CN219672997U - Electro-hydrostatic actuator system - Google Patents
Electro-hydrostatic actuator system Download PDFInfo
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- CN219672997U CN219672997U CN202320921953.6U CN202320921953U CN219672997U CN 219672997 U CN219672997 U CN 219672997U CN 202320921953 U CN202320921953 U CN 202320921953U CN 219672997 U CN219672997 U CN 219672997U
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Abstract
The utility model relates to the technical field of electrohydraulic control, in particular to an electro-hydrostatic actuator system. The system comprises: the hydraulic cylinder comprises a rod cavity and a rodless cavity; a pump assembly; an accumulator; a plurality of electrical proportional seat valves; the first end of the pump assembly is connected with the second end of the first electric proportional seat valve and the first end of the second electric proportional seat valve, the second end of the pump assembly is connected with the first end of the third electric proportional seat valve and the second end of the fourth electric proportional seat valve, the first end of the first electric proportional seat valve and the first end of the fourth electric proportional seat valve are both connected with the energy accumulator, the second end of the second electric proportional seat valve is connected with the rod cavity, and the second end of the third electric proportional seat valve is connected with the rodless cavity; and each electric proportional seat valve is in one-way conduction from the first end to the second end of the electric proportional seat valve under the closing state. The optimal control mode for each electric proportional seat valve is selected according to different working conditions, so that the control precision and stability are ensured, and the method is more suitable for the field of engineering machinery with complex and changeable working conditions; saving the economic cost.
Description
Technical Field
The utility model relates to the technical field of electrohydraulic control, in particular to an electro-hydrostatic actuator system.
Background
The electro-hydrostatic actuator is an actuator which integrates a motor, a pump, a hydraulic valve, an oil tank and a hydraulic cylinder to control the hydraulic cylinder through volume speed regulation of the motor pump. Compared with the traditional centralized valve control system, the throttling overflow loss of the electro-hydrostatic actuator is less, a hydraulic pipeline is replaced by adopting a power electric transmission mode, and the electro-hydrostatic actuator has the advantages of high energy efficiency, modularization, easiness in maintenance and the like, and has the advantages of higher power-weight ratio and the like compared with an electric cylinder with the same specification.
Current research on electro-hydrostatic actuators is mainly focused on the fields of aviation and industry. By way of example in the industrial field, the industrial field generally requires that the actuator has large output force and high control precision of position and speed, and the actuator mainly adopts a servo/variable frequency motor and a fixed/variable pump to control an asymmetric hydraulic cylinder, and the flow of the two cavities is balanced by mainly adopting an asymmetric pump, a high-speed switch valve and the like at present due to different volumes of a rod cavity and a rodless cavity in the motion process of the asymmetric hydraulic cylinder. The asymmetric pump is difficult to manufacture, and the high-speed switch valve group is high in price, so that the cost is high.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the utility model provides an electro-hydrostatic actuator system.
To achieve the above object, a first aspect of the present utility model provides an electro-hydrostatic actuator system, comprising:
the hydraulic cylinder comprises a rod cavity and a rodless cavity;
a pump assembly;
an accumulator;
the plurality of electric proportional seat valves comprise a first electric proportional seat valve, a second electric proportional seat valve, a third electric proportional seat valve and a fourth electric proportional seat valve;
the first end of the pump assembly is connected with the second end of the first electric proportional seat valve and the first end of the second electric proportional seat valve, the second end of the pump assembly is connected with the first end of the third electric proportional seat valve and the second end of the fourth electric proportional seat valve, the first end of the first electric proportional seat valve and the first end of the fourth electric proportional seat valve are both connected with the energy accumulator, the second end of the second electric proportional seat valve is connected with the rod cavity, and the second end of the third electric proportional seat valve is connected with the rodless cavity; and each electric proportional seat valve is in one-way conduction from the first end of the electric proportional seat valve to the second end of the electric proportional seat valve in the closed state.
In an embodiment of the present utility model, the system further includes: a first hydraulic control one-way valve and a second hydraulic control one-way valve,
the first end of the first hydraulic control check valve is connected with the first end of the second hydraulic control check valve, the first end of the first hydraulic control check valve and the first end of the second hydraulic control check valve are connected with the energy accumulator, the second end of the first hydraulic control check valve and the control end of the second hydraulic control check valve are connected with the rod cavity, and the second end of the second hydraulic control check valve and the control end of the first hydraulic control check valve are connected with the rodless cavity.
In an embodiment of the utility model, a pump assembly comprises:
a motor;
the motor driver is connected with the motor and used for controlling the rotating speed and the steering of the motor;
the two-way hydraulic pump is connected with the motor, and the motor drives the two-way hydraulic pump to absorb oil and discharge oil.
In the embodiment of the utility model, the bidirectional hydraulic pump is a bidirectional constant displacement pump or a bidirectional variable displacement pump.
In an embodiment of the utility model, the motor comprises a servo motor, and the motor driver comprises a servo driver; or alternatively, the process may be performed,
the motor comprises a variable frequency motor, and the motor driver comprises a frequency converter.
In an embodiment of the present utility model, the system further includes:
the control end of the first safety valve is connected with the rod cavity;
the control end of the second safety valve is connected with the rodless cavity;
the first relief valve and the second relief valve are used to control the inlet and outlet pressures of the pump assembly.
In an embodiment of the present utility model, the system further comprises at least one of the following:
the first pressure sensor is connected with the first end of the second electric proportional seat valve;
the second pressure sensor is connected with the second end of the second electric proportional seat valve;
the third pressure sensor is connected with the second end of the third electric proportional seat valve;
the fourth pressure sensor is connected with the first end of the third electric proportional seat valve;
and the fifth pressure sensor is connected with the first end of the first electric proportional seat valve, the first end of the fourth electric proportional seat valve and the energy accumulator.
In an embodiment of the present utility model, the system further includes:
and the displacement sensor is connected with the hydraulic cylinder and used for detecting the displacement of a piston rod of the hydraulic cylinder.
In an embodiment of the present utility model, the system further includes:
and the controller is respectively connected with the pump assembly, the first electric proportional seat valve, the second electric proportional seat valve, the third electric proportional seat valve, the fourth electric proportional seat valve, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor and the displacement sensor.
In an embodiment of the utility model, a pump assembly comprises:
the power generation and electric integrated machine;
and the bidirectional pump motor is connected with the bidirectional pump motor and is used for driving the power generation and electric integrated machine to generate power under the condition that the electro-hydrostatic actuator system exceeds the working condition so as to recover energy.
The first end of the first electric proportional seat valve is connected with the energy accumulator, the second end of the first electric proportional seat valve is connected with the first end of the bidirectional hydraulic pump, and oil in the energy accumulator can supplement oil to an oil suction port of the bidirectional hydraulic pump through the first electric proportional seat valve. The first end of the fourth electric proportional seat valve is connected with the energy accumulator, the second end of the fourth electric proportional seat valve is connected with the second end of the two-way hydraulic pump, and a part of flow can be separated to the energy accumulator through the fourth electric proportional seat valve; the oil of the energy accumulator can also supplement oil to the rodless cavity of the hydraulic cylinder through the fourth electric proportional seat valve. The states of the first electric proportional seat valve, the second electric proportional seat valve, the third electric proportional seat valve and the fourth electric proportional seat valve can be selected according to the working conditions of the hydraulic cylinder, that is, the working conditions can be identified in real time, then the opening and closing or opening control of each electric proportional seat valve is selected according to different working conditions, and the operation precision and stability of the hydraulic cylinder are ensured. The structure of the electro-hydrostatic actuator system provided by the embodiment of the utility model is more suitable for the field of engineering machinery with complex and changeable working conditions.
Under the condition that the running instruction of the pump assembly is not received or the electro-hydrostatic actuator system is stopped, the second electro-proportional seat valve and the third electro-proportional seat valve can be controlled to be closed, so that the hydraulic cylinder can be reliably stopped under the action of the second electro-proportional seat valve and the third electro-proportional seat valve and kept at the current position, oil cannot flow out of the hydraulic cylinder, and the energy consumption of the system is reduced.
Particularly, when the hydraulic cylinder is in the working condition of high-frequency reciprocating action, the electric control response is higher than the hydraulic control response, and the rod cavity flow and the rodless cavity flow of the hydraulic cylinder can be balanced through the arrangement and control of the electric proportional seat valves, so that the pressure impact of the electro-hydrostatic actuator system is reduced, and the system frequency response is improved. In the embodiment of the utility model, the two-cavity flow of the hydraulic cylinder is balanced by adopting a mode of a symmetrical pump and a plurality of electric proportional seat valves, the symmetrical pump is less in processing and manufacturing difficulty, the electric proportional seat valves are low in price, the economic cost is saved, and the function realization of the electro-hydrostatic actuator system is not influenced.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain, without limitation, the embodiments of the utility model. In the drawings:
FIG. 1 schematically illustrates a block diagram of an electro-hydrostatic actuator system according to an embodiment of the present utility model;
FIG. 2 schematically illustrates one of the block diagrams of another electro-hydrostatic actuator system in accordance with an embodiment of the present utility model;
FIG. 3 schematically illustrates a second block diagram of another electro-hydrostatic actuator system in accordance with an embodiment of the present utility model;
fig. 4 schematically illustrates a third block diagram of another electro-hydrostatic actuator system in accordance with an embodiment of the present utility model.
Description of the reference numerals
1-a motor; 2-motor driver;
3-a controller; 4.1-a first pilot operated check valve;
4.2-a second pilot operated check valve; 5-an accumulator;
6.1-a first electro proportional seat valve; 6.2-a second electro proportional seat valve;
6.3-a third electro proportional seat valve; 6.4-fourth electro proportional seat valve;
7.1-a first safety valve; 7.2-a second safety valve;
8.1-a first pressure sensor; 8.2-a second pressure sensor;
8.3-a third pressure sensor; 8.4-fourth pressure sensor;
8.5-fifth pressure sensor; 9-a displacement sensor;
10-a hydraulic cylinder; 11-a bi-directional hydraulic pump;
12-a pump assembly; 13-generating electricity and electric all-in-one machine.
Detailed Description
The following describes the detailed implementation of the embodiments of the present utility model with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.
In addition, if a directional instruction (such as up, down, left, right, front, and rear … …) is included in the embodiment of the present utility model, the directional instruction is merely used to explain a relative positional relationship, a movement condition, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional instruction is correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
Fig. 1 schematically illustrates a block diagram of an electro-hydrostatic actuator system according to an embodiment of the present utility model. As shown in fig. 1, in one embodiment of the present utility model, there is provided an electro-hydrostatic actuator system comprising:
a hydraulic cylinder 10 including a rod chamber and a rodless chamber;
a pump assembly 12;
an accumulator 5;
a plurality of electrically proportional seat valves including a first electrically proportional seat valve 6.1, a second electrically proportional seat valve 6.2, a third electrically proportional seat valve 6.3, and a fourth electrically proportional seat valve 6.4;
the first end of the pump assembly 12 is connected with the second end of the first electric proportional seat valve 6.1 and the first end of the second electric proportional seat valve 6.2, the second end of the pump assembly 12 is connected with the first end of the third electric proportional seat valve 6.3 and the second end of the fourth electric proportional seat valve 6.4, the first end of the first electric proportional seat valve 6.1 and the first end of the fourth electric proportional seat valve 6.4 are both connected with the accumulator 5, the second end of the second electric proportional seat valve 6.2 is connected with the rod cavity, and the second end of the third electric proportional seat valve 6.3 is connected with the rodless cavity; and each electric proportional seat valve is in one-way conduction from the first end of the electric proportional seat valve to the second end of the electric proportional seat valve in the closed state.
Illustratively, the first end of the first electric proportional seat valve 6.1 is connected to the accumulator 5, the second end of the first electric proportional seat valve 6.1 is connected to the first end of the pump assembly 12, and the oil in the accumulator 5 can be replenished to the oil suction port of the pump assembly 12 through the first electric proportional seat valve 6.1. The first end of the fourth electric proportional seat valve 6.4 is connected with the accumulator 5, the second end of the fourth electric proportional seat valve 6.4 is connected with the second end of the pump assembly 12, a part of flow can be separated to the accumulator 5 through the fourth electric proportional seat valve 6.4, and oil of the accumulator 5 can be supplemented to the rodless cavity of the hydraulic cylinder 10 through the fourth electric proportional seat valve 6.4. The states of the first electric proportional seat valve 6.1, the second electric proportional seat valve 6.2, the third electric proportional seat valve 6.3 and the fourth electric proportional seat valve 6.4 are selected according to the working conditions of the hydraulic cylinder 10, that is, the opening and closing or opening control of each electric proportional seat valve can be selected according to different working conditions, so that the operation precision and stability of the hydraulic cylinder 10 are ensured. The structure of the electro-hydrostatic actuator system provided by the embodiment of the utility model can be suitable for the field of engineering machinery with complex and changeable working conditions.
In the case that the running instruction of the pump assembly 12 is not received or the electro-hydrostatic actuator system is stopped, the second electro-proportional seat valve 6.2 and the third electro-proportional seat valve 6.3 can be controlled to be closed, so that the hydraulic cylinder 10 can be reliably stopped under the action of the second electro-proportional seat valve 6.2 and the third electro-proportional seat valve 6.3 and kept at the current position, oil cannot flow out of the hydraulic cylinder 10, and the energy consumption of the system is reduced.
Particularly, when the hydraulic cylinder 10 is in the working condition of high-frequency reciprocating motion, the electric control response is higher than the hydraulic control response, and the rod cavity flow and the rodless cavity flow of the hydraulic cylinder 10 can be balanced through the arrangement and control of the electric proportional seat valves, so that the pressure impact of an electro-hydrostatic actuator system is reduced, and the frequency response of the system is improved. In the embodiment of the utility model, the two-cavity flow of the hydraulic cylinder 10 is balanced by adopting a mode of a symmetrical pump and a plurality of electric proportional seat valves, the symmetrical pump is less in processing and manufacturing difficulty, the electric proportional seat valves are low in price, the economic cost is saved, and the function realization of an electro-hydrostatic actuator system is not influenced.
In the following description of the application of the electro-hydrostatic actuator system, fig. 2 schematically illustrates one of the structural diagrams of another electro-hydrostatic actuator system according to an embodiment of the present utility model, and the components referred to in the structural diagram of fig. 2 will be described later, not all of which are essential components.
In one embodiment, the pump speed and pump direction of the pump assembly 12, a first pressure value for the rod chamber, and a second pressure value for the rodless chamber are obtained; determining the working condition of the hydraulic cylinder 10 according to the rotation speed and the rotation direction of the pump, the first pressure value and the second pressure value; at least one of the first electrically proportional seat valve 6.1, the second electrically proportional seat valve 6.2, the third electrically proportional seat valve 6.3 and the fourth electrically proportional seat valve 6.4 is controlled according to the operating conditions. The pump rotational speed and the pump rotational direction of the pump assembly 12 can be obtained from the operating command or can be acquired by a sensor.
In one embodiment, a pump assembly includes:
a motor 1;
the motor driver 2 is connected with the motor 1 and is used for controlling the rotating speed and the steering of the motor 1;
the two-way hydraulic pump 11 is connected with the motor 1, and the motor 1 drives the two-way hydraulic pump 11 to absorb oil and discharge oil.
In one embodiment, (1) the working condition of the hydraulic cylinder 10 is determined to be an extended working condition in the case where the pump rotation direction indicates that the bi-directional hydraulic pump 11 is sucking oil from the rod-shaped chamber and discharging oil to the rod-free chamber, and the working condition is determined to be a retracted working condition in the case where the pump rotation direction indicates that the bi-directional hydraulic pump 11 is sucking oil from the rod-free chamber and discharging oil to the rod-shaped chamber. (2) Under the condition that the flow direction indicated by the rotation direction of the pump is opposite to the load direction, the working condition of the hydraulic cylinder 10 is determined to be an impedance working condition, under the condition that the flow direction indicated by the rotation direction of the pump is identical to the load direction, the working condition is determined to be an overrunning working condition, and the load direction is determined according to the first pressure value, the second pressure value, the action area of the rodless cavity and the action area of the rod cavity. (3) When the pump rotation speed is greater than or equal to the rotation speed threshold value, the working condition of the hydraulic cylinder 10 is determined to be a constant-speed working condition, and when the pump rotation speed is less than the rotation speed threshold value, the working condition is determined to be a low-speed working condition.
Description is made regarding the extension and retraction conditions. The pump rotation speed and the pump rotation direction of the bidirectional hydraulic pump 11 can be obtained from the operation command or can be acquired by a sensor. Taking the example that the pump rotation speed and the pump rotation direction of the bidirectional hydraulic pump 11 are obtained from operation instructions (also can be called control instructions), the controller converts signals such as a handle or an upper computer into control instructions i, wherein the value range of i is-Nmax less than or equal to i less than or equal to Nmax, and Nmax is the rated rotation speed of the motor 1. The sign of the control command i is determined, for example, if the sign is positive, the motor 1 drives the bidirectional hydraulic pump 11 to rotate positively, the bidirectional hydraulic pump 11 absorbs oil from one end of the rod cavity of the hydraulic cylinder 10 and discharges oil to one end of the rodless cavity of the hydraulic cylinder 10, and at this moment, the hydraulic cylinder 10 is in an extending working condition, namely, the piston in the hydraulic cylinder 10 extends. If the control command i is negative, the motor 1 drives the bidirectional hydraulic pump 11 to rotate reversely, the bidirectional hydraulic pump 11 absorbs oil from one end of the rod-free cavity of the hydraulic cylinder 10, and discharges oil to one end of the rod cavity of the hydraulic cylinder 10, and the hydraulic cylinder 10 is in a retraction working condition, namely the retraction of the piston in the hydraulic cylinder 10 can be understood.
The description is directed to resistance and overrun conditions. The first pressure value of the rod chamber of the hydraulic cylinder 10 is denoted as P A The second pressure value of the rodless chamber of the hydraulic cylinder 10 is denoted as P B The area of action of the rod chamber of the hydraulic cylinder 10 is denoted as A A The area of action of the rodless chamber of cylinder 10 is denoted as A B . The flow direction indicated by the pump rotation direction is determined by the direction in which the motor 1 drives the bi-directional hydraulic pump 11 to rotate, and in the extended working condition, the motor 1 drives the bi-directional hydraulic pump 11 to rotate forward, the bi-directional hydraulic pump 11 sucks oil from the end of the rod cavity of the hydraulic cylinder 10 and discharges oil to the end of the rodless cavity of the hydraulic cylinder 10, and if P is the case at this time B ×A B >P A ×A A The load direction is opposite to the flow direction, and the impedance working condition is determined; otherwise, the working condition is overrun. In the retraction working condition, the motor 1 drives the bi-directional hydraulic pump 11 to rotate reversely, the bi-directional hydraulic pump 11 sucks oil from one end of the rodless cavity of the hydraulic cylinder 10 and discharges oil to one end of the hydraulic cylinder 10 with the rod cavity, and at the momentIf P B ×A B <P A ×A A The load direction is opposite to the flow direction, and the impedance working condition is determined; otherwise, the working condition is overrun.
The description is directed to the constant speed operation and the low speed operation. The rotation speed threshold may be the lowest rotation speed Nmin of the bi-directional hydraulic pump 11, and if the pump rotation speed in the control command i is smaller than the lowest rotation speed Nmin of the bi-directional hydraulic pump 11, it is determined as the low speed condition, and otherwise it is determined as the constant speed condition. To ensure the working efficiency and the service life of the bi-directional hydraulic pump 11, the bi-directional hydraulic pump 11 generally has minimum rotational speed requirements.
If the low speed, impedance, and extension conditions are determined simultaneously, then the low speed impedance extension condition may be referred to. If the constant speed operation, the impedance operation and the extension operation are determined at the same time, the constant speed impedance extension operation can be called. If the low speed operation, the overrun operation and the extension operation are determined at the same time, the low speed overrun operation may be referred to as a low speed overrun extension operation. If the constant speed operation, the overrun operation and the extension operation are determined at the same time, the constant speed overrun operation can be called as a constant speed overrun extension operation.
If a low speed condition, an impedance condition, and a retract condition are determined simultaneously, then this may be referred to as a low speed impedance retract condition. If a constant speed condition, an impedance condition, and a retract condition are determined at the same time, then this may be referred to as a constant speed impedance retract condition. If the low speed, overrun and retract conditions are determined simultaneously, then the low speed overrun and retract conditions may be referred to. If the constant speed operation, the overrun operation and the retraction operation are determined at the same time, the constant speed overrun retraction operation can be called.
In an application example, by further developing on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the present utility model, the working conditions of the hydraulic cylinder 10 may be divided into the following eight types: a low speed impedance extend condition, a constant speed impedance extend condition, a low speed overrun extend condition, a constant speed overrun extend condition, a low speed impedance retract condition, a constant speed impedance retract condition, a low speed overrun retract condition, and a constant speed overrun retract condition. According to the recognition result of the working condition, the controller 3 may send control instructions to a plurality of electric proportional seat valves (i.e. the first electric proportional seat valve 6.1, the second electric proportional seat valve 6.2, the third electric proportional seat valve 6.3 and the fourth electric proportional seat valve 6.4). That is, the working condition identification can be performed in real time, and then the opening and closing or opening control of each electric proportional seat valve is selected according to different working conditions, so that the operation precision and stability of the hydraulic cylinder are ensured.
In an application example, through further development on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the utility model, under the condition that the working conditions are determined to be a low-speed working condition, an impedance working condition and an extension working condition at the same time, the controller 3 controls the first electro-proportional seat valve 6.1 to be closed, the second electro-proportional seat valve 6.2 to be fully opened and the third electro-proportional seat valve 6.3 to be closed; the opening of the fourth electro proportional seat valve 6.4 is controlled in accordance with the outlet flow of the bi-directional hydraulic pump 11 and the desired flow of the hydraulic cylinder 10. In the low-speed impedance extension mode, the fourth electro-proportional seat valve 6.4 splits a portion of the flow into the accumulator 5 according to the control command i, the split flow being denoted q=q P -q CYL Q in P For the outlet flow rate, q, of the hydraulic pump 11 CYL Is the desired flow of hydraulic cylinder 10 such that the speed of hydraulic cylinder 10 is proportional to control command i.
In an application example, through further development on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the utility model, under the condition that the working conditions are determined to be a low-speed working condition, an overrunning working condition and an extending working condition at the same time, the controller 3 controls the first electro-proportional seat valve 6.1 to be closed and the third electro-proportional seat valve 6.3 to be closed; the opening degree of the second electric proportional seat valve 6.2 is adjusted according to the front-back pressure of the second electric proportional seat valve 6.2; the opening of the fourth electro proportional seat valve 6.4 is controlled in accordance with the outlet flow of the bi-directional hydraulic pump 11 and the desired flow of the hydraulic cylinder 10.
In an application example, through further development based on the hardware of the electro-hydrostatic actuator system provided by the embodiment of the present utility model, under the condition that the working conditions are determined to be the constant speed working condition, the impedance working condition and the extension working condition at the same time, the controller 3 controls the first electro-proportional seat valve 6.1 to be closed, the second electro-proportional seat valve 6.2 to be fully opened, the third electro-proportional seat valve 6.3 to be closed, and the fourth electro-proportional seat valve 6.4 to be closed.
Referring to fig. 2, in one embodiment, the electro-hydrostatic actuator system further comprises: a first hydraulic control one-way valve 4.1 and a second hydraulic control one-way valve 4.2; the first end of the first hydraulic control check valve 4.1 is connected with the first end of the second hydraulic control check valve 4.2, the first end of the first hydraulic control check valve 4.1 and the first end of the second hydraulic control check valve 4.2 are connected with the energy accumulator 5, the second end of the first hydraulic control check valve 4.1 and the control end of the second hydraulic control check valve 4.2 are connected with the rod cavity, and the second end of the second hydraulic control check valve 4.2 and the control end of the first hydraulic control check valve 4.1 are connected with the rod-free cavity. The motor 1 is connected with the two-way hydraulic pump 11, the motor 1 drives the two-way hydraulic pump 11 to absorb oil and discharge oil, and one end of the two-way hydraulic pump 11 is an oil suction port while the other end is an oil discharge port.
In the working condition of constant-speed impedance extension, the inlet flow control of the hydraulic cylinder 10 is performed, the second electric proportional seat valve 6.2 is fully opened, the rest electric proportional seat valves are all closed, the rodless cavity oil way is at high pressure, the rod cavity oil way is at low pressure, the first hydraulic control one-way valve 4.1 is automatically opened under the pressure action (without the control of a controller), the oil supply flow of the rodless cavity is larger than the oil discharge flow of the rod cavity, the oil of the energy accumulator 5 supplements the oil to the oil suction port of the bidirectional hydraulic pump 11 through the first hydraulic control one-way valve 4.1 and the first electric proportional seat valve 6.1, and the speed of the hydraulic cylinder 10 is in proportional relation with the control instruction i.
In an application example, through further development on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the utility model, under the condition that the working conditions are determined to be a constant-speed working condition, an overrunning working condition and an extension working condition at the same time, the controller 3 controls the first electro-proportional seat valve 6.1 to be closed, the third electro-proportional seat valve 6.3 to be closed and the fourth electro-proportional seat valve 6.4 to be closed; the opening degree of the second electro proportional seat valve 6.2 is adjusted according to the front-rear pressure of the second electro proportional seat valve 6.2. In the working condition of exceeding the extension at constant speed, the inlet flow control and the outlet pressure control of the hydraulic cylinder 10 are carried out, the second electric proportional seat valve 6.2 is opened, the opening of the second electric proportional seat valve 6.2 is adjusted, the outlet pressure of the hydraulic cylinder 10 is maintained in a certain range, the hydraulic cylinder 10 is prevented from stalling, the rest electric proportional seat valves are closed, at the moment, the oil passage with the rod cavity is high pressure, the oil passage with the rod cavity is low pressure, the second hydraulic control one-way valve 4.2 is automatically opened reversely under the pressure action, the oil supply flow of the rod cavity is larger than the oil discharge flow of the rod cavity, and the oil of the accumulator 5 is supplemented to the rod cavity of the hydraulic cylinder 10 through the second hydraulic control one-way valve 4.2 and the fourth electric proportional seat valve 6.4, so that the speed of the hydraulic cylinder 10 is in proportion to the control instruction i.
Particularly, in the working condition of high-frequency reciprocating action of the hydraulic cylinder 10, as the electric control response is higher than the hydraulic control response, the first hydraulic control one-way valve 4.1 can be assisted by the first electric proportional seat valve 6.1, the second hydraulic control one-way valve 4.2 can be assisted by the second electric proportional seat valve 6.2, the two-cavity flow (namely the rod cavity flow and the rodless cavity flow) of the hydraulic cylinder 10 is balanced, the pressure impact of an electric hydrostatic actuator system is reduced, and the frequency response of the system is improved. If only the hydraulic control one-way valve is used for balancing the flow difference of two cavities of the asymmetric cylinder, the frequency response of the hydraulic control one-way valve is lower than that of the electric proportional seat valve, so if only the hydraulic control one-way valve is used, the valve opening and closing time of the hydraulic control one-way valve is longer, and the requirement of the system on high frequency response cannot be met; in the embodiment of the utility model, the flow difference is balanced by adopting the electric proportional seat valve and the hydraulic control one-way valve, so that the system frequency response is improved.
In an application example, through further development on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the utility model, under the condition that the working conditions are determined to be a low-speed working condition, an impedance working condition and a retraction working condition at the same time, the controller 3 controls the second electro-proportional seat valve 6.2 to be closed, the third electro-proportional seat valve 6.3 to be fully opened and the fourth electro-proportional seat valve 6.4 to be closed; the opening of the first electro proportional seat valve 6.1 is controlled in accordance with the outlet flow of the bi-directional hydraulic pump 11 and the desired flow of the hydraulic cylinder 10.
In an application example, through further development based on the hardware of the electro-hydrostatic actuator system provided by the embodiment of the present utility model, under the condition that the working conditions are determined to be the constant speed working condition, the impedance working condition and the retraction working condition at the same time, the controller 3 controls the first electro-proportional seat valve 6.1 to be closed, the second electro-proportional seat valve 6.2 to be closed, the third electro-proportional seat valve 6.3 to be fully opened, and the fourth electro-proportional seat valve 6.4 to be closed.
Under the condition that the working conditions are determined to be a low-speed working condition, an overrunning working condition and a retraction working condition at the same time, the controller 3 controls the second electric proportional seat valve 6.2 to be closed and the fourth electric proportional seat valve 6.4 to be closed; controlling the opening of the first electro proportional seat valve 6.1 according to the outlet flow of the bi-directional hydraulic pump 11 and the required flow of the hydraulic cylinder 10; the opening degree of the third electro proportional seat valve 6.3 is adjusted according to the front-rear pressure of the third electro proportional seat valve 6.3.
Under the condition that the working conditions are determined to be a constant speed working condition, an overrun working condition and a retraction working condition at the same time, the controller 3 controls the first electric proportional seat valve 6.1 to be closed, the second electric proportional seat valve 6.2 to be closed and the fourth electric proportional seat valve 6.4 to be closed; the opening degree of the third electro proportional seat valve 6.3 is adjusted according to the front-rear pressure of the third electro proportional seat valve 6.3.
The control principles for the extended and retracted conditions are similar and will not be described in detail herein. The state control of the first electrically proportional seat valve 6.1 in the retracted condition is identical to the state control of the fourth electrically proportional seat valve 6.4 in the corresponding extended condition; the state control of the second electrically proportional seat valve 6.2 in the retracted condition is identical to the state control of the third electrically proportional seat valve 6.3 in the corresponding extended condition; the state control of the third electrically proportional seat valve 6.3 in the retracted condition is identical to the state control of the second electrically proportional seat valve 6.2 in the corresponding extended condition; the state control of the fourth electrically proportional seat valve 6.4 in the retracted condition is identical to the state control of the first electrically proportional seat valve 6.1 in the corresponding extended condition. For example, in the constant impedance retract condition, the first electrical proportional seat valve 6.1 is closed (the fourth electrical proportional seat valve 6.4 is closed in the constant impedance extend condition), the second electrical proportional seat valve 6.2 is closed (the third electrical proportional seat valve 6.3 is closed in the constant impedance extend condition), the third electrical proportional seat valve 6.3 is fully open (the second electrical proportional seat valve 6.2 is fully open in the constant impedance extend condition), and the fourth electrical proportional seat valve 6.4 is closed (the first electrical proportional seat valve 6.1 is closed in the constant impedance extend condition).
In the prior art, the electro-hydrostatic actuator system controls the flow entering the hydraulic cylinder 10 only through the volume speed regulation of the motor pump, namely directly through the rotating speed of the motor, so that the response speed of the motor pump in the prior art is lower than that of the valve control in the embodiment of the utility model; in the prior art, the response and speed regulation characteristics of the system are not as good as those of valve control under the complex working condition; alternatively, the inlet and outlet of the valve control system in the prior art are usually controlled by the same valve, and the throttling loss is large. In the embodiment of the utility model, each electric proportional seat valve is matched with a load port for independent control, so that the flexibility is high, the throttling loss is small, and the control is more stable under the overrun working condition and the low-speed working condition; a plurality of electric proportional seat valves are adopted to assist the volume speed regulation of the motor pump, so that the control precision and the frequency response are improved; and a plurality of electric proportional seat valves are introduced for auxiliary valve control, so that the defects of response and control precision of the motor pump in volume speed regulation can be effectively compensated, and the energy consumption is reduced to the greatest extent.
In an application example, by further developing on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the utility model, the controller 3 controls the second electro-proportional seat valve 6.2 to close and the third electro-proportional seat valve 6.3 to close under the condition that the operation instruction of the bidirectional hydraulic pump 11 is not received or the electro-hydrostatic actuator system is stopped. Thus, the hydraulic cylinder 10 can be reliably stopped under the action of the second electric proportional seat valve 6.2 and the third electric proportional seat valve 6.3 and kept at the current position, oil cannot flow out of the hydraulic cylinder 10, and the energy consumption of the system is reduced. In the prior art, an electro-hydrostatic actuator system is usually kept at a position through a reversing valve or a motor, and the reversing valve is of a slide valve structure, so that internal leakage is large; the adoption of the motor can cause large energy consumption and heat; in the embodiment of the utility model, the plurality of electric proportional seat valves are all cone valve structures, and the sealing performance is good.
In an embodiment, the electro-hydrostatic actuator system further comprises at least one of:
a first pressure sensor 8.1 connected to a first end of the second electro proportional seat valve 6.2;
a second pressure sensor 8.2 connected to a second end of the second electro proportional seat valve 6.2;
a third pressure sensor 8.3 connected to the second end of the third electro proportional seat valve 6.3;
a fourth pressure sensor 8.4 connected to the first end of the third electro proportional seat valve 6.3;
the fifth pressure sensor 8.5 is connected with the first end of the first electric proportional seat valve 6.1, the first end of the fourth electric proportional seat valve 6.4 and the energy accumulator 5.
In an embodiment, the controller 3 obtains a third pressure value (a pressure value of the first pressure sensor 8.1) of the first port of the bidirectional hydraulic pump 11, a fourth pressure value (a pressure value of the fourth pressure sensor 8.4) of the second port of the bidirectional hydraulic pump 11, and a fifth pressure value (a pressure value of the fifth pressure sensor 8.5) of the accumulator 5; in the case where at least one of the first pressure value (the pressure value of the second pressure sensor 8.2), the second pressure value (the pressure value of the third pressure sensor 8.3), the third pressure value, the fourth pressure value, and the fifth pressure value is greater than the pressure threshold value, the controller 3 controls the second electric proportional seat valve 6.2 to be powered off, the third electric proportional seat valve 6.3 to be powered off, the motor 1 corresponding to the bidirectional hydraulic pump 11 to be stopped, the first electric proportional seat valve 6.1 to be opened, and the fourth electric proportional seat valve 6.4 to be opened.
