentiated into three regions: the small error area, the medium error area and the large error area are respectively and correspondingly subjected to proportional control, proportional integral control and proportional integral derivative control.
Further, the device also comprises a touch screen which is connected with the hydraulic control module through an adaptive cable and used for man-machine interaction with the hydraulic control module.
Compared with the prior art, the beneficial effects of the present disclosure are: (1) By acquiring the corresponding relation between the speed and the opening, an accurate compensation curve is established, and the deviation of the hydraulic servo system due to the characteristics of nonlinearity, hysteresis and the like is compensated; (2) The nonlinear relation of hydraulic control is changed into a linear relation similar to that of a control servo motor, so that the control is more convenient and accurate; (3) The adoption of the sectional control algorithm can improve the control precision and stability and improve the synchronization relationship among multiple hydraulic shafts.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.
FIG. 1 is a schematic diagram of an exemplary throttle plate hydraulic control system according to the present disclosure;
FIG. 2 is a controlled architecture of an exemplary throttle plate hydraulic control system.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are illustrated in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The disclosure provides a throttle plate hydraulic control method under a strong vibration environment and a control system applying the method.
According to an exemplary embodiment of the present disclosure, the principle structure is shown in fig. 1, and is mainly constructed by using a simoton controller, and adopts a structure form of the simoton controller, a functional module and a servo cylinder, and the structure mainly includes: the system comprises a SIMOTION controller, a high-speed analog module, a servo oil cylinder, a touch screen and an appropriate cable. The SIMOTION controller is used as a core, and a high-speed analog module is used for collecting main feedback signals (displacement and oil pressure) required by a controlled hydraulic mechanism. The high-speed analog output module controls the throttle plate to stably and accurately operate at high speed under the strong vibration environment through calculation by the automation software of the SIMOTION controller.
In the prior art, a proportional valve is usually controlled by a PLC, and the opening of a valve core of the proportional valve is controlled by mainly controlling the current (or voltage) supplied to an electromagnetic coil of the proportional valve through an amplifying plate of an analog controller, so that the speed pressure or the flow is controlled.
In the embodiment, the position signal of the servo valve (high-frequency response valve) is given by an AO module (-10V) in the high-speed analog output module, and the opening degree of the servo valve is controlled to realize the change of the speed of the oil cylinder. Theoretically, the maximum opening (position) of the servo valve corresponds to the maximum speed of the oil cylinder, the AO output resolution is 16 bits (containing a sign bit), and the repetition accuracy is 0.05%; the technical requirement is that the operation speed of the throttle plate is 35mm/s, the oil cylinder has to cover the above speed when in model selection, the actual speed of the oil cylinder is not more than 50mm/s at maximum considering 1.5 times of design margin, namely, the control voltage of 0V-10V corresponds to the operation speed of the oil cylinder of 0 mm/s-50 mm/s, and the resolution ratio is 50 mm/s/2 can be calculated 15 ＝0.0015mm/s with an accuracy of 50mm/s×0.05% = 0.025mm/s; meanwhile, the control equipment and the network for position or synchronous control adopt an IRT communication protocol, the time of each control period is determined, the control period time and the response time are calculated to be not more than 8ms (the opening of the servo valve approaches to a dead zone when the oil cylinder is finally positioned), the deviation of the minimum running distance of each period of the oil cylinder is calculated to be 0.025mm/s multiplied by 0.008 s=0.0002 mm, and the control output precision can reach 0.2um.
The complete corresponding relation curve between the flow of hydraulic oil and the movement speed of the hydraulic shaft can be obtained by measuring the corresponding movement speed of the hydraulic shaft at different flow positions;
when the measured values at all positions are recorded, the measured values are stored in a cam disc (a software module in the SIMOTION controller) which corresponds to the given opening degree of the valve and the current speed of the hydraulic shaft respectively;
a Trace tool in the SIMOTION controller is adopted to determine a difference compensation point according to different output given values and actual speed values, and the value of the difference compensation point is added into a cam disk in a tabular manner for establishing a compensation curve so as to ensure the stable operation of an executing mechanism;
the corresponding relation is introduced into the control process, so that the nonlinear problem of hydraulic control can be effectively solved, the transition process is shortened, and the control precision and shock resistance are improved.
