A large flow cartridge proportional servo valve and control method

Abstract

The present invention discloses a high-flow cartridge-type proportional servo valve and control method, comprising a direct-drive servo proportional valve, a main-stage cartridge valve, a first displacement sensing sensor, a second displacement sensing sensor, and an integrated electronic controller. The direct-drive servo proportional valve is positioned to the right of the main-stage cartridge valve, and the first displacement sensing sensor is positioned within the main-stage cartridge valve to sense the displacement of the main-stage cartridge valve spool. The lower end of the first displacement sensing sensor is connected to the spool of the main-stage cartridge valve, and the upper end is connected to the integrated electronic controller. Compared to traditional high-flow electro-hydraulic proportional throttle valves or servovalves, the present invention exhibits multiple characteristics, including high dynamic performance, good adaptability, high frequency response, and high precision. It can address technical issues such as poor dynamic performance, poor adaptability, and low frequency response of traditional controllers.

Description

Technical Field

[0001] The invention relates to a large-flow cartridge-type proportional servo valve and a control method thereof, belonging to the technical field of fluid transmission and control. Background Art

[0002] With the rapid development of my country in aerospace, nuclear power, railway tunnel engineering, marine engineering and other fields, the demand for heavy machinery and equipment and the requirements for modernization level are getting higher and higher. Since the hydraulic transmission system has the characteristics of high power-to-weight ratio and flexible use, the vast majority of heavy machinery and equipment adopt hydraulic drive. Large-flow electro-hydraulic proportional or servo control valves are at the core of major mechanical equipment. Moreover, with the in-depth development of electro-hydraulic servo systems in forging, die-casting, metallurgy, shipbuilding, military and other application fields, these fields have also put forward higher requirements for electro-hydraulic servo valves.

[0003] The pilot stage of a large-flow electro-hydraulic proportional throttle valve or proportional servo valve is generally a servo valve or proportional valve with a sliding valve structure. The main stage basically adopts a two-way cartridge valve structure, which has the characteristics of large flow, fast dynamic response, and high standardized program. The feedback methods used in the main valve mainly include the following forms, namely displacement-force feedback type, displacement-electric feedback type, displacement-hydraulic feedback type and displacement follow-up type. The large-flow cartridge proportional / servo valve basically adopts a two-stage or three-stage structure, generally with a high-performance servo valve as the pilot stage. The control methods of the electro-hydraulic servo system mainly include PID control, sliding mode variable structure control, adaptive control, etc.

[0004] In addition to the performance constraints of the electro-mechanical converter, the dynamic characteristics of the servo proportional valve are often limited by its controller. Currently, mature industrial products generally use PID controllers due to their advantages such as low requirements for the controlled object model, relying solely on output feedback, requiring fewer sensors, and simple and easy-to-implement structure. However, the tuning of its control parameters requires trial and error in experiments, sacrificing some dynamic performance to ensure robustness across the full signal range, failing to fully tap the potential of the hardware. Furthermore, the final determination of the control parameters requires trial and error in experiments, making adjustment relatively inconvenient. Finally, the control parameters are fixed values, and cannot be adaptively adjusted to address changes in slowly varying parameters such as leakage, temperature and viscosity, or changes in the valve coefficient due to pilot valve wear.

[0005] Therefore, it has become an urgent need in the field of hydraulic control valves to develop a new type of large-flow cartridge proportional servo valve with "high dynamic performance, good adaptability, high frequency response, and high precision" to solve some of the shortcomings of traditional large-flow cartridge proportional servo valves. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a large flow cartridge proportional servo valve and a control method thereof.

[0007] The objectives of the present invention are achieved through the following technical solutions: a large-flow cartridge proportional servo valve, comprising a directly driven servo proportional valve, a main-stage cartridge valve, a first displacement sensing sensor, a second displacement sensing sensor, and an integrated electronic controller, wherein the directly driven servo proportional valve is arranged on the right side of the main-stage cartridge valve, the first displacement sensing sensor is arranged inside the main-stage cartridge valve for sensing the displacement of the main-stage cartridge valve spool, the lower end of the first displacement sensing sensor is connected to the spool of the main-stage cartridge valve, and the upper end is connected to the integrated electronic controller,

[0008] The integrated electronic controller is arranged at the right end of the main-stage cartridge valve and above the direct-drive servo proportional valve. The second displacement sensing sensor is arranged inside the direct-drive servo proportional valve and is used to sense the displacement of the valve core of the direct-drive servo proportional valve. One end of the second displacement sensing sensor is connected to the valve core of the direct-drive servo proportional valve, and the other end is connected to the integrated electronic controller.

