CN102252127B - Method for identifying parameters of servo object in electro-hydraulic linear speed servo system - Google Patents
Method for identifying parameters of servo object in electro-hydraulic linear speed servo system Download PDFInfo
- Publication number
- CN102252127B CN102252127B CN2011100862870A CN201110086287A CN102252127B CN 102252127 B CN102252127 B CN 102252127B CN 2011100862870 A CN2011100862870 A CN 2011100862870A CN 201110086287 A CN201110086287 A CN 201110086287A CN 102252127 B CN102252127 B CN 102252127B
- Authority
- CN
- China
- Prior art keywords
- servo
- linear velocity
- hydraulic
- current signal
- hydraulic cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention discloses a method for identifying parameters of a servo object in an electro-hydraulic linear speed servo system. The method comprises the following steps of: inputting a step current signal into an electro-hydraulic servo valve; driving a hydraulic cylinder piston and a mechanical load of the hydraulic motor to move by a hydraulic source, and detecting the linear speed of the hydraulic cylinder piston and the mechanical load during movement; recording the time variation process of the amplitude of the step current signal and a linear speed signal until the linear speed signal has a steady-state value; dividing the steady-state value of the linear speed signal by the amplitude of the step current signal to obtain an equivalent viscous damping parameter of the servo object; and making a tangential line at a zero hour of a curve of the linear speed signal, and multiplying the equivalent viscous damping parameter by a corresponding time value during intersection of the tangential line and the steady-state value to obtain the equivalent quality of the servo object. By the method, energy and time are saved for parameter adjustment of a controller of the electro-hydraulic linear speed servo system, and the electro-hydraulic servo system can obtain good static performance and good dynamic performance.
Description
Technical field:
The present invention relates to a kind of electro hydraulic servo system design method, the quantitative identification method of target servo parameter in particularly a kind of valve control hydraulic cylinder linear velocity servo-drive system.
Background technology:
Electricity liquidus rate servo system is widely used in departments such as industry, traffic, scientific research.In order to obtain good linear velocity servo performance, electric liquidus rate servo system must adopt closed-loop control.Electricity liquidus rate servo system comprises electronic controller, target servo, linear velocity detecting sensor and hydraulic power source.Wherein target servo by electrohydraulic servo valve, hydraulic cylinder and it with mechanical load form.Have only target servo is carried out qualitative identification, could determine which type of electronic controller of design, have only the parameter of target servo is quantitatively discerned, could accurately adjust the controlled variable of electronic controller.
At present, the electronic controller in the electric liquidus rate servo system known prior art, its controlled variable is not to adjust according to the parameter of target servo, but directly adopts the controlled variable of method of trial and error or empirical method adjustment electronic controller.This just causes the controlled variable adjustment of electronic controller to compare blindly, and the debugging of electric liquidus rate servo system is wasted time and energy, and the linear velocity servo performance is difficult to engineering demands.Therefore, when electric liquidus rate servo system design and debugging, how discerning the parameter of target servo, then is that problem to be solved is arranged in the prior art.
Summary of the invention:
The objective of the invention is provides target servo parameter identification method in a kind of electric liquidus rate servo system to the problem that exists in the above-mentioned prior art, when making electric liquidus rate servo system design and debugging, adjusts the parameter of electronic controller with a definite target in view.
Electricity liquidus rate servo system comprises electronic controller, target servo, linear velocity detecting sensor and hydraulic power source.Wherein target servo by electrohydraulic servo valve, hydraulic cylinder and it with mechanical load form.Electrohydraulic servo valve is the crux device of electric liquidus rate servo system; In electrohydraulic servo system, place switching place of electric signal and hydraulic pressure signal; It at first converts the current signal of electronic controller output to the displacement of spool; And then convert the load flow in the hydraulic system again to, and be enlarged into the piston that large-power hydraulic can promote hydraulic cylinder and do linear movement, thereby drive the mechanical load work done.
Target servo by electrohydraulic servo valve, hydraulic cylinder and it with mechanical load form.In the electricity liquidus rate servo system, during to the electrohydraulic servo valve input current, be output as hydraulic cylinder piston and with the linear velocity of mechanical load.Therefore, be output as hydraulic cylinder piston and with the linear velocity v (t) of mechanical load (m/s) do with respect to the transport function expression formula of the current i that is input as electrohydraulic servo valve (t) between (A)
M in the formula
d---be called equivalent mass;
B
d---be called the equivalent viscous damping coefficient.
Formula (1) is exactly the mathematical model of practical target servo on the engineering in the electric liquidus rate servo system, and it is a first-order system.Known the form that the target servo mathematical model adopts transport function to express, only accomplished qualitative understanding it.Have only m in the formula (1)
dAnd B
dThe size identification of these two parameters is come out, and could accomplish the quantitative identification to the target servo mathematical model.So; How it is quantitatively discerned? In order to address this problem; The target servo parameter identification method is to use a kind of electric liquidus rate servo system target servo parameter recognition device in the electric liquidus rate servo system of the present invention; This recognition device is made up of step current signal generator, electrohydraulic servo valve, hydraulic cylinder, mechanical load, linear velocity detecting sensor, register instrument and hydraulic power source, and wherein step current signal generator, electrohydraulic servo valve, hydraulic cylinder, mechanical load, linear velocity detecting sensor and register instrument are docile and obedient the preface connection; Described step current signal generator also directly links to each other with register instrument; Described hydraulic power source is connected with hydraulic cylinder with electrohydraulic servo valve respectively.
Described electrohydraulic servo valve, hydraulic cylinder and mechanical load formed to carry out the target servo of parameter recognition.
Described step current signal generator produces the step current signal and offers the electrohydraulic servo valve in the target servo; Electrohydraulic servo valve converts current signal to the displacement of spool; And then convert the load flow in the hydraulic system again to; And be enlarged into that large-power hydraulic can promote the piston of hydraulic cylinder and the mechanical load of being with is done linear movement, the linear velocity detecting sensor with piston and come out and deliver to register instrument and carry out record with the linear velocity input of mechanical load; Meanwhile, the step current signal of step current signal generator output is also delivered to register instrument it is noted.
The target servo parameter identification method is in the electricity liquidus rate servo system:
With amplitude is I
MStep current signal i (t) be input to the electrohydraulic servo valve in the target servo, obtain the output response of target servo, just obtain the linear velocity v (t) that hydraulic cylinder piston and institute move with mechanical load.Write out corresponding differential equation according to transport function formula (1)
The time solution of obtaining this differential equation does
According to this time solution of formula (3), can find two inferences that are of great significance:
1. when t → ∞; The steady-state value of v (t) is in
engineering practice; As long as t=(3-5) T just can reach steady-state value basically, do not need infinitely great by the time.
2. formula (3) is asked this value constantly of first order differential t=0, obtain
Based on the above-mentioned theory analysis and through practice test, target servo parameter identification method in the electric liquidus rate servo system of the present invention comprises following concrete steps:
(1) amplitude is input to electrohydraulic servo valve for the step current signal of certain certain value (the amplitude size is decided based on the specification of electrohydraulic servo valve); The piston and the mechanical load of being with that drive hydraulic cylinder through hydraulic power source carry out linear movement, by linear velocity detecting sensor detection hydraulic cylinder piston and with the linear velocity signal of mechanical load;
(2) with register instrument with described step current signal and hydraulic cylinder piston and with the linear velocity signal of mechanical load in time change procedure note, reach steady-state value and measure its size until the linear velocity signal;
(3) with the amplitude of described step current signal divided by hydraulic cylinder piston and with the steady-state value of mechanical load linear velocity signal, obtain the equivalent viscous damping coefficient of target servo;
(4) to hydraulic cylinder piston and make extended line until intersecting with the steady-state value of mechanical load linear velocity signal to the ordinate direction with ordinate;
(5) hydraulic cylinder piston and make tangent line and its steady-state value intersects at a point to ordinate direction extended line in the place constantly with this curve of linear velocity signal of mechanical load zero, on time shaft, read this intersection point time corresponding value;
(6) above-mentioned equivalent viscous damping coefficient and above-mentioned time value are multiplied each other, obtain the equivalent mass of target servo.
The advantage and the beneficial effect of target servo parameter recognition device and recognition methods mainly are in the electric liquidus rate servo system of the present invention: obtain after the equivalent viscous damping coefficient and equivalent mass of target servo; The controlled variable size of electronic controller just can design and adjust according to these two parameters of target servo in the electricity liquidus rate servo system, thereby has overcome the blindness of the controlled variable adjustment of electronic controller.Not only make the adjustment of electric liquidus rate servo system be sparing of one's energy and the time, but also can obtain good static properties and dynamic property.
Description of drawings
Accompanying drawing 1 is that the electric liquidus speed servo image parameter recognition device that the present invention uses constitutes block diagram;
When accompanying drawing 2 is target servo parameter recognition of the present invention for the linear velocity signal graph of step signal input.
Embodiment:
In order to deepen that understanding of the present invention further is described in detail specific embodiment of the present invention below in conjunction with accompanying drawing, this embodiment only is used to explain the present invention, does not constitute the qualification to protection domain of the present invention.
Shown in Figure 1; It is target servo parameter recognition device in the electric liquidus rate servo system used in the present invention; This recognition device; By a step current signal generator 110, electrohydraulic servo valve 121, hydraulic cylinder 122, with mechanical load 123, linear velocity detecting sensor 130, register instrument 140 and hydraulic power source 150 constitute; Wherein said step current signal generator 110, electrohydraulic servo valve 121, hydraulic cylinder 122, mechanical load 123, linear velocity detecting sensor 130 and register instrument 140 are linked in sequence, and meanwhile, described step current signal generator 110 also directly is connected with register instrument 140; Described hydraulic power source 150 is connected respectively to electrohydraulic servo valve 121 and hydraulic cylinder 122.Wherein electrohydraulic servo valve 121, hydraulic cylinder 122 and mechanical load 123 are formed target servo 120.
It is I that described step current signal generator 110 provides current amplitude
MStep signal; Be sent to electrohydraulic servo valve 121; Electrohydraulic servo valve 121 converts current signal to the displacement of spool; And then through the high power hydraulic of hydraulic power source 150 after amplifying can drive hydraulic cylinder 122 piston and the mechanical load of being with 123 carry out rectilinear motion; Measure hydraulic cylinder pistons and the institute size with the mechanical load linear velocity by linear velocity detecting sensor 130, the signal of step current signal generator 110 and linear velocity detecting sensor 130 is all delivered to register instrument 140, the hydraulic cylinder piston that register instrument 140 is noted and the mechanical load linear velocity signal of being with as shown in Figure 2.
The target servo parameter identification method comprises following concrete steps in the said electric liquidus rate servo system:
(1) be I with amplitude
MThe step current signal i (t) of (the amplitude size is decided according to the specification of electrohydraulic servo valve) is input to electrohydraulic servo valve; Drive hydraulic cylinder piston and institute's mechanical load of be with moves through hydraulic power source, by linear velocity detecting sensor detection hydraulic cylinder piston and with the linear velocity signal v (t) of mechanical load;
(2) with register instrument with described step current signal i (t) and linear velocity signal v (t) in time change procedure note, reach steady-state value V until the linear velocity signal
MAnd measure its size;
(3) with described step current signal amplitude I
MSteady-state value V divided by the linear velocity signal
M, obtain the equivalent viscous damping coefficient B of target servo
d
(4) to hydraulic cylinder piston and make extended line until intersecting with the steady-state value of the linear velocity signal of mechanical load to the ordinate direction with ordinate;
(5) hydraulic cylinder piston and make tangent line and its steady-state value intersects at the S point to ordinate direction extended line in the place constantly with this curve of linear velocity signal of mechanical load zero, read time value T with P point on this intersection point time corresponding axle;
(6) with said equivalent viscous damping coefficient B
dMultiply each other with said time value T, obtain the equivalent mass m of target servo
d
Qualitative understanding by the target servo mathematical model can know that the mathematical model of target servo is a first-order system.According to the version of mathematical model, can confirm the composition form of electronic controller in the electric liquidus rate servo system.
Obtain the equivalent viscous damping coefficient B of above-mentioned target servo
dWith equivalent mass m
dAfterwards, the parameter of target servo is just quantitatively identified, according to the equivalent viscous damping coefficient B of target servo
dWith equivalent mass m
dThe size of these two parameters just can design and adjust the controlled variable of electronic controller in the electric liquidus rate servo system.
Facts have proved that the method for the invention not only can be sparing of one's energy and the time, and can obtain good static properties and dynamic property in electric liquidus rate servo system design and debugging.
Claims (1)
1. target servo parameter identification method in the electric liquidus rate servo system; A kind of electric liquidus rate servo system target servo parameter recognition device is used in this recognition methods; This recognition device is made up of step current signal generator, electrohydraulic servo valve, hydraulic cylinder, mechanical load, linear velocity detecting sensor, register instrument and hydraulic power source, and wherein step current signal generator, electrohydraulic servo valve, hydraulic cylinder, mechanical load, linear velocity detecting sensor and register instrument are docile and obedient the preface connection; Described step current signal generator also directly links to each other with register instrument; Described hydraulic power source is connected with hydraulic cylinder with electrohydraulic servo valve respectively; Described electrohydraulic servo valve, hydraulic cylinder and mechanical load formed to carry out the target servo of parameter recognition; It is characterized in that: concrete steps are following:
(1) amplitude is input to electrohydraulic servo valve for the step current signal of certain certain value, the piston and the mechanical load of being with that drive hydraulic cylinder through hydraulic power source carry out linear movement, by the linear velocity signal of its motion of linear velocity detecting sensor detection;
(2) adopt register instrument with described step current signal amplitude and linear velocity signal in time change procedure note, reach steady-state value and measure its size until the linear velocity signal, horizontal ordinate express time, ordinate are represented the linear velocity signal;
(3), obtain the equivalent viscous damping coefficient of target servo with the amplitude of described step current signal steady-state value divided by the linear velocity signal;
(4) steady-state value of said linear velocity signal is made extended line until intersecting with ordinate to the ordinate direction;
(5) make tangent line and its steady-state value intersects at a point to ordinate direction extended line in the place constantly at said this curve of linear velocity signal zero, on the horizontal ordinate time shaft, read this intersection point time corresponding value;
(6) said equivalent viscous damping coefficient and said time value are multiplied each other, obtain the equivalent mass of target servo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100862870A CN102252127B (en) | 2011-04-07 | 2011-04-07 | Method for identifying parameters of servo object in electro-hydraulic linear speed servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100862870A CN102252127B (en) | 2011-04-07 | 2011-04-07 | Method for identifying parameters of servo object in electro-hydraulic linear speed servo system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102252127A CN102252127A (en) | 2011-11-23 |
| CN102252127B true CN102252127B (en) | 2012-12-05 |
Family
ID=44979598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100862870A Expired - Fee Related CN102252127B (en) | 2011-04-07 | 2011-04-07 | Method for identifying parameters of servo object in electro-hydraulic linear speed servo system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102252127B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3896081B2 (en) * | 2003-01-06 | 2007-03-22 | 新日本製鐵株式会社 | Parameter identification method for hydraulic servo system |
-
2011
- 2011-04-07 CN CN2011100862870A patent/CN102252127B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
Non-Patent Citations (4)
| Title |
|---|
| JP特开2004-209523A 2004.07.29 |
| 曾文火 等.电液速度伺服***伪微分反馈控制.《华东船舶工业学院学报》.1995,第9卷(第4期),第18-24页. * |
| 李久彤 等.电液伺服***部分参数的一种简易测量方法.《东北重型机械学院学报》.1995,第19卷(第1期),第10-13页. * |
| 鄢华林 等.凸轮数控磨床的电液伺服控制.《精密制造与自动化》.2002,(第1期),第35-37页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102252127A (en) | 2011-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102128303B (en) | Recognition device and method for parameters of execution mechanism in electro-hydraulic linear velocity servo system | |
| CN103775437B (en) | Cylinder bench load simulating device and controlling method thereof | |
| CN102252126B (en) | Method for identifying parameters of servo object in electro-hydraulic angular displacement servo system | |
| CN102141172B (en) | Device and method for identifying parameter of actuating mechanism in electrohydraulic linear displacement servo system | |
| CN105003495A (en) | Asymmetric hydraulic cylinder real-time dynamic compensation loading device | |
| CN107036963A (en) | The frictional behavior test device and method of testing of engineering machinery hydraulic cylinder and guide rail | |
| CN101773947A (en) | Digital hydraulic extruder speed control system and method | |
| CN102109857B (en) | Device and method for recognizing parameter of executive mechanism in electro-hydraulic angular speed servo system | |
| JP2016089961A (en) | Electrostatic hydraulic actuator and parameter estimation method in electrostatic hydraulic actuator | |
| CN104948540A (en) | Load simulation electro-hydraulic servo control device for beam-pumping unit | |
| CN102252127B (en) | Method for identifying parameters of servo object in electro-hydraulic linear speed servo system | |
| CN102486899B (en) | Load simulator for loading gradient following passive loading steering engine | |
| CN102331797B (en) | Identification method for servo object parameter in electrohydraulic angular velocity servo system | |
| CN104699905B (en) | Governing system gear drive identification modeling method based on frequency domain response | |
| CN102174967B (en) | Actuating mechanism parameter identification device in electro-hydraulic angular displacement servo system and identification method thereof | |
| CN102331716B (en) | Method for regulating control parameters of electrohydraulic linear velocity servo system | |
| CN203374559U (en) | Test system for hydraulic cylinder stribeck model friction parameter | |
| CN103234866A (en) | Analytical calculation method for magnetorheological liquid viscosity of vibration absorber at different temperatures | |
| CN102128304B (en) | Method for identifying parameter of servo object in electro-hydraulic linear displacement servo system | |
| CN102331715B (en) | Method for determining control parameters of electrohydraulic linear speed servo system | |
| CN203298728U (en) | Hydraulic cylinder displacement sensor precision calibrating device | |
| CN104834271A (en) | Direct feeding shaft servo parameter optimization method based on dynamic stiffness evaluation | |
| CN102563182B (en) | Method for adjusting control parameters of servo controller for electro-hydraulic linear displacement servo system | |
| CN102563181A (en) | Method for determining control parameters of servo controller for electro-hydraulic linear displacement servo system | |
| CN203556682U (en) | Numerically-controlled straightening machine special for transmission shaft of electro-hydraulic servo motor train unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20150407 |
|
| EXPY | Termination of patent right or utility model |