CN213629141U - Digital servo proportional valve controller - Google Patents
Digital servo proportional valve controller Download PDFInfo
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- CN213629141U CN213629141U CN202021741227.9U CN202021741227U CN213629141U CN 213629141 U CN213629141 U CN 213629141U CN 202021741227 U CN202021741227 U CN 202021741227U CN 213629141 U CN213629141 U CN 213629141U
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Abstract
The utility model belongs to the technical field of servo proportional valve control, and provides a digital servo proportional valve controller, which comprises a control module, an analog-to-digital conversion circuit, a valve core position detection system, an input signal interface circuit, a sensor signal interface circuit and a power amplification stage circuit; the utility model has the advantages of simple hardware structure, convenient maintenance, easy improvement and optimization of control algorithm, high flexibility and realization of real-time control; the microprocessor and the analog-to-digital converter adopted by the digital controller have high operation speed and control precision, can complete high-precision control of the servo proportional valve and the hydraulic cylinder system, and meet the requirement of actual control bandwidth; the designed valve core position detection system has the linearity, the hysteresis and the repeatability of less than 0.5 percent, can accurately measure the real-time position of the valve core of the servo proportional valve, and improves the final valve core position control effect.
Description
Technical Field
The utility model relates to a servo proportional valve control technical field especially relates to a digital servo proportional valve controller.
Background
The servo proportional valve controller is the core of the electro-hydraulic control system, and needs to complete tasks such as signal processing, control strategy realization, power driving and the like, the performance of the servo proportional valve controller directly determines the control effect of the whole system, and the digital controller has the advantages of real-time control, comprehensive control and the like, and has gradually become the research focus of the servo proportional valve controller.
For the servo proportional valve controller file, there are mainly:
1) the publication number is CN 109599246a, and a single electromagnet proportional valve controller based on current self-adaptation can realize effective control of a single electromagnet, but the controller has low data processing precision and operation speed, a control algorithm for the proportional valve is relatively simple, and the communication with an upper computer adopts RS232, so that the transmission speed is not high.
2) CN201210394524.4, a digital proportional valve controller, which communicates with an external communication device through a communication control circuit to perform online adjustment and configuration of parameters, but the a/D conversion module used by the controller has low precision and is difficult to perform precise control of the proportional valve.
3) The publication No. CN201520135301.5 discloses a high switching frequency digital proportional valve controller, which can judge whether the proportional valve controller adopts position closed loop and current closed loop control or only adopts current closed loop control through a selector switch, but the control algorithm is relatively simple and the control precision is low. The position of the valve core is detected by a position detection module in the microprocessor, and the detection accuracy of the position of the valve core is difficult to guarantee.
At present, a scheme of a servo proportional valve controller is not disclosed, and the scheme of the proportional valve disclosed above has poor accuracy of detecting the position of the valve core due to low precision of microprocessing operation and low analog-to-digital conversion digit or has a simple control algorithm, so that the high-precision requirement of the servo proportional valve is difficult to realize.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a digital servo proportional valve controller, which is used for solving the problem that the servo proportional valve can not be controlled with high precision;
in order to realize the purpose, the utility model discloses a technical scheme be:
a digital servo proportional valve controller is used for controlling a hydraulic cylinder through a servo proportional valve and comprises a control module, an analog-to-digital conversion circuit, a valve core position detection system, an input signal interface circuit, a sensor signal interface circuit and a power amplification stage circuit;
the valve core position detection system is respectively connected with the servo proportional valve and the sensor signal interface circuit and is used for detecting the real-time position of the valve core in the servo proportional valve, converting the collected valve core displacement change value into a first sensor signal and sending the first sensor signal to the sensor signal interface circuit;
the sensor interface circuit is respectively connected with the hydraulic cylinder and the analog-to-digital conversion circuit and is used for receiving second sensor signals sent by a plurality of sensors on the hydraulic cylinder, converting the received first sensor signals and the received second sensor signals into first voltage signals and then sending the first voltage signals to the analog-to-digital conversion circuit;
the input signal interface circuit is connected with the analog-to-digital conversion circuit and used for converting the acquired external input signal into a second voltage signal and sending the second voltage signal to the analog-to-digital conversion circuit;
the analog-to-digital conversion circuit is also connected with the control module and used for converting the received first voltage signal and the second voltage signal into a first digital signal and a second digital signal respectively and sending the first digital signal and the second digital signal to the control module;
the control module is also connected with the power amplification stage circuit and used for outputting a control signal to the power amplification stage circuit; the power amplification stage circuit comprises an operational amplifier;
the power amplification stage circuit is connected with the servo proportional valve and used for performing power amplification on the received control signal, inputting the amplified control signal into the servo proportional valve and controlling the servo proportional valve; the servo proportional valve is further connected with the hydraulic cylinder, and the hydraulic cylinder is further controlled by controlling the servo proportional valve.
