CN104454697A - High-speed driving and positioning method for large-load fast inserting mechanism - Google Patents
High-speed driving and positioning method for large-load fast inserting mechanism Download PDFInfo
- Publication number
- CN104454697A CN104454697A CN201410555582.XA CN201410555582A CN104454697A CN 104454697 A CN104454697 A CN 104454697A CN 201410555582 A CN201410555582 A CN 201410555582A CN 104454697 A CN104454697 A CN 104454697A
- Authority
- CN
- China
- Prior art keywords
- servo
- cylinder
- insertion mechanism
- quick insertion
- large load
- 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.)
- Granted
Links
Classifications
-
- 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
Landscapes
- 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 high-speed driving and positioning method for a large-load fast inserting mechanism. The method includes the steps that a servo oil cylinder, a hydraulic oil source, a displacement sensor, a servo valve, an upper-layer controller and upper-layer software which are configured for the large-load fast inserting mechanism are included; when the large-load fast inserting mechanism needs to be driven at a high speed, the upper-layer software sends out a signal for completely opening a channel of the servo valve through the upper-layer controller, the servo valve enables the set channel to be completely opened so as to enable the servo oil cylinder to move at the highest speed within 20 ms after receiving the signal, in the moving process of the servo oil cylinder, the upper-layer controller collects the servo oil cylinder displacement fed back by the displacement sensor in real time, when the large-load fast inserting mechanism installed on the servo oil cylinder is detected to approach to a target value, the flow of the servo valve is adjusted gradually through the PID algorithm so that the moving speed of the servo oil cylinder can be adjusted, and therefore the moving speed of the servo oil cylinder is zero when the large-load fast inserting mechanism moves to a designated position. The large-load fast inserting mechanism is stabilized at the designated position, and high-speed positioning of the fast inserting mechanism is ensured.
Description
Technical field
The invention belongs to device drives and control field, particularly relate to a kind of for load quick insertion mechanism's high-speed driving large in hypersonic wind tunnel and localization method,
Background technique
Domestic hypersonic wind tunnel adopts gas-liquid linked cylinder to realize the driving of quick insertion mechanism, the positioning control of this gas-liquid linkage only relies on hydraulic proportion valve to control, the method can meet the requirement that driving force is large, actuating speed is high, but due to stroke and speed can not be monitored in real time in quick insertion mechanism kinematic process, cause that positioning precision is low, poor repeatability.
What external hypersonic wind tunnel quick insertion mechanism selected is the drive scheme that 2 pneumatic linear actuator parallel connections use, 2 pneumatic linear actuator parallel connections use and can solve the little problem of pneumatic linear actuator maneuvering load (general pneumatic linear actuator load is less than 200 kilograms), but the parallel connection of 2 oil cylinders uses the problem that there is synchronism and be difficult to ensure, if synchronism can not ensure, 2 cylinders can be there are and check and balance and to lead and the speed that causes reduces; And due to the compressibility of gas and synchronism problem, cause the positioning precision of quick insertion mechanism lower.
In addition, some unmanned plane pad also adopts the mode of common low speed oil cylinder and pulley combination to realize high-speed motion, but the method is only applicable to the catapult-launching gear not high to positioning requirements, does not meet the positioning accuracy request of quick insertion mechanism.
Summary of the invention
In order to solve the problem of prior art, embodiments provide a kind of large load quick insertion mechanism's high-speed driving and localization method, it comprises: for large load quick insertion mechanism is configured for the servo-cylinder driving described large load quick insertion mechanism, for providing the hydraulic oil source of the driving force of described servo-cylinder work, for the displacement transducer of servo-cylinder displacement amount described in Real-time Feedback, for changing the servovalve of described servo-cylinder movement velocity, for servo-cylinder displacement amount described in Real-time Collection and the top level control device and the upper layer software (applications) that control described servovalve flow, described upper layer software (applications) has the described servo-cylinder displacement amount collected according to described top level control device and regulates described servovalve flow to control the pid algorithm of described servo-cylinder movement velocity in real time, when described large load quick insertion mechanism needs rapid movement, the signal that the passage that described upper layer software (applications) sends described servovalve by described top level control device is opened completely, after described signal received by described servovalve, opening completely of setting passage is realized in 20ms, move with top speed to make described servo-cylinder, described servo-cylinder is in movement process, the described servo-cylinder displacement amount of the feedback of described top level control device Real-time Collection institute displacement sensors, when detect be arranged on large load quick insertion mechanism on described servo-cylinder close to desired value after, the flow of described servovalve is adjusted gradually to adjust the movement velocity of described servo-cylinder by pid algorithm, when making described large load quick insertion mechanism kinematic to specified position, the movement velocity of described servo-cylinder is zero.
In large load quick insertion mechanism's high-speed driving as above and localization method, preferably, for large load quick insertion mechanism also configures: do not produce the one-way valve of fluctuation and the solenoid directional control valve for controlling described one-way valve conducting during for ensureing that the motion of described servo-cylinder stops; Described one-way valve and described solenoid directional control valve are in conducting and one-way conduction state in described servo-cylinder movement process, when described servo-cylinder moves to specified position, described one-way valve and described solenoid directional control valve is made to be in closed condition immediately by automatically controlled signal, make described servo-cylinder inlet and outlet of fuel channel all closed, thus realize servo-cylinder cannot action.
In large load quick insertion mechanism's high-speed driving as above and localization method, preferably, the maximum movement speed of described servo-cylinder is 10m/s.
The beneficial effect that the embodiment of the present invention is brought is as follows:
Driving force is large-servo-cylinder driving force is large, solve quick insertion mechanism load large, be difficult to the problem that drives; Up to a hundred kilograms are realized until the driving of equipment of thousands of kilogram weight by selecting the oil cylinder of different size model.
Movement velocity is high-and the configuration of high-speed servo oil cylinder meets the servovalve of traffic demand, can realize the cylinder movement speed of the highest 10m/s, meet the index that the requirement of quick insertion mechanism speed is high.
Positioning precision is high-and make top level control system can the Real-Time Monitoring of real-time implementation quick insertion mechanism kinematic position by installation position displacement sensor, the flow of servovalve is controlled in conjunction with pid algorithm, the speed of oil cylinder can be regulated in real time, guarantee that quick insertion mechanism is precise and stable at specified position.
Take up an area space little-only have oil cylinder to need to enter in test section together with quick insertion mechanism, other equipment all can be placed on test section for carrying out work, make this system in test section, take up an area space little, facilitate structural design.
Applicability is wide-domestic and international to be realized high-speed oil cylinder to drive to be combined with the algorithm of PID closed loop control first, realize the high-speed motion of large load quick insertion mechanism in hypersonic wind tunnel and accurately locate, the method is equally applicable to the multiple sports equipment had higher requirements to speed and positioning precision.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention provide a kind of servo-cylinder for large load quick insertion mechanism's high-speed driving and localization method configuration, hydraulic oil source, servovalve, one-way valve and solenoid directional control valve structural representation.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiments provide a kind of large load quick insertion mechanism's high-speed driving and localization method, see Fig. 1, for large load quick insertion mechanism configuration hydraulic driving system, this hydraulic driving system comprises: servo-cylinder 7, hydraulic oil source 1, displacement transducer, servovalve 4, top level control device and upper layer software (applications).Servo-cylinder 7 is for driving large load quick insertion mechanism, hydraulic oil source 1 is for providing the driving force of servo-cylinder work, in reality, hydraulic oil source is preferably fuel tank, oil in it provides the driving force of servo-cylinder work by the oil pump 2 driven by motor 3, displacement transducer is placed in servo-cylinder interior (servo-cylinder inbuilt displacement sensor) for Real-time Feedback servo-cylinder displacement amount, servovalve 4 is for changing servo-cylinder movement velocity, top level control device is used for Real-time Collection servo-cylinder displacement amount and controls servovalve flow, upper layer software (applications) has the servo-cylinder displacement amount collected according to top level control device and regulates servovalve flow to control the pid algorithm of servo-cylinder movement velocity in real time, in reality, by regulating the size of servovalve 4 opening, i.e. aperture, change and then this table servo-cylinder movement velocity of servovalve flow can be realized.
When large load quick insertion mechanism needs high-speed driving, the signal that the passage that upper layer software (applications) sends servovalve by top level control device is opened completely, after signal received by servovalve, opening completely of setting passage is realized in 20ms, move with top speed to make servo-cylinder, the maximum movement speed of servo-cylinder is preferably 10m/s, servo-cylinder is in movement process, the servo-cylinder displacement amount of the feedback of top level control device Real-time Collection displacement transducer, when detect be arranged on large load quick insertion mechanism on servo-cylinder close to desired value after, the flow (aperture) of servovalve is adjusted gradually to adjust the movement velocity of servo-cylinder by pid algorithm, when making large load quick insertion mechanism kinematic to specified position, the movement velocity of servo-cylinder is zero.
In order to ensure in whole process of the test, large load quick insertion mechanism all-the-time stable is at specified position (or specified position), and the hydraulic driving system configured for large load quick insertion mechanism also comprises: one-way valve 5 and solenoid directional control valve 6.Do not produce fluctuation when one-way valve is for ensureing that servo-cylinder 7 moves and stops, solenoid directional control valve is for controlling one-way valve 5 conducting.
One-way valve and solenoid directional control valve are in conducting and one-way conduction state in servo-cylinder movement process, by adjustment and the location of the control realization cylinder movement speed of servovalve, when servo-cylinder motion puts in place i.e. moving element, such as large load quick insertion mechanism, when positioning precision meets the demands or when moving to specified position, make one-way valve and solenoid directional control valve be in closed condition immediately by automatically controlled signal, make servo-cylinder inlet and outlet of fuel channel all closed, now servo-cylinder cannot action.So, when the moving element that servo-cylinder drives is subject to external force, servo-cylinder also cannot move.Top level control signal is sent by top level control device by upper layer software (applications).
In sum, the beneficial effect of the embodiment of the present invention is as follows:
Driving force is large-servo-cylinder driving force is large, solve quick insertion mechanism load large, be difficult to the problem that drives; Up to a hundred kilograms are realized until the driving of equipment of thousands of kilogram weight by selecting the oil cylinder of different size model.
Movement velocity is high-and the configuration of high-speed servo oil cylinder meets the servovalve of traffic demand, can realize the cylinder movement speed of the highest 10m/s, meet the index that the requirement of quick insertion mechanism speed is high.
Positioning precision is high-and make top level control system can the Real-Time Monitoring of real-time implementation quick insertion mechanism kinematic position by installation position displacement sensor, the flow of servovalve is controlled in conjunction with pid algorithm, the speed of oil cylinder can be regulated in real time, guarantee quick insertion mechanism precise and stable at specified position to ensure the accurate location of large load quick insertion mechanism.
Take up an area space little-only have oil cylinder to need to enter in test section together with quick insertion mechanism, other equipment all can be placed on test section for carrying out work, make this system in test section, take up an area space little, facilitate structural design.
