CN205388710U - Change fast hydraulic power source flow control system - Google Patents
Change fast hydraulic power source flow control system Download PDFInfo
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- CN205388710U CN205388710U CN201520931243.7U CN201520931243U CN205388710U CN 205388710 U CN205388710 U CN 205388710U CN 201520931243 U CN201520931243 U CN 201520931243U CN 205388710 U CN205388710 U CN 205388710U
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Abstract
The utility model discloses a change fast hydraulic power source flow control system, the flow sensor who includes subtracter, PID controller, adder, servo driver, permanent -magnet machine, gear pump, motor, proportion overflow valve, load anticipatory control ware, is used for to detect the pressure force information's of gear pump oil -out department oil pressure pressure sensor and be used for detecting gear pump oil -out flow information. The utility model discloses can realize changing the flow control in fast hydraulic power source to response speed is fast, and the precision is higher.
Description
Technical field
This utility model belongs to hydraulic power system and controls technical field, relates to a kind of variable speed hydraulic power supply flow control system.
Background technology
Hydraulic drive and control technology is to integrate the high intercrossing of numerous subjects, the high comprehensive technology-oriented disciplines such as hydraulic technique, microelectric technique, sensing detection technology, computer control and modern control theory, has significant mechanical-electrical-hydraulic integration feature.In hydraulic test, the speed of actuator to be controlled by major part, say, that speed regulating control is the core of hydraulic test, is generally divided into throttle grverning and two kinds of valve control forms of volumetric speed control.Along with constantly popularizing of frequency conversion speed-adjusting, hydraulic test variable frequency volume speed governing (variable speed control) method is suggested, its principle is quantitative oil pump and motor AC speed adjusting technique to be organically combined, change motor speed is relied on to realize the speed of actuator is regulated, namely realized the dynamic adjustment of flow by the change of pump speed, eliminate the change displacement control mechanism of complexity compared with variable pump systems.Variable speed fluid speed regulating control simplifies hydraulic circuit compared with conventional valve control governing system, contamination resistance is strong, reduce or completely eliminate the energy loss of hydraulic valve, have energy-efficient, simple in construction, dynamic property are good, noise is low, easily realize the advantages such as computer control.
But owing to control object is motor, and controlled volume is motor rotary speed, whole control system exists bigger non-linear, and the Speed rigidity of Reduction in Variable-speed Pump-control-motor System governing system is relatively low, the effect of load torque can make hydraulic pump, hydraulic motor and control valve generation leakage, also can change the mechanical property of motor, hydraulic oil volume can be caused to change.Above-mentioned factor all can make motor rotary speed landing occur, and load torque is more big, and motor speed loss is more obvious.Thus variable speed Hydraulic capacity speed governing system control characteristic is poor.
Existing variable speed speed control system with adjustable displacement control method mainly has following four:
Constant voltage and frequency ratio (U/f) opened loop control, the little closed loop control of vector, load pressure compensation control and the big closed loop feedback compensation control of speed.Constant voltage and frequency ratio (U/f) opened loop control has an advantage in that converter performance requirement is low, with low cost, is easiest to realize.Disadvantage is owing to being opened loop control, it is impossible to compensating the motor speed loss owing to load disturbance causes, system speed governing essence does not reach requirement；The control characteristic that the feature of vector control mode is motor is good, and converter performance requirement is high, expensive.This control mode can not compensate the motor rotary speed impact by load or oil temperature change, and adjusting speed accuracy relatively constant voltage and frequency ratio (U/f) opened loop control to be got well, but still can not be ensured reliably；Load pressure compensation controls substantially loading Front feedback control on the basis of opened loop control or vector controlled, and the motor speed loss that the change of load disturbance, hydraulic fluid leak and mechanical characteristics of motor is caused has good compensation effect.Comparing first two control method good many, but easily produce overcompensation or undercompensation, adjusting speed accuracy still can not be ensured reliably；The big closed loop feedback of speed compensates and controls to be, by negative feedback control principle, the speed of executor is carried out closed loop control, generally can compensate the various uncertain factors such as the change impact on executor's speed of load or oil temperature.Shortcoming is that hydraulic power system link is many, it is non-linear to have, and various sensor detecting elements have certain hysteresis quality, so it is that control appearance is delayed that the big closed loop feedback of speed compensates the maximum problem of control, not in time, response speed is slower.
