CN102493968B - Method for energy-saving control of elastic load based on electrohydraulic servo drive - Google Patents
Method for energy-saving control of elastic load based on electrohydraulic servo drive Download PDFInfo
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- CN102493968B CN102493968B CN201110457238.3A CN201110457238A CN102493968B CN 102493968 B CN102493968 B CN 102493968B CN 201110457238 A CN201110457238 A CN 201110457238A CN 102493968 B CN102493968 B CN 102493968B
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Abstract
The invention provides a method and a device for energy-saving control of an elastic load based on electrohydraulic servo drive. The device comprises a servo valve, a high-pressure oil source, a low-pressure oil source, an overflow valve and an actuating mechanism, wherein the actuating mechanism is a hydraulic cylinder or a hydraulic motor; an oil supply port of the servo valve is connected with the high-pressure oil source, an oil return port of the servo valve is connected with an oil tank, and a B port of the servo valve is blocked; an A port of the servo valve is connected with an A cavity of the actuating mechanism, the low-pressure oil source is connected with a B cavity of the actuating mechanism, the B cavity of the actuating mechanism is connected with an inlet of the overflow valve, and an outlet of the overflow valve is connected with the oil tank; and the actuating mechanism is connected with the elastic load. A setting principle of the pressure of the low-pressure oil source is that: the force generated by the low-pressure oil source in the B cavity of the actuating mechanism can offset the friction of the actuating mechanism. By the method and the device, the problem that the motion law is difficult to control accurately when the elastic load moves from maximum position to zero position, and energy sources can also be saved.
Description
Technical field
The present invention relates to a kind of elastic load energy-saving control method and device driving based on electro-hydraulic servo, belong to electro-hydraulic servo control and technical field of automation.
Background technique
Electrohydraulic servo system is due to advantages such as its fast response time, High power output, volume are little, is used as driving mechanism and is widely used in during various loads drive.The electrohydraulic servo system of generally commonly using comprises servo valve-controlled cylinder system and servovalve control motor system, and wherein servo valve-controlled cylinder system is applicable to the driving of straight-line motion mechanism, and servovalve horse-controlling reaches the driving that is applicable to rotational motion mechanism.Certainly, by certain mechanical switch, straight line motion also can be changed mutually with rotatablely moving.
If driven, load on while being subject to External Force Acting twist, the elastic strain such as tension and compression, can produce the elastic force contrary with institute externally applied forces, after external force is cancelled, under the driven effect that loads on elastic force, recover again original geometrical shape, such load is known as elastic load, as in vehicle for the torsion shaft of vibration damping, just belong to elastic load.When electrohydraulic servo system drives elastic load to carry out positioning control, because causing controlling difficulty, the existence of elastic force strengthens.
The movement process of elastic load can be divided into stage, stage be elastic load under the driving of electrohydraulic servo system from zero-bit setting in motion, the zero-bit here refers to the state of elastic load when not being subject to external force; The second is that elastic load moves to zero-bit from other position under the driving of electrohydraulic servo system.
Take respectively servo valve-controlled cylinder and servovalve horse-controlling below reaches and drives torsion shaft to carry out twist motion to describe as example:
The principle of servo valve-controlled cylinder driving torsion shaft as shown in Figure 1.The piston rod of oil hydraulic cylinder 2 is connected with one end of torsion shaft 4 by rocking arm 3, and oil hydraulic cylinder 2 is fixing by bearing 1, and the other end of torsion shaft 4 is fixed by bearing 5, and the A mouth of servovalve 6 is connected with A chamber and the B chamber of oil hydraulic cylinder 2 respectively with B mouth.When piston rod stretches out or during retraction straight line motion, just can drive torsion shaft 4 to be rotated counterclockwise or clockwise.
Servovalve horse-controlling reach drive torsion shaft principle as shown in Figure 2.The live axle of oil hydraulic motor 7 is connected with one end of torsion shaft 4 by coupling 8, and the other end of torsion shaft 4 is fixed by bearing 9, and the A mouth of servovalve 6 is connected with A chamber and the B chamber of oil hydraulic motor 7 respectively with B mouth.When oil hydraulic motor is rotated, just can drive torsion shaft 4 to be rotated.
The process that servo valve-controlled cylinder driving torsion shaft 4 is carried out twist motion is as follows:
Controlling servovalve 6 makes high-pressure oil feed from A mouth, enter the A chamber of oil hydraulic cylinder 2, B chamber is connected with oil return by the B mouth of servovalve 6, piston rod is protruding under the effect of high pressure oil, drive torsion shaft 4 to start to reverse counterclockwise from zero-bit, now torsion shaft 4 can produce the elastic force contrary with moving direction.By controlling the oil-feed port and the aperture between A mouth of servovalve 6, the speed of stretching out that just can control piston bar, thus control torsion shaft 4 is reversed according to the rule of setting.
When control torsion shaft 4 return back to zero-bit clockwise, need to make piston rod retract, the elastic force direction that now torsion shaft 4 produces becomes consistent with the moving direction of piston rod, and because this elastic force is uncontrollable, this just brings certain difficulty to the characteristics of motion of control piston bar.
In order to allow the piston rod of oil hydraulic cylinder 2 retract, should control servovalve 6, the A chamber that makes oil hydraulic cylinder 2 is connected with oil return by the A mouth of servovalve 6, piston rod is when retracting like this, hydraulic oil in oil hydraulic cylinder A chamber just can be discharged in oil return, but meanwhile, high pressure oil also can enter from the B mouth of servovalve 6 the B chamber of oil hydraulic cylinder 2, under the effect of high pressure oil, can produce a hydraulic coupling identical with piston rod retracted orientation, so just further strengthen the power acting on piston rod, caused the control difficulty of piston rod movement process further to strengthen.
For servovalve control motor system, there are too the problems referred to above, just one rotatablely moves for straight line motion is converted to, and another is exactly directly to rotatablely move.
Summary of the invention
In order to address the above problem, the present invention proposes a kind of new elastic load controlling method driving based on electro-hydraulic servo, the method has designed a kind of new oil circuit control, only electrohydraulic servo system is carried out to the control of single chamber, to solve when elastic load moves from maximum position to zero-bit, the characteristics of motion is difficult to the problem of accurately controlling, and can also save the energy.
This scheme is achieved in that
The elastic load energy-saving control device driving based on electro-hydraulic servo, this device comprises: servovalve, high pressure fuel source, low pressure oil sources, relief valve, actuator, this actuator is oil hydraulic cylinder or oil hydraulic motor;
The oil-feed port of servovalve is connected with high pressure fuel source, and the return opening of servovalve is connected with fuel tank, and the B mouth of servovalve blocks need not; The A chamber of the A Kou Yu actuator of servovalve is connected, and low pressure oil sources is connected with the B chamber of actuator, and the B chamber of actuator is connected with the entrance of a relief valve, and the outlet of this relief valve is connected with fuel tank; Actuator is connected with elastic load; The setting principle of described low pressure oil supply pressure is: the power that low pressure oil sources produces in the B of actuator chamber can be offset the frictional force of actuator.
While adopting the oil circuit control of the present invention's proposition, its control procedure is as follows:
(1) in the time need to controlling elastic load and start to move according to the rule of setting from zero-bit, to servovalve, apply control signal, to control the high pressure oil of servovalve oil-feed port, by A mouth, enter in the A of actuator chamber, and the hydraulic oil in the B of actuator chamber flow back in fuel tank by relief valve; By the high pressure fuel source that regulates the size of control signal to control servovalve oil-feed port, by A mouth, enter the speed in the A of actuator chamber, thereby control elastic load, by the movement locus of expectation, move;
(2) when needs control elastic load from a position when setting rule and get back to zero-bit, to servovalve, apply control signal, to control the hydraulic oil in the A of actuator chamber, by servovalve, flow back in fuel tank; By the hydraulic oil that regulates the size of control signal to control the A of actuator chamber, flow back to the speed of fuel tank, thereby control elastic load, by the movement locus of expectation, get back to zero-bit;
(3) repeat step (1) and (2), thereby control elastic load, according to the characteristics of motion of setting, move back and forth.
Beneficial effect
1, because adopt single chamber to control, when elastic load moves from other positions to zero-bit, high-pressure oil feed does not enter the B chamber of actuator, can greatly reduce to act on hydraulic coupling in actuator, identical with actuator moving direction, thereby reduce the control difficulty of Liao Dui actuator movement locus.
2, single chamber oil circuit control that the present invention adopts can also be saved the energy, the product that the power of electrohydraulic servo system consumption is pressure versus flow.In the time need to controlling elastic load and start to move according to certain rule from zero-bit, high-pressure oil feed enters the B chamber of oil hydraulic cylinder or oil hydraulic motor from the A mouth of servovalve, low pressure oil supply is through relief valve oil return, the energy of now electrohydraulic servo system consumption is P1 * Q1+P2 * Q2, wherein P1 and Q1 are respectively the pressure of high-pressure oil feed and required flow now, and P2 and Q2 are respectively the pressure of low pressure oil supply and required flow now.In the time need to controlling elastic load and get back to zero-bit from other position according to certain rule, the high pressure oil of servovalve oil-feed port communicates with B mouth, and B mouth is blocked and stubbornly refuses to use, therefore high-pressure oil feed only has pressure, there is no flow, low pressure oil supply enters the B chamber of oil hydraulic cylinder or oil hydraulic motor, and the energy that hydraulic servo valve system consumes is P2 * Q2.Can obtain the energy that elastic load to-and-fro motion once consumed is P1 * Q1+2 * P2 * Q2.If according to oil circuit control described in background technique, the energy consuming is P1 * Q1+P1 * Q2.Because P1 will be much larger than P2, general P1 is the more than ten times of P2, therefore with single chamber oil circuit control that the present invention adopts, has obvious energy-saving effect.
Accompanying drawing explanation
Fig. 1 is that servo valve-controlled cylinder drives torsion shaft schematic diagram.
Fig. 2 is that servovalve horse-controlling reaches driving torsion shaft schematic diagram.
Fig. 3 is servo valve-controlled cylinder list chamber control principle drawing.
Embodiment
It is embodiment that the servo valve-controlled cylinder of take below drives torsion shaft, by reference to the accompanying drawings the inventive method is explained in further detail.
As shown in Figure 3, this device comprises: servovalve 6, high pressure fuel source, low pressure oil sources, relief valve 10 and oil hydraulic cylinder 2.The oil-feed port of servovalve 6 is connected with high-pressure oil feed and the oil return of high hydraulic oil source respectively with return opening.The B mouth of servovalve block need not, A mouth is connected with the A chamber of oil hydraulic cylinder 2.Low pressure oil sources Ling You mono-tunnel low pressure oil is connected with the B chamber of oil hydraulic cylinder 2, and the B chamber of oil hydraulic cylinder 2 is connected with the entrance of relief valve 10, and the outlet of relief valve 10 is connected with the return opening of fuel tank.The piston rod of oil hydraulic cylinder is connected with one end of torsion shaft 4 by rocking arm 3.
While adopting the oil circuit control of the present invention's proposition, its control procedure is as follows:
(1), in the time need to controlling torsion shaft 4 and start to move according to certain rule from zero-bit, need to control the flow of the high pressure oil in the A chamber that enters oil hydraulic cylinder 2.Apply certain control signal first to servovalve 6, make the high pressure fuel source of servovalve 6 oil-feed ports by A mouth, enter the A chamber of oil hydraulic cylinder 2, the hydraulic oil in the B chamber of oil hydraulic cylinder 2 flow back in fuel tank by relief valve 10.By regulating the size of control signal can control servo 6 oil-feed port and the aperture between A mouth, thereby control the uninterrupted of the high pressure oil that flows into oil hydraulic cylinder 2, and then control torsion shaft and move by the movement locus of expectation.
The generation of the control signal of servovalve 6 can adopt PID closed loop control algorithm, gather the output signal of the windup-degree sensor of torsion shaft 4, obtain the position signal of torsion shaft 4, and compare with the position signal of setting, draw positional error, then according to PID closed loop control algorithm, calculate the control signal of servovalve 6.
(2) in the time need to controlling torsion shaft 4 and get back to zero-bit from a position according to certain rule, what need to control is the speed that the hydraulic oil in the A chamber of oil hydraulic cylinder 2 outwards flows out, and now torsion shaft is moved to zero-bit under the effect of self elastic force.Therefore this step applies control signal to servovalve, to control the hydraulic oil in the A chamber of oil hydraulic cylinder 2, by servovalve, flows back in fuel tank.
Elastic force is along with torsion shaft can diminish gradually to zero-bit convergence, elastic force vanishing when arriving zero-bit.But due to the existence of various mechanical frictions, can offset a part of elastic force,, when elastic force is reduced to identical with mechanical friction power size time, torsion shaft will stop motion.If therefore only rely on the elastic force of self, torsion shaft can not got back to zero-bit completely.And the low pressure oil supply that is connected on the B chamber of oil hydraulic cylinder 2 can produce certain power, to guarantee torsion shaft energy overcome friction, move to zero-bit completely.Therefore, the setting principle of described low pressure oil supply pressure is: the power that low pressure oil sources produces in the B chamber of oil hydraulic cylinder 2 can offset oil hydraulic cylinder in the frictional force between piston rod and piston wall in piston rod movement process.For oil hydraulic motor, the required frictional force overcoming is the frictional force between plunger and chamber wall.As a rule, the pressure of low pressure oil sources is between 1 to 3MPa.
Control the speed that the hydraulic oil in the A chamber of oil hydraulic cylinder 2 outwards flows out, just need to control the oil-feed port of servovalve 6 and the aperture between A mouth, so, by the hydraulic oil that regulates the size of control signal to control the A of actuator chamber, flow back to the speed of fuel tank, thereby control elastic load, by the movement locus of expectation, move.Can adopt equally the described PID closed loop control algorithm of step (1) to obtain control signal.
(3) like this, repeat step (1) and (2), just can control torsion shaft and move back and forth according to the characteristics of motion of setting.
Single chamber oil circuit control that the present invention adopts can also be saved the energy, the product that the power of electrohydraulic servo system consumption is pressure versus flow.In the time need to controlling elastic load and start to move according to certain rule from zero-bit, high-pressure oil feed enters the B chamber of oil hydraulic cylinder 2 from the A mouth of servovalve 6, low pressure oil supply is through relief valve 10 oil returns, the energy of now electrohydraulic servo system consumption is P1 * Q1+P2 * Q2, wherein P1 and Q1 are respectively the pressure of high-pressure oil feed and required flow now, and P2 and Q2 are respectively the pressure of low pressure oil supply and required flow now.In the time need to controlling torsion shaft and get back to zero-bit from other position according to certain rule, the high pressure oil of the oil-feed port of servovalve 6 communicates with B mouth, and B mouth is blocked and stubbornly refuses to use, therefore high-pressure oil feed only has pressure, there is no flow, low pressure oil supply enters the B chamber of oil hydraulic cylinder 2, and the energy that hydraulic servo valve system consumes is P2 * Q2.Can obtain the energy that torsion shaft to-and-fro motion once consumed is P1 * Q1+2 * P2 * Q2.If according to oil circuit control described in background technique, the energy consuming is P1 * Q1+P1 * Q2.Because P1 will be much larger than P2, general P1 is the more than ten times of P2, therefore with single chamber oil circuit control that the present invention adopts, has obvious energy-saving effect.
In sum, these are only the preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (1)
1. the elastic load energy-saving control method driving based on electro-hydraulic servo, is characterized in that, the control gear that the method adopts comprises: servovalve, high pressure fuel source, low pressure oil sources, relief valve and actuator, and this actuator is oil hydraulic cylinder or oil hydraulic motor; The oil-feed port of servovalve is connected with high pressure fuel source, and the return opening of servovalve is connected with fuel tank, and the B mouth of servovalve blocks need not; The A chamber of the A Kou Yu actuator of servovalve is connected, and low pressure oil sources is connected with the B chamber of actuator, and the B chamber of actuator is connected with the entrance of a relief valve, and the outlet of this relief valve is connected with fuel tank; Actuator is connected with elastic load; The setting principle of described low pressure oil supply pressure is: the power that low pressure oil sources produces in the B of actuator chamber can be offset the frictional force of actuator;
The method comprises:
(1) in the time need to controlling elastic load and start to move according to the rule of setting from zero-bit, to servovalve, apply control signal, to control the high pressure fuel source of servovalve oil-feed port, by A mouth, enter in the A of actuator chamber, and the hydraulic oil in the B of actuator chamber flow back in fuel tank by relief valve; The speed that enters the A of actuator chamber by the high pressure fuel source that regulates the size of control signal to control servovalve oil-feed port, moves by the movement locus of expectation thereby control elastic load;
(2) when needs control elastic load from a position when setting rule and get back to zero-bit, to servovalve, apply control signal, to control the hydraulic oil in the A of actuator chamber, by servovalve, flow back in fuel tank; By the hydraulic oil that regulates the size of control signal to control the A of actuator chamber, flow back to the speed of fuel tank, thereby control elastic load, by the movement locus of expectation, get back to zero-bit;
(3) repeat step (1) and (2), thereby control elastic load, according to the characteristics of motion of setting, move back and forth.
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| CN201110457238.3A CN102493968B (en) | 2011-12-30 | 2011-12-30 | Method for energy-saving control of elastic load based on electrohydraulic servo drive |
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| CN201110457238.3A CN102493968B (en) | 2011-12-30 | 2011-12-30 | Method for energy-saving control of elastic load based on electrohydraulic servo drive |
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| CN102493968B true CN102493968B (en) | 2014-10-22 |
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| CN108757593B (en) * | 2018-06-12 | 2020-11-10 | 北京理工大学 | Hydraulic oil supply system of machine tool for rolling and strengthening torsion shaft tooth root |
| CN114151394A (en) * | 2020-09-07 | 2022-03-08 | 北京机械设备研究所 | Asymmetric oil cylinder hydraulic servo mechanism based on servo valve symmetric control |
| CN114483692B (en) * | 2022-01-18 | 2022-12-16 | 同济大学 | Rotary direct drive type electro-hydraulic servo valve |
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