CN108612712B - Electro-hydraulic proportional flow valve for active pilot control and control method - Google Patents
Electro-hydraulic proportional flow valve for active pilot control and control method Download PDFInfo
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- CN108612712B CN108612712B CN201810313482.4A CN201810313482A CN108612712B CN 108612712 B CN108612712 B CN 108612712B CN 201810313482 A CN201810313482 A CN 201810313482A CN 108612712 B CN108612712 B CN 108612712B
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- 238000000034 method Methods 0.000 title abstract description 9
- 238000001816 cooling Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 abstract description 8
- 230000010354 integration Effects 0.000 abstract description 5
- 230000002457 bidirectional effect Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 46
- 230000004044 response Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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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
- 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
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Analytical Chemistry (AREA)
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Abstract
The invention belongs to the technical field of electro-hydraulic proportional flow valves of hydraulic servo and proportional control systems, and particularly relates to an electro-hydraulic proportional flow valve with active pilot control and a control method. Including main valve, plunger pump/motor, servo motor, control circuit and integrated integration casing, integrated integration casing in be provided with circuit mounting panel, servo motor chamber and plunger pump installation cavity, install control circuit on the circuit mounting panel, the last signal input delivery outlet and the power input mouth of being provided with of control circuit, servo motor is installed to the servo motor intracavity, servo motor is controlled by control circuit, servo motor chamber both ends are provided with the cooling oil inlet and the cooling oil return opening with external intercommunication respectively, plunger pump/motor is installed to the plunger pump installation intracavity, servo motor passes through the integral key shaft and is connected with plunger pump/motor, plunger pump/motor is connected with the main valve. The invention adopts the pilot stage flow of the small-sized bidirectional hydraulic pump, so that the flow is not influenced by the magnitude and the direction of the pressure difference and can be changed along with the rotating speed of the motor.
Description
Technical Field
The invention belongs to the technical field of electro-hydraulic proportional flow valves of hydraulic servo and proportional control systems, and particularly relates to an electro-hydraulic proportional flow valve with active pilot control and a control method.
Background
The modernization level of major mechanical equipment is one of the important marks of the scientific and technological development level of our country, and as the major mechanical equipment mostly utilizes a hydraulic driving mode, the development level of the major equipment is reflected on the performance level of an electro-hydraulic control system to a great extent, and the technical level of a hydraulic component is an important index for determining the performance level of the electro-hydraulic control system. The electro-hydraulic proportional flow valve is a core component of an electro-hydraulic control system in a great number of major mechanical equipment, is widely applied to the fields of ocean engineering, railway tunnel engineering, aviation, aerospace, nuclear power and the like, and becomes one of the most important control elements in the technical field of fluid transmission and control.
The traditional electro-hydraulic proportional flow valve has good static and dynamic characteristics, but has poor controllability and slow dynamic response in a low working pressure range; when the load pressure changes, the main valve flow will also change greatly. In order to reduce the influence of load change on the main valve, a pressure difference compensator or a flow detection element needs to be arranged on a main flow passage of the valve, so that the size and the manufacturing difficulty of the valve are increased, the through-flow capacity of the valve is weakened, larger energy loss is caused, and heat is generated. For the application occasion of large flow, due to the restriction of energy loss, the technology is useless, and the flow can be only indirectly controlled through the opening area of the control valve, so that the control performance of the main valve is influenced. The control precision is reduced under the influence of load change, which is a key technical problem restricting the high-precision electro-hydraulic proportional flow valve.
Disclosure of Invention
In order to solve the problem that the accurate control of the flow is always difficult to solve, the traditional differential pressure compensation type opening has flow overshoot, instantaneous flow impact and overshoot exist during load pressure step change, and the control precision is low and the heating is serious due to the influence of hydrodynamic force and friction force; the flow feedback type is an electro-hydraulic proportional flow valve which detects output flow and compares the output flow with a set value to form a closed loop, but is limited by the dynamic response characteristic of a flow sensor, and can reduce the dynamic stability of the valve, and provides active pilot control and a control method.
The invention adopts the following technical scheme: the utility model provides an electro-hydraulic proportional flow valve of initiative guide level control, includes main valve, plunger pump/motor, servo motor, control circuit and integrated integration casing, integrated integration casing in be provided with control circuit installation department (circuit mounting panel, circuit mounting chamber), servo motor chamber and plunger pump installation cavity, install control circuit on the circuit mounting panel, last signal input delivery outlet and the power input port of being provided with of control circuit, servo motor is installed to the servo motor intracavity, servo motor is controlled by control circuit, servo motor chamber both ends are provided with the cooling oil inlet and the cooling oil return opening with external intercommunication respectively, plunger pump/motor is installed to the plunger pump installation intracavity, servo motor passes through the integral key shaft and is connected with plunger pump/motor, plunger pump/motor is connected with the main valve.
Furthermore, the main valve comprises a main valve control cavity, wherein an A port, a B port and a C port are respectively arranged on the main valve control cavity, a valve core capable of moving up and down is arranged in the main valve control cavity, a spring is arranged between the upper end of the valve core and the shell, a one-way valve I and a one-way valve II are arranged in the valve core, one end of the one-way valve I is communicated with the A port, the other end of the one-way valve I is communicated with the C port, one end of the one-way valve II is communicated with the B port, the other end of the one-way valve II is communicated with the C port.
Furthermore, servo motor includes servo motor rotor and servo motor stator, and the servo motor rotor sets up in the servo motor stator, and servo motor rotor is inside to be hollow structure.
A control method for the electro-hydraulic proportional flow valve controlled by active pilot stage features that when the pressure at the inlet A of main valve is higher than the pressure at the inlet A of main valvep AGreater than the pressure at the outlet Bp BThe cavity above the valve core in the main valve control cavity is a main valve upper cavity C, the oil in the main valve upper cavity is discharged to a main valve oil outlet B through a hydraulic pump, and the pressure in the main valve upper cavityp CWhen the valve core moves upwards, the valve port is opened, and oil flows from the port A to the port B.
The output flow of the main valve is continuously controlled by controlling the rotating speed of the servo motor, even if the pressure of the inlet of the main valve is very low, the pilot pump can pump the oil in the upper cavity of the main valve to the oil outlet of the main valve, so that differential pressure is generated on the main valve core, and the main valve is opened; when pressure is appliedp BIs greater thanp AWhen the control signal of the servo motor is zero, the pressure of the port B can lift the main valve core, and the main valve has the function of a reverse one-way valve; when the servo motor rotates reversely, the oil from the B port is pumped into the upper cavity of the main valve to make the pressure in the upper cavity of the main valvep CIs greater thanp BThe valve is in a closed state;
when pressure is appliedp BIs greater thanp AThe oil in the port B enters the upper cavity of the main valve through the one-way valve, and the pilot hydraulic pump still discharges the oil in the upper cavity of the main valve to the port B, so that the pressure in the upper cavity of the main valve is ensuredp CWhen the main valve core is lifted, the oil flows from the port B to the port A, and the main valve can be closed by closing the electromagnetic valve.
Compared with the prior art, the invention has the following beneficial effects:
1. the flow of the pilot stage of the small-sized bidirectional hydraulic pump can be free from the influence of the magnitude and the direction of the pressure difference, and the flow of the high-pressure oil changes the flowing direction along with the rotating direction of the motor and changes the magnitude along with the rotating speed of the motor.
2. The driving circuit and the control circuit are in the same shell with the hydraulic pump and the motor, so that the valve can be miniaturized, integrated and intelligentized.
3. Because hydraulic pump, motor are in same casing, the motor can make wet-type heat dissipation like this, lets the motor soak in hydraulic oil promptly, lets hydraulic oil take away the heat of motor working process, and the motor can pass through bigger electric current like this, and the motor size also can be miniaturized, and the motor life-span is higher.
4. The parameters and amplification of the valve can be varied via the bus, allowing great flexibility. Position, pressure and synchronization algorithms can be invoked at any time, fault diagnostic functions, and the valve can also be actuated in an analog fashion in environments without a regional bus.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention;
FIG. 2 is a schematic diagram of a high-precision active pilot stage controlled electro-hydraulic proportional flow valve test system;
FIG. 3 is a schematic view of a portion of the structure of the present invention;
FIG. 4 is a schematic view of a portion of the structure of the present invention II;
FIG. 5 is a schematic view of a main valve structure;
in the figure, 1-control circuit, 2-signal input/output port, 3-power input port, 4-plunger pump/motor, 5-integrated shell, 6-servomotor cavity, 7-cooling oil inlet, 8-servomotor, 9-cooling oil return port, 10-main valve, 11-plunger pump installation cavity, 12-plunger pump oil inlet, 13-plunger pump oil return port, 14-spline shaft, 15-servomotor rotor, 16-servomotor stator, 17-spring, 18-main valve control cavity, 19-valve core, 20-one-way valve I, 21-one-way valve II.
Detailed Description
As shown in figure 1, the electro-hydraulic proportional flow valve controlled by an active pilot stage comprises a main valve 10, a plunger pump/motor 4, a servo motor 8, a control circuit 1 and an integrated shell 5, integrated integration casing 5 in be provided with the circuit mounting panel, servo motor chamber 6 and plunger pump installation cavity 11, install control circuit 1 on the circuit mounting panel, last signal input output 2 and the power input port 3 of being provided with of control circuit 1, install servo motor 8 in the servo motor chamber 6, servo motor 8 is controlled by control circuit 1, 6 both ends in servo motor chamber are provided with the cooling oil inlet 7 and the cooling oil return 9 with external intercommunication respectively, install plunger pump/motor 4 in the plunger pump installation cavity 11, servo motor 8 is connected with plunger pump/motor 4 through integral key shaft 14, plunger pump/motor 4 is connected with main valve 10.
The present invention uses a servo motor to control the hydraulic pump, and employs a speed sensor and a pressure sensor to measure the speed of the servo motor, as well as the hydraulic pump/motor outlet pressure signal. The CPLD together with the DSP is responsible for all internal data processing, as well as algorithms for processing pressure and position adjustments. The signal interface can input/output analog and digital signals, and is also a bus interface, the valve parameters and amplification factor can be changed by the bus, and the digital signals can be input/output by the bus, so that the device has great flexibility, and also has a condition monitoring function. Also, in an environment without a local bus, the valve may be actuated in an analog manner.
The main valve 10 comprises a main valve control cavity 18, wherein an A port, a B port and a C port are respectively arranged on the main valve control cavity 18, a valve core 19 capable of moving up and down is arranged in the main valve control cavity 18, a spring 17 is arranged between the upper end of the valve core 19 and a main valve shell, a one-way valve I20 and a one-way valve II21 are arranged in the valve core 19, one end of a one-way valve I20 is communicated with the A port, the other end of the one-way valve I20 is communicated with the C port, one end of a one-way valve II21 is communicated with the B port, the other end of the one-way valve II21 is communicated with the C port, and the B.
The servo motor 4 comprises a servo motor rotor 15 and a servo motor stator 16, the servo motor rotor 15 is arranged in the servo motor stator 16, and the interior of the servo motor rotor 15 is of a hollow structure. In order to facilitate heat dissipation and reduce rotational inertia, the motor has a hollow structure, as shown in fig. 3 and 4. And adopt wet-type heat dissipation, the both sides of motor pass through orifice connected system oil feed and oil return opening promptly, and the heat is taken away by fluid very fast like this for the heat dissipation. The throttle orifice can automatically adjust the flow and pressure flowing into the servo motor through a pressure valve and a flow valve through a computer, thereby adjusting the temperature of the servo motor. Through the temperature of the oil, the temperature of the motor can be indirectly known.
The basic principle is shown in fig. 1. When main valve inlet pressurep AGreater than the outlet pressurep BThe oil in the upper cavity of the main valve is discharged to an oil outlet B of the main valve through a hydraulic pump, and the pressure in the upper cavity of the main valvep CLowering, main spool moving up, port opening, oil flow from port A to port B, flow through main valve proportional to pilot stage (plunger pump/motor) flow, having
The pilot stage flow is proportional to the rotating speed of the servo motor according to the formula (1)nAnd the displacement of the hydraulic pumpv p，q xd=v p nAnd is independent of the load pressure, so the output flow of the main valve can be continuously controlled by controlling the rotating speed of the motor. Even if the pressure of the inlet of the main valve is very low, the pilot pump can pump the oil in the upper cavity of the main valve to the oil outlet of the main valve, so that pressure difference is generated on the valve core to open the main valve, and the controllability and the dynamic response of the valve are improved. When pressure is appliedp BIs greater thanp AIf the servo motor control signal is zero, the pressure of the port B can lift the main valve core, and the valve has the function of a reverse one-way valve; if the servo motor rotates reversely, the oil from the B port is pumped into the upper cavity of the main valve to make the pressure in the upper cavity of the main valvep CIs greater thanp BThe valve is in a closed state.
When pressure is appliedp BIs greater thanp AThe oil in the B port is selected by the one-way valve and enters the upper cavity of the main valve, the pilot hydraulic pump still discharges the oil in the upper cavity of the main valve to the B port, and the pressure in the upper cavity of the main valve is enabled to bep CWhen the main valve core is lifted, the oil flows from the port B to the port A, the flow relation of the formula (1) is also satisfied, and therefore the bidirectional control of the flow is realized, and at the moment, if the electromagnetic valve is turned off, the main valve can be also turned off.
The control principle has the advantages that the pilot stage adopts a self-oil supply mode and is directly supplied to the load, so that the energy utilization rate is high; an active pilot stage is adopted, and the two ends of the pilot stage can work without pressure difference, so that the use pressure range of the valve can be expanded, the controllability of low pressure is increased, and the dynamic response of the low-pressure working condition valve is improved; the flow range of the pilot stage can be changed by changing the discharge capacity of the pilot pump, so that the valve with the large drift diameter can be conveniently controlled by only adopting a two-stage structure, and the valve has the advantages of large flow control range and low pressure difference loss.
When A is oil inlet and B is oil outlet, the main valve works in outward flow mode, the pilot plunger pump/motor works in motor mode, and the pressure of control cavity C of the main valvep CGreater than main valve outlet pressurep BThe hydraulic oil will leak from the main valve control chamber C to the main valve outlet B by an amount ofq CB. When B is oil inlet and A is oil outlet, the pilot pump/motor is under pump condition, the main valve works in internal flow mode, and the main valve controls cavity pressurep CLess than B pressure at oil inlet of main valvep BThe oil will leak from the oil inlet to the main valve control cavity with a leakage rate ofq BC。
The flow of the valve is in a linear relation with the flow of a pilot pump/motor, the smaller the area gradient wc of the feedback throttling groove is, the larger the valve core displacement is, and the larger the flow of the valve is; the valve core displacement and the main valve flow are reduced along with the increase of the hydraulic power; due to the presence of the amount of pre-opening of the feedback throttling groove, there will be some dead zone in the main valve.
When the main valve core is added with two one-way valvesp A>p BWhen the pressure of the oil flows to the main valve control cavity, the high-pressure oil flows to the main valve control cavity through the selection of the one-way valve, and the outflow working condition is adopted; when in usep A<p BWhen the pressure of the oil in the port B is higher than the pressure of the oil in the port B, the oil in the port B flows to the main valve control cavity through the selection of the one-way valve, and the working condition is an inward flow condition. When the valve is in an outward flow type working condition, the pilot plunger pump/motor outputs oil to the oil outlet B, and the working condition of the motor is the working condition; when the new principle valve is in an inward flow type working condition, the pilot pump/motor outputs oil to the oil inlet B, and the working condition of the pump is at the moment.
A high-precision electro-hydraulic proportional flow valve test system with active pilot control is mainly used for testing dynamic and static characteristics of a proportional flow valve with a small drift diameter, such as a drift diameter below 25, and the whole test process is managed by a PC (personal computer) and a DSpace real-time control card imported from Germany. In the test, 1 high-performance servo variable pump and 1 set of variable pump control system are used for providing the flow and outlet pressure required by the system, a proportional overflow valve is used for loading a tested valve, the test parameters comprise pump outlet pressure, pressure of an inlet cavity and an outlet cavity of the tested valve, displacement of a tested pilot valve and a main valve core and flow passing through the valve, a gear type high-precision dynamic flowmeter is used for recording the flow passing through the tested valve, test signals are processed by special data processing software in a computer, and the computer simultaneously provides a set signal for controlling the tested valve, a signal for controlling the output flow of the proportional pump and a signal for controlling the loading overflow valve. The tested performance indexes comprise the steady-state characteristic and the pressure flow characteristic of the valve, and the dynamic step response characteristic, the frequency response characteristic and the load step response characteristic of the signal are set. In the testing process, the set value of the valve opening is continuously increased and decreased within the range from zero to the maximum opening, the displacement and the output flow of the valve core are recorded and repeated for many times, and the performance indexes of the tested valve, such as the nonlinearity, the hysteresis, the repetition precision, the dead zone and the like, are determined. Keeping the set value of the valve unchanged, continuously changing the outlet pressure of the valve by using a proportional overflow valve, measuring the pressure flow characteristic of the valve, and checking the degree of influence of the output flow of the valve on load. Keeping the output flow of the valve unchanged, setting the outlet pressure of the valve by using a proportional overflow valve to change in a step mode, and recording the load step response characteristic curve of the valve.
Claims (1)
1. The utility model provides an electro-hydraulic proportional flow valve of initiative pilot stage control which characterized in that: the integrated control valve comprises a main valve (10), a plunger pump/motor (4), a servo motor (8), a control circuit (1) and an integrated shell (5), wherein a circuit mounting plate, a servo motor cavity (6) and a plunger pump mounting cavity (11) are arranged in the integrated shell (5), the circuit mounting plate is provided with the control circuit (1), the control circuit (1) is provided with a signal input and output port (2) and a power input port (3), the servo motor (8) is arranged in the servo motor cavity (6), the servo motor (8) is controlled by the control circuit (1), two ends of the servo motor cavity (6) are respectively provided with a cooling oil inlet (7) and a cooling oil return port (9) which are communicated with the outside, the plunger pump/motor (4) is arranged in the plunger pump mounting cavity (11), and the servo motor (8) is connected with the plunger pump/motor (4) through a spline shaft (14), the plunger pump/motor (4) is connected with the main valve (10);
the main valve (10) comprises a main valve control cavity (18), wherein an A port, a B port and a C port are respectively arranged on the main valve control cavity (18), a valve core (19) capable of moving up and down is arranged in the main valve control cavity (18), a spring (17) is arranged between the upper end of the valve core (19) and a main valve shell, a one-way valve I (20) and a one-way valve II (21) are arranged in the valve core (19), one end of the one-way valve I (20) is communicated with the A port, the other end of the one-way valve I (20) is communicated with the C port, one end of the one-way valve II (21) is communicated with the B port, the other end of the one-way valve II (21) is communicated with the C port, and the B port and;
the servo motor (4) comprises a servo motor rotor (15) and a servo motor stator (16), the servo motor rotor (15) is arranged in the servo motor stator (16), and the interior of the servo motor rotor (15) is of a hollow structure;
when the pressure of the inlet A of the main valvep AGreater than the pressure at the outlet Bp BThe cavity above the valve core in the main valve control cavity is the main valve upper cavity, the oil in the main valve upper cavity is discharged to the main valve oil outlet B through the hydraulic pump, and the pressure in the main valve upper cavityp CLowering, moving the valve core upwards, opening the valve port, allowing oil to flow from port A to port B,
the output flow of the main valve is continuously controlled by controlling the rotating speed of the servo motor, even if the pressure of the inlet of the main valve is very low, the pilot pump can pump the oil in the upper cavity of the main valve to the oil outlet of the main valve, so that differential pressure is generated on the main valve core, and the main valve is opened; when pressure is appliedp BIs greater thanp AWhen the control signal of the servo motor is zero, the pressure of the port B can lift the main valve core, and the main valve has the function of a reverse one-way valve; when the servo motor rotates reversely, the oil from the B port is pumped into the upper cavity of the main valve to make the pressure in the upper cavity of the main valvep CIs greater thanp BThe valve is in a closed state;
when pressure is appliedp BIs greater thanp AThe oil in the B port is selected by the one-way valve and enters the upper cavity of the main valve, the pilot hydraulic pump still discharges the oil in the upper cavity of the main valve to the B port, and the pressure in the upper cavity of the main valve is enabled to bep CWhen the main valve core is lifted, the oil flows from the port B to the port A, and the main valve can be closed by closing the electromagnetic valve.
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| CN111396422A (en) * | 2020-04-23 | 2020-07-10 | 太原理工大学 | Pilot type proportional flow valve and control method |
| CN112324733A (en) * | 2020-10-30 | 2021-02-05 | 南京工程学院 | Electro-hydraulic servo valve based on Ethercat bus |
| CN115681067A (en) * | 2022-09-30 | 2023-02-03 | 北京精密机电控制设备研究所 | Coaxial integrated servo motor pump with drive control function |
| CN115573965B (en) * | 2022-12-07 | 2023-03-21 | 太原理工大学 | Multifunctional electro-hydraulic flow control valve and flow control method |
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| CN108612712A (en) | 2018-10-02 |
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