SU848773A1 - Electrohydraulic servodrive - Google Patents

Description

(54) ELECTRO-HYDRAULIC FOLLOWING DRIVE

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The invention relates to hydraulics and can be used in the following systems of advanced robots and manipulators.

An electrohydraulic servo drive is known, comprising a pump with a regulator drive, a hydraulic motor connected to the hydroline gush with a pump, a driver connected to the regulator actuator through an adder, a hydraulic motor shaft position sensor connected to the subtracting input of the adder, and a differential pressure sensor in the hydrolines and the divider unit, one of the inputs connected to the differential sensor, and the output to the regulating drive;

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The disadvantages of the known drive are its low accuracy and STABILITY in the processing of rapidly changing input effects with objects whose moments of inertia vary over a wide range.

The purpose of the invention is to increase accuracy and stability.

This goal is achieved by the fact that the drive is equipped with torque and speed sensors, a multiplication unit, an integrator and an additional adder, while the torque and i speed sensors are mounted on the hydraulic motor shaft, the speed sensor is connected to the second input of the dividing unit, to the adder output - multiplication unit c entered through the integrator with the output of the division unit, the latter being connected to the differential sensor via an additional adder, to which I subtract 10 to the input of which the torque sensor is connected.

The drawing schematically shows an electro-hydraulic servo drive.

The drive will restrain the pump 1 from the house 15 of the regulator body 2, the hydraulic motor 3 connected by pump 1) with the pump 4 and 5, the driver (not shown), the adder 6, the sensor 7 of the shaft position of the hydraulic engine 20 l 3, the differential pressure sensor 8 , division block 9, speed sensor 10., multiplication unit 11, integrator 12, additional adder 13, control object 14, amplifier 15 and a torque sensor (not shown) connected to the subtracting input of additional adder 13., ..

The electro-hydraulic follow-up drive operates as follows.

30 The error signal from the controller b through multiplication unit 11 and amplifier 15 is supplied to the actuator of regulator 2 and controls the operation of pump 1, which through hydraulic motor 3 acts on control object 14, reducing the error, and the second input of multiplication unit 11 receives a signal evaluation 1, depending on the moment of inertia, reduced to the shaft of the hydraulic motor 3 and the compensation effect of the variable moment of inertia on the dynamic properties of the drive / Torque sensor generates a signal R | where the MHz is the torque on the shaft fodvigatel characteristic volume ratio (vma hydraulic engine 1To 3. The integrator transfer function. 9 f therefore /) the second input of the multiplication unit 11 receives the signal I (DRID - MgH) (where l P is the pressure differential in hydrolines 4 and 5; dL - the speed of the adjustment object), compensating for the negative effect of the variable moment of inertia on the dynamic properties of the drive. Thus, the quality factor of the drive is stabilized within the specified limits, thereby improving the accuracy and stability of the drive. The application of the present invention in the following systems of spatially roboted robots and torsion manipulators allows increasing the accuracy and stability of their operation. Forks of the invention Electro-hydraulic servo drive containing a pump with a regulator drive, a hydraulic motor connected to the pump lines, a driver connected to the regulator drive through an adder, a hydraulic motor shaft position sensor connected to the subtracting input of the adder, a differential pressure sensor hydrodynamic and dividing unit, one of the inputs connected to the differential sensor, and the output t with a regulator drive, characterized in that, in order to increase accuracy and stability and, the drive is equipped with torque and speed sensors, a multiplication unit, an integrator and an additional adder, with torque and speed sensors mounted on the hydraulic motor shaft, a speed sensor connected to the second input of the division unit, to the output of the adder - a multiplication unit connected through an integrator to the output dividing unit, the latter being connected to the sensor of a perepal through an additional adder, to the subtraction input of which the torque sensor is connected. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 633432, cl. F 15 B 7/00, 1977.

Claims (1)

Claim An electro-hydraulic servo drive containing a pump with a regulator drive, a hydraulic motor connected by hydraulic lines to the pump, a driver connected to the regulator drive through an adder, a hydraulic motor shaft position sensor connected to the subtracting input of the adder, a differential pressure sensor in the hydrodynamics and a division unit , one of the inputs is soy-. chained with a differential sensor, and with an output t with a drive of a regulatory body, characterized in that 15, in order to increase accuracy and stability, the drive is equipped with torque and speed sensors, a multiplication unit,. an integrator and an additional adder, while the torque and speed sensors 20 are mounted on the hydraulic motor shaft, the speed sensor is connected to the second input of the division unit, the multiplication unit connected through the integrator to the output 25 of the division unit, and the latter is connected to the differential encoder through an additional an adder to the subtracting input of which a torque sensor is connected. 30 Sources of information taken into account in the examination 1. USSR author's certificate No. 633432, cl. F 15 B 7/00, 1977. ВНИИПИ Order 6044/41 Circulation 749 Subscription Branch of PPP '’Patent’', Uzhhorod, st. Project, 4