CN104535327A - Parameter recognizing method of servo valve control motor device - Google Patents

Parameter recognizing method of servo valve control motor device Download PDF

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Publication number
CN104535327A
CN104535327A CN201510001494.XA CN201510001494A CN104535327A CN 104535327 A CN104535327 A CN 104535327A CN 201510001494 A CN201510001494 A CN 201510001494A CN 104535327 A CN104535327 A CN 104535327A
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motor
servo valve
valve
servo
parameter identification
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CN104535327B (en
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周明健
杨汉生
王玉勤
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CHUZHOU BOJIE TECHNOLOGY Co.,Ltd.
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Chaohu University
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Abstract

The invention discloses a parameter recognizing method of a servo valve control motor device. According to the method, a pressure difference sensor installed between an oil inlet and an oil outlet of a motor and an angular speed sensor installed on a motor output shaft are connected with a parameter recognizing module, and the parameter recognizing module is connected with a controller of the servo valve control motor device. The parameter recognizing module calculates other important parameters of the servo valve control motor device according to real-time pressure difference pf and real-time angular speed w input by a sensor signal on the basis of intrinsic parameters, including flow gain of a servo valve, servo valve control current, a pressure coefficient of the valve, radian displacement of a motor and outer load torque acting on a motor shaft, of the servo valve control motor device, and then transmits the parameters to the controller of the servo valve control motor device. By means of the parameter recognizing method, it is possible that a precise control system mathematic model of the servo valve control motor device is built, and a foundation is laid for precise kinetic control of the controller of the servo valve control motor device.