Applicability is wide-domestic and international to be realized high-speed oil cylinder to drive to be combined with the algorithm of PID closed loop control first, realize the high-speed motion of quick insertion mechanism in high slotting velocity of sound wind-tunnel and accurately locate, the method is equally applicable to the multiple sports equipment had higher requirements to speed and positioning precision.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (3)
1. large load quick insertion mechanism's high-speed driving and a localization method, is characterized in that, described large load quick insertion mechanism's high-speed driving and localization method comprise:
For large load quick insertion mechanism is configured for the servo-cylinder driving described large load quick insertion mechanism, for providing the hydraulic oil source of the driving force of described servo-cylinder work, for the displacement transducer of servo-cylinder displacement amount described in Real-time Feedback, for changing the servovalve of described servo-cylinder movement velocity, for servo-cylinder displacement amount described in Real-time Collection and the top level control device and the upper layer software (applications) that control described servovalve flow, described upper layer software (applications) has the described servo-cylinder displacement amount collected according to described top level control device and regulates described servovalve flow to control the pid algorithm of described servo-cylinder movement velocity in real time,
When described large load quick insertion mechanism needs high-speed driving, the signal that the passage that described upper layer software (applications) sends described servovalve by described top level control device is opened completely, after described signal received by described servovalve, opening completely of setting passage is realized in 20ms, move with top speed to make described servo-cylinder, described servo-cylinder is in movement process, the described servo-cylinder displacement amount of the feedback of described top level control device Real-time Collection institute displacement sensors, when detect be arranged on large load quick insertion mechanism on described servo-cylinder close to desired value after, the flow of described servovalve is adjusted gradually to adjust the movement velocity of described servo-cylinder by pid algorithm, when making described large load quick insertion mechanism kinematic to specified position, the movement velocity of described servo-cylinder is zero.
2. large load quick insertion mechanism's high-speed driving according to claim 1 and localization method, it is characterized in that, for large load quick insertion mechanism also configures: during for ensureing that the motion of described servo-cylinder stops, not producing the one-way valve of fluctuation and the solenoid directional control valve for controlling described one-way valve conducting;
Described one-way valve and described solenoid directional control valve are in conducting and one-way conduction state in described servo-cylinder movement process, when described servo-cylinder moves to specified position, described one-way valve and described solenoid directional control valve is made to be in closed condition immediately by automatically controlled signal, make described servo-cylinder inlet and outlet of fuel channel all closed, thus realize servo-cylinder cannot action.
3. large load quick insertion mechanism's high-speed driving according to claim 1 and localization method, is characterized in that, the maximum movement speed of described servo-cylinder is 10m/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410555582.XA CN104454697B (en) | 2014-10-17 | 2014-10-17 | Big load quick insertion mechanism's high-speed driving and localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410555582.XA CN104454697B (en) | 2014-10-17 | 2014-10-17 | Big load quick insertion mechanism's high-speed driving and localization method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104454697A true CN104454697A (en) | 2015-03-25 |
| CN104454697B CN104454697B (en) | 2016-08-24 |
Family
ID=52901273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410555582.XA Expired - Fee Related CN104454697B (en) | 2014-10-17 | 2014-10-17 | Big load quick insertion mechanism's high-speed driving and localization method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104454697B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989649A (en) * | 2019-12-26 | 2020-04-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Flight action control device and training method for high-maneuvering fixed wing unmanned aerial vehicle |
| CN114562453A (en) * | 2022-02-09 | 2022-05-31 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960059A (en) * | 1974-12-09 | 1976-06-01 | Caterpillar Tractor Co. | Fast exhaust circuit for hydraulic jacks |
