Proportional valve precise modeling based control method of asymmetric electric-hydraulic proportional system
An electro-hydraulic proportional and control method technology, which is applied in the field of machinery and electronics, can solve the problems that the stability cannot meet the field practicality, the small displacement tracking high-precision response, the adjustment range and precision are limited, and the problem of asymmetric response is simple. Effective, reduce debugging workload, and solve the effect of consistent response
Active Publication Date: 2019-04-09
CHANGSHA AERONAUTICAL VACATIONAL AND TECHNICAL COLLEGE
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Problems solved by technology
[0002] The existing research on the consistency of positive and negative velocity characteristics of the electro-hydraulic system has certain application problems through asymmetric structure improvement, or complex modern control strategies to solve the asymmetric response problem, and some scholars use the load flow model of the proportional valve to compensate However, the influence of the flow state inside the servo valve is ignored in its model establishment, and the range and accuracy of the adjustment are limited. When the proportional valve opening is small and the external load is too large, the adjustment deviation is large, and it is difficult to realize the asymmetrical electro-hydraulic proportional system. High precision response for small displacement tracking
According to the above analysis, the existing asymmetric control strategy cannot meet the field practical requirements in terms of manufacturing cost, complex working conditions and stability.
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[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0031] The present invention realizes based on following model:
[0032] 1. Precise modeling of proportional valve
[0033]
[0034] Among them: ρ is the density of hydraulic oil, the unit is kg / m 3 ; w is the area gradient of the valve port, the unit is m; ν is the kinematic viscosity of the fluid, the unit is m 2 / s;x v The unit of opening of the valve port is m; C dt is the flow coefficient of the valve port under turbulent flow state, and the value is generally 0.7; k c is the coefficient related to the critical Reynolds number, 0.1R c ≤k c ≤0.2R c , where R c is the critical Reynolds number; Δp is the differential pressure at the valve port, in Pa.
[0035] 2. Ideal traffic
[0036] The ideal proportional valve output flow model is a linear model, as shown below:
[0037]
[0038] Where: P S Oil supply pressure for hydraulic pump,...
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The invention discloses a proportional valve precise modeling based control method of an asymmetric electric-hydraulic proportional system. Under the influence of asymmetric factors including load, structure and the like, the proportional valve of the asymmetric electric-hydraulic proportional system is asymmetric in output flow characteristic, so that the problem about control over the entire system appears; and in order to solve the problem, the patent regards an ideal linear proportional valve flow model as a control target to carry out precise modeling on the proportional valve with asymmetric actual load flow, and a compensation equation is obtained through the twice equation solving method, so that after compensation, flow output of the ideal model can be realized, load flow output is free from influence of the load and the internal flow state of the valve, the proportional valve model is the linear model, the asymmetric electric-hydraulic proportional system is the linear system, and finally, high precision control over the asymmetric electric-hydraulic proportional system is realized through a unified linear control strategy.
Description
technical field [0001] The invention belongs to the technical field of mechanics and electronics, and in particular relates to a control method of an asymmetrical electro-hydraulic proportional system based on precise modeling of proportional valves. Background technique [0002] The existing research on the consistency of positive and negative velocity characteristics of the electro-hydraulic system has certain application problems through asymmetric structure improvement, or complex modern control strategies to solve the asymmetric response problem, and some scholars use the load flow model of the proportional valve to compensate However, the influence of the flow state inside the servo valve is ignored in its model establishment, and the range and accuracy of the adjustment are limited. When the proportional valve opening is small and the external load is too large, the adjustment deviation is large, and it is difficult to realize the asymmetrical electro-hydraulic proport...
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IPC IPC(8): F15B21/08G05B19/05
CPCF15B21/08G05B19/05
Inventor 曾乐许文斌谭建平杨俊
Owner CHANGSHA AERONAUTICAL VACATIONAL AND TECHNICAL COLLEGE
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