Utility model content
The purpose of this utility model is in that to overcome disadvantages mentioned above, provide a kind of variable speed hydraulic power supply flow control system, this system controls the advantage with Front feedback control in conjunction with simple PID/feedback, adopt load feed-forward and feedback Compound Control Strategy to become and solve rotating speed hydraulic power supply when load disturbance changes, flow system flow occurs that momentary fluctuation is big, response speed slowly, the not easily problem such as adjustment, it is achieved hydraulic power source system constant flux control under typical condition.
For reaching above-mentioned purpose, variable speed hydraulic power supply flow control system described in the utility model include subtractor, PID controller, adder, servo-driver, magneto, gear pump, motor, proportional pressure control valve, load feedforward controller, for detecting the pressure transducer of the pressure information of gear pump oil-out place oil pressure and for detecting the flow transducer of gear pump oil-out flow information；
The outfan of described servo-driver is connected with the control end of magneto, the output shaft of magneto is connected with the driving axle of gear pump, the oil-out of fuel tank is connected with the oiler of gear pump, the oil-out of gear pump is connected with the oiler of motor, the oil-out of motor is connected with the oiler of fuel tank, the outfan of pressure transducer is connected with the input of load feedforward controller, the outfan of load feedforward controller is connected with the input of adder, the outfan of flow transducer is connected with the input of subtractor, the outfan of subtractor is connected with the input of PID controller, the outfan of PID controller is connected with the input of adder, the outfan of adder is connected with the input of servo-driver.
Described load feedforward controller is multiplier.
This utility model has the advantages that
nullVariable speed hydraulic power supply flow control system described in the utility model is operationally，The flow information at gear pump oil-out place is gathered by flow transducer，And the flow information at described gear pump oil-out place and target flow are subtracted each other，Obtain flow system flow deviation，PID controller provides PID controlled quentity controlled variable according to the deviation of flow system flow，And PID controlled quentity controlled variable is input in adder，The pressure information that load feedforward controller pumps oil port according to current gear judges running situation，Then control information is obtained according to running situation，And described control information is forwarded in adder，Servo-driver works according to the output control magneto of adder additive operation，Magneto drives motor operations by gear pump，Realize the control to gear pump oil-out place hydraulic fluid flow rate，Thus realizing the control to variable speed hydraulic power source flux.The utility model proposes load pressure feedforward, flow feedback combines, form the combined compensation active control strategies of load feed-forward and feedback, thereby through the load feedforward solve hydraulic system due to occur when load disturbance changes flow system flow momentary fluctuation greatly, response speed slowly, the not easily problem such as adjustment, combine with PID controller simultaneously and eliminate the steady-state error of hydraulic power source flux, improve control accuracy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
The actual measurement PID method flow step that Fig. 2 is traditional loads response diagram；
Fig. 3 is that flow step of the present utility model loads response diagram；
The actual measurement PID control method flow slope that Fig. 4 is traditional loads response diagram；
Fig. 5 is that flow slope of the present utility model loads response diagram；
Fig. 6 is that the traditional actual measurement PID control method flow slope under sinusoidal load operating mode loads response diagram；
Fig. 7 is that this utility model flow slope under sinusoidal load operating mode loads response diagram.
Wherein, 1 be subtractor, 2 be PID controller, 3 be adder, 4 be servo-driver, 5 be magneto, 6 be gear pump, 7 be motor, 8 be proportional pressure control valve, 9 be load feedforward controller, 10 be pressure transducer, 11 for flow transducer.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described in further detail:
With reference to Fig. 1, variable speed hydraulic power supply flow control system described in the utility model include subtractor 1, PID controller 2, adder 3, servo-driver 4, magneto 5, gear pump 6, motor 7, proportional pressure control valve 8, for detecting the pressure transducer 10 of gear pump 6 oil-out pressure information and for detecting the flow transducer 11 of gear pump 6 oil-out flow information；nullThe outfan of described servo-driver 4 is connected with the control end of magneto 5，The output shaft of magneto 5 is connected with the driving axle of gear pump 6，The oil-out of fuel tank is connected with the oiler of gear pump 6，The oil-out of gear pump 6 is connected with the oiler of motor 7，The oil-out of motor 7 is connected with the oiler of fuel tank，The outfan of pressure transducer 10 is connected with the input of load feedforward controller 9，The outfan of load feedforward controller 9 is connected with the input of adder 3，The outfan of flow transducer 11 is connected with the input of subtractor 1，The outfan of subtractor 1 is connected with the input of PID controller 2，The outfan of PID controller 2 is connected with the input of adder 3，The outfan of adder 3 is connected with the input of servo-driver 4，Load feedforward controller 9 is multiplier.
Specific operation process of the present utility model is:
1) the flow information Q at flow transducer 11 Real-time Collection gear pump 6 oil-out placep, and by the flow information Q at gear pump 6 oil-out placepBeing forwarded in subtractor 1, subtractor 1 is by goal-selling flow value QrDeduct the flow value Q at current gear pump 6 oil-out placepObtaining flow system flow deviation, and be forwarded in PID controller 2 by described flow system flow deviation, PID controller 2 produces PID controlled quentity controlled variable according to described flow system flow deviation, and described PID controlled quentity controlled variable is forwarded in adder 3；Pressure transducer 10 detects in real time, and pressure information is forwarded to load feedforward controller 9, the pressure information at load feedforward controller 9 gear pump 6 oil-out place produces control information according to the pressure information at presently described gear pump 6 oil-out place, and described control information is forwarded in adder 3, described control information and PID controlled quentity controlled variable are carried out additive operation by adder 3, and the result of additive operation are forwarded in servo-driver 4；
2) servo-driver 4 is according to step 1) the output control magneto 5 of sum operation that obtains works, and the output shaft driven gear pump 6 of magneto 5 works, and gear pump 6 output hydraulic pressure oil drives motor 7 to work.
It should be noted that when the pressure information that load feedforward controller 9 receives gear pump 6 oil-out place is not changed in, then the control information exported is " 0 "；When the pressure information at the gear pump 6 oil-out place that load feedforward controller 9 receives changes, then produce control information according to the variable quantity of the pressure information at gear pump 6 oil-out place.
Load feed-forward and feedback combined compensation control principle is as follows: feedback control is to obtain flow system flow signal by flow transducer 11, carry out contrasting and calculating deviation with target flow signal, deviation is through PID controller 2 computing, output voltage signal controls the rotating speed of magneto 5, and then controls hydraulic power source output flow.Load feedforward-feedback control tactics is on the basis of feedback control, pressure transducer 10 obtain system pressure value, acts on through overload feedforward controller 9, system pressure shock wave amount is converted into the compensation dosage q of flow system flowMend.But PID controller 2 is output as the control voltage signal of magneto 5, so flow system flow compensation dosage must be converted into the control signal compensation dosage V of magneto 5Mend。
The flow q of gear pump 6MendWith the relation of rotating speed such as following formula:
qMend=Vp·nMend(1)
In formula: VpFor the discharge capacity of gear pump 6, nMendSpeed considerations amount for gear pump 6.
It is as follows with the relation of actual speed value that magneto 5 controls voltage signal:
N=K Vn(2)
Wherein, n is magneto actual speed value, and K is the proportionality coefficient that magneto controls between voltage and actual speed；
The control voltage signal compensation dosage V of magneto 5 can be drawn by formula (1) and formula (2)Mend, wherein
The control voltage signal Front Feed Compensation V of magneto 5MendWith PID/feedback output voltage values VqSum is as the input of servo controller 4, it is achieved magneto 5 rotating speed is controlled, and then regulates the output flow of hydraulic power source.
Pid control parameter is Kp=1.0, Ti=0.01, Td=0；Feedforward controller parameter Kff=0.0067V/MPa, target setting flow is 0.5m3/ h, after flow system flow is stable, by electromagnetic proportion relief valve simulation loading respectively.
As shown in Figure 2, after flow system flow is stable, adding step rising, step decrease load with proportional pressure control valve, on-load voltage is 3.5V, and system pressure is by 2MPa step to 5MPa, and temperature is 23.5 DEG C；When system pressure step rises, owing to the leakage rate of gear pump 6 increases, flow is caused to reduce, but due to system employing is flow closed loop control, so the increase of gear pump 6 leakage can be compensated by controlling the increase of magneto 5 rotating speed, flow system flow is stable through 7 seconds adjustment and recoveries, reaches the target flow set, and flowed fluctuation is 0.02m3/h.Meanwhile, when system pressure step decrease, flow can rise, and regulates magneto 5 rotating speed by closed loop control, makes flow system flow reach the desired value set.
