CN206111702U - Electro -hydraulic servo control system - Google Patents
Electro -hydraulic servo control system Download PDFInfo
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- CN206111702U CN206111702U CN201621035045.3U CN201621035045U CN206111702U CN 206111702 U CN206111702 U CN 206111702U CN 201621035045 U CN201621035045 U CN 201621035045U CN 206111702 U CN206111702 U CN 206111702U
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Abstract
The utility model provides an electro -hydraulic servo control system, includes: servo motor is connected with the controller, triggers pivoted control signal's down rotation of the triggering in controller output's the sign that is used for, hydraulic actuator and servo motor are connected for drive the load campaign under servo motor's rotation, inner ring feedback device is connected with servo motor and controller respectively for gather servo motor's rotational speed signal, and feed back it to the controller, outer loop feedback device is connected with hydraulic actuator and controller respectively for gather hydraulic actuator's position sigual and pressure signal, and feed back it to the controller, export the control signal that servo motor control carries out corresponding rotational speed under of the triggering of one or more signals of controller in rotational speed signal, position sigual and pressure signal. Thereby, can realize multiple mode according to the demand of difference to can comparatively accurate control, and then, the energy consumption be can reduce and control accuracy and work efficiency are improved simultaneously.
Description
Technical field
This utility model is related to hydraulic drive and control field, and in particular to a kind of electrohydraulic servo-controlling system.
Background technology
The development of hydraulic transmission technology decides the development of engineering machinery, has become measurement one using hydraulicdriven degree
One of important symbol of individual National Industrial level, the production of current developed country 95% engineering machinery, 90% digital control processing
Center, more than 95% transfer matic all employ hydraulic drive.Hydrauservo System is played in world's industrial development process
Very positive effect is especially in ultra-large type, huge industry or Military application system, such as fast to Hydrauservo System
The requirement also more and more higher of fast, high-power, high accuracy, strong robustness.
Electrohydraulic servo-controlling system is the combination of electrical servo drive system and Hydraulic Power Transmission System, is a kind of machine-electric-liquid
Multiplex control system.The feedback control system that electrohydraulic servo system is made up of electric signal process unit and hydraulic power mechanism,
Suitable for loading various occasions that are big and requiring fast response time.Such as aircraft, ship, the control of radar, injection machine, die casting
The control of the engineering machinery such as machine, bender.Traditional electrohydraulic servo system can be divided into valve control servosystem by Flow-rate adjustment mode
With pump control servosystem, valve control servosystem is to carry out Flow-rate adjustment by throttling, and it is fixed that it is driven by traditional AC motor
Amount oil pump feed, flows to the fluid flow of executive component by flow valve regulation to realize that speed is adjusted.Exist during regulation
Spill losses and restriction loss, excess energy can cause fluid to heat up, and then cause system effectiveness low, increase system non-
Linearly, stability is affected, or even has potential safety hazard.
Therefore, how to reduce the energy consumption of existing electrohydraulic servo-controlling system becomes while improving control accuracy and work efficiency
Problem demanding prompt solution.
Utility model content
The technical problems to be solved in the utility model is to reduce the energy consumption of existing electrohydraulic servo-controlling system while improving
Control accuracy.
For this purpose, the utility model discloses a kind of electrohydraulic servo-controlling system, including：
Servomotor, hydraulic actuating mechanism, inner loop feedback device, outer loop feedback device and controller；Servomotor passes through
Drive adapter to be connected with controller, rotate under the control of the control signal rotated for characterization control of controller output；
Hydraulic actuating mechanism is connected with servomotor, is moved for the driving load under the driving of servomotor；Inner loop feedback device point
It is not connected with servomotor and controller, for gathering the tach signal of servomotor, and by speed feedback signal to controller；
Outer loop feedback device is connected with hydraulic actuating mechanism and controller respectively, for gathering the position signalling and pressure of hydraulic actuating mechanism
Force signal, and position signalling and pressure signal are fed back to into controller；Controller is receiving tach signal, position signalling and pressure
In the case of one or more signal in force signal, output control signal control servomotor is accordingly rotated.
