CN104421232A - Three-degree-of-freedom movement platform single channel device - Google Patents
Three-degree-of-freedom movement platform single channel device Download PDFInfo
- Publication number
- CN104421232A CN104421232A CN201310366859.XA CN201310366859A CN104421232A CN 104421232 A CN104421232 A CN 104421232A CN 201310366859 A CN201310366859 A CN 201310366859A CN 104421232 A CN104421232 A CN 104421232A
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- Prior art keywords
- pressure
- control
- oil
- pump
- valve
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a three-degree-of-freedom movement platform single channel device. The three-degree-of-freedom movement platform single channel device comprises an oil tank (1), oil filters (2), air coolers (3), a plunger pump (4), one-way valves (5), a pressure pipeline oil filter (6), a magnetic exchange valve (7), energy accumulators (8), an electro-hydraulic servo valve (9), pressure gauges (10), an overflow valve (11), a pressure transmitter (12), a hydraulic cylinder (13), a displacement sensor (14), a speed control valve (15), an electromagnetic overflow valve (16) and a hand pump (17). The two energy accumulators have the effects of serving as an emergency power source and eliminating pressure pulsation, the energy accumulators and a constant pressure variable pump provide stable oil supply pressure for a servo system, and a high-performance hydraulic control system is effectively guaranteed; an inlet filter and the outlet one-way valve of the hydraulic pump play a role in preventing dirt from entering the hydraulic pump and preventing system pressure from backwash, and protect the hydraulic pump, and the service life of the constant pressure variable pump is prolonged; clean oil is provided by an oil inlet pipeline and an oil outlet pipeline for the hydraulic servo system through the filters.
Description
Technical field
The present invention relates to a kind of control gear, especially relate to multi-DOF platform control gear.
Technical background
Electrohydraulic servo system has many advantages, and wherein the most outstanding is exactly fast response time, output power is large, it is high to control accuracy, is thus widely used in fields such as Aeronautics and Astronautics, military affairs, metallurgy, traffic, engineering machinery.Although the mankind use water conservancy machinery and hydraulic transmission to have very long history, but the thing of the fast development of hydraulic control technology or nearly decades, along with the birth of electrohydraulic control, make Hydraulic servo technology enter the electro-hydraulic servo epoch, its application is also expanded widely.
Summary of the invention
The present invention devises a set of requirement for Three-degree-of-freedom motion platform and carries out single-channel device.Main feature of the present invention is: designed electrohydraulic servo system structure composition is simple, and carry out simplify processes to the impact of the factors such as resistance, temperature, running environment, control accuracy meets the requirements substantially.
Described object is achieved by the following scheme:
A kind of Three-degree-of-freedom motion platform single-channel device, by fuel tank (1), oil purifier (2), air-cooler (3), plunger pump (4) (constant pressure variable displacement pump), one-way valve (5), pressure piping oil purifier (6), solenoid directional control valve (7), accumulator (8), electrohydraulic control (9), pressure gauge (10), relief valve (11), pressure transmitter (12), oil hydraulic cylinder (13), displacement transducer (14), series flow control valve (15), electromagnetic relief valve (16), manual pump (17) forms, it is characterized in that: the pressure of the energy is set up by constant pressure variable displacement pump, two accumulators have emergency power supply and eliminate the effect of pressure pulsation, and for servo-system provides stable charge oil pressure together with constant pressure variable displacement pump, for high performance hydraulic control system provides effective guarantee, the inlet filter of oil hydraulic pump and Outlet check valves play the effect preventing dirt from entering oil hydraulic pump and preventing system pressure from backwashing, oil hydraulic pump is protected, extend working life of constant pressure variable displacement pump, in-line and oil circuit be that Hydrauservo System provides clean fluid through filter.
Described a kind of Three-degree-of-freedom motion platform single-channel device, it is characterized in that: according to the mathematical model of electrohydraulic control, asymmetric servo cylinder and displacement transducer, provide the transfer function of control system, servoamplifier is considered to proportional component here.
Described a kind of Three-degree-of-freedom motion platform single-channel device, it is characterized in that: control algorithm is an important component part of software systems in control system, the controlling functions of whole system realizes primarily of control algorithm, according to the ratio (P) of deviation, integration (I), differential (D) controls, in analog control system, the most frequently used control law of regulator is PID, regulatory PID control system is by analog pid regulator, actuator and control object composition, PID regulator is a kind of linear regulator, it forms control deviation according to setting value r (t) with real output value c (t): e (t)=r (t)-c (t) is by the ratio (P) of deviation, integration (I), differential fD) form controlled quentity controlled variable by linear combination, control object is controlled, therefore be called PID regulator.
Accompanying drawing explanation
Fig. 1 Three-degree-of-freedom motion platform single-channel device hydraulic system principle figure
Wherein, 1. fuel tank, 2. oil purifier, 3. air-cooler, 4. plunger pump, 5. one-way valve, 6. pressure piping oil purifier, 7. solenoid directional control valve, 8.. accumulator, 9. electrohydraulic control, 10. pressure gauge, 11. relief valves, 12.. pressure transmitter, 13. oil hydraulic cylinders, 14. displacement transducers, 15. series flow control valves, 16. electromagnetic relief valves, 17. manual pump.