In an embodiment, the electro-hydrostatic actuator system further comprises a first relief valve 7.1 and a second relief valve 7.2, see fig. 2, the first relief valve 7.1 being connected to a rod-chambered oil circuit of the hydraulic cylinder 10, the second relief valve 7.2 being connected to a rodless chamber oil circuit of the hydraulic cylinder 10, the first relief valve 7.1 and the second relief valve 7.2 being arranged to define inlet and outlet pressures of the bi-directional hydraulic pump 11. The electro-hydrostatic actuator system is protected secondarily by limiting the highest inlet and outlet pressure of the bidirectional hydraulic pump 11 through the first safety valve 7.1 and the second safety valve 7.2, and simultaneously monitoring the pressure of each position of the electro-hydrostatic actuator system in real time through a plurality of pressure sensors. When the pressure abnormality of the electro-hydrostatic actuator system is monitored, alarm information is immediately sent out, and the system protection is performed by controlling the modes of power-off of the second electro-proportional seat valve 6.2, power-off of the third electro-proportional seat valve 6.3, power-off of the motor 1 corresponding to the bidirectional hydraulic pump 11, opening of the first electro-proportional seat valve 6.1, opening of the fourth electro-proportional seat valve 6.4 and the like, so that closed-loop control of the pressure is realized.
The pressure unloading function of the port of the bidirectional hydraulic pump 11 can be realized through the electric proportional seat valve; if a larger pressure exists at the port of the bidirectional hydraulic pump 11 due to the failure or the emergency shutdown of the system of the second electric proportional seat valve 6.2 and the third electric proportional seat valve 6.3, but the opening pressure of the first safety valve 7.1 and the second safety valve 7.2 is not reached, at the moment, a certain port of the bidirectional hydraulic pump 11 can be communicated with the accumulator 5 by opening the first electric proportional seat valve 6.1 or opening the fourth electric proportional seat valve 6.4, so that the unloading of the pressure at the pump port is realized, and the service life of the bidirectional hydraulic pump 11 is prolonged.
In one embodiment, the electro-hydrostatic actuator system further comprises: the displacement sensor 9 is connected to the hydraulic cylinder 10 and detects the displacement of the piston rod of the hydraulic cylinder 10.
In an application example, the controller 3 receives the target speed of the piston rod by further developing on the basis of the hardware of the electro-hydrostatic actuator system provided by the embodiment of the utility model; obtaining the actual speed of the piston rod according to the displacement information detected by the displacement sensor 9; when the first deviation between the target speed and the actual speed is larger than the first preset deviation, the speed of the piston rod is adjusted according to the first deviation; receiving a target position of the piston rod; obtaining the actual position of the piston rod according to the displacement information detected by the displacement sensor 9; and when the second deviation between the target position and the actual position is larger than the second preset deviation, adjusting the position of the piston rod according to the second deviation.
When the controller 3 receives the target position, the target position is compared with the displacement information fed back by the displacement sensor 9 in real time, and the deviation value is output to corresponding control instructions through a PID (Proportional Integral Derivative) closed-loop algorithm, so that the closed-loop control of the position of the electro-hydrostatic actuator is realized. The speed of the hydraulic cylinder 10 can be obtained in real time by differentiating the displacement information obtained through real-time feedback of the displacement sensor 9, and when the controller 3 receives the target speed, the target speed is compared with the speed of the hydraulic cylinder 10, and the deviation value outputs a corresponding control command through a PID (proportion integration differentiation) closed-loop algorithm and the like, so that the closed-loop control of the speed of the electro-hydrostatic actuator is realized. The speed closed loop is used as an 'inner loop', the position closed loop is used as an 'outer loop', and double closed loop control of the position and the speed of the electro-hydrostatic actuator is realized.
In one embodiment, the electro-hydrostatic actuator system further comprises: the controller 3 is respectively connected with the bidirectional hydraulic pump 11, the first electric proportional seat valve 6.1, the second electric proportional seat valve 6.2, the third electric proportional seat valve 6.3, the fourth electric proportional seat valve 6.4, the first pressure sensor 8.1, the second pressure sensor 8.2, the third pressure sensor 8.3, the fourth pressure sensor 8.4, the fifth pressure sensor 8.5 and the displacement sensor 9.
The electro-hydrostatic actuator system is further developed on the basis of hardware, the flow entering the hydraulic cylinder 10 can be controlled by controlling the rotation speed and the rotation direction of the pump of the bidirectional hydraulic pump 11, further the action of the hydraulic cylinder 10 is controlled, the pressure of the system is acquired in real time through each pressure sensor, the displacement of the hydraulic cylinder 10 is detected through the displacement sensor 9, and the closed-loop control of the position and the speed of the hydraulic cylinder 10 is realized by matching with each electro-proportional seat valve. In an embodiment, the motor driver 2 is used to control the rotational speed and rotational direction of the motor 1. When the motor 1 is a servo motor, the motor driver 2 is correspondingly a servo driver; when the motor 1 is a variable frequency motor, the motor driver 2 corresponds to a frequency converter.
The second electric proportional seat valve 6.2 is positioned at a rod cavity outlet of the hydraulic cylinder 10, the third electric proportional seat valve 6.3 is positioned at a rodless cavity outlet of the hydraulic cylinder 10, the first electric proportional seat valve 6.1 is positioned between a rod cavity oil circuit of the hydraulic cylinder 10 and the accumulator 5, and the fourth electric proportional seat valve 6.4 is positioned between the rodless cavity oil circuit of the hydraulic cylinder 10 and the accumulator 5. The electric proportional seat valves can be conducted in one direction only, and are positioned at one-way valve ends when power is off, and the valves are of cone valve structures and are reliable in sealing. The controller 3 can receive command signals and data of each pressure sensor and each displacement sensor, analyze working conditions in real time through a control algorithm, and then send control commands to the motor driver 2, the first electric proportional seat valve 6.1, the second electric proportional seat valve 6.2, the third electric proportional seat valve 6.3 and the fourth electric proportional seat valve 6.4 through a control program to control the action of the hydraulic cylinder 10.
Fig. 3 schematically illustrates a second block diagram of another electro-hydrostatic actuator system according to an embodiment of the present utility model, and referring to fig. 3, a bidirectional variable displacement pump may be used for the bidirectional hydraulic pump 11 instead of a bidirectional fixed displacement pump, and the output flow rate of the bidirectional hydraulic pump 11 is controlled by controlling two variables of the rotation speed and the displacement of the bidirectional hydraulic pump 11, so as to further realize the speed control of the hydraulic cylinder 10. In general, there is a minimum rotational speed limit of the bi-directional hydraulic pump 11 in order to secure the volumetric efficiency and the service life of the bi-directional hydraulic pump 11. In an embodiment, the motor 1 can be kept at the lowest rotation speed, the low-speed movement of the hydraulic cylinder 10 can be controlled by each electric proportional seat valve, and after the bidirectional variable pump is adopted to replace the bidirectional constant displacement pump, the discharge capacity can be adjusted to control the pump outlet flow rate while the bidirectional hydraulic pump 11 maintains the lowest rotation speed, so that the speed control of the hydraulic cylinder 10 can be realized.
In an embodiment, a bi-directional fixed displacement pump/bi-directional variable displacement pump motor may be used instead of the bi-directional fixed displacement pump/bi-directional variable displacement pump, and a power generation and electric integrated machine 13 may be used instead of the motor, and fig. 4 schematically illustrates a third block diagram of another electro-hydrostatic actuator system according to an embodiment of the present utility model, see fig. 4. When the electro-hydrostatic actuator system is in an overrunning working condition, the bidirectional hydraulic pump 11 works in a motor mode to drive the power generation and electric integrated machine 13 to generate power, potential energy is converted into electric energy, and energy recovery is achieved.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present utility model and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are to be included in the scope of the claims of the present utility model.
Claims (10)
1. An electro-hydrostatic actuator system, the system comprising:
the hydraulic cylinder comprises a rod cavity and a rodless cavity;
a pump assembly;
an accumulator;
the plurality of electric proportional seat valves comprise a first electric proportional seat valve, a second electric proportional seat valve, a third electric proportional seat valve and a fourth electric proportional seat valve;
the first end of the pump assembly is connected with the second end of the first electric proportional seat valve and the first end of the second electric proportional seat valve, the second end of the pump assembly is connected with the first end of the third electric proportional seat valve and the second end of the fourth electric proportional seat valve, the first end of the first electric proportional seat valve and the first end of the fourth electric proportional seat valve are both connected with the energy accumulator, the second end of the second electric proportional seat valve is connected with the rod cavity, and the second end of the third electric proportional seat valve is connected with the rodless cavity; and each electric proportional seat valve is in one-way conduction from the first end of the electric proportional seat valve to the second end of the electric proportional seat valve under the closing state.
2. The system of claim 1, wherein the system further comprises: a first hydraulic control one-way valve and a second hydraulic control one-way valve,
the first end of the first hydraulic control one-way valve is connected with the first end of the second hydraulic control one-way valve, the first end of the first hydraulic control one-way valve and the first end of the second hydraulic control one-way valve are connected with the energy accumulator, the second end of the first hydraulic control one-way valve and the control end of the second hydraulic control one-way valve are connected with the rod cavity, and the second end of the second hydraulic control one-way valve and the control end of the first hydraulic control one-way valve are connected with the rodless cavity.
3. The system of claim 1, wherein the pump assembly comprises:
a motor;
the motor driver is connected with the motor and used for controlling the rotating speed and the steering of the motor;
the two-way hydraulic pump is connected with the motor, and the motor drives the two-way hydraulic pump to absorb oil and discharge oil.
4. A system according to claim 3, wherein the bi-directional hydraulic pump is a bi-directional fixed displacement pump or a bi-directional variable displacement pump.
5. The system of claim 3, wherein the motor comprises a servo motor and the motor driver comprises a servo driver; or alternatively, the process may be performed,
the motor comprises a variable frequency motor, and the motor driver comprises a frequency converter.
6. The system of claim 1, wherein the system further comprises:
the control end of the first safety valve is connected with the rod cavity;
the control end of the second safety valve is connected with the rodless cavity;
wherein the first relief valve and the second relief valve are used to control inlet and outlet pressures of the pump assembly.
7. The system of claim 1, wherein the system further comprises at least one of:
the first pressure sensor is connected with the first end of the second electric proportional seat valve;
the second pressure sensor is connected with the second end of the second electric proportional seat valve;
the third pressure sensor is connected with the second end of the third electric proportional seat valve;
the fourth pressure sensor is connected with the first end of the third electric proportional seat valve;
and the fifth pressure sensor is connected with the first end of the first electric proportional seat valve, the first end of the fourth electric proportional seat valve and the energy accumulator.
8. The system of claim 7, wherein the system further comprises:
and the displacement sensor is connected with the hydraulic cylinder and used for detecting the displacement of a piston rod of the hydraulic cylinder.
9. The system of claim 8, wherein the system further comprises:
and the controller is respectively connected with the pump assembly, the first electric proportional seat valve, the second electric proportional seat valve, the third electric proportional seat valve, the fourth electric proportional seat valve, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor and the displacement sensor.
10. The system of claim 1, wherein the pump assembly comprises:
the power generation and electric integrated machine;
and the bidirectional pump motor is connected with the power generation and electric integrated machine and is used for driving the power generation and electric integrated machine to generate power under the condition that the electro-hydrostatic actuator system is in an overrunning condition so as to recover energy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320921953.6U CN219672997U (en) | 2023-04-21 | 2023-04-21 | Electro-hydrostatic actuator system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320921953.6U CN219672997U (en) | 2023-04-21 | 2023-04-21 | Electro-hydrostatic actuator system |
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| CN219672997U true CN219672997U (en) | 2023-09-12 |
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| CN202320921953.6U Active CN219672997U (en) | 2023-04-21 | 2023-04-21 | Electro-hydrostatic actuator system |
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