If the throttle plate control mechanism has a synchronous motion relationship of a plurality of hydraulic shafts, the synchronous control accuracy needs to be estimated. Because the speed of the throttle plate mechanism is high, the throttle plate mechanism oil cylinder runs at the speed of 35mm/S, and the speed range of the throttle plate mechanism is wide by 0-35 mm/S, the control of different speeds is preferably performed by adopting a sectional PID algorithm, and the sectional PID algorithm divides the output of the PID controller into different sections according to different control error ranges, and each section is controlled by using different PID parameters. Specifically, the segmented PID algorithm divides the control error into three regions: the small error region, the medium error region, and the large error region correspond to proportional control, proportional integral control, and proportional integral derivative control, respectively. According to the actual application scene and the system characteristics, PID parameters of each region can be flexibly adjusted so as to realize more accurate control effect. When the position out-of-tolerance exceeds a certain threshold, such as 0.05mm, a hydraulic control algorithm in the SIMOTION controller gives out a new speed command of each shaft in a very short control period, so that the mechanism can stably operate and position deviation can be eliminated.
The foregoing technical solutions are merely exemplary embodiments of the present invention, and various modifications and variations can be easily made by those skilled in the art based on the application methods and principles disclosed in the present invention, not limited to the methods described in the foregoing specific embodiments of the present invention, so that the foregoing description is only preferred and not in a limiting sense.
Claims (10)
1. A hydraulic control method of a throttle plate in a strong vibration environment comprises the following steps:
s1, measuring theoretical values of opening degrees of servo valves of hydraulic mechanisms corresponding to different throttle plate movement speeds, and establishing a complete corresponding relation curve between the theoretical values and the actual values of the throttle plate movement speeds, wherein the throttle plate movement speeds are obtained in practice;
s2, establishing a compensation relation curve according to the difference between the theoretical value and the actual value;
and S3, performing compensation-based control in the control process of the hydraulic servo system according to the compensation relation.
2. The method according to claim 1, wherein the specific method of step S1 comprises:
according to a certain resolution, a position signal is given to the servo valve according to the theoretical value of the opening of the servo valve of the hydraulic mechanism corresponding to the throttle plate movement speed one by one, the servo valve is controlled to reach the theoretical position opening, and the change of the throttle plate movement speed which is actually realized is measured.
3. A method according to claim 1 or 2, characterized in that in said step S2 or S3, the resolution of the compensation of the throttle plate speed is taken to be 0.0015mm/S, and the control cycle time and response time are not more than 8ms.
4. A method according to claim 3, characterized in that the method further comprises the steps of: the method for controlling different speeds by adopting the sectional PID algorithm specifically comprises the following steps:
the control error is differentiated into three regions: the small error area, the medium error area and the large error area are respectively and correspondingly subjected to proportional control, proportional integral control and proportional integral derivative control.
5. A throttle plate hydraulic control apparatus in a high vibration environment applying the method of any one of claims 1-4, comprising: the PLC hydraulic control module is a high-speed analog quantity module; wherein:
the hydraulic control module is used for carrying out high-frequency and high-precision control compensation on the opening of the servo valve of the hydraulic mechanism according to the corresponding relation between the theoretical value and the actual value of the throttle plate movement speed;
the high-speed analog quantity module is used for collecting main feedback signals of the controlled hydraulic mechanism, converting digital quantity output by the hydraulic control module into analog quantity and controlling the hydraulic mechanism.
6. The apparatus of claim 5, wherein the hydraulic control module comprises:
the compensation relation module is used for recording the difference value between the throttle plate movement speed theory value and the actual value of the servo valve of the hydraulic mechanism under different hydraulic pressures and different opening positions;
and the hydraulic control module is used for controlling the opening of the servo valve according to the required throttle plate movement speed and the difference relation between the throttle plate movement speed theory value and the actual value.
7. The apparatus of claim 6 wherein the compensation relationship module has a resolution of 0.0015mm/s for throttle plate movement speed;
the control period and the actuator response time of the hydraulic control module are not greater than 8ms.
8. The apparatus of any one of claims 5-7, wherein the PLC hydraulic control module employs a simoton controller.
9. The device according to claim 6, wherein the hydraulic control module uses a segmented PID algorithm to control different speeds, and specifically comprises:
the control error is differentiated into three regions: the small error area, the medium error area and the large error area are respectively and correspondingly subjected to proportional control, proportional integral control and proportional integral derivative control.
10. The apparatus of claim 6, further comprising a touch screen connected to the hydraulic control module by an adaptive cable for human-machine interaction with the hydraulic control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311734482.9A CN117847053A (en) | 2023-12-18 | 2023-12-18 | Hydraulic control method and device for throttle plate in strong vibration environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311734482.9A CN117847053A (en) | 2023-12-18 | 2023-12-18 | Hydraulic control method and device for throttle plate in strong vibration environment |
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| CN117847053A true CN117847053A (en) | 2024-04-09 |
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| CN202311734482.9A Pending CN117847053A (en) | 2023-12-18 | 2023-12-18 | Hydraulic control method and device for throttle plate in strong vibration environment |
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