A Cylinder with Friction Estimation Function
A friction and cylinder technology, applied in fluid pressure actuation devices, fluid pressure actuation system testing, mechanical equipment, etc., can solve the problem that the output signal is easily affected by clutter, linearity, frequency response is difficult to meet higher requirements, improve Control algorithm complexity and other issues to achieve the effect of improving susceptibility to interference, improving anti-interference ability, and saving installation space
Active Publication Date: 2017-01-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
LVDT frequency response is high, but the output signal is easily affected by clutter and the linearity is not high
The output signals of pulse counters such as grating rulers are not easily affected by clutter, but the frequency response is difficult to meet higher requirements
In addition, ordinary cylinders do not have the function of estimating the friction force. It is necessary to perform friction measurement experiments in advance or to estimate the friction force online during the control process. Both methods need to add a friction force estimation algorithm during the control process, which greatly improves the The complexity of the control algorithm makes it difficult to meet the requirements of real-time control
Method used
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Embodiment 1
[0029] A cylinder with a friction estimation function, comprising: a rear end cover 6, a magnetostrictive displacement sensor 7, a cylinder barrel 8, a piston rod as a whole 9, a front end cover 10, and a pressure sensor 11, such as image 3 shown.
[0030] Piston rod overall 9, such as figure 1 The shown includes: magnetic ring 1, non-magnetic gasket 2, fastening nut 3, piston 4, piston rod 5; connection relationship: first install the magnetic ring 1 and the matching non-magnetic gasket 2 into the fastening nut 3 , using non-magnetic screws for fixing; pass the fastening nut 3 with the magnetic ring 1 through the piston 4, and connect the end of the fastening nut 3 with the piston rod 5, and the end of the fastening nut 3 has an external thread, which is connected with the tight The piston rod 5 connected to the fastening nut 3 has an internal thread; the inside of the fastening nut 3 is provided with a through hole along the axial direction, and the piston rod 5 is provide...
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The invention relates to a driving device, in particular to an air cylinder having a friction force estimation function and belongs to the field of mechanical-electrical integration. The difference between the air cylinder and a traditional air cylinder is that a piston and a piston rod structure are improved. In addition, an electrical loop is built in the air cylinder, the air cylinder comprises a single chip microcomputer, an AD and other electronic components, and analog signals output by a displacement sensor and a pressure sensor can be converted into digital signals for output. A speed, pressure-frictional force comparison algorithm is adopted by the single chip microcomputer, the currently-suffered frictional force is calculated according to the current motion speed of the piston and pressure in a cavity and serves as a digital quantity for output, and frictional force compensation can be possible. By means of the air cylinder design scheme, all sensor modules and a cylinder body structure are integrated, and the installing and using difficulty of the air cylinder in a servo system are greatly reduced. Furthermore, the air cylinder has the friction force detection function, and online compensation of the frictional force in a pneumatic servo system is achieved.
Description
technical field [0001] The invention relates to a driving device, in particular to an air cylinder with a friction estimation function, which belongs to the field of electromechanical integration. Background technique [0002] Cylinders are commonly used in industry to pull and compress materials. However, ordinary cylinders often do not have components such as displacement sensors and pressure sensors. Therefore, when using ordinary cylinders to build a servo control system, additional sensors must be installed and the connection between the cylinder and the sensor must be designed, resulting in a complex mechanical structure and easily affecting the original machine. structural stability and increase the cost of maintaining the system. [0003] The displacement sensors used in ordinary cylinders are mostly LVDT or grating rulers (or similar pulse counters). LVDT frequency response is high, but the output signal is easily affected by clutter and the linearity is not high....
Claims
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IPC IPC(8): F15B15/14F15B19/00
CPCF15B15/1423F15B15/1438F15B19/00F15B2215/30
Inventor 王涛宋扬黄雷生范伟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY