CN104535327B - Parameter recognizing method of servo valve control motor device - Google Patents
Parameter recognizing method of servo valve control motor device Download PDFInfo
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- CN104535327B CN104535327B CN201510001494.XA CN201510001494A CN104535327B CN 104535327 B CN104535327 B CN 104535327B CN 201510001494 A CN201510001494 A CN 201510001494A CN 104535327 B CN104535327 B CN 104535327B
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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
Technical field
The present invention relates to the parameter of servo valve-controlled motor device measures technology, more particularly to one kind to affecting servo valve horse-controlling
Up to two parameters of device control characteristic --- hydraulic system liquid vibration natural frequency ωhWith hydraulic system viscous damping coefficient
Compare ζhMeasure method indirectly.
Background technology
Current servo valve-controlled motor device is widely used in heave compensation crane, current servo valve-controlled motor device
Parameter be unable to system, perfect measurement, but by consulting coherent reference data or by experience valuation, it is impossible to obtain accurate
The control system mathematical model of servo valve-controlled motor device, so as to cause controller to carry out precise control to it.
The content 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 above-mentioned technical problem, the technical solution used in the present invention is that the parameter of servo valve-controlled motor device is known
Other method, the servo valve-controlled motor device includes servo valve, motor, parameter identification module, fuel-displaced for detecting entering for motor
Mouth pressure differential pfDifferential pressure pickup, angular-rate sensor, the controller of angular velocity omega for detecting motor；Including following step
Suddenly：
Parameter identification module is provided with first input end, the second input and outfan；
Parameter identification module is connected by first input end with differential pressure pickup, and parameter identification module passes through the second input
It is connected with angular-rate sensor；Parameter identification module is connected by outfan with controller；
The intrinsic parameter of storing servo valve-controlled motor device in parameter identification module, intrinsic parameter includes the flow of servo valve
Gain, servo valve control electric current, the pressure coefficient of valve, the radian discharge capacity of motor, the outer loading moment acted on motor drive shaft；
The total inertia J of parameter identification module also storing servo valve real time load flow Q, motor and load conversion to motorm、
Motor and load resistance coefficient Bm, motor always reveal coefficient Cm, the chamber of servo valve-controlled motor two and connecting pipe total capacity and fluid body
Product elastic modelling quantity ratio Vt/βe；
According to real-time pressure difference p between the oil inlet and outlet of the motor of differential pressure pickup signal inputf, by following functional expressions
(1) the real time load flow Q that servo valve is obtained is calculated；
Q=KqI-Kcpf (1)
In functional expression (1)：KqFor the flow gain of servo valve, I is servo valve control electric current, KcFor the pressure coefficient of valve, pf
It is poor for real-time pressure between the oil inlet and outlet of motor；
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, parameter identification module presses following letters
Numerical expression (2) calculating is obtained motor and always reveals coefficient CmWith the total capacity and fluid volume elasticity of the chamber of motor two and connecting pipe
Modulus ratio Vt/βe；
In functional expression (2)：(pfThe first derivative of) ' be pressure differential between servo valve-controlled motor oil inlet and outlet, qrFor motor
Radian discharge capacity, ω is the angular velocity of motor；
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, parameter identification module presses following letters
Numerical expression (3) calculates total inertia J that motor and load conversion is obtained to motormWith motor and load resistance coefficient Bm；
Jmω′+Bmω=pfqr-TL (3)
In functional expression (3)：ω for motor angular velocity, ω ' for motor angular velocity first derivative, BmFor motor and negative
The resistance coefficient of load, TLTo act on the outer loading moment of motor drive shaft；
Parameter identification module is calculated according to following functional expressions (4) and functional expression (5) and can obtain the device hydraulic system liquid
Body vibration natural frequency ωhCompare ζ with the hydraulic system viscous damping coefficient of the deviceh；
In functional expression (4) and functional expression (5)：ωhFor hydraulic system liquid vibration natural frequency.
As preferred：
As p in functional expression (2)fFor steady state value when, functional expression (2) can be with abbreviation as Cmpf=Q-qrω, you can obtain motor
It is total to reveal coefficient Cm；As p in functional expression (2)fFor variable when, always reveal coefficient C motor is obtainedmOn the premise of, you can obtain and watch
Take the chamber of valve-controlled motor two and connecting pipe total capacity and fluid bulk modulus ratio Vt/βe。
When ω is steady state value in functional expression (3), functional expression (3) can be with abbreviation as Bmω=pfqr-TL, you can obtain horse
Up to and load resistance coefficient Bm；As B in functional expression (3)mFor variable when, obtain motor and load resistance coefficient BmBefore
Put, you can obtain motor and load conversion to total inertia J of motorm。
Parameter identification module is connected and composed by microprocessor and memorizer.
The invention has the beneficial effects as follows：
Using direct measurement data transfer to parameter identification module, parameter optimization and identification are carried out, parameter identification module is again
The series of parameters of acquisition is transferred to into controller.Instant invention overcomes the hydraulic control system of current servo valve-controlled motor device
Relevant parameter is unable to system, the defect of perfect measurement, makes the control system mathematical modulo of the accurate servo valve-controlled motor device of foundation
Type is possibly realized, be controller it is carried out precise kinetic control lay the foundation.
Description of the drawings
With reference to the accompanying drawings and detailed description 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 valves, 2- motors, 3- angular-rate sensors, the outer loading moments of 4-, 5- parameter identification modules, 6- controls
Device processed, 7- differential pressure pickups, 8- first input ends, the inputs of 9- second, 10- outfans.
Fig. 2 is the program flow chart of the parameter identification method embodiment of servo valve-controlled motor device of the present invention.
Specific embodiment
The present embodiment is Pressure Loss in Hydraulic System is less, fluid mass affects little to Dynamic Characteristic of Pipes, to hold
Working in units, everywhere pressure is equal for intracavity, and fluid bulk modulus and oil temperature are constant, and outward leakage is laminar flow in motor,
In the case of the elastic load torque of effect is less on motor drive shaft, using load flow equation, the servo valve of servo valve to motor
Flow continuity equation, the kinetics torque equilibrium equation of motor drive shaft derive servo valve-controlled motor hydraulic control system parameter it
Between relation and with function representation out.
First, angular-rate sensor is installed on the output shaft of motor to be used to measure the angle speed of servo valve-controlled motor device
Degree, installs differential pressure pickup to measure the oil inlet and outlet pressure differential of motor in the oil inlet and outlet of motor.
Parameter identification module detects the pressure differential of the oil inlet and outlet of motor, angular-rate sensor measurement based on differential pressure pickup
The angular velocity of motor and the intrinsic parameter of servo valve-controlled motor device：The flow gain of servo valve, servo valve control electric current, valve
Pressure coefficient, the radian discharge capacity of motor, the outer loading moment acted on motor drive shaft, according to functional expression (1) servo can be obtained
The real time load flow Q of valve, according to functional expression (2) total leakage coefficient C of motor can be obtainedm, motor cavity and connecting pipe
Total capacity and fluid bulk modulus ratio Vt/βe, motor can be asked for according to functional expression (3) and motor is arrived in load conversion
Total inertia Jm, motor and load resistance coefficient Bm, 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 ζh.Parameter identification module is by calculated hydraulic pressure system
System vibration natural frequency and hydraulic system viscous damping coefficient are used in important parameter input controller.
Q=KqI-Kcpf (1)
Jmω′+Bmω=pfqr-TL (3)
In formula：KqFor the flow gain of servo valve, I is servo valve control electric current, KcFor the pressure coefficient of valve, Q is servo valve
Real time load flow, pfFor pressure differential, (p between servo valve-controlled motor oil inlet and outletf) ' be servo valve-controlled motor oil inlet and outlet
Between pressure differential first derivative, Vt/βeTo take the chamber of valve-controlled motor two and connecting pipe total capacity and fluid bulk modulus ratio
Value, CmCoefficient, q are always revealed for motorrFor the radian discharge capacity of motor, ω is the angular velocity of motor, and ω ' is the angular velocity of motor
First derivative, JmFor total inertia that motor is arrived in motor and load conversion, BmFor motor and the resistance coefficient of load, TLTo act on
The outer loading moment of motor drive shaft.ωhFor hydraulic system liquid vibration natural frequency.
In FIG, servo valve-controlled motor device by servo valve 1, motor 2, parameter identification module 5, for detecting motor
The differential pressure pickup 7 of oil inlet and outlet pressure differential pf, the angular-rate sensor 3 of the angular velocity omega for detecting motor, the institute of controller 6
Composition.
Wherein parameter identification module 5 is provided with first input end 8, the second input 9 and outfan 10, and motor 2 is defeated
Shaft is additionally provided with outer loading moment 4.
Specifically, parameter identification module 5 is interconnected to constitute by microprocessor and memorizer.
In the present embodiment, parameter identification module 5 is based on the intrinsic parameter of servo valve-controlled motor device, differential pressure pickup inspection
The pressure differential and angular-rate sensor for surveying the oil inlet and outlet of motor measures the angular velocity of motor, can be obtained according to functional expression (1)
The real time load flow Q of servo valve 1, according to functional expression (2) total leakage coefficient C of motor 2 can be obtainedm, motor cavity and connection
The total capacity of pipeline and fluid bulk modulus ratio Vt/βe, motor can be asked for according to functional expression (3) and load conversion is arrived
Total inertia J of motorm, motor and load resistance coefficient Bm, the intrinsic frequency of hydraulic system vibration can be obtained according to functional expression (4)
Rate ωh, hydraulic system viscous damping coefficient can be obtained according to functional expression (5) and compare ζh, parameter identification module is by calculated liquid
Pressure system vibration natural frequency and hydraulic system viscous damping coefficient compare ζhAs important parameter input servo valve-controlled motor liquid
In the Dynamics Controller 6 of pressure control system, the present embodiment makes the control system number of the accurate servo valve-controlled motor device of foundation
Learn model to be possibly realized, be that controller carries out accurate dynamics Controlling and lays the foundation to it.
Invention described above embodiment, does not constitute limiting the scope of the present invention.It is any in the present invention
Spirit and principle within modification, equivalent and the improvement made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (4)
1. the parameter identification method of servo valve-controlled motor device, the servo valve-controlled motor device includes servo valve, motor, parameter
Identification module, oil inlet and outlet pressure differential p for detecting motorfDifferential pressure pickup, angular velocity omega for detecting motor
Angular-rate sensor, controller；It is characterized in that comprising the following steps：
The parameter identification module is provided with first input end, the second input and outfan；
The parameter identification module is connected by first input end with differential pressure pickup, and the parameter identification module is defeated by second
Enter end to be connected with angular-rate sensor；The parameter identification module is connected by outfan with controller；
The intrinsic parameter of storing servo valve-controlled motor device in the parameter identification module, the intrinsic parameter includes servo valve
Flow gain, servo valve control electric current, the pressure coefficient of valve, the radian discharge capacity of motor, the outer carrying acted on motor drive shaft
Square；
The total inertia J of the parameter identification module also storing servo valve real time load flow Q, motor and load conversion to motorm、
Motor and load resistance coefficient Bm, motor always reveal coefficient Cm, the chamber of servo valve-controlled motor two and connecting pipe total capacity and fluid body
Product elastic modelling quantity ratio Vt/βe；
According to real-time pressure difference p between the oil inlet and outlet of the motor of differential pressure pickup signal inputf, calculate by following functional expressions (1)
The real time load flow Q of servo valve is obtained；
Q=KqI-Kcpf (1)
In functional expression (1)：KqFor the flow gain of servo valve, I is servo valve control electric current, Kc for valve pressure coefficient, pfFor horse
Real-time pressure is poor between the oil inlet and outlet for reaching；
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, the parameter identification module presses following letters
Numerical expression (2) calculating is obtained motor and always reveals coefficient CmWith the total capacity and fluid volume elasticity of the chamber of motor two and connecting pipe
Modulus ratio Vt/βe；
In functional expression (2)：(pfThe first derivative of) ' be pressure differential between servo valve-controlled motor oil inlet and outlet, qrFor the radian of motor
Discharge capacity, ω is the angular velocity of motor；
According to the real-time angular velocity of servo valve-controlled motor of angular-rate sensor signal input, the parameter identification module presses following letters
Numerical expression (3) calculates total inertia J that motor and load conversion is obtained to motormWith motor and load resistance coefficient Bm；
Jmω′+Bmω=pfqr-TL (3)
In functional expression (3)：ω for motor angular velocity, ω ' for motor angular velocity first derivative, BmFor motor and load
Resistance coefficient, TLTo act on the outer loading moment of motor drive shaft；
The parameter identification module is calculated according to following functional expressions (4) and functional expression (5) and can obtain the device hydraulic system liquid
Body vibration natural frequency ωhCompare ζ with the hydraulic system viscous damping coefficient of the deviceh；
In functional expression (4) and functional expression (5)：ωhFor hydraulic system liquid vibration natural frequency.
2. parameter identification method according to claim 1, it is characterised in that：As p in functional expression (2)fFor steady state value when, letter
Numerical expression (2) can be with abbreviation as Cmpf=Q-qr ω, you can obtain motor and always reveal coefficient Cm；As p in functional expression (2)fFor variable
When, always reveal coefficient C motor is obtainedmOn the premise of, you can obtain the chamber of servo valve-controlled motor two and connecting pipe total capacity with
Fluid bulk modulus ratio Vt/βe。
3. parameter identification method according to claim 1, it is characterised in that：When ω is steady state value in functional expression (3), letter
Numerical expression (3) can be with abbreviation as Bmω=pfqr-TL, you can obtain the resistance coefficient B of motor and loadm；As B in functional expression (3)mFor
During variable, in the resistance coefficient B for obtaining motor and loadmOn the premise of, you can motor and load conversion are obtained to the total of motor
Inertia Jm。
4. parameter identification method according to claim 1, it is characterised in that：Parameter identification module is by microprocessor and storage
Device is connected and composed.
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| CN104535327B true CN104535327B (en) | 2017-04-26 |
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Citations (4)
| 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 |
-
2015
- 2015-01-04 CN CN201510001494.XA patent/CN104535327B/en active Active
Patent Citations (4)
| 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 |