| US4132152A (en) * | 1976-10-29 | 1979-01-02 | Hunkar Laboratories, Inc. | Closed loop electro-fluidic control system |
| US5431086A (en) * | 1992-11-25 | 1995-07-11 | Canon Kabushiki Kaisha | Method of controlling cylinder apparatus |
| CN1782443A (en) * | 2004-11-30 | 2006-06-07 | 卡特彼勒公司 | Configurable hydraulic control system |
| CN1993557A (en) * | 2005-02-03 | 2007-07-04 | 大金工业株式会社 | Fluid pressure unit and control method for the same |
| CN103982476A (en) * | 2014-05-27 | 2014-08-13 | 湖南联智桥隧技术有限公司 | Hydraulic control loop |
-
2014
- 2014-10-17 CN CN201410555582.XA patent/CN104454697B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960059A (en) * | 1974-12-09 | 1976-06-01 | Caterpillar Tractor Co. | Fast exhaust circuit for hydraulic jacks |
| US4132152A (en) * | 1976-10-29 | 1979-01-02 | Hunkar Laboratories, Inc. | Closed loop electro-fluidic control system |
| US5431086A (en) * | 1992-11-25 | 1995-07-11 | Canon Kabushiki Kaisha | Method of controlling cylinder apparatus |
| CN1782443A (en) * | 2004-11-30 | 2006-06-07 | 卡特彼勒公司 | Configurable hydraulic control system |
| CN1993557A (en) * | 2005-02-03 | 2007-07-04 | 大金工业株式会社 | Fluid pressure unit and control method for the same |
| CN103982476A (en) * | 2014-05-27 | 2014-08-13 | 湖南联智桥隧技术有限公司 | Hydraulic control loop |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989649A (en) * | 2019-12-26 | 2020-04-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Flight action control device and training method for high-maneuvering fixed wing unmanned aerial vehicle |
| CN110989649B (en) * | 2019-12-26 | 2023-07-25 | 中国航空工业集团公司沈阳飞机设计研究所 | Flight action control device for high-maneuver fixed-wing unmanned aerial vehicle and training method |
| CN114562453A (en) * | 2022-02-09 | 2022-05-31 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
| CN114562453B (en) * | 2022-02-09 | 2024-01-30 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104454697B (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101887273B (en) | Automatic height-adjusting test device of coal mining machine roller and control method | |
| CN103775437B (en) | Cylinder bench load simulating device and controlling method thereof | |
| CN103615436B (en) | Steel tube straightening machine numerical control electrohydraulic ratio system | |
| CN102562714B (en) | Compound control method of speed and position of hydraulic cylinder system based on displacement feedback | |
| CN103660359B (en) | Hydraulic control system and method for passive type four-corner-leveling hydraulic press | |
| CN110471461B (en) | Wind tunnel model attack angle control device and control method thereof | |
| CN102182729A (en) | Large-flow high-frequency response electrohydraulic vibration device based on parallel servo valves and control method | |
| CN104405709A (en) | Two-stage sliding valve type electro-hydraulic servo valve directly driven by limited angle torque motor | |
| CN103995463A (en) | Method for performing position servo driving on electro-hydraulic proportional valve based on hybrid control | |
| CN104454697A (en) | High-speed driving and positioning method for large-load fast inserting mechanism | |
| CN104006014A (en) | Complex electro-hydraulic system closed loop control method | |
| CN102862094B (en) | Hydraulic servo system controlled by numerical control system | |
| CN105425610A (en) | Thrust control simulation system for work-type underwater robot hydraulic propeller | |
| CN104948540A (en) | Load simulation electro-hydraulic servo control device for beam-pumping unit | |
| CN204344558U (en) | A kind of secondary electro-hydraulic servo control valve unit by finite angle motor direct-drive | |
| CN202174208U (en) | Hydraulic circuit of rolling and riveting system | |
| CN109696308A (en) | Aviation actuator load testing machine and its loading method under vibration environment | |
| CN102392844A (en) | Hydraulic cylinder speed and pressure control system | |
| CN203685776U (en) | Numerical control electric-hydraulic proportional system of steel pipe straightening machine | |
| CN109471357B (en) | Segment displacement control system for simulating interaction between tunnel and soil body | |
| CN101532516B (en) | Device for simulating servo system load by electrohydraulic servo | |
| CN103611767A (en) | Method for controlling position of sliding block of electro-hydraulic double-cylinder bending machine | |
| CN104976188B (en) | Actuator assembly, engineering machinery and arm support control device and method thereof | |
| CN108005794A (en) | A kind of aero-engine compressor guide blade adjusting device of step motor control | |
| CN202391873U (en) | Microelectronic-control hydraulic high-speed balance movement system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| 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: 20160824 Termination date: 20211017 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |