CN102331797B - Identification method for servo object parameter in electrohydraulic angular velocity servo system - Google Patents
Identification method for servo object parameter in electrohydraulic angular velocity servo system Download PDFInfo
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- CN102331797B CN102331797B CN201110086226A CN201110086226A CN102331797B CN 102331797 B CN102331797 B CN 102331797B CN 201110086226 A CN201110086226 A CN 201110086226A CN 201110086226 A CN201110086226 A CN 201110086226A CN 102331797 B CN102331797 B CN 102331797B
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Abstract
The invention discloses an identification method for a servo object parameter in an electrohydraulic angular velocity servo system. According to the identification method, a step current signal is input to an electrohydraulic servo valve; a hydraulic motor and a carried mechanical load are driven by a hydraulic power to make rotary movements; change processes of a step current signal amplitude and an angular velocity signal with time are recorded until a steady state value of the angular velocity signal is reached; the step current signal amplitude is divided by the steady state value of the angular velocity signal to obtain an equivalent viscosity damping coefficient of a servo object; the equivalent viscosity damping coefficient and a time value that is corresponded to a state in which the angular velocity signal reaches 0.632 times the value of the steady state value are multiplied together to obtain an equivalent inertia of the servo object. According to the invention, energy and time are saved for adjustment of an electrohydraulic angular velocity servo system; moreover, the servo system has a good static performance and a good dynamic performance.
Description
One. 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 oil motor angular velocity servo system.
Two. background technology:
Electricity liquid angular velocity servo system is widely used in departments such as industry, traffic, scientific research.In order to obtain good angular velocity servo performance, electric liquid angular velocity servo system must adopt closed-loop control.Electricity liquid angular velocity servo system comprises electronic controller, target servo, angular velocity detection sensor and hydraulic power source.Wherein target servo by electrohydraulic servo valve, oil motor and it with mechanical load form.Target servo is exactly by servo object, has only target servo is carried out qualitative identification, could determine which type of electronic controller of design, has only the parameter of target servo is quantitatively discerned, and could accurately adjust the controlled variable of electronic controller.
At present, the electronic controller in the electric liquid angular velocity 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 liquid angular velocity servo system is wasted time and energy, and the angular velocity servo performance is difficult to engineering demands.Therefore, when electric liquid angular velocity 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.
Three. summary of the invention:
The objective of the invention is provides target servo parameter identification method in a kind of electric liquid angular velocity servo system to the problem that exists in the above-mentioned prior art, when making electric liquid angular velocity servo system design and debugging, adjusts the parameter of electronic controller with a definite target in view.
Electricity liquid angular velocity servo system comprises electronic controller, target servo, angular velocity detection sensor and hydraulic power source.Wherein target servo by electrohydraulic servo valve, oil motor and it with mechanical load form.Electrohydraulic servo valve is the crux device of electric liquid angular velocity 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 of hydraulic pressure signal again to, and be enlarged into large-power hydraulic and can drive the target servo motion.
Target servo by electrohydraulic servo valve, oil motor and it with mechanical load form.In the electricity liquid angular velocity servo system, during to the electrohydraulic servo valve input current, be output as the oil motor axle and with the angular velocity of mechanical load.Therefore, being output as oil motor axis angular rate ω (t) (rad/s) with respect to the input current i (t) of the electrohydraulic servo valve transport function expression formula between (A) does
J in the formula
d---be called equivalent inertia;
B
d---be called the equivalent viscous damping coefficient.
Formula (1) is exactly a practical target servo mathematical model on the engineering in the electric liquid angular velocity servo system.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 J 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 liquid angular velocity servo system target servo parameter recognition device in the electric liquid angular velocity servo system of the present invention; This recognition device is made up of step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection sensor, register instrument and hydraulic power source, and wherein step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection 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 oil motor with electrohydraulic servo valve respectively.
Described electrohydraulic servo valve, oil motor and mechanical load just formed to carry out the target servo of parameter recognition.
Said 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 oil motor axle and the mechanical load of being with rotates, the angular velocity detection sensor with the oil motor axle and detect and deliver to register instrument with the angular velocity signal of mechanical load and carry out record; 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 liquid angular velocity 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 linea angulata speed omega (t) that oil motor axle 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 ω (t) is in
engineering practice; As long as
just can reach steady-state value basically, do not need infinitely great by the time.
2. work as
The time,
Based on the above-mentioned theory analysis and through practice test, target servo parameter identification method in the electric liquid angular velocity 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); Drive hydraulic motor and institute's mechanical load of be with moves through hydraulic power source, by angular velocity detection sensor detection hydraulic motor axle and load-carrying angular velocity signal;
(2) with register instrument with described step current signal and angular velocity signal in time change procedure note, reach steady-state value and measure its size until angular 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 linea angulata rate signal;
(4) said angular velocity signal being reached 0.632 times of steady-state value is in and reads the time corresponding value on the time shaft;
(5) said equivalent viscous damping coefficient and said time value are multiplied each other, obtain the equivalent inertia parameter of target servo.
The advantage and the beneficial effect of target servo parameter recognition device and recognition methods mainly are in the electric liquid angular velocity servo system of the present invention: obtain after the equivalent viscous damping coefficient and equivalent inertia 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 liquid angular velocity servo system; Thereby overcome the blindness of the controlled variable adjustment of electronic controller; Not only make the adjustment of electric liquid angular velocity servo system be sparing of one's energy and the time, but also can obtain good static properties and dynamic property.
Four. description of drawings
Fig. 1 is a target servo parameter recognition device block scheme in the electric liquid angular velocity servo system used of the present invention.
When Fig. 2 is a target servo parameter recognition of the present invention for the angular velocity signal figure of step current signal input.
Five. 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 liquid angular velocity servo system used of the present invention; This recognition device; By a step current signal generator 110, electrohydraulic servo valve 121, oil motor 122, with mechanical load 123, angular velocity detection sensor 130, register instrument 140 and hydraulic power source 150 constitute; Wherein said step current signal generator 110, electrohydraulic servo valve 121, oil motor 122, mechanical load 123, angular velocity detection sensor 130 and register instrument 140 are linked in sequence, and meanwhile, said step current signal generator 110 also directly is connected with register instrument 140; Said hydraulic power source 150 is connected respectively to electrohydraulic servo valve 121 and oil motor 122.Wherein electrohydraulic servo valve 121, oil motor 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 oil motor 122 piston and the mechanical load of being with 123 carry out rectilinear motion; Measure the size of oil motors and institute's band mechanical load angular velocity by angular velocity detection sensor 130, the signal of step current signal generator 110 and angular velocity detection sensor 130 is all delivered to register instrument 140, the oil motor that register instrument 140 is noted and the angular velocity signal imported for the step current signal with mechanical load as shown in Figure 2.
The target servo parameter identification method comprises following concrete steps in the said electric liquid angular velocity 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 the oil motor axle and institute's mechanical load of being with moves through hydraulic power source, by angular velocity detection sensor oil motor axle and with the angular velocity signal ω (t) of mechanical load;
(2) with register instrument with described step current signal i (t) and angular velocity signal ω (t) in time change procedure note, reach steady-state value Ω until angular velocity signal
MAnd measure its size;
(3) with described step current signal amplitude I
MSteady-state value Ω divided by angular velocity signal
M, obtain the equivalent viscous damping coefficient B of target servo
d
(4) the angle speed signal reaches steady-state value Ω
M0.632 times of place the R point on time shaft, find out corresponding P point and read its time value T;
(5) with said equivalent viscous damping coefficient B
dMultiply each other with said time value T, obtain the equivalent inertia J 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 liquid angular velocity servo system.
Obtain the equivalent viscous damping coefficient B of above-mentioned target servo
dWith equivalent inertia J
dAfterwards, the parameter in the target servo mathematical model is just quantitatively identified, according to the equivalent viscous damping coefficient B of target servo
dWith equivalent inertia J
dThe size of these two parameters just can design and adjust the controlled variable of electronic controller in the electric liquid angular velocity 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 liquid angular velocity servo system design and debugging.
Claims (1)
1. target servo parameter identification method in the electric liquid angular velocity servo system; This recognition methods is to use a kind of electric liquid angular velocity servo system target servo parameter recognition device; This recognition device is made up of step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection sensor, register instrument and hydraulic power source, and wherein step current signal generator, electrohydraulic servo valve, oil motor, mechanical load, angular velocity detection 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 oil motor with electrohydraulic servo valve respectively; Described electrohydraulic servo valve, oil motor and mechanical load just formed to carry out the target servo of parameter recognition;
It is characterized in that: comprise the steps:
(1) amplitude is input to electrohydraulic servo valve for the step current signal of certain certain value, drives the oil motor axle and the mechanical load of being with is rotated motion through hydraulic power source, by the angular velocity signal of its motion of angular velocity detection sensor;
(2) with register instrument with described step current signal amplitude and angular velocity signal in time change procedure note, reach steady-state value and measure its size until angular 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 angular velocity signal;
(4) the angle speed signal reaches 0.632 times of steady-state value and is in and reads the time corresponding value on the time shaft;
(5) said equivalent viscous damping coefficient and said time value are multiplied each other, obtain the equivalent inertia of target servo.
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Non-Patent Citations (4)
| Title |
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| 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. * |
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