Fig. 2 control system block diagram
Fig. 3 PID control system theory diagram
Fig. 4 jumps over transient response curve
Embodiment
A kind of Three-degree-of-freedom motion platform single-channel device, forms primarily of parts shown in following table: 1. fuel tank, 2. oil purifier, 3. air-cooler, 4. plunger pump (constant pressure variable displacement pump), 5. one-way valve, 6. pressure piping oil purifier, 7. solenoid directional control valve, 8. accumulator, 9 electrohydraulic controls, 10. pressure gauge, 11. relief valves, 12. pressure transmitters, 13. oil hydraulic cylinders, 14. displacement transducers, 15. series flow control valves, 16. electromagnetic relief valves, 17. manual pump compositions.The pressure of the energy is set up by constant pressure variable displacement pump, and two accumulators have emergency power supply and eliminate the effect of pressure pulsation, and for servo-system provides stable charge oil pressure together with constant pressure variable displacement pump, for high performance hydraulic control system provides effective guarantee.The inlet filter of oil hydraulic pump and Outlet check valves play the effect preventing dirt from entering oil hydraulic pump and preventing system pressure from backwashing, and protect oil hydraulic pump, extend the working life of constant pressure variable displacement pump.In-line and oil circuit be that Hydrauservo System provides clean fluid through filter.
Composition graphs 2, according to the mathematical model of electrohydraulic control, asymmetric servo cylinder and displacement transducer, according to the control system block diagram that Fig. 2 shows, provide the transfer function of control system, servoamplifier is considered to proportional component here.
Composition graphs 3, control algorithm is an important component part of software systems in control system, and the controlling functions of whole system realizes primarily of control algorithm.Control according to the ratio (P) of deviation, integration (I), differential (D).In analog control system, the most frequently used control law of regulator is PID.Regulatory PID control system is by analog pid regulator, and actuator and control object form.PID regulator is a kind of linear regulator, and it is according to setting value rft) and real output value cft) form control deviation: e (t)=r (t)-c (t).
The ratio (P) of deviation, integration (I), differential (D) are formed controlled quentity controlled variable by linear combination, control object is controlled, therefore is called PID regulator.
Composition graphs 4, utilizes transient process response method: record the step transition process response of control object as shown in Figure 4, wherein R represents the slope of steepest, and L represents lag time, the parameter K so in PID controller, T
tand T
dcan determine according to following table R and L.
Claims (3)
1. a Three-degree-of-freedom motion platform single-channel device, by fuel tank (1), oil purifier (2), air-cooler (3), plunger pump (4) (constant pressure variable displacement pump), one-way valve (5), pressure piping oil purifier (6), solenoid directional control valve (7), accumulator (8), electrohydraulic control (9), pressure gauge (10), relief valve (11), pressure transmitter (12), oil hydraulic cylinder (13), displacement transducer (14), series flow control valve (15), electromagnetic relief valve (16), manual pump (17) forms, it is characterized in that: the pressure of the energy is set up by constant pressure variable displacement pump, two accumulators have emergency power supply and eliminate the effect of pressure pulsation, and for servo-system provides stable charge oil pressure together with constant pressure variable displacement pump, for high performance hydraulic control system provides effective guarantee, the inlet filter of oil hydraulic pump and Outlet check valves play the effect preventing dirt from entering oil hydraulic pump and preventing system pressure from backwashing, oil hydraulic pump is protected, extend working life of constant pressure variable displacement pump, in-line and oil circuit be that Hydrauservo System provides clean fluid through filter.
2. a kind of Three-degree-of-freedom motion platform single-channel device according to claim 1, it is characterized in that: according to the mathematical model of electrohydraulic control, asymmetric servo cylinder and displacement transducer, provide the transfer function of control system, servoamplifier is considered to proportional component here.
3. a kind of Three-degree-of-freedom motion platform single-channel device according to claim 1 and 2, it is characterized in that: control algorithm is an important component part of software systems in control system, the controlling functions of whole system realizes primarily of control algorithm, according to the ratio (P) of deviation, integration (I), differential (D) controls, in analog control system, the most frequently used control law of regulator is PID, regulatory PID control system is by analog pid regulator, actuator and control object composition, PID regulator is a kind of linear regulator, it forms control deviation according to setting value r (t) with real output value c (t): e (t)=r (t)-c (t) is by the ratio (P) of deviation, integration (I), differential (D) forms controlled quentity controlled variable by linear combination, control object is controlled, therefore be called PID regulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310366859.XA CN104421232A (en) | 2013-08-21 | 2013-08-21 | Three-degree-of-freedom movement platform single channel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310366859.XA CN104421232A (en) | 2013-08-21 | 2013-08-21 | Three-degree-of-freedom movement platform single channel device |
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| Publication Number | Publication Date |
|---|---|
| CN104421232A true CN104421232A (en) | 2015-03-18 |
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| CN201310366859.XA Pending CN104421232A (en) | 2013-08-21 | 2013-08-21 | Three-degree-of-freedom movement platform single channel device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108571484A (en) * | 2018-04-26 | 2018-09-25 | 北京强度环境研究所 | Servo valve module |
| CN109256009A (en) * | 2018-11-01 | 2019-01-22 | 燕山大学 | A kind of energy-conserving hydraulic six-freedom motion analog platform |
| CN116892544A (en) * | 2023-07-20 | 2023-10-17 | 东方空间技术(山东)有限公司 | Rocket launching pad hydraulic control system |
-
2013
- 2013-08-21 CN CN201310366859.XA patent/CN104421232A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108571484A (en) * | 2018-04-26 | 2018-09-25 | 北京强度环境研究所 | Servo valve module |
| CN109256009A (en) * | 2018-11-01 | 2019-01-22 | 燕山大学 | A kind of energy-conserving hydraulic six-freedom motion analog platform |
| CN116892544A (en) * | 2023-07-20 | 2023-10-17 | 东方空间技术(山东)有限公司 | Rocket launching pad hydraulic control system |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150318 |
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| WD01 | Invention patent application deemed withdrawn after publication |