CN208442109U - A kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy - Google Patents
A kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy Download PDFInfo
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- CN208442109U CN208442109U CN201820608546.9U CN201820608546U CN208442109U CN 208442109 U CN208442109 U CN 208442109U CN 201820608546 U CN201820608546 U CN 201820608546U CN 208442109 U CN208442109 U CN 208442109U
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Abstract
The utility model provides a kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy, including a hydraulic control module, one position control electricity hydrostatic execution module, one load compensation electricity hydrostatic actuation module and an electric control module, the hydraulic control module includes a Compound Type Cylinder, one displacement sensor and four the first solenoid directional control valves, the position control electricity hydrostatic execution module and load compensation electricity hydrostatic actuation module include two pressure sensors, two the second solenoid directional control valves, one fixed displacement hydraulic pump and a motor, the electric control module includes two motor drivers, one power supply, one accumulator and a controller.The utility model decouples pump speed to the dependence of loading condition, solves the contradiction between the control precision, dynamic property and load capacity of existing electric hydrostatic actuator system.
Description
Technical field
The utility model relates to the electricity of a kind of hydraulic control system more particularly to a kind of bringing onto load compensation high position accuracy is quiet
Hydraulic actuator.
Background technique
Existing valve control system: Engine-variable Pump System-multi-way valve-multi-execution component drive system needs that oil sources is concentrated to supply
Oil sends oil liquid at the executive component of each point by long pipe runs, and pipeline is throughout machine, and there are a large amount of linear loss and potential
Leakage.In addition, pressure oil liquid inevitably results from a large amount of restriction loss when passing through valve port, so as to cause system
Efficiency is lower.
And electric hydrostatic servo actuator can be achieved with speed change, deflecting and become torque since servo motor is while driving
Executive component is controlled, so that hydraulic circuit is greatly simplified, flexible arrangement, efficiency is higher and energy saving, but in system dynamic characteristic
Rapidity, i.e., be not so good as legacy system in terms of response characteristic.
Electrical hydrostatic actuator its essence is one pump control hydraulic motor or pump-contrdled cylinder system without servo valve, application
Digitial controller implements pulsewidth modulation to motor, to drive hydraulic pump to control executive component.Due to system effectiveness height, cloth
It sets flexibly, therefore is used widely in high power hydraulic servo-system.
The working principle of Electrical hydrostatic actuator issues control signal according to control instruction and sensor feedback for controller,
The rotational speed and torque of motor is controlled, to drive quantitative hydraulic pump to rotate with variable speed, by the output stream for changing quantitative hydraulic pump
It measures to control the output displacement and torque of hydraulic cylinder.Accumulator passes through check valve to low pressure pipeline repairing, for compensating quantitative liquid
The leakage of press pump and hydraulic cylinder, and guarantee that low pressure pipeline has a constant pressure value, to prevent cavitation and air
Infiltration system.Safety valve is for the hypertonia in the positive and negative both direction of anti-locking system.Due to hydraulic pump and the direct phase of hydraulic cylinder
Even, in the case where ignoring leakage, the flow of input and output is equal, and the efficiency of system is higher.
Electric hydrostatic actuator currently on the market can realize continuous or multi-change speed, but it is in the control performance of varying load
(such as dynamic property, position precision) needs to be further improved, for solve existing electric hydrostatic actuator system control precision,
Contradiction between dynamic property and load capacity, and propose a kind of Novel electric hydrostatic actuation system for closed loop location control
System.
Summary of the invention
The technical problems to be solved in the utility model is that the electric hydrostatic for providing a kind of bringing onto load compensation high position accuracy is held
Row device is a kind of Novel electric hydrostatic actuating system for closed loop location control, when on the one hand meeting the response in manufacturing
Between, the performance requirements such as speed, be on the other hand able to achieve the position control of actuator pinpoint accuracy again, it is double to pass through a kind of compound rod-type
Electric hydrostatic actuator decouples pump speed to the dependence of loading condition, solves the control essence of existing electric hydrostatic actuator system
Contradiction between degree, dynamic property and load capacity.