Description

The parameter identification method of servo valve-controlled motor device
Technical field
The parameter that the present invention relates to servo valve-controlled motor device measures technology, particularly relates to a kind of two parameters on affecting servo valve-controlled motor device control characteristic---hydraulic system liquid vibration natural frequency ω hζ is compared with hydraulic system viscous damping coefficient hindirectly measure method.
Background technology
Current servo valve-controlled motor device is widely used in heave compensation crane, the parameter of current servo valve-controlled motor device can not system, perfect measurement, but by consulting coherent reference data or by experience valuation, the control system mathematical model of accurate servo valve-controlled motor device can not be obtained, thus cause controller accurately can not control it.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of parameter identification method for servo valve-controlled motor device.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is, the parameter identification method of servo valve-controlled motor device, described servo valve-controlled motor device comprise servo-valve, motor, parameter identification module, for detect the oil inlet and outlet pressure differential pf of motor differential pressure pickup, for detecting angular-rate sensor, the controller of the angular velocity omega of motor;
Parameter identification module is provided with first input end, the second input end and output terminal;
Parameter identification module is connected with differential pressure pickup by first input end, and parameter identification module is connected with angular-rate sensor by the second input end; Parameter identification module is connected with controller by output terminal;
The intrinsic parameter of storing servo valve-controlled motor device in parameter identification module, intrinsic parameter comprises pressure coefficient, the radian discharge capacity of motor, the outer loading moment acted on motor drive shaft of the flow gain of servo-valve, servo valve control electric current, valve;
Parameter identification module also storing servo valve real time load flow Q, motor and load converts total inertia J of motor m, motor and load resistance coefficient B m, motor always reveals coefficient C m, servo valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio V t/ β e;
According to differential pressure pickup signal input motor oil inlet and outlet between real-time pressure difference p f, the real time load flow Q that can obtain servo-valve is calculated by following functional expression (1);
Q＝K qI-K cp f(1)
In functional expression (1): K qfor the flow gain of servo-valve, I is servo valve control electric current, K cfor the pressure coefficient of valve, Q is the real time load flow of servo-valve, p ffor motor oil inlet and outlet between real-time pressure poor;
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, parameter identification module can obtain motor by following functional expression (2) calculating and always reveal coefficient C mwith total volume and the fluid bulk modulus ratio V of motor two chamber and connecting tube t/ β e;
V t β e ( p f ) ′ + 4 C m p f = 4 ( Q - q r ω ) - - - ( 2 )
In functional expression (2): p ffor pressure differential between servo valve-controlled motor oil inlet and outlet, (p f) ' the be first order derivative of pressure differential between servo valve-controlled motor oil inlet and outlet, for taking valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio, C mfor motor always reveals coefficient, q rfor the radian discharge capacity of motor, ω is the angular velocity of motor, and Q is the real time load flow of servo-valve;
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, parameter identification module can obtain by following functional expression (3) calculating total inertia J that motor is converted in motor and load mwith motor and load resistance coefficient B m;
J mω′+B mω＝p fq r-T L(3)
In functional expression (3): J mfor total inertia of motor is converted in motor and load, ω is the first order derivative of the angular velocity of motor, the angular velocity that ω ' is motor, B mfor the resistance coefficient of motor and load, p ffor pressure differential between servo valve-controlled motor oil inlet and outlet, q rfor the radian discharge capacity of motor, T lfor acting on the outer loading moment of motor drive shaft;
Parameter identification module calculates according to following functional expression (4) sum functions formula (5) can obtain this device hydraulic system liquid vibration natural frequency ω hζ is compared with the hydraulic system viscous damping coefficient of this device h;
ω h = 4 β e q r 2 V t J m - - - ( 4 )
ζ h = C m + K c q r β e J m V t + B m 4 q r V t β e J m - - - ( 5 )
In functional expression (4) sum functions formula (5): ω hfor hydraulic system liquid vibration natural frequency, q rfor the radian discharge capacity of motor, V t/ β efor servo valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio, J mfor total inertia of motor is converted in motor and load, C mfor motor always reveals coefficient, B mfor motor and load resistance coefficient, K cfor the pressure coefficient of valve.
As preferably, as p in functional expression (2) fduring for steady state value, functional expression (2) can abbreviation be C mp f=Q-q rω, can obtain motor and always reveal coefficient C m; As p in functional expression (2) fduring for variable, always reveal coefficient C obtaining motor mprerequisite under, servo valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio can be obtained
As preferably, when in functional expression (3), ω is steady state value, functional expression (3) can abbreviation be B mω=p fq r-T l, the resistance coefficient B of motor and load can be obtained m; As B in functional expression (3) mduring for variable, obtaining the resistance coefficient B of motor and load mprerequisite under, total inertia J that motor is converted in motor and load can be obtained m.
As preferably, parameter identification module is connected and composed by microprocessor and storer.
The invention has the beneficial effects as follows:
Adopt direct data transfer to parameter identification module, carry out parameter optimization and identification, the series of parameters of acquisition is transferred to controller by parameter identification module again.Instant invention overcomes current servo valve-controlled motor device hydraulic control system correlation parameter can not system, perfect measurement defect, make the control system mathematical model of foundation accurate servo valve-controlled motor device become possibility, control to lay the foundation for controller carries out precise kinetic to it.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is the system composition schematic diagram in the parameter identification method embodiment of servo valve-controlled motor device of the present invention.
In figure, 1-servo-valve, 2-motor, 3-angular-rate sensor, the outer loading moment of 4-, 5-parameter identification module, 6-controller, 7-differential pressure pickup, 8-first input end, 9-second input end, 10-output terminal.
Fig. 2 is the program flow chart of the parameter identification method embodiment of servo valve-controlled motor device of the present invention.
Embodiment
The present embodiment is that, fluid mass less at Pressure Loss in Hydraulic System is little on Dynamic Characteristic of Pipes impact, in executive component, in working chamber, pressure is equal everywhere, fluid bulk modulus and oil temperature are constant, in motor, outward leakage is laminar flow, when the elastic load moment that motor drive shaft acts on is less, utilize the load flow equation of servo-valve, servo-valve to the dynamics torque equilibrium equation of the flow continuity equation of motor, motor drive shaft derive relation between servo valve-controlled motor hydraulic control system parameter and with function representation out.
First, on the output shaft of motor, established angle speed pickup is for measuring the angular velocity of servo valve-controlled motor device, installs at the oil inlet and outlet of motor the oil inlet and outlet pressure differential that motor measured by differential pressure pickup.
Parameter identification module detects the pressure differential of oil inlet and outlet of motor based on differential pressure pickup, angular-rate sensor measures the angular velocity of motor and the intrinsic parameter of servo valve-controlled motor device: pressure coefficient, the radian discharge capacity of motor, the outer loading moment acted on motor drive shaft of the flow gain of servo-valve, servo valve control electric current, valve, the real time load flow Q of servo-valve can be obtained according to functional expression (1), total leakage coefficient C of motor can be obtained according to functional expression (2) m, the total volume of motor cavity and connecting tube and fluid bulk modulus ratio total inertia J that motor is converted in motor and load can be asked for according to functional expression (3) m, motor and load resistance coefficient B m, hydraulic system vibration natural frequency ω can be obtained according to functional expression (4) h, hydraulic system viscous damping coefficient can be obtained according to functional expression (5) and compare ζ h.The hydraulic system vibration natural frequency calculated and hydraulic system viscous damping coefficient compare as in important parameters input controller by parameter identification module.
Q＝K qI-K cp f(1)
V t β e ( p f ) ′ + 4 C m p f = 4 ( Q - q r ω ) - - - ( 2 )
J mω′+B mω＝p fq r-T L(3)
ω h = 4 β e q r 2 V t J m - - - ( 4 )
ζ h = C m + K c q r β e J m V t + B m 4 q r V t β e J m - - - ( 5 )
In formula: K qfor the flow gain of servo-valve, I is servo valve control electric current, K cfor the pressure coefficient of valve, Q is the real time load flow of servo-valve, p ffor pressure differential between servo valve-controlled motor oil inlet and outlet, (p f) ' the be first order derivative of pressure differential between servo valve-controlled motor oil inlet and outlet, for taking valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio, C mfor motor always reveals coefficient, q rfor the radian discharge capacity of motor, ω is the first order derivative of the angular velocity of motor, the angular velocity that ω ' is motor, J mfor total inertia of motor is converted in motor and load, B mfor the resistance coefficient of motor and load, T lfor acting on the outer loading moment of motor drive shaft.ω hfor hydraulic system liquid vibration natural frequency.
In FIG, servo valve-controlled motor device by servo-valve 1, motor 2, parameter identification module 5, for detect the oil inlet and outlet pressure differential pf of motor differential pressure pickup 7, for detecting the angular-rate sensor 3 of the angular velocity omega of motor, controller 6 formed.
Wherein parameter identification module 5 is provided with first input end 8, second input end 9 and output terminal 10, and the output shaft of motor 2 is also provided with outer loading moment 4.
Specifically, parameter identification module 5 is interconnected to constitute by microprocessor and storer.
In the present embodiment, parameter identification module 5 is based on the intrinsic parameter of servo valve-controlled motor device, the pressure differential of the oil inlet and outlet of differential pressure pickup detection motor and the angular velocity of angular-rate sensor measurement motor, the real time load flow Q of servo-valve 1 can be obtained according to functional expression (1), total leakage coefficient C of motor 2 can be obtained according to functional expression (2) m, the total volume of motor cavity and connecting tube and fluid bulk modulus ratio total inertia J that motor is converted in motor and load can be asked for according to functional expression (3) m, motor and load resistance coefficient B m, hydraulic system vibration natural frequency ω can be obtained according to functional expression (4) h, hydraulic system viscous damping coefficient can be obtained according to functional expression (5) and compare ζ h, the hydraulic system vibration natural frequency calculated and hydraulic system viscous damping coefficient are compared ζ by parameter identification module hin Dynamics Controller 6 as important parameters input servo valve-controlled motor hydraulic control system, the present embodiment makes the control system mathematical model of foundation accurate servo valve-controlled motor device become possibility, lays the foundation for controller carries out accurate dynamics Controlling to it.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.

Claims (4)

1. the parameter identification method of servo valve-controlled motor device, described servo valve-controlled motor device comprise servo-valve, motor, parameter identification module, for detect the oil inlet and outlet pressure differential pf of motor differential pressure pickup, for detecting angular-rate sensor, the controller of the angular velocity omega of motor; It is characterized in that comprising the following steps:
Described parameter identification module is provided with first input end, the second input end and output terminal;
Described parameter identification module is connected with differential pressure pickup by first input end, and described parameter identification module is connected with angular-rate sensor by the second input end; Described parameter identification module is connected with controller by output terminal;
The intrinsic parameter of storing servo valve-controlled motor device in described parameter identification module, described intrinsic parameter comprises pressure coefficient, the radian discharge capacity of motor, the outer loading moment acted on motor drive shaft of the flow gain of servo-valve, servo valve control electric current, valve;
Described parameter identification module also storing servo valve real time load flow Q, motor and load converts total inertia J of motor m, motor and load resistance coefficient B m, motor always reveals coefficient C m, servo valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio V t/ β e;
According to differential pressure pickup signal input motor oil inlet and outlet between real-time pressure difference p f, the real time load flow Q that can obtain servo-valve is calculated by following functional expression (1);
Q＝K qI-K cp f(1)
In functional expression (1): K qfor the flow gain of servo-valve, I is servo valve control electric current, K cfor the pressure coefficient of valve, Q is the real time load flow of servo-valve, p ffor motor oil inlet and outlet between real-time pressure poor;
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, described parameter identification module can obtain motor by following functional expression (2) calculating and always reveal coefficient C mwith total volume and the fluid bulk modulus ratio V of motor two chamber and connecting tube t/ β e;
V t β e ( p f ) ′ + 4 C m p f = 4 ( Q - q r ω ) - - - ( 2 )
In functional expression (2): p ffor pressure differential between servo valve-controlled motor oil inlet and outlet, (p f) ' the be first order derivative of pressure differential between servo valve-controlled motor oil inlet and outlet, for taking valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio, C mfor motor always reveals coefficient, q rfor the radian discharge capacity of motor, ω is the angular velocity of motor, and Q is the real time load flow of servo-valve;
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, described parameter identification module can obtain by following functional expression (3) calculating total inertia J that motor is converted in motor and load mwith motor and load resistance coefficient B m;
J mω′+B mω＝p fq r-T L(3)
In functional expression (3): J mfor total inertia of motor is converted in motor and load, ω is the first order derivative of the angular velocity of motor, the angular velocity that ω ' is motor, B mfor the resistance coefficient of motor and load, p ffor pressure differential between servo valve-controlled motor oil inlet and outlet, q rfor the radian discharge capacity of motor, T lfor acting on the outer loading moment of motor drive shaft;
Described parameter identification module calculates according to following functional expression (4) sum functions formula (5) can obtain this device hydraulic system liquid vibration natural frequency ω hζ is compared with the hydraulic system viscous damping coefficient of this device h;
ω h = 4 β e q r 2 V t I m - - - ( 4 )
ζ h = C m + K c q r β e J m V t + B m 4 q r V t β e J m - - - ( 5 )
In functional expression (4) sum functions formula (5): ω hfor hydraulic system liquid vibration natural frequency, q rfor the radian discharge capacity of motor, V t/ β efor servo valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio, J mfor total inertia of motor is converted in motor and load, C mfor motor always reveals coefficient, B mfor motor and load resistance coefficient, K cfor the pressure coefficient of valve.
2. parameter identification method according to claim 1, is characterized in that: as p in functional expression (2) fduring for steady state value, functional expression (2) can abbreviation be C mp f=Q-q rω, can obtain motor and always reveal coefficient C m; As p in functional expression (2) fduring for variable, always reveal coefficient C obtaining motor mprerequisite under, servo valve-controlled motor two chamber and connecting tube total volume and fluid bulk modulus ratio can be obtained
3. parameter identification method according to claim 1, is characterized in that: when in functional expression (3), ω is steady state value, functional expression (3) can abbreviation be B mω=p fq r-T l, the resistance coefficient B of motor and load can be obtained m; As B in functional expression (3) mduring for variable, obtaining the resistance coefficient B of motor and load mprerequisite under, total inertia J that motor is converted in motor and load can be obtained m.
4. parameter identification method according to claim 1, is characterized in that: parameter identification module is connected and composed by microprocessor and storer.
CN201510001494.XA 2015-01-04 2015-01-04 Parameter recognizing method of servo valve control motor device Active CN104535327B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4571940A (en) * 1981-05-21 1986-02-25 Hydromatik Gmbh Control device for a hydrostatic gear driven by a drive engine
EP1983326A1 (en) * 2007-04-17 2008-10-22 Scania CV AB (PUBL) Method for identifying a malfunctioning cylinder of a multicylinder combustion engine
CN102109857A (en) * 2011-03-01 2011-06-29 江苏科技大学 Device and method for recognizing parameter of executive mechanism in electro-hydraulic angular speed servo system
CN202418080U (en) * 2012-01-20 2012-09-05 杨世祥 Digital hydraulic motor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4571940A (en) * 1981-05-21 1986-02-25 Hydromatik Gmbh Control device for a hydrostatic gear driven by a drive engine
EP1983326A1 (en) * 2007-04-17 2008-10-22 Scania CV AB (PUBL) Method for identifying a malfunctioning cylinder of a multicylinder combustion engine
CN102109857A (en) * 2011-03-01 2011-06-29 江苏科技大学 Device and method for recognizing parameter of executive mechanism in electro-hydraulic angular speed servo system
CN202418080U (en) * 2012-01-20 2012-09-05 杨世祥 Digital hydraulic motor

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Effective date of registration: 20201214

Address after: No.99, Weier Road, Quanjiao Economic Development Zone, Chuzhou City, Anhui Province

Patentee after: CHUZHOU BOJIE TECHNOLOGY Co.,Ltd.

Address before: 238000 Chaohu Economic Development Zone, Hefei City, Anhui Province

Patentee before: CHAOHU University