CN215257047U - Multi-hydraulic-cylinder coupling synchronous control system - Google Patents
Multi-hydraulic-cylinder coupling synchronous control system Download PDFInfo
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- CN215257047U CN215257047U CN202022875233.XU CN202022875233U CN215257047U CN 215257047 U CN215257047 U CN 215257047U CN 202022875233 U CN202022875233 U CN 202022875233U CN 215257047 U CN215257047 U CN 215257047U
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Abstract
The utility model provides a multi-hydraulic cylinder coupling synchronous control system, which comprises a plurality of hydraulic position servo links, wherein each hydraulic position servo link is used for controlling the action of a heave hydraulic cylinder; and each two hydraulic position servo links are coupled to realize synchronous control of each two hydraulic position servo links. The utility model provides a many pneumatic cylinders coupling synchronous control system is through setting up a plurality of hydraulic pressure position servo link to make its two liang of couplings, guaranteed two hydraulic cylinder synchronous control that dangle, overcome the phase lag, improved hydraulic control system's stability, guaranteed the synchronous control precision of many pneumatic cylinders.
Description
Technical Field
The utility model relates to a hydraulic pressure synchronous control technical field especially relates to a many pneumatic cylinders coupling synchronous control system.
Background
Compared with other synchronous control systems such as a motor synchronous control system, the hydraulic synchronous control system has the advantages of being convenient to operate, easy to control, simple in structure and very suitable for high-power application occasions. Therefore, in more and more metal processing equipment, metallurgical machinery, construction machinery and driving devices, in order to increase the driving force, a dual hydraulic cylinder or even a plurality of hydraulic cylinders are commonly used to work in cooperation, and a strong demand for a high-precision synchronous control technology arises.
The hydraulic synchronous control has always received wide attention from the industry, but the high-precision synchronous control is still not really solved. The main factors of influence are: the neutral dead zone of the proportional valve, the time-varying flow gain, the friction of the hydraulic cylinder, the manufacturing accuracy of the hydraulic system, and the like. In addition to the above factors, when a plurality of hydraulic cylinders drive a load simultaneously, the imbalance of the load, the leakage of the hydraulic cylinders, the coupling effect among the hydraulic cylinders and the like make the proportional valve-controlled hydraulic cylinder synchronization system a typical nonlinear time-varying control system. Especially when facing to heavy load platform object, the following problem easily appears in synchronous system: firstly, the system load inertia is large, and phase lag is easily caused; secondly, the hydraulic system has larger elasticity and smaller damping, and is easy to cause oscillation; and thirdly, the heave, roll and pitch motions are weakly coupled and have mechanical deformation. Aiming at the existence of the key problems, particularly how to obtain the high-quality and stable robustness of the system under high speed and high precision, the current control method does not fundamentally solve the problem of synchronous control of a plurality of sets of valve-controlled hydraulic cylinders.
SUMMERY OF THE UTILITY MODEL
The utility model provides a many pneumatic cylinders coupling synchronous control system for solve the problem that many sets of valve accuse pneumatic cylinder synchronous control precision is low among the prior art.
The utility model provides a many pneumatic cylinders coupling synchronous control system, include: the hydraulic position servo system comprises a plurality of hydraulic position servo links, wherein each hydraulic position servo link is used for controlling the action of one heave hydraulic cylinder; and each two hydraulic position servo links are coupled to realize synchronous control of each two hydraulic position servo links.
According to the utility model provides a many hydraulic cylinders coupling synchronous control system, it is a plurality of hydraulic pressure position servo link includes 4 hydraulic pressure position servo link, wherein, first hydraulic pressure position servo link and third hydraulic pressure position servo link cross-coupling, second hydraulic pressure position servo link and fourth hydraulic pressure position servo link cross-coupling.
According to the utility model provides a many hydraulic cylinders coupling synchronous control system, every the servo link in hydraulic pressure position includes: a heave hydraulic cylinder; the servo valve is electrically connected with the heaving hydraulic cylinder and is used for driving the heaving hydraulic cylinder to act; and the position composite control mechanism is electrically connected with the servo valve and is used for acquiring an opening instruction of the valve core of the servo valve and driving the valve core of the servo valve to act.