As shown in Figure 3, after adding the load feedforward, during load change, being added with PID controlled quentity controlled variable by the variable quantity of system pressure after overload feedforward controller 9 exports, now the simulation input controlled quentity controlled variable of magneto 5 increases, the rotating speed of magneto 5 raises, the output flow of hydraulic power supply increases, and target flow and flow system flow deviation quickly diminish, and the adjustment time of the present utility model is only 2 seconds, controlling adjustment time shortening 5 seconds than traditional PID/feedback, flowed fluctuation is 0.01m3/h。
As shown in Figure 4, after flow system flow is stable, add with proportional pressure control valve ramp up, ramp down load, on-load voltage is raised to 3.5V by 0 slope, and system pressure is ramped up to 5MPa by 2MPa, and slope is 1MPa/s, temperature is 23.9 DEG C, when adding slope load, system pressure compares step load rising slowly, and the adjustment time of flow is 6 seconds, and flowed fluctuation is 0.014m3/h。
As shown in Figure 5, after adding load feedback control, when slope loads, the adjustment time of flow system flow is 2 seconds, shortens 4 seconds than traditional PID/feedback control adjustment time, and flowed fluctuation is 0.006m3/h。
By Fig. 6, Fig. 7 it can be seen that under sinusoidal load operating mode, owing to the frequency response of hydraulic test bench power source is relatively low, sinusoidal load frequency is higher, and the factor such as delayed of pressure transducer, make complex controll effect be substantially better than feedback control.
In sum, loading and under the loading condition of slope in step, load feed-forward and feedback combined compensation control strategy can effectively reduce flowed fluctuation, shortens the adjustment time, ensure that higher control accuracy simultaneously；
Thus, this utility model efficiently solve variable speed hydraulic power supply occur when load disturbance changes system instantaneous delivery fluctuate greatly, response speed slowly, the not easily problem such as adjustment, advantage in conjunction with the feedforward and feedback control, it is achieved that the variable speed hydraulic power supply controlled based on load feed-forward and feedback combined compensation actively controls.
Claims (1)
1. a variable speed hydraulic power supply flow control system, it is characterized in that, including subtractor (1), PID controller (2), adder (3), servo-driver (4), magneto (5), gear pump (6), motor (7), proportional pressure control valve (8), load feedforward controller (9), be used for detecting the pressure transducer (10) of the pressure information of gear pump (6) oil-out place oil pressure and being used for detecting the flow transducer (11) of gear pump (6) oil-out flow information；
nullThe outfan of described servo-driver (4) is connected with the control end of magneto (5)，The output shaft of magneto (5) is connected with the driving axle of gear pump (6)，The oil-out of fuel tank is connected with the oiler of gear pump (6)，The oil-out of gear pump (6) is connected with the oiler of motor (7)，The oil-out of motor (7) is connected with the oiler of fuel tank，The outfan of pressure transducer (10) is connected with the input of load feedforward controller (9)，The outfan of load feedforward controller (9) is connected with the input of adder (3)，The outfan of flow transducer (11) is connected with the input of subtractor (1)，The outfan of subtractor (1) is connected with the input of PID controller (2)，The outfan of PID controller (2) is connected with the input of adder (3)，The outfan of adder (3) is connected with the input of servo-driver (4)；
Described load feedforward controller (9) is multiplier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520931243.7U CN205388710U (en) | 2015-11-19 | 2015-11-19 | Change fast hydraulic power source flow control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520931243.7U CN205388710U (en) | 2015-11-19 | 2015-11-19 | Change fast hydraulic power source flow control system |
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| CN205388710U true CN205388710U (en) | 2016-07-20 |
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| CN201520931243.7U Expired - Fee Related CN205388710U (en) | 2015-11-19 | 2015-11-19 | Change fast hydraulic power source flow control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106089859A (en) * | 2016-08-22 | 2016-11-09 | 闫伟男 | The flow monitor of hydraulic unit driver |
| CN109683632A (en) * | 2017-10-18 | 2019-04-26 | 株洲中车时代电气股份有限公司 | A kind of flow control methods and device |
| CN110825130A (en) * | 2019-10-31 | 2020-02-21 | 中冶陕压重工设备有限公司 | Acid liquor temperature control method for pickling line process section |
-
2015
- 2015-11-19 CN CN201520931243.7U patent/CN205388710U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106089859A (en) * | 2016-08-22 | 2016-11-09 | 闫伟男 | The flow monitor of hydraulic unit driver |
| CN106089859B (en) * | 2016-08-22 | 2018-11-20 | 建湖县恒昌液压机械有限公司 | The flow monitor of hydraulic unit driver |
| CN109683632A (en) * | 2017-10-18 | 2019-04-26 | 株洲中车时代电气股份有限公司 | A kind of flow control methods and device |
| CN110825130A (en) * | 2019-10-31 | 2020-02-21 | 中冶陕压重工设备有限公司 | Acid liquor temperature control method for pickling line process section |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160720 Termination date: 20181119 |