[0009] The spool of the direct-driven servo proportional valve moves according to the electrification of the electromagnet. The movement information is sensed by the second displacement sensing sensor and the information is transmitted to the sliding mode variable structure controller. The sliding mode variable structure controller transmits the voltage data obtained from the ARC controller to the electromagnet of the direct-driven servo proportional valve, thereby driving the movement of the spool. The movement of the spool of the direct-driven servo proportional valve changes the flow into the upper or lower chamber of the control chamber of the main-stage cartridge valve, thereby causing the main spool to move. The spool movement information of the main-stage cartridge valve is sensed by the first displacement sensing sensor, and the sensor transmits the information to the ARC controller. The ARC controller processes the data transmitted from all aspects and outputs the data to the sliding mode controller.

[0010] Preferably, the right side of the direct-drive servo proportional valve is energized, and the servo proportional valve is in the right working position. The direct-drive servo proportional valve includes port A and port B, port A is the oil inlet, port B is the oil outlet, port A is connected to the lower chamber of the control chamber of the main-stage cartridge valve, and port B is connected to the upper chamber of the control chamber of the main-stage cartridge valve. The pressure pushes the valve core of the main-stage cartridge valve upward to generate displacement information. x p The main valve displacement sensor collects the signal and transmits it to the ARC controller.

[0011] Preferably, when the left side of the direct-drive servo proportional valve is energized, the servo proportional valve is in the left working position, oil flows into the upper chamber of the control chamber of the main-stage cartridge valve, oil returns to the lower chamber of the control chamber, and the valve core of the main-stage cartridge valve moves downward.

[0012] Preferably, when the direct-drive servo proportional valve is energized, the valve core is displaced, the displacement information is collected by the second displacement sensing sensor, and the information is transmitted to the sliding mode controller. After the signal is processed by the sliding mode controller, the output voltage U is transmitted to the electromagnet of the direct-drive servo proportional valve, thereby controlling the working state of the direct-drive servo proportional valve, forming a closed-loop control system in which the pilot valve is the direct-drive servo proportional valve.

[0013] Preferably, the sliding mode variable structure controller receives the displacement signal X v After being processed by the sliding mode variable structure controller, the valve core speed is obtained V , then the sliding mode variable structure controller converts the signal X v and speed V The ARC controller receives three signals: the displacement information of the main stage cartridge valve core and the displacement information of the main stage cartridge valve core. x p , Direct drive servo proportional valve displacement signal X v and speed signal of direct-drive servo proportional valve V The signal is processed by the ARC controller and the output signal u is sent to the sliding mode variable structure controller. The ARC controller uses the method of smoothing and limiting the parameter estimation value and correcting the adaptive law after the parameter estimation value is saturated to deal with the parameter drift and system instability that occur in the adaptive control law under disturbance conditions.

[0014] Preferably, the control input u in the sliding mode structure controller is continuously processed, and the ARC controller indirectly controls the valve core movement of the main stage cartridge valve by feeding back the signal to the sliding mode controller, thereby forming a closed-loop control circuit of the main stage cartridge valve.

[0015] Preferably, the main-stage cartridge valve includes a valve core, a valve cover plate, a valve sleeve, a cover plate and a valve core displacement sensor. The valve core is arranged in the main valve body and is installed in conjunction with the valve sleeve. The valve sleeve and the valve core can produce relative linear displacement. The valve core displacement sensor is arranged in the main valve body and can directly detect the displacement of the main valve core. The signal port of the valve core displacement sensor is connected to the integrated electronic controller. The cover plate is connected to the top end of the main valve core by a threaded connection. The valve cover plate is arranged on the main valve body.

[0016] The present invention also discloses a control method for a large-flow cartridge-type proportional servo valve. The control method adopts a dual closed-loop control method and uses an ARC controller and a sliding mode controller to form a dual closed-loop control system.

