A high-precision dual-axis linear electric valve servo control device and its control method

Abstract

The present invention relates to a high-precision dual-axis linear electric valve servo control device and its control method, belonging to the technical field of servo control, and solves the problems that the hydraulic drive system in the prior art occupies a large space and is difficult to achieve multi-axis output. The present invention includes: a motion execution mechanism, an engine valve body, a valve body connecting rod, and a servo system controller; the motion execution mechanism can output linear displacements in four directions; the motion execution mechanism includes an upper steering engine and a lower steering engine; the upper steering engine and the lower steering engine respectively drive the displacement of the engine valve body perpendicular to each other; there are four engine valve bodies, which are respectively connected to the shaft ends of the four output displacements of the motion execution mechanism through valve body connecting rods, and the servo system controller is used to control the motion execution mechanism. By setting the upper steering engine and the lower steering engine symmetrically up and down, the present invention realizes the horizontal cross linear displacement output of the electric valve, and at the same time realizes the integration and miniaturization of the overall structure.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and particularly to a high-precision dual-axis linear electric valve servo control device and a control method thereof. Background Art

[0002] In the development of guidance actuators, there has been a technical trend in recent years to use motor servo systems to replace hydraulic servo systems. Compared with hydraulic servo systems, the main advantages of motor servo systems are small size, excellent dynamic performance, and no need for a liquid circuit circulation system, etc.

[0003] Existing linear servo mechanisms are mainly in the form of electric cylinders or linear slides. Most product structures provide torque by motors, and lead screw assemblies convert torque into linear force, using linear potentiometers as displacement feedback to form a closed-loop control system.

[0004] For existing products of electric linear servo systems, the main design idea is still the combination and matching of various functional modules, with the design goal of meeting the performance parameter indicators of a single axis. The operating conditions also rarely consider factors such as size and space, and there is no compact integration consideration at the system layout level. Therefore, most of the shapes are linear, and the volume and space are also large. The advantages brought are that the force transmission environment is simple, and there are no factors such as system stiffness and additional bending moments affecting the system movement. For example, in the field of automation equipment, the commonly used linear servo systems are mostly in the form of stepper motors combined with trapezoidal lead screws, with relatively few requirements for the size and shape of the products. And in the force transmission environment, the lead screw body and nut are only affected by axial forces.

[0005] Under this background, under the usage conditions of engine valve control, multi-axis linear servo (horizontal cross-axis) is required, and there are specific requirements for the size and shape of the products, making it difficult to directly apply existing products.

[0006] According to the internal space requirements of the engine, an electric actuator is needed to replace the original hydraulic system, output reciprocating linear motion in the axial direction, and the structural space layout needs to be compact, occupying as little space volume as possible, providing large thrust and high-precision positioning, while having good dynamic performance. Summary of the Invention

[0007] In view of the above analysis, the present invention aims to provide a high-precision dual-axis linear electric valve servo control device and a control method thereof to solve the problems that the existing hydraulic drive system occupies a large space and is difficult to achieve multi-axis output.

[0008] The object of the present invention is mainly achieved through the following technical solutions:

[0009] A high-precision biaxial linear electric valve servo control device, comprising: a motion actuator, a valve body connecting rod, and a servo system controller; the motion actuator can output linear displacements in four directions; the four output shaft ends of the motion actuator are respectively connected to four engine valve bodies through the valve body connecting rod, and the servo system controller is used to control the motion direction and displacement amount output by the motion actuator.

[0010] Further, the four output displacement shaft ends of the motion actuator are respectively: a first shaft end, a second shaft end, a third shaft end, and a fourth shaft end.

[0011] Further, the motion actuator includes an upper steering gear and a lower steering gear; the first shaft end and the second shaft end are driven to move synchronously by the upper steering gear; the third shaft end and the fourth shaft end are driven to move synchronously by the lower steering gear.

[0012] Further, the first shaft end and the second shaft end are coaxial; the third shaft end and the fourth shaft end are coaxial; the axis of the first shaft end and the second shaft end is perpendicular to the axis of the third shaft end and the fourth shaft end.

[0013] Further, the upper steering gear and the lower steering gear have the same structure.

[0014] Further, the lower steering gear includes: a servo motor, a gear assembly, and a ball screw assembly.