The problem of the utility model, is achieved in that
A kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy, including a hydraulic control module, a position
Control electric hydrostatic execution module, a load compensation electricity hydrostatic actuation module and an electric control module；
The hydraulic control module includes a Compound Type Cylinder, a displacement sensor and four the first electromagnetic switch
Valve, institute's displacement sensors are installed on the pistons end of Compound Type Cylinder, the oil inlet of four first solenoid directional control valves
It connects one to one to each chamber oil inlet of Compound Type Cylinder；
The position control electricity hydrostatic execution module and load compensation electricity hydrostatic actuation module include two pressure sensings
Device, two the second solenoid directional control valves, a fixed displacement hydraulic pump and a motor, each second solenoid directional control valve it is fuel-displaced
Mouth is correspondingly connected to each chamber oil inlet of Compound Type Cylinder, corresponding two second solenoid directional control valves by asphalt channel
Oil inlet the both ends of certain displacement hydraulic pump are respectively connected to by hydraulic pipeline, the control terminal of the fixed displacement hydraulic pump connects
It is connected to motor, each pressure sensor is installed on corresponding asphalt channel；The position control electricity hydrostatic execution module
It further include two hydraulic control one-way valves, the both ends of concatenated two hydraulic control one-way valves are respectively connected to position control electricity hydrostatic and hold
In row module on corresponding two hydraulic pipelines；The load compensation electricity hydrostatic actuation module further includes two check-valves, series connection
The both ends of two check-valves be respectively connected in load compensation electricity hydrostatic actuation module on corresponding two hydraulic pipelines；
The electric control module includes two motor drivers, a power supply, an accumulator and a controller, often
A motor driver is connected with the control terminal of power supply and corresponding motor respectively, and the accumulator is electric with four first respectively
The oil outlet of magnetic reversal valve, the first output end of two hydraulic control one-way valves, the drain tap of two fixed displacement hydraulic pumps and two are only
The second output terminal connection of valve is returned, the controller is changed with displacement sensor, each pressure sensor, each first electromagnetism respectively
To the electromagnetic coil of valve, the electromagnetic coil of each second solenoid directional control valve and the connection of each motor driver.
Further, the position control electricity hydrostatic execution module and load compensation electricity hydrostatic actuation module include two
Overflow valve, overflow valve described in every two is parallel to position control electricity hydrostatic execution module respectively and load compensation electricity hydrostatic makees dynamic model
In block between corresponding two asphalt channels.
Further, the Compound Type Cylinder includes a single lever-type hydraulic cylinder and a double rod type liquid interconnected
Cylinder pressure, the oil inlets of four first solenoid directional control valves respectively with the rodless cavity of single lever-type hydraulic cylinder, single lever-type hydraulic cylinder
The inner cavity of rod chamber, the exocoel of double rod type hydraulic cylinder and double rod type hydraulic cylinder corresponds connection, the position control electricity hydrostatic
The oil outlet of two the second solenoid directional control valves is by two asphalt channels respectively with single lever-type hydraulic cylinder without chamber in execution module
With there is chamber to be connected to, in the load compensation electricity hydrostatic actuation module oil outlet of two the second solenoid directional control valves pass through two oil circuits
Channel is connected to the exocoel of double rod type hydraulic cylinder and inner cavity respectively.
Further, each hydraulic control one-way valve includes a hydraulic control end, a first input end and one first
Output end, two first output ends are connected with each other, and two first input ends are correspondingly connected to position control electricity hydrostatic
It is first defeated to be connected to another hydraulic control one-way valve for two hydraulic pipelines in execution module, the hydraulic control end of a hydraulic control one-way valve
Enter the hydraulic pipeline where end, two first output ends are connect with accumulator；
Each check-valves includes second input terminal and a second output terminal, two second output terminals
It being connected with each other, two second input terminals are correspondingly connected to two hydraulic pipelines in load compensation electricity hydrostatic actuation module, and two
A second output terminal is connect with accumulator.
Further, each first solenoid directional control valve and the second solenoid directional control valve are that bi-bit bi-pass hydraulic electromagnetic changes
To valve.
Utility model has the advantages that
1, the utility model is by hydraulic control module, electric control module, position control electricity hydrostatic execution module and load
Electric hydrostatic actuation module composition is compensated, load compensation electricity hydrostatic actuation module is solely dedicated to compensation external loading power, so that with
Can work as non-loaded in the position control electricity hydrostatic execution module of position control, thus improve position control accuracy and
Dynamic property realizes that position control is connected with what load controlled without impact, simplified control process；
2, the controller of the utility model receives the data that position sensor and pressure sensor are passed back, calculate and with it is default
Comparing realizes Dynamic Closed Loop Control to issue the actuation cooperation that signal controls electric hydrostatic actuator, and that improves system can
By property；
3, in the utility model when position control electricity hydrostatic execution module breaks down, single lever-type hydraulic cylinder enters floating
Dynamic model formula, load compensation electricity hydrostatic actuation module can be redeployed as the actuator of position control；Conversely, working as load compensation
When electric hydrostatic actuation module breaks down, dual-rod hydraulic cylinder enters floating mode, and position control electricity hydrostatic execution module also may be used
It realizes function identical with common electricity hydrostatic actuator, improves the robustness of system.
Detailed description of the invention
The utility model is further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the structural schematic diagram for the electric hydrostatic actuator that a kind of bringing onto load of the utility model compensates high position accuracy.
Fig. 2 is that a kind of bringing onto load of the utility model compensates hydraulic control one-way valve in the electric hydrostatic actuator of high position accuracy and stops
Return the structural schematic diagram of valve.
Fig. 3 is the execution of the control method for the electric hydrostatic actuator that a kind of bringing onto load of the utility model compensates high position accuracy
Flow chart.
Figure label explanation:
1- hydraulic control module, 11- Compound Type Cylinder, 111- single lever-type hydraulic cylinder, 112- double rod type hydraulic cylinder, 12-
Displacement sensor, the first solenoid directional control valve of 13-；
2- position control electricity hydrostatic execution module, 2 '-load compensation electricity hydrostatic actuation module, 21- pressure sensor, 22-
Second solenoid directional control valve, 23- fixed displacement hydraulic pump, 24- motor, 25- asphalt channel, 26- hydraulic pipeline, 27- hydraulic control one-way valve,
271- hydraulic control end, 272- first input end, the first output end of 273-, 28- check-valves, the second input terminal of 281-, 282- second are defeated
Outlet, 29- overflow valve；
3- electric control module, 31- motor driver, 32- power supply, 33- accumulator, 34- controller.
Specific embodiment
To be clearer and more comprehensible the utility model, now with a preferred embodiment, and attached drawing is cooperated to be described in detail below.
As depicted in figs. 1 and 2, the electric hydrostatic actuator of a kind of bringing onto load compensation high position accuracy of the utility model, packet
Include 2 ' of the load compensation electricity hydrostatic actuation of position control electricity hydrostatic execution module 2, one of hydraulic control module 1, one module
An and electric control module 3；
The hydraulic control module 1 includes 11, displacement sensors 12 of a Compound Type Cylinder and four first electricity
Magnetic reversal valve 13, institute's displacement sensors 12 are installed on the pistons end of Compound Type Cylinder 11, and four first electromagnetism change
It connects one to one to the oil inlet of valve 13 to each chamber oil inlet of Compound Type Cylinder 11；
The position control electricity hydrostatic execution module 2 and 2 ' of load compensation electricity hydrostatic actuation module include that two pressure pass
Sensor 21, two the second solenoid directional control valves, 22, fixed displacement hydraulic pumps 23 and a motor 24, each second electromagnetism change
Each chamber oil inlet of Compound Type Cylinder 11, corresponding two institutes are correspondingly connected to by asphalt channel 25 to the oil outlet of valve 22
The oil inlet for stating the second solenoid directional control valve 22 is respectively connected to the both ends of certain displacement hydraulic pump 23 by hydraulic pipeline 26, described
The control terminal of fixed displacement hydraulic pump 23 is connected to motor 24, and each pressure sensor 21 is installed on corresponding asphalt channel 25
On；The position control electricity hydrostatic execution module 2 further includes two hydraulic control one-way valves 27, concatenated two hydraulic control one-way valves
27 both ends are respectively connected in position control electricity hydrostatic execution module 2 on corresponding two hydraulic pipelines 26；The load is mended
Repaying electric 2 ' of hydrostatic actuation module further includes two check-valves 28, and the both ends of concatenated two check-valves 28 are respectively connected to bear
It carries and compensates in electric 2 ' of hydrostatic actuation module on corresponding two hydraulic pipelines 26；
The electric control module 3 includes two motor drivers 31 (driver for driving motor), a power supplys
32, an accumulator 33 and a controller 34, each motor driver 31 respectively with power supply 32 and corresponding motor 24
Control terminal connection, the accumulator 33 respectively with the oil outlet of four the first solenoid directional control valves 13, two hydraulic control one-way valves 27
273, two fixed displacement hydraulic pumps 23 of the first output end drain tap and two check-valves 28 second output terminal 282 connect,
The controller 34 respectively with displacement sensor 12, each pressure sensor 21, each first solenoid directional control valve 13 electromagnetic wire
Circle, the electromagnetic coil of each second solenoid directional control valve 22 and each motor driver 31 connect.
Wherein, in order to which security consideration then has to guarantee hydraulic system pressure work in safe range:
The position control electricity hydrostatic execution module 2 and 2 ' of load compensation electricity hydrostatic actuation module include two overflow valves
29 (i.e. safety valves), overflow valve 29 described in every two are parallel to position control electricity hydrostatic execution module 2 and load compensation electricity respectively
In 2 ' of hydrostatic actuation module between corresponding two asphalt channels 25, i.e., overflow valve 29 described in two of them is parallel to position control
(one end of each overflow valve 29 is installed on position control between two asphalt channels 25 in electric hydrostatic execution module 2
It makes in an asphalt channel 25 in electric hydrostatic execution module 2, the other end is installed in position control electricity hydrostatic execution module 2
In another asphalt channel 25), other two described overflow valve 29 is parallel to two in 2 ' of load compensation electricity hydrostatic actuation module
(one end of each overflow valve 29 is installed in 2 ' of load compensation electricity hydrostatic actuation module between a asphalt channel 25
In one asphalt channel 25, the other end is installed in another asphalt channel 25 in 2 ' of load compensation electricity hydrostatic actuation module).
Wherein, be realize system position control and the big function of load compensation two, need Compound Type Cylinder 11 there is also
Two hydraulic cylinders carry out different actuations, the structure of the Compound Type Cylinder 11 specifically:
The Compound Type Cylinder 11 includes a single lever-type hydraulic cylinder 111 interconnected and a double rod type hydraulic cylinder
112, the oil inlet of four first solenoid directional control valves 13 is hydraulic with the rodless cavity of single lever-type hydraulic cylinder 111, single lever-type respectively
The inner cavity of the rod chamber of cylinder 111, the exocoel of double rod type hydraulic cylinder 112 and double rod type hydraulic cylinder 112 corresponds connection, institute's rheme
Set control the oil outlets of two the second solenoid directional control valves 22 in electric hydrostatic execution module 2 by two asphalt channels 25 respectively with list
Rod-type hydraulic cylinder 111 without chamber with there is chamber to be connected to, two the second electromagnetic switch in 2 ' of load compensation electricity hydrostatic actuation module
The oil outlet of valve 22 is connected to the exocoel of double rod type hydraulic cylinder 112 and inner cavity respectively by two asphalt channels 25.
Wherein, the specific structure connection type of the hydraulic control one-way valve 27 and check-valves 28 are as follows:
Each hydraulic control one-way valve 27 includes that 271, one, a hydraulic control end first input end 272 and one are first defeated
Outlet 273, two first output ends 273 are connected with each other, and two first input ends 272 are correspondingly connected to position control
Two hydraulic pipelines 26 in electric hydrostatic execution module 2, the hydraulic control end 271 of a hydraulic control one-way valve 27 are connected to another hydraulic control
Hydraulic pipeline 26 (hydraulic control end 271 is staggered) where the first input end 272 of check valve 27, two first output ends
273 connect with accumulator 33；Each check-valves 28 include second input terminal 281 and a second output terminal 282,
Two second output terminals 282 are connected with each other, and two second input terminals 281 are correspondingly connected to load compensation electricity hydrostatic work
Two hydraulic pipelines 26 in 2 ' of dynamic model block, two second output terminals 282 are connect with accumulator 33.
Specifically, each first solenoid directional control valve 13 and the second solenoid directional control valve 22 are bi-bit bi-pass hydraulic electromagnetic
Reversal valve.
Two pressure sensors 21 in the position control electricity hydrostatic execution module 2 are for detecting single lever-type liquid
111 two cavity oil paths of cylinder pressure, 25 oil liquid pressure, two pressure in 2 ' of load compensation electricity hydrostatic actuation module pass
Sensor 21 is for detecting 112 two cavity oil paths of double rod type hydraulic cylinder, 25 oil liquid pressure, and the position sensor 12 is for detecting
The piston displacement of Compound Type Cylinder 1；The signal output end of all the sensors is connected by cable with the input terminal of controller 34,
Controller 34 calculates and controls the motor driver 31 connecting with output end by the data of all the sensors, and then controls motor
24 revolving speed and direction, motor 24 drive fixed displacement hydraulic pump 23 by axis.Motor driver 31 by power supply 32 provide electric energy
Source.