[0017] Preferably, a dual closed-loop control method based on an ARC controller and a sliding mode variable structure controller is adopted, which specifically includes the following steps:

[0018] S1: The direct-drive servo proportional valve generates movement of the pilot valve spool according to the energization of the electromagnet. The movement information is sensed by the second displacement sensor and transmitted to the sliding mode variable structure controller.

[0019] S2: The sliding mode variable structure controller transmits the voltage data obtained from the ARC to the electromagnet of the direct-drive servo proportional valve, thereby driving the movement of the valve core;

[0020] S3: The spool movement of the direct-drive servo proportional valve changes the flow rate into the upper or lower chamber of the main stage cartridge valve control chamber, thereby causing the main spool to move;

[0021] S4: The main valve spool movement information is sensed by the main valve displacement sensor, which transmits the information to the ARC controller. The ARC controller processes the data transmitted from all aspects and outputs the data to the sliding mode controller.

[0022] Preferably, the steps S1 to S2 are a closed-loop control system of the pilot valve; and the steps S1 → S3 → S4 → S2 are an illustration of a closed-loop control system of the main-stage cartridge valve, thereby forming a dual closed-loop control system.

[0023] The advantages of the technical solution of the present invention are mainly reflected in: compared with traditional large-flow electro-hydraulic proportional throttle valves or servo valves, the present invention has multiple characteristics such as high dynamic performance, good adaptability, high frequency response, and high precision, and can solve technical problems such as poor dynamic performance, poor adaptability, and low frequency response of traditional controllers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure is a structural schematic diagram of a large flow cartridge proportional servo valve of the present invention.

[0025] Figure 2 The figure is a schematic diagram of the structural principle and control framework of a large-flow cartridge-type proportional servo valve of the present invention. Implementation Method

[0026] The objects, advantages, and features of the present invention are illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of the application of the technical solutions of the present invention, and any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

[0027] The present invention discloses a large flow cartridge proportional servo valve and a control method thereof. Figure 1 and Figure 2As shown, it includes a directly driven servo proportional valve 1, a main-stage cartridge valve 4, a first displacement sensing sensor 7, a second displacement sensing sensor 10, and an integrated electronic controller 11. The directly driven servo proportional valve 1 is arranged on the right side of the main-stage cartridge valve 4. The first displacement sensing sensor 7 is arranged inside the main-stage cartridge valve 4 to sense the displacement of the main-stage cartridge valve core. The lower end of the first displacement sensing sensor 7 is connected to the valve core of the main-stage cartridge valve 4, and the upper end is connected to the integrated electronic controller 11.

[0028] The integrated electronic controller 11 is arranged at the right end of the main-stage cartridge valve 4 and above the direct-driven servo proportional valve 1. The second displacement sensing sensor 10 is arranged inside the direct-driven servo proportional valve 1 and is used to sense the displacement of the valve core of the direct-driven servo proportional valve. One end of the second displacement sensing sensor 10 is connected to the valve core of the direct-driven servo proportional valve 1, and the other end is connected to the integrated electronic controller 11.

[0029] The valve core of the direct-driven servo proportional valve 1 moves according to the power supply of the electromagnet. The movement information is sensed by the second displacement sensing sensor 10 and the information is transmitted to the sliding mode variable structure controller 9. The sliding mode variable structure controller 9 transmits the voltage data obtained from the ARC controller 8 to the electromagnet of the direct-driven servo proportional valve 1, thereby driving the movement of the valve core. The movement of the valve core of the direct-driven servo proportional valve changes the flow rate into the upper or lower chamber of the control chamber of the main-stage cartridge valve 4, thereby causing the main valve core to move; the valve core movement information of the main-stage cartridge valve is sensed by the first displacement sensing sensor 7, and the sensor transmits the information to the ARC controller 8. The ARC controller 8 processes the data transmitted from various aspects and outputs the data to the sliding mode controller 9.

[0030] The right side of the direct-driven servo proportional valve 1 is energized, and the servo proportional valve is in the right working position 2. The direct-driven servo proportional valve 1 includes port A and port B. Port A is the oil inlet and port B is the oil outlet. Port A is connected to the lower chamber 5 of the control chamber of the main-stage cartridge valve, and port B is connected to the upper chamber 6 of the control chamber of the main-stage cartridge valve. The pressure pushes the valve core of the main-stage cartridge valve upward to generate displacement information. x p The main valve displacement sensor collects the signal and transmits it to the ARC controller 8.

[0031] When the left side of direct-drive servo proportional valve 1 is energized, the servo proportional valve is in left working position 2. Oil flows into the upper control chamber 6 of the main-stage cartridge valve, while oil returns to the lower control chamber 5. The valve core of main-stage cartridge valve 4 moves downward. When direct-drive servo proportional valve 1 is energized, the valve core displaces. This displacement information is collected by a second displacement sensor 10 and transmitted to a sliding mode controller 9. After processing, the sliding mode controller outputs a voltage U to the electromagnet of direct-drive servo proportional valve 1, thereby controlling the operating state of direct-drive servo proportional valve 1 and forming a closed-loop control system in which the pilot valve is the direct-drive servo proportional valve 1.

[0032] The sliding mode variable structure controller 9 receives the displacement signal X v After being processed by the sliding mode variable structure controller, the valve core speed is obtained V , then the sliding mode variable structure controller 9 converts the signal X v and speed V The signal is transmitted to the ARC controller 8, which receives three signals: the displacement information of the main stage cartridge valve core x p , Direct drive servo proportional valve displacement signal X v and speed signal of direct-drive servo proportional valve V The signal is processed by the ARC controller and the output signal u is sent to the sliding mode variable structure controller 9. The ARC controller uses a method of smoothing and limiting the parameter estimation value and correcting the adaptive law after the parameter estimation value is saturated to deal with the parameter drift and system instability that occur in the adaptive control law under disturbance conditions.

[0033] By continuously processing the control input u in the sliding mode structure controller, the ARC controller 8 indirectly controls the valve core movement of the main-stage cartridge valve 4 by feeding back the signal to the sliding mode controller 9, thereby forming a closed-loop control circuit of the main-stage cartridge valve 4.

[0034] The large flow cartridge proportional servo valve comprises a main valve with a cartridge valve as a main stage, a pilot valve with a direct drive servo proportional valve as a pilot stage, and an integrated electronic controller.

[0035] The main valve includes a valve core, a valve cover plate, a valve sleeve, a cover plate, and a valve core displacement sensor. The valve core is disposed within the main valve body and is mounted in conjunction with the valve sleeve. The valve sleeve and the valve core can generate relative linear displacement. The valve core displacement sensor is disposed within the main valve body and can directly detect the displacement of the main valve core. The signal port of the valve core displacement sensor is connected to an integrated electronic controller. The cover plate is threadedly connected to the top of the main valve core. The valve cover plate is disposed on the main valve body. The integrated electronic controller is connected to the main valve core displacement sensor and the pilot valve core displacement sensor.

[0036] The pilot valve adopts a modified direct-drive servo proportional valve. The modified direct-drive servo proportional valve is controlled by a sliding mode variable structure controller based on a nonlinear sliding mode switching plane with acceleration constraints. Its own LVDT excitation circuit is modified, and feedforward velocity compensation and integration links are integrated into the original controller.

[0037] Figure 1 This is a schematic diagram of the structure of a large-flow cartridge proportional servo valve, including a directly driven servo proportional valve 1, a main-stage cartridge valve 4, a main valve spool 12 for flow control, a displacement sensing sensor 7 and an integrated electronic controller 11. The integrated electronic controller 11 includes an ARC controller 8 and a sliding mode variable structure controller 9.

[0038] The direct-driven servo proportional valve 1 is fixed on the main valve. The direct-driven servo proportional valve controls the flow into the upper chamber 6 and the lower chamber 5 of the main valve control chamber to achieve the purpose of controlling the reciprocating motion of the main valve spool 12, thereby controlling A m Mouth and B m The size of the mouth opening.

[0039] The main valve spool 12 is located within the main valve and can move up and down. The fixed bracket 13 of the displacement sensing sensor 7 is fixedly connected to the upper end of the main valve spool 12. It can detect the displacement information of the main valve spool 12 and transmit this information to the integrated electronic controller 11. The integrated electronic controller 11 responds to the displacement information and transmits the information to the direct-drive servo proportional valve 1, thus forming a closed-loop control system for the main valve position. The integrated electronic controller includes an ARC controller and a sliding mode variable structure controller, which are respectively connected to the main valve displacement sensing sensor and the pilot valve displacement sensing sensor.

[0040] The direct-drive servo proportional valve 1 is a servo proportional valve that also has a displacement sensing sensor. It has a built-in proportional electromagnet, a position sensing sensor, and a pilot valve spool. The proportional electromagnet receives an external voltage or current signal to drive the pilot valve spool to move. The displacement sensing sensor senses the valve spool displacement signal and transmits the information to the sliding mode variable structure controller 9 in the integrated electronic controller 11. The controller processes the data and responds to control the input voltage or current of the proportional electromagnet, thereby forming a position closed-loop control system for the pilot valve.

[0041] The pilot valve adopts a modified direct-drive servo proportional valve. The modified direct-drive servo proportional valve is controlled by a sliding mode variable structure controller based on a nonlinear sliding mode switching plane with jerk constraints. Its own LVDT excitation circuit is modified, and feedforward velocity compensation and integration links are integrated into the original controller.

[0042] In this technical solution, in order to more intuitively explain the working process and control method of the large flow cartridge proportional servo valve, the following is combined with Figure 2 , further illustrating the technical solution of the present invention. Figure 2 This is a schematic diagram of the structural principle and control framework of a large-flow cartridge proportional servo valve. The large-flow cartridge proportional servo valve includes a directly driven servo proportional valve 1, the right-end working position 2 of the servo proportional valve, the left-end working position 3 of the servo proportional valve, a main-stage cartridge valve 4, a lower control chamber 5 of the cartridge valve, an upper control chamber 6 of the cartridge valve, a displacement sensing sensor 7 of the cartridge valve, an ARC controller 8, a sliding mode controller 9, and a displacement sensing sensor 10 of the directly driven servo proportional valve.

[0043] When the right side of the direct-drive servo proportional valve 1 is energized, the servo proportional valve is in the right working position 2, port A is connected to the lower chamber 5 of the control chamber of the cartridge valve, and port B is connected to the upper chamber 6 of the control chamber of the cartridge valve. The pressure oil pushes the main stage cartridge valve spool upward to generate displacement information. x p The main valve displacement sensor collects the signal and transmits it to the ARC controller. Usually, the oil port of the reversing valve connected to the system oil supply line is represented by P, the oil return port connected to the oil return line is represented by T, and the working oil port connected to the actuator is represented by A and B.

[0044] When the direct-drive servo proportional valve 1 is energized, the valve spool is displaced. This displacement information is collected by the direct-drive servo proportional valve's displacement sensor 10 and transmitted to the sliding mode controller 9. The improved sliding mode variable structure controller introduces an integrator into the original controller and modifies the LVDT sensor excitation and demodulation circuits. The specific structure is the same as the original controller module. Because this technical solution addresses the overall control method for a high-flow cartridge proportional servo valve, not the control method of a single controller, an existing controller can be used, eliminating the need for a circuit diagram. In particular, the LVDT sensor excitation and demodulation circuits are modified to simultaneously extract the displacement, velocity, and acceleration signals of the valve spool's movement, reducing valve cost and size. After processing by the sliding mode controller, the signal outputs a voltage U to the electromagnet of the direct-drive servo proportional valve 1, thereby controlling the operating state of the direct-drive servo proportional valve 1 and forming a closed-loop control system in which the pilot valve is the direct-drive servo proportional valve 1.

[0045] The sliding mode variable structure controller 9 receives the displacement signal X v After being processed by the sliding mode variable structure controller, the valve core speed is obtained V , then the sliding mode variable structure controller 9 converts the signal X v and speed V The ARC controller 8 receives three signals, namely, the displacement information of the valve core of the main stage cartridge valve 4 and the displacement information of the valve core of the main stage cartridge valve 4. x p , Direct drive servo proportional valve 1 displacement signal X v and speed signal of direct-drive servo proportional valve 1 V These signals are processed by the ARC controller, which outputs signal u to the sliding-mode variable structure controller 9. The ARC addresses parameter drift and system instability that can occur in the adaptive control law under disturbances by smoothing and limiting the parameter estimates and correcting the adaptive law after saturation. Continuous processing of the control input u in sliding-mode control resolves the chatter problem associated with sliding-mode control. The resulting reduction in control accuracy is compensated for by adaptive control. The ARC controller 8 indirectly controls the movement of the main-stage cartridge valve 4 spool by feeding signals back to the sliding-mode controller 9, thereby forming a closed-loop control circuit for the main-stage cartridge valve 4.

[0046] When the left side of the direct-drive servo proportional valve 1 is energized, the servo proportional valve is in the left working position 2. At this time, oil flows into the upper chamber 6 of the control chamber of the main-stage cartridge valve 4, and oil returns to the lower chamber 5 of the control chamber. The valve core of the main-stage cartridge valve 4 moves downward. The other working processes are similar to those when the right side of the direct-drive servo proportional valve 1 is energized.

[0047] A control method for a large-flow cartridge proportional servo valve adopts a double closed-loop control method and employs an ARC controller and a sliding mode controller.

[0048] A dual closed-loop control method based on ARC controller and sliding mode variable structure controller is adopted, as follows:

[0049] S1: The direct-drive servo proportional valve generates movement of the pilot valve spool according to the energization of the electromagnet. The movement information is sensed by the pilot valve displacement sensor and transmitted to the sliding mode variable structure controller.

[0050] S2: The sliding mode variable structure controller transmits the voltage data obtained from the ARC to the electromagnet of the direct-drive servo proportional valve, thereby driving the movement of the valve core;

[0051] S3: The spool of the direct-driven servo proportional valve moves, changing the flow rate into the upper or lower chamber of the main-stage cartridge valve control chamber, thereby causing the main valve core to move. This step moves the proportional valve spool, changing the flow area, so the oil flow rate input to the control chamber will increase or decrease.

[0052] S4: The main valve spool movement information is sensed by the main valve displacement sensor, which transmits the information to the ARC controller. The ARC controller processes the data transmitted from all aspects and outputs the data to the sliding mode controller.

[0053] Steps S1 to S2 illustrate the closed-loop control system of the pilot valve, and S1→S3→S4→S2 illustrate the closed-loop control system of the main-stage cartridge valve, thereby forming a double closed-loop control system.

[0054] The control method for a large-flow cartridge-type proportional servo valve provided by the present invention improves the static and dynamic performance of the valve by changing the controller algorithm and improving the excitation circuit, utilizing an adaptive algorithm and a feedforward compensation method to process time-varying parameters such as leakage, friction, external load disturbance, and pilot valve flow coefficient during the operation of the valve.

[0055] The sliding mode variable structure control adopts a nonlinear sliding mode switching platform based on acceleration constraints, and introduces velocity feedforward and integrator to improve the valve's trajectory tracking and steady-state accuracy. Then, a boost module and high-low level switching technology are used to reduce the asymmetry of the incremental drive voltage and further enhance the valve's dynamic performance. Finally, the full state feedback of the valve core movement is extracted by modifying the LVDT sensor conditioning circuit to save costs and reduce the complexity of the valve.

[0056] The sliding mode variable structure controller is an improved sliding mode variable structure controller, which adopts a nonlinear sliding mode switching platform based on jerk constraint. The specific improvement measures of the sliding mode variable structure controller are as follows:

[0057] 1. Introducing an integrator into the sliding mode controller. In steady state, due to the presence of disturbances such as fluid dynamics, the sliding mode control without an integrator has obvious disturbances and steady-state errors. Introducing an integrator can significantly solve this problem.

[0058] 2. Introduce velocity feedforward compensation into the sliding mode controller to improve the trajectory tracking capability of the sliding mode controller and enhance the frequency response capability of the valve.

[0059] 3. The use of high / low voltage power switching technology can significantly improve the dynamic performance of the servo proportional valve, reduce the power demand for the boost module, and make the controller more reliable and practical.

[0060] 4. The LVDT sensor excitation and demodulation circuits are modified to simultaneously extract the displacement, velocity and acceleration signals of the valve core movement, reducing the cost and size of the valve.

