An electro-hydraulic actuator and its control method

Abstract

The invention discloses an electro-hydraulic actuator and a control method thereof. The electro-hydraulic actuator includes a servo cylinder, a nozzle baffle servo valve, a force sensor, a displacement sensor and a motion controller; It is provided with an oil inlet bionic flow channel, a rodless cavity bionic flow channel, a rod cavity bionic flow channel and an oil return bionic flow channel; the invention uses servo cylinders, nozzle baffle servo valves, force sensors, displacement sensors and motion controllers The integrated setting realizes the high-density integration of multiple devices, small size and light weight, and uses the bionic flow channel to realize the communication between the servo cylinder and the nozzle baffle servo valve, without the need for connecting pipelines, and realizes the nozzle baffle servo valve and servo valve. There is no external pipeline between the cylinders, which reduces the incidence of damage and leakage failures of the pipeline joints of high-end mobile equipment. The control of the servo cylinder is realized through the matching motion controller, force sensor and displacement sensor. The invention provides a highly integrated Integrated intelligent electro-hydraulic actuator.

Description

technical field [0001] The invention relates to the technical field of hydraulic control, in particular to an electro-hydraulic actuator and a control method thereof. Background technique [0002] With the rapid development of science and technology, high-end mobile equipment such as construction machinery, metallurgical machinery, aircraft, power-assisted exoskeleton and robots have been widely used. There are three driving methods for high-end mobile equipment movement: electric drive, pneumatic drive and hydraulic drive. Due to the advantages of hydraulic drive with high active power-to-weight ratio, stable operation, small reversing impact, and large thrust, it is particularly important to study hydraulic drive actuators for high-end mobile equipment. [0003] Non-integrated valve-controlled cylinder control is currently a common driving method used in the movement of hydraulic high-end mobile equipment. For non-integrated valve-controlled cylinder control, its main di...

AI Technical Summary

Problems solved by technology

For non-integrated valve-controlled cylinder control, its main disadvantages are: 1. The valve-controlled cylinder has a large number of pipelines and pipe joints, and a large number of sealing points, so joint damage and leakage failures are prone to occur; 2. Servo valves and servo valves The connecting pipeline between the cylinders is too long, which reduces the natural frequency of the system, resulting in poor dynamic response speed of high-end mobile equipment movement and increased hydraulic power loss

To sum up, hydraulically driven high-end mobile equipment has broad prospects for development, but at present, the integration of its drive actuators is not high enough, and there is no supporting motion controller and related algorithms, and the control accuracy is not high enough to meet the high requirements of high-end mobile equipment. performance requirements

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