Position-pressure composite control method for electro-hydraulic servo system with double actuators in series

Abstract

The invention discloses a series double-actuator electro hydraulic servo system position-pressure compound control method. The method balances interference of external load force to a system, an actuator mechanism is formed by series connection of one single-piston-rod hydraulic cylinder and a double-piston-rod hydraulic cylinder, wherein the single-piston-rod hydraulic cylinder is controlled by athree-oil-port axial plunger pump, and the double-piston-rod hydraulic cylinder is controlled by a double-oil-port axial plunger pump. The single-piston-rod hydraulic cylinder and the double-piston-rod hydraulic cylinder collect pressure of four oil ways of a series hydraulic cylinder correspondingly and feed back the pressure to a controller controlling a double-piston-rod hydraulic cylinder system after comparison is conducted. A motor is controlled to drive the double-piston-rod hydraulic cylinder to move to form a pressure loop, while a displacement signal of the series hydraulic cylinderis fed back to a controller of a single-piston-rod hydraulic cylinder system to form a position loop, and the position loop is used for controlling the position accuracy of a series double-actuator electro hydraulic servo system. Because the external load force is completely balanced by the double-piston-rod hydraulic cylinder, the single-piston-rod hydraulic cylinder system cannot be interferedby the external load force, and accordingly the position accuracy of the series double-actuator electro hydraulic servo system is improved.

Description

technical field [0001] The invention relates to the field of hydraulic control of a high-precision electro-hydraulic servo system, in particular to a position-pressure composite control method of an electro-hydraulic servo system with double actuators in series, which is suitable for the control and use of double-redundant electro-hydraulic servo actuators. Background technique [0002] In the existing technology, the invention patent "a non-similar redundant electric steering device" (patent number: ZL201610649247.5) invented a non-similar redundant electric steering device, which adopts advanced power fly-by-wire technology and volumetric speed regulation principle , through two sets of electric motors to drive the hydraulic pump system to directly drive the double redundancy series hydraulic cylinder, but this patent only uses the position closed loop to control the stroke of the series double redundancy hydraulic cylinder. [0003] Invention patent "an open pump control ...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem of the lack of control methods in the above-mentioned invention patents, the present invention provides a position-pressure compound control method of the electro-hydraulic servo system with double actuators in series

Images