In the position control electricity hydrostatic execution module 2,23 oil inlet and outlet Single port of fixed displacement hydraulic pump passes through hydraulic
Pipeline 26 and the rodless cavity that single lever-type hydraulic cylinder 111 is connected to through the second solenoid directional control valve 22, the other end pass through hydraulic pipeline 26
And the rod chamber of single lever-type hydraulic cylinder 111 is connected to through the second solenoid directional control valve 22.Second solenoid directional control valve 22 and fixed displacement liquid
The a set of suction metering valve being composed in series by hydraulic control one-way valve 27 in parallel of hydraulic pipeline 26 between press pump, single lever-type hydraulic cylinder 111 by
In with asymmetrical piston area, need to realize repairing function, and double rod type hydraulic cylinder 112 is due to symmetrical piston area
Product, therefore it is equipped with simple check-valves 28 (i.e. common check valve), rather than hydraulic control one-way valve 27.In general, only in fixed displacement
The suction side loine pressure of hydraulic pump 23 just automatically opens check-valves 28 when being lower than the accumulator oil pressure under transition state.Hydraulic control list
To being connected to an accumulator 33 between the fluid pressure line 26 of valve 27 again, while the oil that leaks of fixed displacement hydraulic pump 23 passes through pipeline and returns
Flow to accumulator 33, the major function of accumulator 33 be compensate external the second solenoid directional control valve of oil leak 22 in hydraulic circuit and
The overflow valve 29 in parallel of hydraulic pipeline 26 between Compound Type Cylinder 11, guarantees hydraulic system pressure work in safe range.
As shown in figure 3, a kind of control method of the electric hydrostatic actuator of bringing onto load compensation high position accuracy, the controlling party
Method need to provide a kind of electric hydrostatic actuator of above-mentioned bringing onto load compensation high position accuracy, and the control method includes following step
It is rapid:
The stop position of one setting of movement travel needed for Compound Type Cylinder 11 described in step 1, user's sets itself；
The electric hydrostatic actuator progress self-test of step 2, bringing onto load compensation high position accuracy, judges its working condition,
If the electric hydrostatic actuator of the bringing onto load compensation high position accuracy is in normal condition, 3 are entered step；If the bringing onto load
The electric hydrostatic actuator of compensation high position accuracy is in malfunction, then enters step 6；
When step 3, the electric hydrostatic actuator normal work of bringing onto load compensation high position accuracy, the controller 34 is controlled
Four the second solenoid directional control valves 22 of system open simultaneously and four the first solenoid directional control valves 13 simultaneously close off, and then control the second electromagnetism
Reversal valve 22 opens corresponding asphalt channel 25；The position letter that the 34 real-time reception displacement sensor 12 of controller detects simultaneously
Number and the pressure signal that detects of pressure sensor 21；
Step 4, the controller 34 issue corresponding control instruction according to the position signal and pressure signal that receive
To two motor drivers 31, when two motor drivers 31 drive the starting of corresponding motor 24 according to control instruction
Between, revolving speed and direction, two motors 24 drive corresponding fixed displacement hydraulic pump 23 according to control instruction, thus activation point
Electric hydrostatic execution module 2 and 2 ' of load compensation electricity hydrostatic actuation module is controlled to work；Specifically:
In the position control electricity hydrostatic execution module 2, after the motor driver 31 receives control instruction, open
Motor 24 drives fixed displacement hydraulic pump 23 with revolving speed required by control instruction and direction, make the fixed displacement hydraulic pump 23 according to
It sets output flow and direction and carries out fuel feeding to single lever-type hydraulic cylinder 111 in Compound Type Cylinder 11, so that activation point controls
Electric hydrostatic execution module 2 works, the combined type that the controller 34 is measured according to the stop position and displacement sensor 12 of setting
The piston current location of hydraulic cylinder constantly issues control instruction to motor driver 31 and changes its running frequency, with described
The change of the running frequency of motor driver 31, the revolving speed of the motor 24 are also changing accordingly, the fixed displacement hydraulic pump
23 fuel delivery is also constantly being changed by the revolving speed of motor 24；Position control electricity hydrostatic execution module 2 is for position control
's；Under the cooperation of 2 ' of position control electricity hydrostatic execution module 2 and load compensation electricity hydrostatic actuation module, so that position control
Position control electricity hydrostatic execution module 2 can work as non-loaded, to decouple pump speed to the dependence of loading condition, and
And can solve single rod type electricity hydrostatic actuator while controlling the challenge of load pressure and position control, it is complicated to reduce control
Degree improves system robustness；
In 2 ' of load compensation electricity hydrostatic actuation module, after the motor driver 31 receives control instruction, open
Motor 24 is opened with the revolving speed of control instruction and direction driving fixed displacement hydraulic pump 23, makes the fixed displacement hydraulic pump 23 according to setting
Output flow and direction are to the progress of double rod type hydraulic cylinder 112 fuel feeding in Compound Type Cylinder 11, to drive load compensation electricity quiet
2 ' of liquid actuation module work, so that 2 ' of load compensation electricity hydrostatic actuation module is solely dedicated to compensation external loading power, not only
It further include the inertia force and frictional force on the piston for act on Compound Type Cylinder 11 including external loading；Load compensation electricity is quiet
2 ' of liquid actuation module is for load compensation；The controller 34 is measured according to the stop position and displacement sensor 12 of setting
The piston current location of Compound Type Cylinder constantly issues control instruction to motor driver 31 and changes its running frequency, with
The change of the running frequency of the motor driver 31, the revolving speed of the motor 24 also changing accordingly, the fixed displacement
The fuel delivery of hydraulic pump 23 is also constantly being changed by the revolving speed of motor 24；
Step 5, the controller 34 receive by 12 real-time detection of displacement sensor to Compound Type Cylinder 11 piston
Current location, and be constantly compared the stop position of setting with the current location measured, judge the Compound Type Cylinder
Whether 11 piston current location is equal to the stop position of setting, if so, the controller 34 controls motor driver 31
Operation, 23 fuel cut-off of fixed displacement hydraulic pump are left the motor off, while four the second electromagnetism of control of the controller 34 change
It closes to valve 22 to lock corresponding fluid pressure line 26, prevents to shift；If it is not, then entering step 4；
The module that step 6, the judgement of the controller 34 are broken down, if the position control electricity hydrostatic execution module 2
It breaks down, then enters step 7；If 2 ' of load compensation electricity hydrostatic actuation module breaks down, then 10 are entered step；
When step 7, the position control electricity hydrostatic execution module 2 break down, that is, pass through controller 34 to monitoring position
When controlling the numerical value of two pressure sensors 21 in electric hydrostatic execution module 2 more than threshold value, then the control of controller 34 is multiple
Two the first solenoid directional control valves 12 corresponding to single lever-type hydraulic cylinder 111 are opened in box-like hydraulic cylinder 11, make single lever-type hydraulic cylinder
111 rodless cavity and rod chamber is directly connect with accumulator 33 by corresponding two the first solenoid directional control valves 12, and then makes list
Rod-type hydraulic cylinder 111 is in quick condition, stops working；2 ' of load compensation electricity hydrostatic actuation module can be reconfigured at this time
For the actuator of position control, wherein the single pole actuator of position control enters quick condition, realizes the redundancy master of Bit andits control
Design ensures system safety in emergency circumstances, improves the robustness of system；Meanwhile the controller 34 controls composite hydraulic
Two the second solenoid directional control valves 22 corresponding to double rod type hydraulic cylinder 112 are opened, corresponding to single lever-type hydraulic cylinder 111 in cylinder 11
Two the first solenoid directional control valves 12 corresponding to two the second solenoid directional control valves 22 closings and double rod type hydraulic cylinder 112 are closed；
Step 8, the controller 34 issue control instruction to corresponding motor driver 31, the motor driver 31
The motor 24 in 2 ' of load compensation electricity hydrostatic actuation module is driven according to control instruction, the motor 24 drives according to control instruction
Corresponding fixed displacement hydraulic pump 23, so that 2 ' of load compensation electricity hydrostatic actuation module be driven to work independently；
Step 9, the controller 34 receive by 12 real-time detection of displacement sensor to Compound Type Cylinder 11 piston
Current location, and be constantly compared the stop position of setting with the current location measured, judge the Compound Type Cylinder
Whether 11 piston current location is equal to the stop position of setting, if so, the controller 34 controls motor driver 31
Keep the motor 24 in 2 ' of load compensation electricity hydrostatic actuation module out of service, 23 fuel cut-off of fixed displacement hydraulic pump, simultaneously
The controller 34 controls two the second solenoid directional control valves 22 corresponding to double rod type hydraulic cylinder 112 and closes to lock corresponding liquid
Pressure pipe road 26 prevents to shift；If it is not, then entering step 8；
When step 10,2 ' of load compensation electricity hydrostatic actuation module break down, i.e., monitored by controller 34 negative
When carrying the numerical value for compensating two pressure sensors 21 in electric 2 ' of hydrostatic actuation module more than threshold value, then the controller 34 controls
Two the first solenoid directional control valves 13 corresponding to double rod type hydraulic cylinder 112 are opened in Compound Type Cylinder 11, keep double rod type hydraulic
The exocoel of cylinder 111 and inner cavity are directly connect with accumulator 33 by corresponding two the first solenoid directional control valves 13, and then make double rod
Formula hydraulic cylinder 112 is in quick condition, and the load compensation function of double rod type hydraulic cylinder 112 is cancelled at this time, system function and common
Electric hydrostatic actuator is identical；Meanwhile the controller 34 controls in Compound Type Cylinder 11 corresponding to single lever-type hydraulic cylinder 111
Two the second solenoid directional control valves 22 are opened, two the second solenoid directional control valves 22 corresponding to double rod type hydraulic cylinder 112 are closed and single
Two the first solenoid directional control valves 12 corresponding to rod-type hydraulic cylinder 111 are closed；
Step 11, the controller 34 issue control instruction to corresponding motor driver 31, the motor driver 31
The motor 24 in electric hydrostatic execution module 2 is controlled come activation point according to control instruction, the motor 24 drives according to control instruction
Corresponding fixed displacement hydraulic pump 23 is moved, is worked independently so that activation point controls electric hydrostatic execution module 2；
Step 12, the controller 34 receive by 12 real-time detection of displacement sensor to Compound Type Cylinder 11 piston
Current location, and be constantly compared the stop position of setting with the current location measured, judge the Compound Type Cylinder
Whether 11 piston current location is equal to the stop position of setting, if so, the controller 34 controls motor driver 31
Keep the motor 24 in position control electricity hydrostatic execution module 2 out of service, 23 fuel cut-off of fixed displacement hydraulic pump, while institute
It is corresponding hydraulic to lock to state two the second solenoid directional control valves 22 closings corresponding to the control single lever-type hydraulic cylinder 111 of controller 34
Pipeline 26 prevents to shift；If it is not, then entering step 11.
Utility model has the advantages that
1, the utility model is by hydraulic control module, electric control module, position control electricity hydrostatic execution module and load
Electric hydrostatic actuation module composition is compensated, load compensation electricity hydrostatic actuation module is solely dedicated to compensation external loading power, so that with
Can work as non-loaded in the position control electricity hydrostatic execution module of position control, thus improve position control accuracy and
Dynamic property realizes that position control is connected with what load controlled without impact, simplified control process；
2, the controller of the utility model receives the data that position sensor and pressure sensor are passed back, calculate and with it is default
Comparing realizes Dynamic Closed Loop Control to issue the actuation cooperation that signal controls electric hydrostatic actuator, and that improves system can
By property；
3, in the utility model when position control electricity hydrostatic execution module breaks down, single lever-type hydraulic cylinder enters floating
Dynamic model formula, load compensation electricity hydrostatic actuation module can be redeployed as the actuator of position control；Conversely, working as load compensation
When electric hydrostatic actuation module breaks down, dual-rod hydraulic cylinder enters floating mode, and position control electricity hydrostatic execution module also may be used
It realizes function identical with common electricity hydrostatic actuator, improves the robustness of system.
Although those familiar with the art answers the foregoing describe specific embodiment of the present utility model
Working as understanding, we are merely exemplary described specific embodiment, rather than for the limit to the scope of the utility model
Fixed, those skilled in the art modification and variation equivalent made by the spirit according to the utility model all should
Cover in the scope of the claimed protection of the utility model.
Claims (5)
1. a kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy, it is characterised in that: including a hydraulic control module,
One position control electricity hydrostatic execution module, a load compensation electricity hydrostatic actuation module and an electric control module；
The hydraulic control module includes a Compound Type Cylinder, a displacement sensor and four the first solenoid directional control valves,
Institute's displacement sensors are installed on the pistons end of Compound Type Cylinder, and the oil inlet of four first solenoid directional control valves is one by one
It is correspondingly connected to each chamber oil inlet of Compound Type Cylinder；
The position control electricity hydrostatic execution module and load compensation electricity hydrostatic actuation module include two pressure sensors, two
The oil outlet of a second solenoid directional control valve, a fixed displacement hydraulic pump and a motor, each second solenoid directional control valve is logical
Cross each chamber oil inlet that asphalt channel is correspondingly connected to Compound Type Cylinder, corresponding two second solenoid directional control valves into
Hydraulic fluid port is respectively connected to the both ends of certain displacement hydraulic pump by hydraulic pipeline, and the control terminal of the fixed displacement hydraulic pump is connected to
Motor, each pressure sensor are installed on corresponding asphalt channel；The position control electricity hydrostatic execution module is also wrapped
Two hydraulic control one-way valves are included, the both ends of concatenated two hydraulic control one-way valves are respectively connected to position control electricity hydrostatic and execute mould
In block on corresponding two hydraulic pipelines；The load compensation electricity hydrostatic actuation module further includes two check-valves, and concatenated two
The both ends of a check-valves are respectively connected in load compensation electricity hydrostatic actuation module on corresponding two hydraulic pipelines；
The electric control module includes two motor drivers, a power supply, an accumulator and a controller, Mei Gesuo
It states motor driver to connect with the control terminal of power supply and corresponding motor respectively, the accumulator is changed with four the first electromagnetism respectively
To the oil outlet of valve, the first output end of two hydraulic control one-way valves, two fixed displacement hydraulic pumps drain tap and two check-valves
Second output terminal connection, the controller respectively with displacement sensor, each pressure sensor, each first solenoid directional control valve
Electromagnetic coil, each second solenoid directional control valve electromagnetic coil and each motor driver connection.
2. a kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy as described in claim 1, it is characterised in that: described
Position control electricity hydrostatic execution module and load compensation electricity hydrostatic actuation module include two overflow valves, overflow described in every two
It is logical that valve is parallel to corresponding two oil circuits in position control electricity hydrostatic execution module and load compensation electricity hydrostatic actuation module respectively
Between road.
3. a kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy as described in claim 1, it is characterised in that: described
Compound Type Cylinder includes a single lever-type hydraulic cylinder and a double rod type hydraulic cylinder interconnected, four first electromagnetism
The oil inlet of reversal valve respectively with the rodless cavity of single lever-type hydraulic cylinder, the rod chamber of single lever-type hydraulic cylinder, double rod type hydraulic cylinder
The inner cavity of exocoel and double rod type hydraulic cylinder corresponds connection, two the second electromagnetism in the position control electricity hydrostatic execution module
The oil outlet of reversal valve without chamber and has chamber to be connected to single lever-type hydraulic cylinder respectively by two asphalt channels, the load compensation
In electric hydrostatic actuation module the oil outlet of two the second solenoid directional control valves by two asphalt channels respectively with double rod type hydraulic cylinder
Exocoel be connected to inner cavity.
4. a kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy as described in claim 1, it is characterised in that: each
The hydraulic control one-way valve includes a hydraulic control end, a first input end and first output end, and two described first defeated
Outlet is connected with each other, and two first input ends are correspondingly connected to two hydraulic tubes in position control electricity hydrostatic execution module
Road, the hydraulic control end of a hydraulic control one-way valve are connected to the hydraulic pipeline where the first input end of another hydraulic control one-way valve,
Two first output ends are connect with accumulator；
Each check-valves includes second input terminal and a second output terminal, and two second output terminals are mutual
Connection, two second input terminals are correspondingly connected to two hydraulic pipelines in load compensation electricity hydrostatic actuation module, two institutes
Second output terminal is stated to connect with accumulator.
5. a kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy as described in claim 1, it is characterised in that: each
First solenoid directional control valve and the second solenoid directional control valve are bi-bit bi-pass hydraulic electromagnetic change valve.
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| CN201820608546.9U CN208442109U (en) | 2018-04-26 | 2018-04-26 | A kind of electric hydrostatic actuator of bringing onto load compensation high position accuracy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114508520A (en) * | 2020-11-16 | 2022-05-17 | 中国石油化工股份有限公司 | Director hydraulic integrated system for coiled tubing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114508520A (en) * | 2020-11-16 | 2022-05-17 | 中国石油化工股份有限公司 | Director hydraulic integrated system for coiled tubing |
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