According to the utility model provides a many pneumatic cylinders coupling synchronous control system, position composite control mechanism includes: the position controller assembly is used for carrying out closed-loop processing calculation on the position of the heave hydraulic cylinder; the speed controller is used for carrying out closed-loop processing calculation on the speed of the heave hydraulic cylinder; and the pressure difference controller component is electrically connected with the servo valve and is used for carrying out pressure difference closed-loop control on the heave hydraulic cylinder.
According to the utility model provides a many pneumatic cylinders coupling synchronous control system, the position controller subassembly includes: the position controller comprises a first PID adjusting submodule and is used for calculating the speed control quantity of the heave hydraulic cylinder according to a PID control algorithm; and the position sensor is arranged on the piston rod of the heaving hydraulic cylinder and is used for detecting the stroke of the telescopic position of the piston rod of the heaving hydraulic cylinder.
According to the utility model provides a many pneumatic cylinders coupling synchronous control system, speed controller include proportion feedforward regulation submodule piece, are used for calculating the pressure differential control volume of dangling the pneumatic cylinder.
According to the utility model provides a many pneumatic cylinders coupling synchronous control system, the differential pressure controller subassembly includes: the pressure difference controller comprises a second PID (proportion integration differentiation) adjusting submodule and is used for calculating the valve core control quantity of the servo valve; and the differential pressure sensor is arranged on the oil supply pipes of the rod cavity and the rodless cavity of the heaving hydraulic cylinder and is used for detecting the pressure and the difference value of the rod cavity and the rodless cavity of the heaving hydraulic cylinder.
According to the utility model provides a many pneumatic cylinders coupling synchronous control system still includes position cross coupling controller, is used for rightly pressure differential sensor carries out pressure compensation.
The utility model provides a many pneumatic cylinders coupling synchronous control system is through setting up a plurality of hydraulic pressure position servo link to make its two liang of couplings, guaranteed two hydraulic cylinder synchronous control that dangle, overcome the phase lag, improved hydraulic control system's stability, guaranteed the synchronous control precision of many pneumatic cylinders.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a multi-hydraulic cylinder coupling synchronous control system provided by the present invention;
fig. 2 is a flowchart of a multi-hydraulic cylinder coupling synchronization control method provided by the present invention.
Reference numerals:
1: a position controller; 2: a speed controller; 3: a differential pressure controller;
4: a servo valve; 5: a heave hydraulic cylinder; 6: a differential pressure sensor;
7: a position sensor; 8: a positional cross-coupling controller; 9: a load-carrying platform.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The following describes the multi-cylinder coupling synchronous control system and the multi-cylinder coupling synchronous control method according to the present invention with reference to fig. 1 and 2.
In an embodiment of the present invention, the multi-cylinder coupling synchronous control system comprises a plurality of hydraulic position servo links, each of which is used for controlling the action of one heave cylinder 5. Every two hydraulic position servo links are coupled to realize synchronous control of every two hydraulic position servo links, and meanwhile, every hydraulic position servo link is connected with the loading platform 9.
Specifically, the number of the plurality of hydraulic position servo links may be an even number greater than or equal to 4, where each two hydraulic position servo links are coupled, and generally speaking, the two hydraulic position servo links with large characteristic difference and synchronization control deviation are coupled to obtain a good coupling effect, and meanwhile, good synchronization after the two hydraulic position servo links are coupled can be ensured. In the coupling process, if the effect of coupling the two coupled hydraulic position servo links is poor, the two coupled hydraulic position servo links can be adjusted to be coupled with other hydraulic position servo links so as to ensure the synchronism of the control heave hydraulic cylinder 5 of each two hydraulic position servo links, so that when the load inertia of the load platform 9 is large, the phase lag can be overcome, and the synchronous control precision of the multiple hydraulic cylinders is ensured.
The embodiment of the utility model provides a many pneumatic cylinders coupling synchronous control system is through setting up a plurality of hydraulic pressure position servo links to make its two liang of couplings, guaranteed that two are pendulous and swing pneumatic cylinder synchronous control, overcome the phase lag, improved hydraulic control system's stability, guaranteed the synchronous control precision of many pneumatic cylinders.
As shown in fig. 1, in one embodiment of the present invention, the plurality of hydraulic position servo links includes 4 hydraulic position servo links, wherein the first hydraulic position servo link and the third hydraulic position servo link are cross-coupled, and the second hydraulic position servo link and the fourth hydraulic position servo link are cross-coupled.
Specifically, in actual operation, the two hydraulic position servo links having a large difference in characteristics and a large deviation in synchronization control may be coupled according to the characteristics of the specifically set hydraulic position servo links to ensure the synchronization of the control of the heave hydraulic cylinder 5.
As shown in fig. 1, in one embodiment of the present invention, each hydraulic position servo link comprises: a position compound control mechanism, a servo valve 4 and a heave hydraulic cylinder 5. Specifically, the position combination control mechanism obtains a position expected value of the heave hydraulic cylinder 5 by an upper control device or an upper control module, performs position closed-loop processing calculation, speed closed-loop processing calculation and differential pressure closed-loop control, obtains an opening degree instruction of the spool of the servo valve 4, converts the opening degree instruction into a digital/analog (D/A) signal, and outputs an electric signal to drive the spool of the servo valve 4 to operate. The servo valve 4 is electrically connected to the heave hydraulic cylinder 5, thereby realizing drive control of the heave hydraulic cylinder 5.
Further, as shown in fig. 1, in an embodiment of the present invention, the position composite control mechanism includes: a position controller assembly, a velocity controller 2 and a pressure differential controller assembly.
Specifically, the position controller assembly is used to perform closed loop processing calculations of the position of the heave hydraulic cylinder 5. Further, the position controller assembly includes: a position controller 1 and a position sensor 7. The position controller includes a first PID adjusting submodule for calculating a speed control amount of each of the heave hydraulic cylinders 5 according to the position deviation of the heave hydraulic cylinder 5 by using a PID control algorithm. The position sensor 7 is attached to the piston rod of the heave hydraulic cylinder 5, and detects the stroke of the telescopic position of the piston rod of each heave hydraulic cylinder 5.
Further, in an embodiment of the present invention, optionally, the number of each position sensor 7 is one.
The speed controller 2 includes a proportional feedforward adjustment submodule that calculates a differential pressure control amount of each heave hydraulic cylinder 5 according to a speed control amount of each heave hydraulic cylinder 5 by using a proportional and feedforward control algorithm to overcome phase lag and prevent oscillation of the hydraulic system from easily occurring.
The differential pressure controller assembly includes: the pressure difference controller 3 comprises a second PID adjusting submodule, and the second PID adjusting submodule adopts a PID control algorithm to control and calculate the control quantity of the valve core of each servo valve 4 according to the pressure difference of each heave hydraulic cylinder 5. The differential pressure sensor 6 is respectively installed on the oil supply pipes of the rod cavity and the rodless cavity of each heave hydraulic cylinder 5 and is used for detecting the pressure and the difference value of the rod cavity and the rodless cavity of the heave hydraulic cylinder 5.
Further, in an embodiment of the present invention, optionally, the number of the differential pressure sensors 6 is 2.
As shown in fig. 1, in an embodiment of the present invention, the multi-cylinder coupling synchronous control system further includes a position cross coupling controller 8 for performing pressure compensation on the pressure difference controller 3 of each heaving cylinder 5 according to the telescopic position information fed back by the piston rod of each heaving cylinder 5.
Specifically, the position controller 1 subtracts the position feedback value from the expected position value to obtain a position deviation, and obtains an expected speed value by using a PID control algorithm, that is:
where u (i) is an output amount, T is a sampling time interval, Kp is an integration coefficient, Ti is an integration time constant, Td is a derivative time constant, and e (i) is a deviation between a position expected value and a position detected value of each heave hydraulic cylinder 5. The speed controller 2 calculates a speed deviation based on the speed expected value and the difference calculated speed value, and performs speed closed-loop processing by adopting a proportion and feedforward compensation control algorithm to calculate a pressure difference expected value (torque expected value); the differential pressure controller 3 performs differential pressure closed loop processing based on the torque desired value and the differential pressure feedback value to obtain a valve element opening command of each servo valve 4, and outputs an electric signal to drive the valve element of the servo valve 4 to operate after D/a conversion, thereby realizing drive control of the heave hydraulic cylinder 5. Wherein, the position sensor 7 obtains the measurement value of the telescopic position of the heave hydraulic cylinder 5, and the measurement value is used for the outer ring position controller 1 to carry out position closed-loop control.