Preferably, hydraulic pump, is connected with the rotary shaft of servomotor, for following servomotor to rotate；Hydraulic cylinder, passes through
Solenoid directional control valve is connected with hydraulic pump, for the driving lower band dynamic load campaign in hydraulic pump；Solenoid directional control valve is connected with controller
Connect, hydraulic oil pipeline is switched under the triggering for characterizing the commutation signal of pipeline switching of controller output, control hydraulic pressure
The direction of motion of cylinder.
Preferably, hydraulic actuating mechanism also includes：Overflow valve, is located between hydraulic pump and hydraulic cylinder, and with equipped with hydraulic pressure
The fuel tank connection of oil.
Preferably, inner loop feedback device includes：Encoder, is connected with servomotor and controller, for gathering servo electricity
The tach signal of machine, tach signal is sent to controller.
Preferably, outer loop feedback device also includes：Pressure transducer, is connected with hydraulic pump and controller, for collection liquid
Press pump outlet pressure signal, and pressure signal is sent to controller；Position sensor, is connected with hydraulic cylinder and controller, is used
In collection hydraulic cylinder positional information, and positional information is sent to controller.
Preferably, outer loop feedback device also includes：Flow transducer, the exit position and controller for being placed in hydraulic pump connect
Connect, for gathering the flow information of hydraulic pump outlet oil drain quantity, and flow information is sent to controller, flow signal is in hydraulic pressure
Cylinder area is used for the displacement signal of correction position sensor in the case of determining；Temperature sensor, is placed in the oil equipped with hydraulic oil
The temperature information of the hydraulic oil of fuel tank internal inside case, is gathered, temperature information is sent to controller.
Preferably, after controller receives the position signalling of position sensor, controller outgoing position control signal is and interior
The signal of ring feedback device controls the velocity of rotation of servomotor more afterwards, by the position of the rotation control hydraulic cylinder of servomotor
Put mobile with driving load motion；After controller receives the pressure signal of pressure transducer, controller output pressure control letter
Number, after comparing with the signal of inner loop feedback device, control signal controls the velocity of rotation of servomotor, turning by servomotor
The output pressure of dynamic control hydraulic pump is moved with driving load；After controller receives the position signalling of position sensor, control
Device output speed control signal, compares the velocity of rotation for controlling servomotor afterwards, by servo with the signal of inner loop feedback device
The rotating speed of the rotation control hydraulic pump of motor, is transported with driving load by the stretching speed of the rotation control hydraulic cylinder of hydraulic pump
It is dynamic；After controller receives the pressure signal of position signalling and pressure transducer of position sensor, controller is while carry-out bit
Control signal and pressure controling signal are put, compares the velocity of rotation for controlling servomotor afterwards with the signal of inner loop feedback device；If
Requirement is reached first by the output pressure of the rotation control hydraulic pump of servomotor, now controller keeps output pressure control
Signal is constant, by the rotating speed of the rotation control hydraulic pump of servomotor, by the flexible of the rotation control hydraulic cylinder of hydraulic pump
Speed is moved with driving load；If the output speed of the rotation control hydraulic pump by servomotor reaches preset rotation speed first,
Now controller keeps output speed control signal constant, controls the output pressure of hydraulic pump to drive by the rotation of servomotor
Dynamic load campaign.
Preferably, electrohydraulic servo-controlling system also includes：Adapter is driven, adapter is driven, is placed in servomotor and control
Between device processed, for the one kind in the position control signal, pressure controling signal and the speed controling signal that export in controller or
The matched signal of motion corresponding with servomotor execution is driven is converted under the control of various control signal.
Preferably, the utility model discloses a kind of electrohydraulic servo-controlling system, including：Two electrohydraulic servo-controlling systems
Connected by 2/2-way solenoid directional control valve；When 2/2-way solenoid directional control valve is opened, the output flow direction of two hydraulic pumps is same
One hydraulic cylinder, the now motion of hydraulic cylinder accelerate.
Electrohydraulic servo-controlling system and system that this utility model embodiment is provided, are connected with controller by servomotor
Connect, rotate under the triggering of the control signal of controller output, hydraulic actuating mechanism is connected to servomotor with servomotor
Lower driving load motion is driven, inner loop feedback device is connected with servomotor and controller, for gathering the rotating speed of servomotor
Signal, and by speed feedback signal to controller, outer loop feedback device is connected with hydraulic actuating mechanism and controller, for gathering
The position signalling and pressure signal of hydraulic actuating mechanism, and position signalling and pressure signal are fed back to into controller, controller exists
Under the triggering of one or more signal in tach signal, position signalling and pressure signal, output control servomotor performs corresponding
The control signal of rotating speed.It is thus possible to realize multiple-working mode according to different demands, it is possible to more accurately control,
Further, it is possible to reduce the energy consumption of existing electrohydraulic servo-controlling system improves control accuracy and work efficiency simultaneously.
Description of the drawings
In order to be illustrated more clearly that this utility model specific embodiment or technical scheme of the prior art, below will be right
Needed for specific embodiment or description of the prior art, accompanying drawing to be used is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is electrohydraulic servo-controlling system module connection diagram in this utility model embodiment 1；
Fig. 2 is the system block diagram of electrohydraulic servo-controlling system in this utility model embodiment 1；
Fig. 3 is electro-hydraulic servo control device front view in this utility model embodiment 1；
Fig. 4 is electro-hydraulic servo control device top view in this utility model embodiment 1；
Fig. 5 is electro-hydraulic servo control device left view in this utility model embodiment 1；
Fig. 6 is electrohydraulic servo-controlling system module connection diagram in this utility model embodiment 1.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of this utility model, rather than the embodiment of whole.Based on the embodiment in this utility model, this
The every other embodiment obtained under the premise of creative work is not made by field those of ordinary skill, belongs to this reality
With novel protected scope.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
The connection of two element internals is can also be, can be wireless connection, or wired connection.For the common skill of this area
For art personnel, concrete meaning of the above-mentioned term in this utility model can be understood with concrete condition.
As long as additionally, technical characteristic involved in this utility model different embodiments disclosed below is each other
Do not constitute conflict can just be combined with each other.
Embodiment 1
The present embodiment provides a kind of electrohydraulic servo-controlling system, as shown in figure 1, the electrohydraulic servo-controlling system includes：Watch
Motor 10, hydraulic actuating mechanism 20, inner loop feedback device 30, outer loop feedback device 40 and controller 50 are taken, wherein：
Servomotor 10 is connected with controller 50 by driving adapter 60, is triggered for characterizing in the output of controller 50
Rotate under the triggering of the control signal of rotation.In the particular embodiment, servomotor 10 can select permagnetic synchronous motor, watch
The rotation that motor 10 can do corresponding different rotating speed under the control of the different control signal of controller is taken, is electro-hydraulic servo
Control system provides power source.
Hydraulic pressure row mechanism 20 is connected with servomotor 10, is moved for the driving load under the driving of servomotor 10.
In specific embodiment, hydraulic pump 21 and hydraulic cylinder 22 in hydraulic actuating mechanism 20, can be included, wherein, hydraulic pump 21 and servo
To be rigidly connected, servomotor 10 drives 21 synchronous axial system of hydraulic pump during rotation, passes through for the part of the connection of motor 10
The discharge capacity of the output hydraulic pressure oil of the rotational speed regulation hydraulic pump 21 of servomotor 10 is adjusted, hydraulic pump 21 connects hydraulic pressure by pipeline
Cylinder 22, hydraulic cylinder 22 according to hydraulic oil in discharge capacity complete corresponding action, hydraulic cylinder 22 be connected with load, and driving load is transported
It is dynamic.In the present embodiment, load can be all kinds of engineering machinery, for example, aircraft, ship, radar control, injection machine, die casting machine,
Bar folder etc..Hydraulic actuating mechanism can provide power for hydraulic part.
Inner loop feedback device 30 is connected with servomotor 10 and controller 50 respectively, for gathering the rotating speed of servomotor 10
Signal, and by speed feedback signal to controller 50.In the particular embodiment, inner loop feedback device 30 can be encoder,
Specifically, can be photoelectric encoder, be arranged on servomotor 10, and communicated with controller 50, servo can be measured
The rotating speed and rotor-position of motor 10, by measurement feedback to controller 50.
Outer loop feedback device 40 is connected with hydraulic actuating mechanism 20 and controller 50 respectively, for gathering hydraulic actuating mechanism
20 position signalling and pressure signal, and position signalling and pressure signal are fed back to into controller 50.In the particular embodiment,
Outer loop feedback device 40 can be pressure transducer 41 and position sensor 42, wherein, pressure transducer 41 is arranged on hydraulic pump
21 exit position, and communicate with controller 50, the outlet pressure signal of hydraulic pump 21 can be gathered, and pressure signal is fed back
To controller 50；Position sensor 42 can be arranged on hydraulic cylinder 22, and is communicated in controller 50, can gather hydraulic cylinder 22
Displacement, i.e. the position of hydraulic cylinder 22, and position signalling is fed back to into controller 50.
In the case that controller 50 receives one or more signal in tach signal, position signalling and pressure signal,
Output control signal control servomotor 10 is accordingly rotated.In the particular embodiment, controller 50 can be according to above-mentioned
The signal that various feedback is returned, exports various corresponding control signals to servomotor 10, and for example, controller 50 can basis
Tach signal can go out to servomotor defeated 10 according to position signalling to 10 output speed control signal of servomotor, controller 50
Position control signal, controller 50 can be according to pressure signals to 10 output pressure control signal of servomotor, and controller 50 is defeated
The various control signal triggering servomotors 10 for going out are operated in corresponding mode of operation.
More perfect to ensure the electrohydraulic servo-controlling system, in a preferred embodiment, hydraulic actuating mechanism 20 may be used also
To include：Solenoid directional control valve 23, is arranged between hydraulic pump 21 and hydraulic cylinder 22, and is connected with controller 50, in controller 50
Hydraulic oil pipeline is switched under the triggering for characterizing the commutation signal of pipeline switching of output, control the motion side of hydraulic cylinder 22
To.Specifically, solenoid directional control valve 23 can be three two logical reversal valves, the pipeline being arranged between hydraulic pump 21 and hydraulic cylinder 22
On, and communicate in controller 50, can be according under the triggering for characterizing the commutation signal of pipeline switching of the output of controller 50
Hydraulic oil pipeline is switched, the turnover of the hydraulic oil at 22 two ends of hydraulic cylinder is controlled, and then is controlled the direction of motion of hydraulic cylinder 22.
Overflow valve 24, is arranged between hydraulic pump 21 and hydraulic cylinder 22, and is connected with the fuel tank equipped with hydraulic oil.Specifically
Ground, overflow valve 24 for power supply servosystem protection device, when hydraulic pump output hydraulic oil pressure it is excessive, beyond predetermined
During pressure limit, unnecessary hydraulic oil can be back to fuel tank by overflow valve 24.
In a preferred embodiment, outer loop feedback device 40 can also include：Flow transducer 43, is placed in hydraulic pump 21
Exit position is connected with controller 50, for gathering the flow information of 21 oil drain quantity of hydraulic pump, and flow information is sent to control
Device processed 50, displacement signal of the flow signal in the case of the determination of 22 area of hydraulic cylinder for correction position sensor 42.Specifically
Ground, the flow of the exit position hydraulic oil of the detection hydraulic pump 21 of flow transducer 43, the flow reaction of hydraulic oil is hydraulic pump
21 actual displacement, flow information is input into controller 50, and the signal sensed from flux of flow transducer is passed for correction position
The displacement signal of sensor.
Temperature sensor 44, is placed in the fuel tank internal equipped with hydraulic oil, gathers the temperature information of the hydraulic oil of fuel tank internal,
Temperature information is sent to controller 50.In the particular embodiment, temperature sensor 44 can measure liquid inside mailbox in real time
The temperature of force feed, when temperature is too high, controller 50 can export the too high alarm of sign temperature, realize that real-time detection is electro-hydraulic
The operation conditions of servo-control system.
For adapt to different situations under operation, controller 50 can according to the signal of the inner loop feedback device 30 for receiving,
The signal of the signal, the signal of pressure transducer 41 and flow transducer 43 of position sensor 42, outgoing position control signal, pressure
Force control signal and speed controling signal are controlled to servomotor respectively, are operated in electrohydraulic servo-controlling system different
Mode of operation is adapting to different working conditions or working environment.In a preferred embodiment, as shown in Fig. 2 electro-hydraulic servo control
The signal parameter that system processed can give, controls according to 50 receiving position signal of controller, pressure signal and controller 50 itself
Algorithm can realize four kinds of mode of operations, i.e.,：Position control mode, pressure control mode, speed control mode or pressure x velocity
Mixing control mode of operation.
After controller 50 receives the position signalling of position sensor 42,50 outgoing position control signal of controller is and interior
The signal of ring feedback device 30 controls the velocity of rotation of servomotor 10 more afterwards, controls hydraulic pressure by the rotation of servomotor 10
The position movement of cylinder 22 is moved with driving load, realizes position control mode.In the particular embodiment, the target of hydraulic cylinder 22
Position as given parameters, given target location parameter input controller 50.Controller 50 is by the position signalling for feeding back
After making comparisons with given target location parameter, can be with adoption rate-Integrated Derivative
(proportion-integral-derivative, PID) control algolithm, or other algorithm controls servomotors 10
Rotating speed, the axial connection hydraulic pump 21 of servomotor 10, hydraulic pump 21 rotate control suction and the hydraulic oil for discharging hydraulic cylinder 22
Amount, promotes the position movement of hydraulic cylinder 22, and then controls load.Position signalling is input to controller 50 as position feedback letter
Number, 50 outgoing position control signal of trigger controller, the encoder being connected on servomotor 10 can gather servomotor 10
Turn degree, 50 outgoing position control signal of modifier controller.Controller 50 after the triggering for receiving pressure signal, controller 50
Output pressure control signal, the rotation speed of control signal control servomotor 10 after comparing with the signal of inner loop feedback device 30
Degree, is moved with driving load by the output pressure of the rotation control hydraulic pump 21 of servomotor 10, realizes pressure control mode.
In the particular embodiment, the goal pressure of 21 outfan of hydraulic pump be given parameters, given goal pressure parameter be input into
Controller 50, after the pressure signal for feeding back is made comparisons by controller 50 with pressure parameter, can adopt pid algorithm or other
The rotating speed of algorithm controls servomotor 10, servomotor 10 axially connect hydraulic pump 21, the rotation control hydraulic pressure of servomotor 10
The action moment of the output pressure and then control hydraulic cylinder 22 of pump 21, and then control load.Pressure signal is input to controller 50
Used as pressure feedback signal, 50 output pressure control signal of trigger controller, being connected to encoder on servomotor 10 can be with
Turn degree of collection servomotor 10,50 output pressure control signal of modifier controller.Controller 50 is receiving position signalling
After triggering, 50 output speed control signal of controller, control signal control servo after comparing with the signal of inner loop feedback device 30
The velocity of rotation of motor 10, is rotated by the rotational band hydrodynamic press pump 21 of servomotor 10, and then controls the flexible of hydraulic cylinder 22
Speed realizes speed control mode to drive the load movement.In the particular embodiment, the flexible speed of the target of hydraulic cylinder 22
Spend for given parameters, given target stretching speed parameter is input into controller 50, and controller 50 is according to the hydraulic pressure for feeding back
The displacement signal or flow signal of cylinder 22 calculates the stretching speed of hydraulic cylinder 22 and given target stretching speed parameter is made to compare
The rotating speed of pid algorithm or other algorithm controls servomotors 10, servomotor 10 after relatively, can be adopted axially to connect hydraulic pump
21, the rotation control hydraulic pump 21 of servomotor 10 is rotated, and then controls the stretching speed of hydraulic cylinder 22, and then controls load.
Position signalling is input to controller 50 as position feed back signal, and flow signal is input to controller 50 to be believed as flow feedback
Number, 50 output speed control signal of trigger controller, the encoder being connected on servomotor 10 can gather servomotor 10
Turn degree, 50 output speed control signal of modifier controller.
After controller 50 receives the pressure signal of the position signalling of position sensor 42 and pressure transducer 41, controller
50 while outgoing position control signal and pressure controling signal, control servomotor after comparing with the signal of inner loop feedback device 30
10 velocity of rotation, realizes pressure x velocity mixing control mode of operation；
If the output pressure of the rotation control hydraulic pump 21 by servomotor 10 reaches requirement first, now controller 50
Keep output pressure control signal constant, by the rotating speed of the rotation control hydraulic pump 21 of servomotor 10, by hydraulic pump 21
Rotation control hydraulic cylinder 22 stretching speed with driving load move；If controlling hydraulic pump 21 by the rotation of servomotor 10
Output speed reach preset rotation speed first, now controller 50 keep output speed control signal it is constant, by servomotor
The output pressure of 10 rotation control hydraulic pump 21 is moved with driving load.
In a preferred embodiment, electrohydraulic servo-controlling system can also include：Adapter 60 is driven, servomotor is placed in
Between 10 and controller 50, for the position control signal, pressure controling signal and the speed controling signal that export in controller 50
In one or more control signal triggering under driving servomotor 10 perform corresponding rotating speed.
As shown in figure 5, when 22 quick motion of hydraulic cylinder is needed, the system can also include two such as above-mentioned embodiment
Described in electrohydraulic servo-controlling system；Signal serial communication connection between the controller of each electrohydraulic servo-controlling system,
, used as main website,, used as slave station, two electrohydraulic servo-controlling systems are connected by 2/2-way solenoid directional control valve for another for one of them
Connect, when 2/2-way solenoid directional control valve is opened, the output of two hydraulic pumps flows to same hydraulic cylinder, now the fortune of hydraulic cylinder
Dynamic to accelerate, in the particular embodiment, the often end in the two ends of 2/2-way solenoid directional control valve is communicated to the electricity being connected with the end
Pipeline between the hydraulic pump and solenoid directional control valve of liquid system.Interflow between two electrohydraulic servo-controlling systems, now system
The hydraulic pressure POF of needs increases, and a hydraulic pump cannot be met when requiring, can be exported unlatching 2/2-way electromagnetism and be changed
Open to valve open signal control 2/2-way solenoid directional control valve, the hydraulic oil of two hydraulic pumps flows to a hydraulic cylinder, now
The movement velocity of hydraulic cylinder is doubled, so as to improve work efficiency.
It is connected with controller by servomotor, is rotated under the triggering of the control signal of controller output, hydraulic pressure is performed
Mechanism is connected to driving load motion under the driving of servomotor, inner loop feedback device and servomotor and control with servomotor
Device connects, for gathering the tach signal of servomotor, and by speed feedback signal to controller, outer loop feedback device and hydraulic pressure
Actuator and controller connection, for gathering the position signalling and pressure signal of hydraulic actuating mechanism, and by position signalling and
Pressure signal feeds back to controller, one or more signal of the controller in tach signal, position signalling and pressure signal
The lower output control servomotor of triggering performs the control signal of corresponding rotating speed.It is thus possible to be realized according to different demands various
Mode of operation, it is possible to more accurately control, and then, it is possible to reduce the energy consumption of existing electrohydraulic servo-controlling system is improved simultaneously
Control accuracy and work efficiency.
In the present embodiment, the mode that the electrohydraulic servo device in electrohydraulic servo-controlling system can be as shown in figs 2-4
Build, wherein, Fig. 2 shows the front view of electrohydraulic servo device, and Fig. 3 shows the top view of electrohydraulic servo device, and Fig. 4 shows
The left view of electrohydraulic servo device is gone out.Specifically, electrohydraulic servo device can include：Servomotor 10, hydraulic pump 21, hydraulic pressure
Cylinder 22, solenoid directional control valve 23, overflow valve 24, encoder 31, pressure transducer 41, position sensor 42, flow transducer 43, temperature
Degree sensor 44, fuel tank, 2/2-way solenoid directional control valve, shaft coupling 70-1, hydraulic pump flowline 70-2, flow digital display meter
70-3, pressure digital display meter 70-4, temperature digital display meter 70-5, system bus interface 70-6, integrated valve block 70-7, pressure transducer connect
Mouth 70-8, hydraulic cylinder oil-feed port 70-9, mailbox clean-up port 70-10, hydraulic pump oil-absorbing pipeline 70-11, ball valve 70-12, air mistake
Filter 70-13, pouring orifice 70-14, mailbox oil returning tube 70-15, hydraulic pump flowline interface 70-16, platform support 70-
17。
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or
Change.There is no need to be exhaustive to all of embodiment.And thus it is extended obvious change or
Among changing still in the protection domain of this utility model.
Claims (9)
1. a kind of electrohydraulic servo-controlling system, it is characterised in that include：Servomotor (10), hydraulic actuating mechanism (20), internal ring
Feedback device (30), outer loop feedback device (40) and controller (50)；
The servomotor (10) is connected with the controller (50) by driving adapter (60), defeated in the controller (50)
Rotate under the control of the control signal rotated for characterization control for going out；
The hydraulic actuating mechanism (20) is connected with the servomotor (10), under the driving of the servomotor (10)
Driving load is moved；
The inner loop feedback device (30) is connected with the servomotor (10) and the controller (50) respectively, for gathering
State the tach signal of servomotor (10), and by the speed feedback signal to the controller (50)；
The outer loop feedback device (40) is connected with the hydraulic actuating mechanism (20) and the controller (50) respectively, for adopting
Collect the position signalling and pressure signal of the hydraulic actuating mechanism (20), and the position signalling and the pressure signal are fed back
To the controller (50)；
The one kind or many of the controller (50) in the tach signal, the position signalling and the pressure signal is received
In the case of planting signal, output control signal controls the servomotor (10) and is accordingly rotated.
2. electrohydraulic servo-controlling system according to claim 1, it is characterised in that hydraulic actuating mechanism (20) bag
Include：
Hydraulic pump (21), is connected with the rotary shaft of the servomotor (10), for following the servomotor (10) to rotate；
Hydraulic cylinder (22), is connected with the hydraulic pump (21) by solenoid directional control valve (23), for the driving in hydraulic pump (21)
Lower band dynamic load campaign；
The solenoid directional control valve (23) is connected with the controller (50), the controller (50) export for characterizing pipeline
Hydraulic oil pipeline is switched under the triggering of the commutation signal of switching, control the direction of motion of hydraulic cylinder (22).
3. electrohydraulic servo-controlling system according to claim 1, it is characterised in that：The hydraulic actuating mechanism (20) is also wrapped
Include：
Overflow valve (24), after being located at the hydraulic pump (21), and is connected with the fuel tank equipped with hydraulic oil.
4. electrohydraulic servo-controlling system according to claim 1, it is characterised in that inner loop feedback device (30) bag
Include：
Encoder (31), is connected with the servomotor (10) and the controller (50), for gathering the servomotor
(10) tach signal, the tach signal is sent to the controller (50).
5. electrohydraulic servo-controlling system according to claim 1, is characterised by, the outer loop feedback device (40) includes：
Pressure transducer (41), is connected with the hydraulic pump (21) and the controller (50), for gathering the hydraulic pump
(21) outlet pressure signal, and the pressure signal is sent to the controller (50)；
Position sensor (42), is connected with the hydraulic cylinder (22) and the controller (50), for gathering the hydraulic cylinder
(22) positional information, and the positional information is sent to the controller (50).
6. electrohydraulic servo-controlling system according to claim 1, it is characterised in that the outer loop feedback device (30) is also wrapped
Include：
Flow transducer (43), the exit position for being placed in the hydraulic pump (21) are connected with the controller (50), for gathering
The hydraulic pump (21) exports the flow information of oil drain quantity, and the flow information is sent to the controller (50)；
Temperature sensor (44), is placed in the fuel tank internal equipped with hydraulic oil, gathers the temperature letter of the hydraulic oil of the fuel tank internal
Breath, the temperature information is sent to the controller (50).
7. the electrohydraulic servo-controlling system according to claim 1-6 any one, it is characterised in that
After the controller (50) receives the position signalling of the position sensor (42), the control of controller (50) outgoing position
Signal, compares the velocity of rotation for controlling the servomotor (10) afterwards with the signal of inner loop feedback device (30), by servo electricity
The rotation of machine (10) controls the position movement of the hydraulic cylinder (22) to drive the load movement；
After the controller (50) receives the pressure signal of the pressure transducer (41), the control of controller (50) output pressure
Signal, after comparing with the signal of inner loop feedback device (30), control signal controls the velocity of rotation of the servomotor (10), leads to
The rotation for crossing the servomotor (10) controls the output pressure of the hydraulic pump (21) to drive the load movement；
After the controller (50) receives the position signalling of the position sensor (42), the control of controller (50) output speed
Signal, is compared the velocity of rotation for controlling the servomotor (10) afterwards, is watched by described with the signal of inner loop feedback device (30)
The rotation for taking motor (10) controls the rotating speed of the hydraulic pump (21), controls hydraulic cylinder (22) by the rotation of hydraulic pump (21)
Stretching speed is driving the load movement；
The controller (50) receives the pressure of the position signalling and the pressure transducer (41) of the position sensor (42)
After force signal, controller (50) is while outgoing position control signal and pressure controling signal, the letter with inner loop feedback device (30)
The velocity of rotation of the servomotor (10) number is controlled more afterwards；
If the output pressure for controlling the hydraulic pump (21) by the rotation of the servomotor (10) reaches requirement first, now
Controller (50) keeps output pressure control signal constant, controls the hydraulic pump by the rotation of the servomotor (10)
(21) rotating speed, controls the stretching speed of hydraulic cylinder (22) to drive the load movement by the rotation of hydraulic pump (21)；
If the output speed for controlling the hydraulic pump (21) by the rotation of the servomotor (10) reaches preset rotation speed first,
Now controller (50) keeps output speed control signal constant, controls the hydraulic pressure by the rotation of the servomotor (10)
The output pressure of pump (21) is driving the load movement.
8. electrohydraulic servo-controlling system according to claim 7, it is characterised in that also include：
Adapter (60) is driven, is placed between the servomotor and the controller, for exporting in the controller (50)
The position control signal, one or more control signal in the pressure controling signal and the speed controling signal
The matched signal of motion corresponding with servomotor (10) execution is driven is converted under control.
9. electrohydraulic servo-controlling system according to claim 7, it is characterised in that also include
Two electrohydraulic servo-controlling systems are connected by 2/2-way solenoid directional control valve；
When 2/2-way solenoid directional control valve is opened, the output of two hydraulic pumps flows to same hydraulic cylinder, now hydraulic cylinder
Motion accelerates.
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