[0015] Further, the ball screw assembly includes: a lead screw and a shaft connecting arm assembly; the servo motor transmits power to the lead screw through the gear assembly; when the lead screw rotates, it can drive the shaft connecting arm assembly to linearly displace; both ends of the shaft connecting arm assembly are respectively connected to two of the engine valve bodies through the valve body connecting rod.

[0016] Further, the gear assembly includes: a motor gear, an intermediate gear, and a transmission gear; the motor gear is fixedly connected to the output end of the servo motor; the motor gear and the transmission gear are meshed and transmitted through the intermediate gear.

[0017] Further, the upper steering gear and the lower steering gear are perpendicular to each other.

[0018] A control method for a high-precision biaxial linear electric valve servo control device, using the above high-precision biaxial linear electric valve servo control device for servo control;

[0019] The control method includes the following steps:

[0020] Step S1: Control the output speed of the servo motor of the motion actuator through the servo system controller;

[0021] Step S2: The servo motor transmits power to the lead screw through a gear assembly;

[0022] Step S3: The lead screw rotates, simultaneously driving the synchronous displacement of the shaft end of the shaft connecting arm assembly, and further driving the displacement of the engine valve body;

[0023] Step S4: Feedback regulation.

[0024] The technical solution of the present invention can at least achieve one of the following effects:

[0025] 1. The present invention relates to a high-precision double-axis linear electric valve servo control device with a valve control function. After receiving the command signal from the upper computer, it can quickly and accurately control the valve to move to the specified position within the specified time.

[0026] 2. The high-precision double-axis linear electric valve servo control device involved in the present invention can meet the requirements of high precision and high dynamic response of the horizontal cross-axis during engine valve control. At the same time, through the stiffness design of the structure, the structural deformation error caused by parallel-axis transmission is weakened, the bending moment borne by the lead screw transmission part is reduced, and the highly integrated and compact structural layout is realized.

[0027] 3. The high-precision double-axis linear electric valve servo control device of the present invention can realize the control of the boost valves in all directions of the engine, replacing the hydraulic servo valve control system used in the original guidance execution system. While the performance indicators meet the requirements of the original system, the volume is greatly reduced, providing a huge optimization space for the internal space of the engine system.

[0028] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent specification, and some advantages can be made obvious from the specification or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained through the content specifically pointed out in the specification and the drawings. Description of the Drawings

[0029] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation of the present invention. Throughout the drawings, the same reference signs represent the same components.

[0030] Figure 1 It is a combined drawing of the high-precision double-axis linear electric valve servo control device of the present invention and the engine cylinder block;

[0031] Figure 2 It is a side view of the motion execution mechanism of the high-precision double-axis linear electric valve servo control device of the present invention;

[0032] Figure 3The top view of the motion actuator of the high-precision biaxial linear electric valve servo control device of the present invention;

[0033] Figure 4 The structural schematic diagram of the lower servo of the motion actuator of the high-precision biaxial linear electric valve servo control device of the present invention;

[0034] Figure 5 For Figure 4 The top view of the shaft connecting arm assembly of the lower servo in

[0035] Figure 6 For Figure 5 The sectional view effect diagram of the shaft connecting arm assembly in

[0036] Figure 7 The servo control schematic diagram of the present invention.

[0037] Reference numerals:

[0038] 1 - Motion actuator; 2 - Engine valve body; 3 - Valve body connecting rod; 4 - Servo system controller; 5 - Servo system base;

[0039] 11 - Upper servo; 12 - Lower servo;

[0040] 31 - First shaft end; 32 - Second shaft end; 33 - Third shaft end; 34 - Fourth shaft end;

[0041] 101 - Servo motor; 102 - Motor gear; 103 - Intermediate gear; 104 - First bearing; 105 - Driving gear; 106 - Lead screw; 107 - Second bearing; 108 - Rear bearing cover; 109 - Shaft connecting arm assembly; 110 - Front bearing cover; 111 - Body;

[0042] 109a - Connecting arm; 109b - Ball nut; 109c - Connecting pin; 109d - Shaft arm groove; 109e - Output shaft. Detailed implementation manners

[0043] The following will specifically describe the preferred embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0044] Embodiment 1

[0045] A specific embodiment of the present invention discloses a high-precision biaxial linear electric valve servo control device, as shown in Figure 1As shown in the figure, it includes a motion actuator 1, a valve body connecting rod 3, and a servo system controller 4. The motion actuator 1 has four output shaft ends and can output linear displacements in four directions; there are four engine valve bodies 2, which are respectively connected to the four output displacement shaft ends of the motion actuator 1 through the valve body connecting rods 3, and then drive the engine valve bodies 2 to displace through the motion actuator 1. Furthermore, the displacement direction and displacement amount output by the motion actuator 1 are controlled by the servo system controller 4.

[0046] Specifically, the motion actuator 1, the engine valve body 2, and the servo system controller 4 are all installed on the servo system base 5; the servo system base 5 is a disc-shaped structure, as Figure 1 shown.

[0047] As Figure 1 shown, the motion actuator 1 is fixedly installed in the middle of the servo system base 5, the engine valve body 2 is slidably installed on the servo system base 5, and multiple engine valve bodies 2 are circumferentially and evenly distributed outside the motion actuator 1; the engine valve body 2 is fixedly connected to the four output displacement shaft ends of the motion actuator 1 through the valve body connecting rod 3.

[0048] In a specific embodiment of the present invention, the four output displacement shaft ends of the motion actuator 1 are respectively: the first shaft end 31, the second shaft end 32, the third shaft end 33, and the fourth shaft end 34.

[0049] Furthermore, as Figure 2 , Figure 3 shown, the motion actuator 1 includes an upper servo 11 and a lower servo 12.

[0050] Among them, the first shaft end 31 and the second shaft end 32 are respectively the two ends of the output shaft of the upper servo 11, and the first shaft end 31 and the second shaft end 32 are driven to displace synchronously by the upper servo 11. The third shaft end 33 and the fourth shaft end 34 are respectively the two ends of the output shaft of the lower servo 12; the third shaft end 33 and the fourth shaft end 34 are driven to displace synchronously by the lower servo 12.

[0051] Specifically, the first shaft end 31, the second shaft end 32, the third shaft end 33, and the fourth shaft end 34 are respectively connected to four engine valve bodies 2 through four valve body connecting rods 3, and can thus drive different engine valve bodies 2 to displace.

[0052] Specifically, as Figure 2 , Figure 3 shown, the first shaft end 31 and the second shaft end 32 are coaxial; the third shaft end 33 and the fourth shaft end 34 are coaxial; the axis of the first shaft end 31 and the second shaft end 32 is perpendicular to the axis of the third shaft end 33 and the fourth shaft end 34.

[0053] In the present invention, the upper servo 11 and the lower servo 12 have the same structure. As Figure 2 , Figure 3 shown, the upper servo 11 and the lower servo 12 are arranged vertically and perpendicular to each other.

[0054] In a specific embodiment of the present invention, the lower servo 12 includes: a servo motor 101, a gear assembly, and a ball screw assembly.

[0055] 1) As Figure 4 shown, the gear assembly includes: a motor gear 102, an intermediate gear 103, and a transmission gear 105.

[0056] Specifically, the body 111 is the main load-bearing component of the lower servo 12. The servo motor 101 is fixedly installed on the body 111; the motor gear 102 is fixedly installed at the output end of the servo motor 101. The intermediate gear 103 is rotatably installed on the body 111 through a first bearing 104; and the intermediate gear 103 meshes with the motor gear 102. The transmission gear 105 is fixedly installed at the end of the lead screw 106 in an interference fit manner.

[0057] The motor gear 102 and the transmission gear 105 are meshed and driven through the intermediate gear 103. That is, the intermediate gear 103 is arranged between the motor gear 102 and the transmission gear 105, one side of the intermediate gear 103 meshes with the motor gear 102, and the other side meshes with the transmission gear 105. When the servo motor 101 outputs a rotational speed, it can drive the motor gear 102 to rotate. The motor gear 102 meshes with the intermediate gear 103, and the power is transmitted to the transmission gear 105 through the intermediate gear 103, driving the transmission gear 105 to rotate.

[0058] 2) As Figure 4 shown, the ball screw assembly includes: a lead screw 106 and a shaft connecting arm assembly 109.