The intermediate loop speed controller 2 is composed of a proportional controller and a feedforward controller, meanwhile, speed feedforward control is added on the basis of proportional control, compared with feedback control, the speed feedforward control needs to calculate the difference of position variables to calculate the speed, the speed value of the actual position and the target position is obtained, the speed value is updated before being input into the speed feedback controller every time, and the latest data is adopted when the loop circulates.
The differential pressure sensor 6 is arranged on an oil supply pipe of a rod cavity and a rodless cavity of each heave hydraulic cylinder 5, is used for obtaining pressure measurement values and differential pressure measurement values of two cavities of the heave hydraulic cylinder 5, and is used for the inner ring differential pressure controller 3 to carry out closed-loop control on the driving torque of the heave hydraulic cylinder 5.
The differential pressure sensor 6 calculates the valve core opening value of the servo valve 4 by adopting a PID control algorithm, namely:
wherein u (i) is an output quantity, T is a sampling time interval, Kp is an integral coefficient, Ti is an integral time constant, Td is a derivative time constant, and e (i) is a deviation between a desired value of pressure of two cavities of each heave hydraulic cylinder 5 and a detected value of differential pressure. The inner ring pressure difference controller 3 carries out pressure difference closed-loop control according to the pressure difference compensation value obtained by calculation of the position cross coupling controller 8 and the valve core opening value from the pressure difference controller 3.
The embodiment of the utility model provides a still provide a many pneumatic cylinders coupling synchro control's method, concrete step includes:
step 01: detecting the stroke of the telescopic position of the piston rod of the heave hydraulic cylinder 5 of each hydraulic position servo link;
step 02: detecting the pressure and the difference value of a rod cavity and a rodless cavity of the heave hydraulic cylinder 5 of each hydraulic position servo link;
step 03: performing differential pressure compensation on the differential pressure sensor 6 of each hydraulic position servo link according to the detected stroke of the telescopic position of the piston rod;
step 04: the servo valve 4 drives the heave hydraulic cylinder 5 to act.
Specifically, the position sensor 7 detects the stroke of the piston rod telescopic position of each heave hydraulic cylinder 5, and the position controller 1 calculates the speed control amount of each heave hydraulic cylinder 5 from the positional deviation of the heave hydraulic cylinder 5 by using a PID control algorithm. The speed controller 2 calculates the differential pressure control amount of each heave hydraulic cylinder 5 according to the speed control amount of each heave hydraulic cylinder 5 by adopting a proportional and feedforward control algorithm. The pressure difference controller 3 adopts a PID control algorithm to control and calculate the control quantity of the valve core of each servo valve 4 according to the pressure difference of each heave hydraulic cylinder 5, and the pressure difference sensor 6 detects the pressure and the difference value of the rod cavity and the rodless cavity of the heave hydraulic cylinder 5. The position cross-coupling controller 8 performs pressure compensation on the pressure difference controller 3 of each heave hydraulic cylinder 5 according to the telescopic position information fed back from the piston rod of each heave hydraulic cylinder 5.
In an embodiment of the present invention, the method for synchronously controlling the coupling of the multiple hydraulic cylinders further includes: position closed-loop processing calculation, speed closed-loop processing calculation, and differential pressure closed-loop control of the heave hydraulic cylinder 5 are performed.
Specifically, the position controller 1 subtracts the position feedback value from the expected position value to obtain a position deviation, and obtains an expected speed value by using a PID control algorithm, that is:
where u (i) is an output amount, T is a sampling time interval, Kp is an integration coefficient, Ti is an integration time constant, Td is a derivative time constant, and e (i) is a deviation between a position expected value and a position detected value of each heave hydraulic cylinder 5. The speed controller 2 calculates a speed deviation based on the speed expected value and the difference calculated speed value, and performs speed closed-loop processing by adopting a proportion and feedforward compensation control algorithm to calculate a pressure difference expected value (torque expected value); the differential pressure controller 3 performs differential pressure closed loop processing based on the torque desired value and the differential pressure feedback value to obtain a valve element opening command of each servo valve 4, and outputs an electric signal to drive the valve element of the servo valve 4 to operate after D/a conversion, thereby realizing drive control of the heave hydraulic cylinder 5. Wherein, the position sensor 7 obtains the measurement value of the telescopic position of the heave hydraulic cylinder 5, and the measurement value is used for the outer ring position controller 1 to carry out position closed-loop control.
The intermediate loop speed controller 2 is composed of a proportional controller and a feedforward controller, meanwhile, speed feedforward control is added on the basis of proportional control, compared with feedback control, the speed feedforward control needs to calculate the difference of position variables to calculate the speed, the speed value of the actual position and the target position is obtained, the speed value is updated before being input into the speed feedback controller every time, and the latest data is adopted when the loop circulates.
The differential pressure sensor 6 is arranged on an oil supply pipe of a rod cavity and a rodless cavity of each heave hydraulic cylinder 5, is used for obtaining pressure measurement values and differential pressure measurement values of two cavities of the heave hydraulic cylinder 5, and is used for the inner ring differential pressure controller 3 to carry out closed-loop control on the driving torque of the heave hydraulic cylinder 5.
The differential pressure sensor 6 calculates the valve core opening value of the servo valve 4 by adopting a PID control algorithm, namely:
wherein u (i) is an output quantity, T is a sampling time interval, Kp is an integral coefficient, Ti is an integral time constant, Td is a derivative time constant, and e (i) is a deviation between a desired value of pressure of two cavities of each heave hydraulic cylinder 5 and a detected value of differential pressure. The inner ring pressure difference controller 3 carries out pressure difference closed-loop control according to the pressure difference compensation value obtained by calculation of the position cross coupling controller 8 and the valve core opening value from the pressure difference controller 3.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (8)
1. A multi-hydraulic cylinder coupling synchronous control system is characterized by comprising a plurality of hydraulic position servo links, wherein each hydraulic position servo link is used for controlling the action of one heave hydraulic cylinder; and each two hydraulic position servo links are coupled to realize synchronous control of each two hydraulic position servo links.
2. The multi-cylinder coupled synchronous control system of claim 1, wherein the plurality of hydraulic position servo links comprises 4 of the hydraulic position servo links, wherein a first hydraulic position servo link is cross-coupled with a third hydraulic position servo link and a second hydraulic position servo link is cross-coupled with a fourth hydraulic position servo link.
3. The multi-cylinder coupled synchronous control system of claim 2, wherein each of the hydraulic position servo links comprises:
a heave hydraulic cylinder;
the servo valve is electrically connected with the heaving hydraulic cylinder and is used for driving the heaving hydraulic cylinder to act;
and the position composite control mechanism is electrically connected with the servo valve and is used for acquiring an opening instruction of the valve core of the servo valve and driving the valve core of the servo valve to act.
4. The system of claim 3, wherein the position compounding control mechanism comprises:
the position controller assembly is used for carrying out closed-loop processing calculation on the position of the heave hydraulic cylinder;
the speed controller is used for carrying out closed-loop processing calculation on the speed of the heave hydraulic cylinder;
and the pressure difference controller component is electrically connected with the servo valve and is used for carrying out pressure difference closed-loop control on the heave hydraulic cylinder.
5. The multi-cylinder coupled synchronous control system of claim 4, wherein the position controller assembly comprises:
the position controller comprises a first PID adjusting submodule and is used for calculating the speed control quantity of the heave hydraulic cylinder according to a PID control algorithm;
and the position sensor is arranged on the piston rod of the heaving hydraulic cylinder and is used for detecting the stroke of the telescopic position of the piston rod of the heaving hydraulic cylinder.
6. The system of claim 5, wherein the speed controller comprises a proportional feedforward adjustment submodule configured to calculate a differential pressure control quantity of the heave hydraulic cylinder.
7. The multi-cylinder coupled synchronous control system of claim 6, wherein the differential pressure controller assembly comprises:
the pressure difference controller comprises a second PID (proportion integration differentiation) adjusting submodule and is used for calculating the valve core control quantity of the servo valve;
and the differential pressure sensor is arranged on the oil supply pipes of the rod cavity and the rodless cavity of the heaving hydraulic cylinder and is used for detecting the pressure and the difference value of the rod cavity and the rodless cavity of the heaving hydraulic cylinder.
8. The system of claim 7, further comprising a cross-site coupling controller for pressure compensating the differential pressure sensor.
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| CN202022875233.XU CN215257047U (en) | 2020-12-02 | 2020-12-02 | Multi-hydraulic-cylinder coupling synchronous control system |
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| CN202022875233.XU CN215257047U (en) | 2020-12-02 | 2020-12-02 | Multi-hydraulic-cylinder coupling synchronous control system |
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