KR20110079106A - Modularized power-by-wire hydro-static actuator and control system - Google Patents

Abstract

PURPOSE: A modularized power-by-wire hydraulic actuator and drive system is provided to minimize the power consumption, to economize in energy, to reduce noise, to have high efficiency and to cut down the maintenance cost. CONSTITUTION: A modularized power-by-wire hydraulic actuator system(20) comprises an actuator(300) generating power-by-wire with hydraulic pressure, an accumulator(210) stored with fluids, a motor(200) generating rotary power, a pump assembly(120) receiving the rotary power of the motor and pumping fluids supplied from the accumulator and generating hydraulic pressure, and a block valve(110) controlling to supply or to cut off hydraulic pressure generated in the pump assembly and supplied to the actuator, wherein the actuator, the accumulator, the block valve and the motor are integrated with a body, and the pump assembly is built in the body.

Description

Modularized power-by-wire hydro-static actuator and control system

The present invention relates to a hydraulic actuator drive system, and more particularly, the present invention relates to a swash plate type hydraulic piston pump assembly and a linear / double rod type hydraulic actuator which are operated in both directions using power transmitted directly from an electric motor. It relates to a modular hydraulic actuator to be formed and a control system for driving the same.

An actuator is an apparatus or means that operates in response to a signal trimmed by a signal processor. That is, it is an actuator which performs an operation | movement in response to an input signal, or an executive machine which operates according to a command signal. The driving of a mechanical device is mainly a rotational force by an electric motor and a linear force by a pneumatic cylinder or a hydraulic cylinder. Hydraulic actuator drive system means a drive system that generates linear power by a hydraulic cylinder.

Hydraulic actuator driving system is applied to various driving fields that require high reliability, large force and fast response speed, such as a system that drives the wing control surface of an aircraft.In general industry, various applications are used for driving parts of tension compressors and excavators. It is widely used.

A typical hydraulic actuator drive system requires a medium pressure hydraulic supply. That is, the hydraulic pump and the pump drive system for driving the pump, the oil storage unit or the accumulator to store the fluid occupy a lot of space apart from the hydraulic actuator, and the piping for supplying the hydraulic oil to the hydraulic actuator should be installed. Due to this structure, the conventional hydraulic actuator drive system has installation costs, maintenance problems, pump energy loss, pipe leakage risk, excessive noise, weight and volume problems due to large hydraulic system. In addition, since the parts configured separately from each other are connected through the hydraulic pipe, there is a disadvantage that unnecessary performance degradation such as flow and friction loss occurs and the response speed decreases.

The present invention is to solve the problems of the prior art as described above, the pump assembly for forming the hydraulic pressure, a plurality of flow paths for the fluid flow, the electric motor for driving the pump assembly to generate the hydraulic pressure, the pressure formed in the flow path It is a technical object of the present invention to provide an actuator system in which an accumulator for supplying the gas, an actuator driven by the supplied hydraulic pressure, and a plurality of sensors for precise driving control are integrated into one body.

In addition, the present invention provides a drive system capable of precisely driving and controlling the above-described actuator system, thereby overcoming disadvantages such as flow loss of a centrally supplied hydraulic system, minimizing power consumption of the drive system, and saving energy. The technical problem is to realize noise reduction, high efficiency, and low maintenance cost.

In order to achieve the above object, the present invention proposes a modular hydraulic actuator system 20.

Modular linear power hydraulic actuator system 20 according to the present invention, the actuator 300 for generating a linear power by the hydraulic pressure, the accumulator 210 in which the fluid is stored, and the motor 200 for generating rotational power ), A pump assembly 120 generating hydraulic pressure by pumping fluid supplied from the accumulator 210 by receiving rotational power of the motor 200, and generated from the pump assembly 120 and the actuator ( It includes a block valve 110 for adjusting the supply or interruption of the hydraulic pressure supplied to 300.

The actuator 300, the accumulator 210, the block valve 110 and the motor 200 are integrally formed with the body 100 and the pump assembly 120 is connected to the body 100. It is characterized by being modularized by being built.

According to a preferred embodiment, it may further include discharge passages 130 and 132 for supplying hydraulic pressure from the pump assembly 120 to the actuator 300 via the block valve 110, the discharge passage 130 and 132 may be embedded in the body 100.

The actuator 300 includes a case 310, a rod 320 for reciprocating the case 310, and an inner space of the case 310 as a left space 330 and a right space 332. It includes a partition plate 322 for dividing, the case 310 and the rod 320 is preferably symmetrical around the partition plate 322.

In addition, the actuator 300 may be configured to further include a displacement sensor 340 for measuring the transfer distance of the rod 320.

Meanwhile, the present invention also proposes a hydraulic actuator drive system 1000 including a PBW controller 11 capable of controlling the above-described hydraulic actuator system 20 and a motor driver 12.

The linear power hydraulic actuator drive system 1000 according to the present invention senses the position command received from the host controller 30 and the current position of the actuator system 20, calculates an error, and offsets the error. By sensing the speed mode command for generating a speed command for driving the target 20 to the delivered target position and the load information of the actuator system 20 and the rotational speed of the motor 200, the error is calculated and the error is offset. A PBW controller 11 for generating a current mode command for generating a current command for driving the actuator system 20 with the delivered load command, and a speed mode command or the current mode command generated by the PBW controller 11; According to the present invention, the motor driver 12 drives the motor 200.

The motor driver 12 may include a plurality of switches for driving the motor 200. In this case, the motor driver 12 receives a speed mode command and a current mode command from the PBW controller 11 to perform a pulse width modulation (PWM) method. The duty cycle of the plurality of switches may be adjusted by calculating a duty ratio of.

In addition, the PBW controller 11 is configured to enable data communication with the host controller 30 provided separately from the hydraulic actuator drive system, and may receive the position command and the load command from the host controller 30. .

According to the present invention has the following effects.

(1) The present invention can eliminate the central supply unit and the hydraulic piping required in the conventional hydraulic drive system by integrating the hydraulic generator to the actuator, thereby reducing the installation space and reducing the leakage problem of the hydraulic piping system. It can be solved fundamentally.

(2) The present invention provides power to the pump assembly directly by the electric motor, so that a shift gear system for driving a conventional centrally supplied hydraulic pump is unnecessary.

(3) The present invention uses the power of the electric motor, so it is possible to minimize the power consumption of the standby time compared to the centralized system that consumes a lot of power to continuously maintain the hydraulic pressure even when not in use, saving energy And noise reduction, high efficiency and maintenance cost can be reduced.

(4) The present invention consists of a system which is composed of an independent closed circuit and is not affected by gravity at all, and there is no restriction in the installation direction.

(5) In the present invention, since the accumulator is integrated in the actuator system, there is no risk of cavitation in the flow path, thereby minimizing the risk of the hydraulic system.

(6) In the present invention, since the flow path is formed inside the actuator system at the shortest distance without an external flow path and is completely sealed, the fluid supply and return flow paths are formed to a minimum, thereby improving response.

(7) The present invention has a linear / double rod type, and the internal space is formed in a symmetrical structure with respect to the divider, so that the pressure surface of the fluid can be kept the same, thereby improving control precision.

(8) The present invention controls the position and load of the actuator through a high-speed digital controller, so that information can be exchanged through high-speed communication with external equipment, and high-response and high-precision can be achieved through a precision sensor integrated in the actuator system. Direct drive system control is possible.

Hereinafter, with reference to the accompanying drawings will be described in detail an embodiment of the present invention.

1 is a block diagram of a linear power high response actuator drive to which the present invention is applied, FIG. 2 is an actuator system shape 3D to which the present invention is applied, and FIG. 3 is a front sectional view of an actuator system to which the present invention is applied. 4 is a right side view of the actuator system to which the present invention is applied, and FIG. 5 is a circuit diagram of the actuator system to which the present invention is applied.

As shown in FIG. 1, the configuration of the linear power actuator drive system 1000 is largely composed of a drive system 10 and an actuator system 20.

The drive system 10 senses the state of the actuator system 20 and generates a control signal for driving the actuator system 20 according to a command command, and the power-by-wire controller 11 and the motor driver. It consists of 12 pieces.

The PBW controller 11 senses the current position of the actuator system 20 to calculate an error with the position command received through the data communication with the host controller 30 and generate a speed command for canceling the error. The load information of the actuator system 20 and the rotational speed of the motor 200 are sensed to calculate an error between the load command received through the data communication with the host controller 30 and cancel the error to offset the actuator system 20. Generate a current mode command that generates a current command to drive the transferred load.

The motor driver 12 drives the motor 200 according to the speed mode command or the current mode command generated by the PBW controller 11.

The actuator system 20 generates the linear power by the actuator 300 according to the command command of the drive system 10, the motor 200, the hydraulic pump 120, the accumulator 210 and the block valve 110 And an actuator 300 equipped with various sensors such as a pressure sensor 400.

The linear power high-response actuator drive system 1000 has an actuator system 20 mounted on a drive surface, and the drive system 10 is mounted in a separate system space and connected only by an electric cable.

Next, the configuration of the actuator system 20 will be described in detail with reference to FIGS. 2 to 5.

First, referring to FIG. 2, the actuator system 20 includes an actuator 300 that generates linear power by hydraulic pressure, an accumulator 210 in which a fluid is stored, and a motor 200 that generates rotational power. The pump assembly 120 receives the rotational power of the motor 200 to pump the fluid supplied from the accumulator 210 to generate hydraulic pressure, and the pump assembly 120 generates the actuator 300. It is composed of a block valve 110 for adjusting the supply or shutoff of the hydraulic pressure supplied to. In addition, a pressure sensor 400 for detecting the pressure of the actuator 300 is also provided.

2 and 3, each component constituting the actuator system 20 is modularized by being integrated with the body 100 of the actuator system 20 or embedded in the body 100.

That is, the motor 200 and the accumulator 210 are installed to face each other on the left and right of the body 100 of the actuator system 20, the actuator 300 is formed on the lower side of the body 100. In this manner, the motor 200, the accumulator 210, and the actuator 300 are integrally formed and modularized in each part of the body 100.

In addition, as shown in Figure 4, one side of the body 100, a block valve 110 for controlling the opening and closing of the discharge passage 130 and the return passage 132 to be described later is further provided. That is, the rear of the body 100 is further provided with a block valve 110 protruding to the rear, this block valve 110 is made of a solenoid valve.

Referring back to FIG. 3, a pump assembly 120 for forming hydraulic pressure is provided inside the body 100, and a plurality of flow paths (not shown) through which fluid flows are formed.

As shown, the pump assembly 120 is embedded in the body 100, and rotates in accordance with the rotation of the rotating shaft 122 and the rotating shaft 122 by the power transmitted from the motor 200, and the swash plate 124. ) And a plurality of pistons 126 and the like that flow in accordance with the rotation of the swash plate 124.

The rotating shaft 122 is connected to the motor shaft of the motor 200 to rotate. The motor 200 is preferably made of an electric motor, the rotational force of the motor 200 is transmitted to the outside through the motor shaft, the rotation shaft 122 is connected directly to the motor shaft to rotate.

In addition, the motor 200 is fixedly mounted to the left side (FIG. 3) of the body 100, as shown, to provide rotational power to the pump assembly 120.

The actuator 300 divides the case 310, the load 320 for reciprocating the case 310, and divides the inner space of the case 310 into a left space 330 and a right space 332. It includes a partition plate 322, the case 310 and the rod 320 is preferably symmetrical around the partition plate (322).

Meanwhile, as shown in FIG. 5, a plurality of flow paths are formed to drive the hydraulic actuator system 20.

The first and second discharge flow paths 130 and 132 are flow paths for guiding the hydraulic pressure generated from the pump assembly 120 into the actuator 300 through the block valve 110.

The relief flow passage 140 is a flow passage for operating the first and second relief valves 150 and 152.

In addition, a plurality of check valves (C) are provided to return the fluid discharged from the actuator (300) to the accumulator (210) and the pump assembly (120). A flow path 144, a withdrawal control flow passage 142 for controlling the fluid drawn out from the check valve (C) flows into the accumulator 210, and is drawn from the check valve (C) is introduced into the pump assembly 120 A withdrawal control passage 146 for controlling the fluid is provided.

On the other hand, as shown in Figure 5, the displacement sensor 340 is installed inside the rod 320 of the actuator 300, the control by measuring the flow distance (left and right movement distance in Figure 3) of the rod 320 (Not shown). Accordingly, the control unit displays the measured value of the displacement sensor 340 to the outside, and controls the automatic operation of other components according to the measured value of the displacement sensor 340. At this time, the displacement sensor 340 measures the moving distance of the rod 320 and displays it to the outside, and transmits it to the controller (not shown).

As shown in FIG. 1, the operation principle of the actuator driving system 1000 is that the PBW controller 11 receives a command from the upper controller 30, and the PBW controller 11 has various sensors mounted on the actuator 300. The driving command is generated and transmitted to the motor driver 12 by using the information from the 400, and the motor driver 12 drives the motor 200 mounted on the actuator system 20 with respect to the driving command. . The pump assembly 120 including the hydraulic pump is driven by the driven motor 200, and the rod 320 of the actuator 300 is controlled to a target value transmitted from the upper controller 30.

Next, the operation principle of the PBW controller 11 and the motor drive 12 of the drive system 10 will be described with reference to FIGS. 6 to 9.

6A and 6B are flowcharts of a PBW controller operation to which the present invention is applied, FIG. 7 is a motor driver initialization operation diagram to which the present invention is applied, and FIG. 8 is a motor driver speed control operation diagram to which the present invention is applied, and FIG. 9A. 9b is a motor driver current control operation to which the present invention is applied.

First, an operation process of the PBW controller 11 of the drive system 10 will be described with reference to FIGS. 6A and 6B.

In the high-speed digital controller installed in the PBW controller 11, communication with the host controller 30 is started by starting digital signal processing (DSP) initialization, variable initialization, control gain setting, and communication initialization (S 10). .

Next, the sensor 300 senses the information of various sensors mounted on the actuator 300, the state and output of the motor driver 12 (S 11), and grasps the ready state of the motor driver 12 (S 12).

As a result of the grasping, if the waiting of the motor driver 12 is not completed, the host controller 30 reports to the host controller 30 (S 13). If the waiting is completed, the host controller waits to receive a command from the host controller 30 (S 14). .

When the command is received from the host controller 30 while the command is waiting to be received (S15), the standby state of the motor driver 12 is checked (S16), and if the wait is not completed, the host controller 30 reports the result. .

When the waiting is completed, it is analyzed whether the transmitted command is a speed mode command or a current mode command (S18).

As a result of analysis, the speed command and current command are generated by using the motor driver and actuator status information and the transferred command through the speed mode loop when the transmitted command is speed mode and the current mode loop when the current mode is used. 12) and send the corresponding command (S 19 to S 22).

Next, an operation process of the motor driver 12 will be described with reference to FIG. 7.

First, the interface with the PBW controller 11 is started by starting DSP initialization, variable initialization, and control gain setting in the high speed digital controller mounted in the motor driver 12 (S 23).

Next, the interface with the electric motor 200 mounted on the actuator 300 is checked, the current and the voltage of the motor 200 are sensed, and the DC link voltage command value input to the motor 200 is sensed (S 24). .

As a result of the sensing, it is checked whether the sensed current DC link voltage satisfies the corresponding command, and whether the current sensing value is not greater than the command value and the motor can be driven (eg, less than 500V) (S 25).

If the current sensing value is greater than the set value or the motor cannot be driven (e.g. more than 500V), turn off the main relay and return to step S24.

On the other hand, if the current sensing value is not greater than the command value and the motor can be driven (for example, less than 500V), the current state is transmitted to the PBW controller 11 while the main relay is turned on and waiting, and the PBW Wait until the drive command is transmitted from the controller 10 (S 27 ~ S 29).

Next, an operation process when the motor driver 12 receives the information selected as the speed mode command from the PBW controller 11 will be described with reference to FIG.

When the motor driver 12 receives the information selected as the speed mode command from the PBW controller 11, the motor driver 12 senses the speed deviation of the motor every predetermined period (for example, 1024 ms) (S 30), and as a result of the sensing, the current motor 200. Calculate the actual speed of (S 31).

After calculating the error between the calculated actual speed of the motor and the command speed (S 32), the current command is generated using the calculated error to be converted to the current mode command (S 33).

 When the motor driver 12 is converted to the current mode, the motor driver 12 operates according to the flowcharts of FIGS. 9A and 9B.

That is, when the current control is started, it is checked whether the commanded signal is the current control (S 34). If it is not the current control, it moves to the speed control (S 35) mode. us) and sense current command and current value and coordinate conversion if necessary (S 36 ~ S 38).

Next, the current error between the sensed current value and the command current is calculated for each axis (eg, d-axis and q-axis) by using the sensed current value (S 39).

As a result of the calculation, if an overcurrent is detected, the signal is processed as an abnormal signal (S 40 to S 41), and if it is not an over current, the coordinate transformation and offset voltage are calculated if necessary, and then the phase voltage is calculated for each phase (S 42 to S 44).

Then, the duty ratio of the pulse width modulation is calculated using the calculated current error to adjust the on / off ratio of a plurality of switches (for example, six) inside the motor driver 12. By controlling the supply of electric power delivered to the motor 200 mounted on the actuator 300, it is possible to control the driving of the motor 200 (S 45 to S 46).

On the other hand, when the motor driver 12 directly receives information selected by the current mode command instead of the speed mode command from the PBW controller 11, the motor driver 12 does not go through the speed control operation flow shown in FIG. 8 immediately. The motor driver 12 of FIG. 9A and FIG. 9B is controlled according to the current control operation flow.

Although specific embodiments of the present invention have been described above, the spirit and scope of the present invention are not limited to the specific embodiments, and various modifications and variations can be made without departing from the spirit of the present invention. It will be understood by those skilled in the art to which the present invention pertains.

Therefore, since the embodiments described above are provided to completely inform the scope of the invention to those skilled in the art, it should be understood that they are exemplary in all respects and not limited. The invention is only defined by the scope of the claims.

1 is a block diagram of a linear power high response actuator drive to which the present invention is applied;

Figure 2 is an actuator system shape (3D) to which the present invention is applied

3 is a front sectional view of an actuator system to which the present invention is applied;

4 is a right side view of the actuator system to which the present invention is applied.

5 is a circuit diagram of an actuator system to which the present invention is applied.

6 is a flowchart illustrating a PBW controller operation to which the present invention is applied.

7 is a motor driver initialization operation to which the present invention is applied

8 is a motor driver speed control operation diagram to which the present invention is applied

9 is a motor driver current control operation to which the present invention is applied

DESCRIPTION OF THE REFERENCE NUMERALS

10: Drive system 11: PBW controller

12: motor driver 20: actuator system

100: body 110: block valve

120: pump assembly 122: rotating shaft

124: swash plate 126: piston

130: first discharge / return euro 132: second discharge / return euro

140: relief euro 142: withdrawal control euro

144: return control channel 146: withdrawal control channel

150: first relief valve 152: second relief valve

200: motor drive shaft 210: accumulator

300: actuator 310: case

320: load 322: divider

330: left space 332: right space

340: displacement sensor 1000: actuator drive system

Claims (7)

As a modular linear power hydraulic actuator system 20 having a body 100, An actuator 300 for generating linear power by hydraulic pressure, An accumulator 210 in which a fluid is stored, A motor 200 for generating rotational power, A pump assembly 120 which receives the rotational power of the motor 200 and pumps the fluid supplied from the accumulator 210 to generate hydraulic pressure; It includes a block valve 110 for adjusting the supply or interruption of the hydraulic pressure generated in the pump assembly 120 supplied to the actuator 300, The actuator 300, the accumulator 210, the block valve 110 and the motor 200 are integrally formed with the body 100 and the pump assembly 120 is embedded in the body 100. Modular linear power hydraulic actuator system, characterized in that it is modularized. The method of claim 1, Discharge passages 130 and 132 for supplying hydraulic pressure from the pump assembly 120 to the actuator 300 through the block valve 110 are further included, and the discharge passages 130 and 132 are the body. Modular linear power hydraulic actuator system, characterized in that it is embedded in (100). The method of claim 1, wherein the actuator 300, Case 310, A rod 320 for reciprocating the case 310, A partition plate 322 for dividing the inner space of the case 310 into a left space 330 and a right space 332, The casing (310) and the rod (320) are modular linear power hydraulic actuator system, characterized in that the symmetrical around the partition plate (322). According to claim 3, The actuator 300, Modular linear power hydraulic actuator system characterized in that it further comprises a displacement sensor (340) for measuring the conveying distance of the rod (320). The hydraulic actuator system 20 according to claim 1, The speed mode command and the actuator system 20 generating a speed command for sensing the current position of the actuator system 20 to calculate an error and canceling the error to drive the actuator system 20 to the delivered target position. PBW actuator for generating a current mode command to generate a current command for driving the actuator system 20 to the load to be calculated by calculating the error and offset the error by sensing the load information and the rotational speed of the motor 200 Controller 11, A linear power hydraulic actuator linear power drive system (1000) comprising a motor driver (12) for driving the motor (200) in accordance with the speed mode command or the current mode command generated by the controller (11). The method of claim 5, The motor driver 12 includes a plurality of switches for driving the motor 200, receives a speed mode command and a current mode command from the PBW controller 11, and uses a pulse width modulation (PWM) type duty ratio (PWM). and a duty cycle for adjusting the switching period for the plurality of switches. The method of claim 5, The PBW controller 11 is capable of data communication with the host controller 30 provided separately from the hydraulic actuator drive system, and receives the position command and the load command from the host controller 30. Actuator drive system 1000.

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