[0059] Specifically, as Figure 4 shown, the lead screw 106 is rotatably installed on the body 111 through a second bearing 107. The transmission gear 105 is fixedly connected to the lead screw 106. When the transmission gear 105 rotates, the lead screw 106 rotates synchronously.

[0060] Specifically, as Figure 5 , Figure 6 shown, the shaft connecting arm assembly 109 includes: a connecting arm 109a, a ball nut 109b, a connecting pin 109c, a shaft arm groove 109d, and an output shaft 109e.

[0061] Among them, the ball nut 109b is sleeved and installed outside the lead screw 106; the lead screw 106 and the ball nut 109b form a lead screw nut pair. When the lead screw 106 rotates, the ball nut 109b displaces along the axial direction of the lead screw 106.

[0062] The connecting arm 109a is sleeved outside the ball nut 109b and is connected into one body through a connecting pin 109c; when the ball nut 109b displaces, the connecting arm 109a displaces synchronously.

[0063] The output shaft 109e is arranged on the side of the connecting arm 109a and they are of an integral structure. An axle arm groove 109d is provided in the middle of the output shaft 109e, and the two sides of the axle arm groove 109d are the axle ends of the output shaft 109e. Specifically, the two axle ends of the output shaft 109e of the lower steering gear 12 are respectively: the third axle end 33 and the fourth axle end 34. The upper steering gear 11 has the same structure as the lower steering gear 12, and the two axle ends of the output shaft 109e of the upper steering gear 11 are respectively: the first axle end 31 and the second axle end 32.

[0064] During implementation, the servo motor 101 transmits power to the lead screw 106 through the gear assembly; the lead screw 106 rotates to drive the shaft connecting arm assembly 109 to linearly displace; the axle ends at both ends of the output shaft 109e of the shaft connecting arm assembly 109 are respectively connected to the two engine valve bodies 2 through the valve body connecting rod 3; and then the reciprocating displacement of the axle ends of the output shaft 109e drives the engine valve body 2 to displace, and finally the servo control of the engine can be realized.

[0065] In a specific embodiment of the present invention, the bottom surface of the axle arm groove 109d is a plane.

[0066] After the upper steering gear 11 and the lower steering gear 12 are combined, the output shaft 109e of the upper steering gear 11 and the output shaft 109e of the lower steering gear 12 are perpendicular to each other; and the bottom surfaces of the two axle arm grooves 109d on the two output shafts 109e of the upper steering gear 11 and the lower steering gear 12 are in contact. Since the two output shafts 109e are perpendicular to each other and the axle arm grooves 109d on the two output shafts 109e are in contact with each other, the two output shafts 109e on the upper steering gear 11 and the lower steering gear 12 cannot rotate relative to each other but can only slide relative to each other; the output shaft 109e can only perform a displacement movement along its own axis direction.

[0067] Furthermore, as Figure 6 shown, the depth of the axle arm groove 109d is the same as the radius of the output shaft 109e. Since the bottom surfaces of the two axle arm grooves 109d are in contact with each other, the axes of the two output shafts 109e on the upper steering gear 11 and the lower steering gear 12 are coplanar, that is, the axes of the first axle end 31, the second axle end 32, the third axle end 33 and the fourth axle end 34 are located in the same plane, as Figure 3 shown.

[0068] In the present invention, due to the mutual limiting effect of the two shaft arm slots 109d on the two shaft connecting arm assemblies 109 of the motion execution mechanism 1, the shaft connecting arm assembly 109 cannot rotate relative to the lead screw 106, and the output shaft 109e of the shaft connecting arm assembly 109 can only slide along the shaft arm slot 109d in a fitting manner.

[0069] Specifically, the output shaft 109e on the upper servo 11 slides along the shaft arm slot 109d of the output shaft 109e on the lower servo 12, and the displacement stroke is the length of the shaft arm slot 109d. The movement of the output shaft 109e of the lower servo 12 is the same.

[0070] In a specific embodiment of the present invention, in order to ensure the smoothness of the movement of the motion execution mechanism 1 and avoid the influence of the external environment on the rotation of the gear assembly or the lead screw 106, a front bearing cover 110 is provided on the outer side of the first bearing 104; a rear bearing cover 108 is provided on the outer side of the second bearing 107; the front bearing cover 110, the rear bearing cover 108 and the body 111 are fixedly connected by screws to protect and seal the motion execution mechanism 1.

[0071] Further, the first bearing 104 is a deep groove ball bearing, and the second bearings 107 are all angular contact ball bearings; the bearings provide fixed support for the intermediate gear 103 and the lead screw 106 and reduce the friction caused by rotation. The bearing cover provides a fixed support for the angular contact ball bearing. Elastic washers are provided between the rear bearing cover 108, the front bearing cover 110 and the body 111.

[0072] Further, displacement sensors are provided at the four engine valve bodies 2 to monitor the displacement of the engine valve bodies 2. The servo system controller 4 is used to control the rotation speed and start-stop time of the servo motor 101 on the one hand, and can receive the position information of the engine valve bodies 2 monitored by the displacement sensors on the other hand, and then adjust the action of the servo motor 101 according to the feedback result.

[0073] During implementation, the working principle of the electric servo system of the present invention is as Figure 7 shown:

[0074] The servo motor 101 of the present invention adopts a DC brushless motor; through a ball screw pair and a spur gear pair as mechanical conversion devices, and adopting an LVDT servo control method, the rotation speed output by the DC brushless motor is transmitted to the ball screw pair through the spur gear pair. The ball screw pair converts the rotational motion into a linear motion and transmits it to the shaft connecting arm assembly 109, and outputs through the shaft end of the shaft connecting arm assembly 109, and drives the engine valve body 2 to linearly displace through the valve body connecting rod 3.

[0075] Specifically, after being powered on, the servo motor 101 outputs a rotational motion, driving the motor gear 102 to rotate. The motor gear 102 transmits the rotational motion to the transmission gear 105 through the intermediate gear 103. The transmission gear 105 drives the lead screw 106 of the ball screw assembly to rotate. The ball screw assembly converts the rotational motion into a linear motion, and finally, a linear output motion is performed through the output shaft 109e rigidly connected to the ball nut 109b, thereby driving the engine valve body 2 to displace through the valve body connecting rod 3. Finally, the servo system controller 4 controls the forward and reverse rotation of the servo motor 101, enabling the motion actuator 1 to achieve reciprocating linear motions in two mutually perpendicular and intersecting directions.

[0076] When the electric servo system is operating normally, the electric servo system controller receives the displacement position command given by the host computer. The servo motor 101 drives the gear pair to rotate. At the same time, the servo system controller 4 real-time collects the actual displacement position, ensuring that the output shaft 109e approaches the given position with a certain accuracy within a certain response time. The servo system controller 4 adopts a high-speed PWM speed regulation mode. By adjusting the pulse width of the PWM, the control of the average value of the output voltage is realized, thereby achieving the speed regulation of the electric servo system by controlling the armature voltage of the servo motor 101.

[0077] Embodiment 2

[0078] A specific embodiment of the present invention provides a control method for a high-precision dual-axis linear electric valve servo control device, using the high-precision dual-axis linear electric valve servo control device described in Embodiment 1 to perform servo control on the engine valve body 2.

[0079] The control method includes the following steps:

[0080] Step S1: Control the output speed of the servo motor 101 of the motion actuator 1 through the servo system controller 4;

[0081] Step S2: The servo motor 101 transmits power to the lead screw 106 through the gear assembly;

[0082] Step S3: The lead screw 106 rotates, and at the same time drives the synchronous displacement of the shaft end of the shaft link assembly 109, thereby driving the engine valve body 2 to displace.

[0083] In the said step S1, the servo system controller 4 receives the displacement position command given by the host computer, and then determines the output direction and output number of turns of the rotational motions of the two servo motors 101 of the upper steering gear 11 and the lower steering gear 12.

[0084] Specifically, according to the number and displacement of the engine valve bodies 2 whose positions need to be adjusted, determine the direction and magnitude of the rotational angular displacement output by the servo motor 101 in the upper steering gear 11 and / or the lower steering gear 12.

[0085] Specifically, according to the transmission ratio of the gear assembly, the number of rotations of the lead screw 106 corresponding to each rotation of the servo motor 101 can be calculated, and then the displacement of the output shaft 109e can be calculated based on the specific parameters of the ball screw pair.

[0086] In the step S2, after the servo motor 101 outputs a rotational motion, it can drive the motor gear 102 to rotate. The motor gear 102 meshes with the intermediate gear 103 and can drive the intermediate gear 103 to rotate. The intermediate gear 103 meshes with the transmission gear 105, and thus can drive the transmission gear 105 to perform a rotational motion. The lead screw 106 is fixedly connected to the transmission gear 105. When the transmission gear 105 rotates, the lead screw 106 also rotates synchronously.

[0087] In the step S3, when the lead screw 106 rotates, it can drive the ball nut 109b to linearly displace along the axial direction of the lead screw 106. The ball nut 109b and the connecting arm 109a are fixed together by a connecting pin 109c, and the connecting arm 109a and the output shaft 109e are of an integral structure. When the ball nut 109b linearly displaces along the axial direction of the lead screw 106, the output shaft 109e linearly displaces synchronously.

[0088] The output shaft 109e is fixedly connected to the engine valve body 2 through the valve body connecting rod 3, and thus can drive the engine valve body 2 to linearly displace.

[0089] Specifically, by controlling the displacements of different output shafts 109e, different engine valve bodies 2 can be driven to displace.

[0090] Furthermore, the control method further includes: step S4: feedback regulation.

[0091] Specifically, the feedback regulation process of step S4 is as follows:

[0092] Step S41: When there is an error between the actual displacement position and the required displacement position of the engine valve body 2, the servo system controller 4 generates a PWM wave modulation signal and a signal for controlling the forward and reverse rotations of the servo motor 101.

[0093] Specifically, four displacement sensors (not shown in the figure) are nested and installed inside the servo system mounting base. The displacement sensors are LVDT sensors. The displacements and displacement directions of the four engine valve bodies 2 are respectively monitored by the four displacement sensors.

[0094] Step S42: After the PWM signal is power-amplified, it drives the servo motor 101 to rotate. The servo motor 101 outputs forward rotation / reverse rotation according to the forward and reverse rotation signals generated by the servo system controller 4.

[0095] Step S43: The torque output by the servo motor 101 is reduced and transmitted through the gear assembly and the ball screw assembly to drive the output shaft 109e to move. Specifically, when the position error is positive, the servo system controller 4 gives a signal to make the servo motor 101 rotate forward, and the output shaft 109e moves in the positive direction; when the position error is negative, the servo system controller 4 gives a signal to make the servo motor 101 rotate in reverse, and the output shaft moves in the negative direction, and the output shaft 109e moves in the reverse direction; thus, the position is continuously adjusted to form a position closed-loop control system.

[0096] Among them, PWM is pulse width modulation, that is, a pulse waveform with a variable duty cycle.

[0097] Specifically, the positive direction and the reverse direction involved in step S43 do not refer to specific directions, but refer to the direction that is the same as the preset movement direction as the positive direction, and the direction that is opposite to the preset movement direction as the reverse direction; when the position error is positive, it means that the displacement of the output shaft 109e is less than the preset displacement, and at this time, it moves forward until the actual displacement is equal to the preset displacement; when the position error is negative, it means that the actual displacement of the output shaft 109e is greater than the preset displacement, and at this time, it moves in the reverse direction until the actual displacement is the same as the preset displacement.

[0098] Compared with the prior art, the technical solution provided in this embodiment has at least one of the following beneficial effects compared with the prior art:

[0099] 1. The system layout of the high-precision dual-axis linear electric valve servo control device of the present invention is compact, occupies a small space, and can adapt to servo drive operations in environments with limited space.

[0100] 2. The high-precision dual-axis linear electric valve servo control device of the present invention is combined with upper and lower split servos, that is, the upper steering gear 11 and the lower steering gear 12 are stacked up and down, and their output shafts 109e are perpendicular to each other to form a linear servo system with a horizontal cross-axis, which can output linear displacements in four directions in the horizontal direction, and the included angle between the four displacement directions is 90°, and further can drive the four circumferentially evenly distributed engine valve bodies 2 to linearly displace.

[0101] 3. The high-precision dual-axis linear electric valve servo control device of the present invention arranges the output LVDT sensor inside the mechanism, reducing the occupied space volume.

[0102] 4. The connecting arm 109a, the ball nut 109b, the connecting pin 109c and the output shaft 109e of the high-precision dual-axis linear electric valve servo control device of the present invention are jointly combined to form a special-shaped integral part, improving the transmission stiffness, and using two connecting pins 109c to connect the ball nut 109b, using equal-length force arms to reduce the bending moment borne by the ball nut, and improving the structural strength.

[0103] 5. The high-precision dual-axis linear electric valve servo control device and control method of the present invention, through the reciprocating high-precision linear motion of the output shaft 109e driven by the servo motor 101, after receiving the command signal from the host computer, cooperate with the ignition of the engine, and at the same time can quickly and accurately control the engine valve body 2 to move to the specified position within the specified time.

[0104] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A high-precision biaxial linear electric valve servo control device, characterized in that, Including: A motion actuator (1), a valve body connecting rod (3), and a servo system controller (4); the motion actuator (1) can output linear displacements in four directions; the four output shaft ends of the motion actuator (1) are respectively connected to four engine valve bodies (2) through the valve body connecting rod (3), and the servo system controller (4) is used to control the motion direction and displacement amount output by the motion actuator (1); The motion actuator (1) includes an upper servo motor (11) and a lower servo motor (12); the upper servo motor (11) and the lower servo motor (12) have the same structure; the upper servo motor (11) and the lower servo motor (12) are perpendicular to each other; the upper servo motor (11) and the lower servo motor (12) are stacked and combined vertically; The lower servo motor (12) includes: a servo motor (101), a gear assembly, and a ball screw assembly; the ball screw assembly includes: a screw (106) and a shaft connecting arm assembly (109); the servo motor (101) transmits power to the screw (106) through the gear assembly; when the screw (106) rotates, it can drive the shaft connecting arm assembly (109) to linearly displace; both ends of the shaft connecting arm assembly (109) are respectively connected to two of the engine valve bodies (2) through the valve body connecting rod (3); The shaft connecting arm assembly (109) includes: a connecting arm (109a), a ball nut (109b), a connecting pin (109c), a shaft arm groove (109d), and an output shaft (109e); the screw (106) and the ball nut (109b) form a screw-nut pair; the connecting arm (109a) is sleeved outside the ball nut (109b) and is connected into one body through the connecting pin (109c); the output shaft (109e) is arranged on the side of the connecting arm (109a) and they are of an integral structure; a shaft arm groove (109d) is provided in the middle of the output shaft (109e); after the upper servo motor (11) and the lower servo motor (12) are combined, the output shafts (109e) of the upper servo motor (11) and the lower servo motor (12) are perpendicular to each other; and the bottom surfaces of the two shaft arm grooves (109d) on the two output shafts (109e) of the upper servo motor (11) and the lower servo motor (12) are in contact.

2. The high-precision biaxial linear electric valve servo control device according to claim 1, characterized in that, The four shaft ends of the motion actuator (1) for outputting displacements are respectively: a first shaft end (31), a second shaft end (32), a third shaft end (33), and a fourth shaft end (34).

3. The high-precision biaxial linear electric valve servo control device according to claim 2, characterized in that, The first shaft end (31) and the second shaft end (32) are driven to synchronously displace by the upper servo motor (11); the third shaft end (33) and the fourth shaft end (34) are driven to synchronously displace by the lower servo motor (12).

4. The high-precision biaxial linear electric valve servo control device according to claim 3, characterized in that, The first shaft end (31) and the second shaft end (32) are coaxial; the third shaft end (33) and the fourth shaft end (34) are coaxial.

5. The high-precision biaxial linear electric valve servo control device according to claim 4, characterized in that, The axis of the first shaft end (31) and the second shaft end (32) is perpendicular to the axis of the third shaft end (33) and the fourth shaft end (34).

6. A control method for a high-precision biaxial linear electric valve servo control device, characterized in that, Servo control is performed using the high-precision dual-axis linear electric valve servo control device according to any one of claims 1-5; the control method includes the following steps: Step S1: Control the output speed of the servo motor (101) of the motion actuator (1) through the servo system controller (4); Step S2: The servo motor (101) transmits power to the lead screw (106) through the gear assembly; Step S3: The lead screw (106) rotates, and at the same time drives the synchronous displacement of the shaft end of the shaft connecting arm assembly (109), thereby driving the displacement of the engine valve body (2).

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