Further, the control module comprises a control chip, and a minimum system peripheral circuit and an external memory expansion circuit which are respectively connected with the control chip;
the control chip is respectively connected with the analog-to-digital conversion circuit and the power amplification stage circuit.
Furthermore, the power supply management circuit also comprises a power supply management circuit which comprises
The first voltage conversion circuit is used for converting a switching voltage into a first working voltage, the switching voltage is used for supplying power to the power amplification stage circuit, and the first working voltage is used for supplying power to an operational amplifier in the power amplification stage circuit;
the second voltage conversion circuit is used for converting the first working voltage into a second working voltage, and the second working voltage is used for supplying power to the analog-to-digital conversion circuit;
the third voltage conversion circuit is used for converting the second working voltage into a third working voltage and a fourth working voltage, and the third working voltage is used for supplying power to the control chip and the external storage expansion circuit; the fourth operating voltage is used for supplying power to the valve element position detection system.
Furthermore, the servo proportional valve comprises an LVDT displacement sensor which is used for acquiring the displacement value of a valve core in the servo proportional valve and converting the displacement value into a displacement signal.
Furthermore, the valve core position detection system comprises a sine wave oscillation circuit, a sampling pulse generation circuit, an analog switch control chip and a filtering amplification circuit;
the sine wave oscillation circuit is respectively connected with the LVDT displacement sensor and the sampling pulse generating circuit and is used for sending sine waves to the LVDT displacement sensor and exciting an initial coil in the LVDT displacement sensor so as to enable the LVDT displacement sensor to work; the sine wave oscillation circuit is also used for sending the sine wave generated by the sine wave oscillation circuit to the sampling pulse generation circuit.
Furthermore, the sampling pulse generating circuit is used for receiving the sine wave generated by the sine wave oscillating circuit, generating a sampling pulse signal according to the sine wave and sending the sampling pulse signal to the analog switch control chip.
Further, the analog switch control chip is used for receiving the sampling pulse signal and the displacement signal acquired by the LVDT displacement sensor, sampling the displacement signal by switching on and off of the analog switch control chip, obtaining a direct current voltage signal, and sending the direct current voltage signal to the filtering and amplifying circuit.
Further, the filtering and amplifying circuit is configured to filter and amplitude-adjust the received dc voltage signal to obtain the first sensor signal, and send the first sensor signal to the sensor signal interface circuit.
Compared with the prior art, the utility model, contain following beneficial effect at least:
(1) the servo proportional valve controller adopts a digital type, has the advantages of simple hardware structure, convenient maintenance, easy improvement and optimization of a control algorithm and the like, has high flexibility, and can realize real-time control;
(2) the digital controller adopts the control chip and the analog-to-digital conversion circuit, has high operation speed and control precision, can complete high-precision control of the servo proportional valve and the hydraulic cylinder system, and meets the requirement of actual control bandwidth;
(3) the designed valve core position detection system has the linearity, the hysteresis and the repeatability of less than 0.5 percent, can accurately measure the real-time position of the valve core of the servo proportional valve, and improves the final valve core position control effect;
(4) the controller is also provided with data transmission interfaces such as a serial port, a network port and the like, can observe the control effect of the system in real time, and has important significance for optimizing and improving the system control;
(5) aiming at the control of the servo proportional valve, an incremental PID control mode and a state feedback control mode based on integral compensation are adopted, and the bandwidth of the servo proportional valve system is improved.
Drawings
FIG. 1 is a schematic diagram of the overall architecture of a digital servo proportional valve controller of the present invention;
fig. 2 is a schematic diagram of a power management circuit in the digital servo proportional valve controller according to the present invention;
fig. 3 is a schematic diagram of a valve core position detecting system in a digital servo proportional valve controller according to the present invention;
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, a digital servo proportional valve controller includes a control module, an analog-to-digital conversion circuit, a valve core position detection system, an input signal interface circuit, a sensor signal interface circuit, and a power amplifier stage circuit;
the valve core position detection system is respectively connected with the servo proportional valve and the sensor signal interface circuit and is used for detecting the real-time position of the valve core in the servo proportional valve, converting the collected valve core displacement change value into a first sensor signal and sending the first sensor signal to the sensor signal interface circuit;
the sensor interface circuit is respectively connected with the hydraulic cylinder and the analog-to-digital conversion circuit and is used for receiving second sensor signals sent by a plurality of sensors on the hydraulic cylinder, converting the sensor signals into first voltage signals and then sending the first voltage signals to the analog-to-digital conversion circuit;
the second sensor signals sent by the sensors comprise displacement sensor signals, speed sensor signals and pressure sensor signals and are respectively used for acquiring hydraulic cylinder piston displacement, hydraulic cylinder piston speed and two-cavity pressure signals of the hydraulic cylinder.
The input signal interface circuit is connected with the analog-to-digital conversion circuit and used for converting the acquired external input signal into a second voltage signal and sending the second voltage signal to the analog-to-digital conversion circuit; the external signal may be a signal that is artificially adjusted.
The analog-to-digital conversion circuit is also connected with the control module and is used for converting the received first voltage signal and the second voltage signal into a first digital signal and a second digital signal respectively and sending the first digital signal and the second digital signal to the control module for signal analysis and processing;
by adopting a 16-bit high-precision synchronous sampling analog-to-digital converter ADAS3023, 8 channels can be sampled at a rate of 125kSPS, and the requirements of a servo proportional valve controller on the sampling precision and the sampling rate of signals such as proportional electromagnet current, valve core displacement, hydraulic cylinder piston speed, two-cavity pressure of a hydraulic cylinder and the like can be met.
The control module is also connected with the power amplification stage circuit and used for outputting a control signal to the power amplification stage circuit; the power amplification stage circuit comprises an operational amplifier;
the control chip adopts STM32F767 chips of STM32 series, integrates the Ethernet communication function, accomplishes the communication with the host computer.
The power amplification stage circuit is connected with the servo proportional valve and used for performing power amplification on the received control signal, inputting the amplified control signal into the servo proportional valve and controlling the servo proportional valve; the servo proportional valve is further connected with the hydraulic cylinder, and the hydraulic cylinder is further controlled by controlling the servo proportional valve.
The control module comprises a control chip, a minimum system peripheral circuit and an external memory expansion circuit which are respectively connected with the control chip; the control chip is respectively connected with the analog-to-digital conversion circuit and the power amplification stage circuit.
Preferably, as shown in fig. 2, the digital servo proportional valve controller of the present invention further comprises a power management circuit, wherein the power management circuit comprises
The first voltage conversion circuit is used for converting a switching voltage into a first working voltage, the switching voltage is used for supplying power to the power amplification stage circuit, and the first working voltage is used for supplying power to an operational amplifier in the power amplification stage circuit;
the second voltage conversion circuit is used for converting the first working voltage into a second working voltage, and the second working voltage is used for supplying power to the analog-to-digital conversion circuit;
the third voltage conversion circuit is used for converting the second working voltage into a third working voltage and a fourth working voltage, and the third working voltage is used for supplying power to the control chip and the external storage expansion circuit; the fourth operating voltage is used for supplying power to the valve element position detection system.
As shown in fig. 3, the valve core position detecting system in the digital servo proportional valve controller of the present invention includes a sine wave oscillating circuit, a sampling pulse generating circuit, an analog switch control chip and a filter amplifying circuit;
the servo proportional valve comprises an LVDT displacement sensor which is used for acquiring the displacement value of a valve core in the servo proportional valve and converting the displacement value into a displacement signal.
The sine wave oscillation circuit is respectively connected with the LVDT displacement sensor and the sampling pulse generating circuit and is used for sending sine waves to the LVDT displacement sensor and exciting an initial coil in the LVDT displacement sensor so as to enable the LVDT displacement sensor to work; the sine wave oscillation circuit is also used for sending the sine wave generated by the sine wave oscillation circuit to the sampling pulse generation circuit.
And the sampling pulse generating circuit is used for receiving the sine wave generated by the sine wave oscillating circuit, generating a sampling pulse signal according to the sine wave and sending the sampling pulse signal to the analog switch control chip.
The analog switch control chip is used for receiving the sampling pulse signal and the displacement signal acquired by the LVDT displacement sensor, sampling the displacement signal by switching on and off the analog switch control chip to obtain a direct-current voltage signal, and sending the direct-current voltage signal to the filtering and amplifying circuit;
the model of the analog switch control chip is ADG 419; sampling pulse signals to determine the on-off of the analog switch control chip; the modulation wave carrying the displacement signal is input into the input end of the chip ADG419, and the modulation wave signal amplitude is sampled by switching on and off the chip ADG419 at high frequency, so that a direct current voltage signal carrying the displacement signal is obtained.
And the filtering and amplifying circuit is used for filtering and amplitude adjusting the received direct-current voltage signal to obtain the first sensor signal and sending the first sensor signal to the sensor signal interface circuit.
The valve core position detection system based on the combination of the sampling pulse signal and the analog switch control chip has the functions of signal filtering and signal amplification, adjusts the signal amplification factor of different LVDT displacement sensors, and is suitable for LVDT displacement sensors with different specifications.
The utility model discloses a specific signal processing's process as follows: firstly, an external input signal and a sensor signal are converted into a voltage signal through an input signal interface circuit and a sensor signal interface circuit, then the voltage signal is converted into a digital signal through an analog-to-digital conversion circuit, then the digital signal is input into a control chip to carry out resolving and processing of a control algorithm, finally the digital signal is converted into a PWM control signal and input into a power amplification stage circuit, the amplified current signal is input into an electromagnet of a servo proportional valve to complete current-to-force conversion, and therefore control over the servo proportional valve is achieved, and a hydraulic cylinder is controlled;
the servo proportional valve controller of the utility model adopts a digital type, has the advantages of simple hardware structure, convenient maintenance, easy improvement and optimization of control algorithm, high flexibility and capability of realizing real-time control; the digital controller adopts the control chip and the analog-to-digital conversion circuit, has high operation speed and control precision, can complete high-precision control of the servo proportional valve and the hydraulic cylinder system, and meets the requirement of actual control bandwidth; the designed valve core position detection system has the linearity, the hysteresis and the repeatability of less than 0.5 percent, can accurately measure the real-time position of the valve core of the servo proportional valve, and improves the final valve core position control effect; the controller is also provided with data transmission interfaces such as a serial port, a network port and the like, can observe the control effect of the system in real time, and has important significance for optimizing and improving the system control; aiming at the control of the servo proportional valve, an incremental PID control mode and a state feedback control mode based on integral compensation are adopted, and the bandwidth of the servo proportional valve system is improved.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (8)
1. A digital servo proportional valve controller is used for controlling a hydraulic cylinder through a servo proportional valve and is characterized by comprising a control module, an analog-to-digital conversion circuit, a valve core position detection system, an input signal interface circuit, a sensor signal interface circuit and a power amplification stage circuit;
the valve core position detection system is respectively connected with the servo proportional valve and the sensor signal interface circuit and is used for detecting the real-time position of the valve core in the servo proportional valve, converting the collected valve core displacement change value into a first sensor signal and sending the first sensor signal to the sensor signal interface circuit;
the sensor signal interface circuit is respectively connected with the hydraulic cylinder and the analog-to-digital conversion circuit and is used for receiving second sensor signals sent by a plurality of sensors on the hydraulic cylinder, converting the received first sensor signals and the received second sensor signals into first voltage signals and then sending the first voltage signals to the analog-to-digital conversion circuit;
the input signal interface circuit is connected with the analog-to-digital conversion circuit and used for converting the acquired external input signal into a second voltage signal and sending the second voltage signal to the analog-to-digital conversion circuit;
the analog-to-digital conversion circuit is also connected with the control module and used for converting the received first voltage signal and the second voltage signal into a first digital signal and a second digital signal respectively and sending the first digital signal and the second digital signal to the control module;
the control module is also connected with the power amplification stage circuit and used for outputting a control signal to the power amplification stage circuit; the power amplification stage circuit comprises an operational amplifier;
the power amplification stage circuit is connected with the servo proportional valve and is used for performing power amplification on the received control signal, inputting the amplified control signal into the servo proportional valve and controlling the servo proportional valve; the servo proportional valve is further connected with the hydraulic cylinder, and the hydraulic cylinder is further controlled by controlling the servo proportional valve.