[0061] The modification method involves passing a sinusoidal current with a DC bias through the primary coil of the differential transformer. This closed-loop current loop is formed using current sensor feedback to ensure the stability of the drive current, independent of factors such as coil temperature and resistance. The signals from the two secondary coils undergo various processing steps, including impedance matching, rectification, amplification, and filtering, to extract displacement and velocity signals. The velocity signal is then differentiated to extract the acceleration signal. Following these improvements, steps 1 through 4 can significantly improve the valve's dynamic performance and reduce its complexity.

[0062] The sliding-mode variable structure controller and the ARC controller together constitute an integrated electronic controller 11, which is connected to the ARC controller and also to the displacement sensor 10 of the direct-drive servo proportional valve. As previously explained, the integrated electronic controller 11 is installed at the left end of the main-stage cartridge valve 4, above the direct-drive servo proportional valve 1. In terms of operation, the pilot valve displacement sensor transmits displacement information to the sliding-mode variable structure controller. The controller not only transmits this information to the ARC controller, but also feeds back voltage information to the electromagnet of the direct-drive servo proportional valve, thereby controlling the movement of the valve spool. The sliding-mode variable structure controller transmits the voltage data obtained from the ARC to the electromagnet of the direct-drive servo proportional valve, thereby driving the movement of the valve spool.

[0063] The main valve control method adopts the nonlinear robust adaptive control (ARC) algorithm based on model compensation, backstepping, sliding mode control and model reference adaptation. The ARC controller control method adopts the nonlinear robust adaptive control (ARC) algorithm based on model compensation, backstepping, sliding mode control and model reference adaptation.

[0064] This technical solution can solve technical problems such as poor dynamic performance, poor adaptability, and low frequency response of traditional controllers.

[0065] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A large flow cartridge proportional servo valve, characterized by: The invention comprises a direct-driven servo proportional valve (1), a main-stage cartridge valve (4), a first displacement sensing sensor (7), a second displacement sensing sensor (10), and an integrated electronic controller (11), wherein the direct-driven servo proportional valve (1) is arranged on the left side of the main-stage cartridge valve (4), the first displacement sensing sensor (7) is arranged inside the main-stage cartridge valve (4), and is used to sense the displacement of the valve core of the main-stage cartridge valve, the lower end of the first displacement sensing sensor (7) is connected to the valve core of the main-stage cartridge valve (4), and the upper end is connected to the integrated electronic controller (11), the integrated electronic controller (11) is arranged at the right end of the main-stage cartridge valve (4), and is located above the direct-driven servo proportional valve (1), the second displacement sensing sensor (10) is arranged inside the direct-driven servo proportional valve (1), and is used to sense the displacement of the valve core of the direct-driven servo proportional valve, one end of the second displacement sensing sensor (10) is connected to the valve core of the direct-driven servo proportional valve (1), and the other end is connected to the integrated electronic controller (11); The valve core of the direct-driven servo proportional valve (1) moves according to the electrification of the electromagnet. The motion information is sensed by the second displacement sensing sensor (10) and the information is transmitted to the sliding mode variable structure controller (9). The sliding mode variable structure controller (9) transmits the voltage data obtained from the ARC controller (8) to the electromagnet of the direct-driven servo proportional valve (1), thereby driving the movement of the valve core. The valve core of the direct-driven servo proportional valve moves, changing the flow rate of the upper chamber or lower chamber of the control chamber of the main-stage cartridge valve (4), thereby causing the main valve core to move. The valve core movement information of the main-stage cartridge valve is sensed by the first displacement sensing sensor (7), and the sensor transmits the information to the ARC controller (8). The ARC controller (8) processes the data transmitted from various aspects and outputs the data to the sliding mode variable structure controller (9). The direct-driven servo proportional valve (1) obtains The valve core generates displacement, and the displacement information is collected by the second displacement sensing sensor (10), and the information is transmitted to the sliding mode variable structure controller (9). After the signal is processed by the sliding mode variable structure controller, the output voltage signal U is sent to the electromagnet of the direct-drive servo proportional valve (1), thereby controlling the working state of the direct-drive servo proportional valve (1), and forming a closed-loop control system in which the pilot valve is the direct-drive servo proportional valve (1); the main-stage cartridge valve includes a valve core, a valve cover plate, a valve sleeve, a cover plate and a valve core displacement sensor, the valve core is arranged in the main valve body and is installed in conjunction with the valve sleeve, the valve sleeve and the valve core can generate relative linear displacement, the valve core displacement sensor is arranged in the main valve body, can directly detect the displacement of the main valve core, and the signal port of the valve core displacement sensor is connected to the integrated electronic controller, the cover plate is connected to the top of the main valve core by a threaded connection, and the valve cover plate is arranged on the main valve body.

2. A high flow cartridge proportional servo valve according to claim 1, characterized in that: When the right side of the direct-driven servo proportional valve (1) is energized, the servo proportional valve is in the right working position. The direct-driven servo proportional valve (1) includes port A and port B. Port A is the oil inlet and port B is the oil outlet. Port A is connected to the lower chamber (5) of the control chamber of the main-stage cartridge valve, and port B is connected to the upper chamber (6) of the control chamber of the main-stage cartridge valve. The pressure pushes the valve core of the main-stage cartridge valve upward to generate displacement information. x p The main valve displacement sensor collects the signal and transmits it to the ARC controller (8).

3. The large flow cartridge proportional servo valve according to claim 1, characterized in that: When the left side of the direct-drive servo proportional valve (1) is energized, the servo proportional valve is in the left working position, oil flows into the upper chamber (6) of the control chamber of the main stage cartridge valve, oil returns to the lower chamber (5) of the control chamber, and the valve core of the main stage cartridge valve (4) moves downward.

4. A high flow cartridge proportional servo valve according to claim 1, characterized in that: The sliding mode variable structure controller (9) receives the displacement signal X v After being processed by the sliding mode variable structure controller, the valve core speed is obtained V , then the sliding mode variable structure controller (9) converts the displacement signal X v and spool speed signal V The ARC controller (8) receives three signals, namely the main stage cartridge valve core displacement signal x p , Direct drive servo proportional valve displacement signal X v and spool speed signal of direct-drive servo proportional valve V The signal is processed by the ARC controller and the output signal u is sent to the sliding mode variable structure controller (9). The ARC controller uses a method of smoothing and limiting the parameter estimation value and correcting the adaptive law after the parameter estimation value is saturated to deal with the parameter drift and system instability that occur in the adaptive control law under disturbance conditions.

5. A large flow cartridge proportional servo valve according to claim 4, characterized in that: By continuously processing the control input signal u in the sliding mode variable structure controller, the ARC controller (8) indirectly controls the valve core movement of the main stage cartridge valve (4) by feeding back the signal to the sliding mode variable structure controller (9), thereby forming a closed-loop control circuit of the main stage cartridge valve (4).

6. A control method for a large flow cartridge proportional servo valve according to any one of claims 1 to 5, characterized in that: The control method adopts a double closed-loop control method and uses an ARC controller and a sliding mode variable structure controller to form a double closed-loop control system.

7. The control method of a large flow cartridge proportional servo valve according to claim 6, characterized in that: A dual closed-loop control method based on the ARC controller and the sliding mode variable structure controller is adopted, which specifically includes the following steps: S1: The direct-drive servo proportional valve generates movement of the pilot valve spool according to the energization of the electromagnet. The movement information is sensed by the second displacement sensor and transmitted to the sliding mode variable structure controller. S2: The sliding mode variable structure controller transmits the voltage data obtained from the ARC to the electromagnet of the direct-drive servo proportional valve, thereby driving the movement of the valve core; S3: The spool movement of the direct-drive servo proportional valve changes the flow rate into the upper or lower chamber of the main stage cartridge valve control chamber, thereby causing the main spool to move; S4: The main valve spool movement information is sensed by the main valve displacement sensor, which transmits the information to the ARC controller. The ARC controller processes the data transmitted from all aspects and outputs the data to the sliding mode variable structure controller.

8. The control method of a large flow cartridge proportional servo valve according to claim 7, characterized in that: The steps S1 to S2 are the closed-loop control system of the pilot valve; and the steps S1 → S3 → S4 → S2 are the description of the closed-loop control system of the main-stage cartridge valve, thereby forming a dual closed-loop control system.

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