2. The digital servo proportional valve controller of claim 1, wherein the control module comprises a control chip, and a minimum system peripheral circuit and an external storage expansion circuit respectively connected to the control chip;
the control chip is respectively connected with the analog-to-digital conversion circuit and the power amplification stage circuit.
3. The digital servo proportional valve controller of claim 2, further comprising a power management circuit, wherein the power management circuit comprises
The first voltage conversion circuit is used for converting a switching voltage into a first working voltage, the switching voltage is used for supplying power to the power amplification stage circuit, and the first working voltage is used for supplying power to an operational amplifier in the power amplification stage circuit;
the second voltage conversion circuit is used for converting the first working voltage into a second working voltage, and the second working voltage is used for supplying power to the analog-to-digital conversion circuit;
the third voltage conversion circuit is used for converting the second working voltage into a third working voltage and a fourth working voltage, and the third working voltage is used for supplying power to the control chip and the external storage expansion circuit; the fourth operating voltage is used for supplying power to the valve element position detection system.
4. The digital servo proportional valve controller of claim 1, wherein the servo proportional valve comprises an LVDT displacement sensor for acquiring a displacement value of a spool in the servo proportional valve and converting the displacement value into a displacement signal.
5. The digital servo proportional valve controller of claim 4, wherein the valve core position detection system comprises a sine wave oscillation circuit, a sampling pulse generation circuit, an analog switch control chip and a filter amplification circuit;
the sine wave oscillation circuit is respectively connected with the LVDT displacement sensor and the sampling pulse generating circuit and is used for sending sine waves to the LVDT displacement sensor and exciting an initial coil in the LVDT displacement sensor so as to enable the LVDT displacement sensor to work; the sine wave oscillation circuit is also used for sending the sine wave generated by the sine wave oscillation circuit to the sampling pulse generation circuit.
6. The digital servo proportional valve controller of claim 5, wherein the sampling pulse generating circuit is configured to receive a sine wave generated by the sine wave oscillating circuit, generate a sampling pulse signal according to the sine wave, and send the sampling pulse signal to the analog switch control chip.
7. The digital servo proportional valve controller of claim 6, wherein the analog switch control chip is configured to receive the sampling pulse signal and the displacement signal collected by the LVDT displacement sensor, sample the displacement signal by turning on and off the analog switch control chip, obtain a dc voltage signal, and send the dc voltage signal to the filtering and amplifying circuit.
8. The digital servo proportional valve controller of claim 7, wherein the filtering and amplifying circuit is configured to filter and amplitude-adjust the received dc voltage signal to obtain the first sensor signal, and send the first sensor signal to the sensor signal interface circuit.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046289A (en) * | 2021-08-02 | 2022-02-15 | 浙江大学 | Valve core hydraulic power testing method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046289A (en) * | 2021-08-02 | 2022-02-15 | 浙江大学 | Valve core hydraulic power testing method and system |
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