A teaching electro-hydraulic actuator practical training device

Abstract

The application relates to the technical field of teaching aids, and discloses a teaching electric static fluid actuator practical training device, which comprises a double-out-rod symmetrical oil cylinder, an oil tank is installed above the double-out-rod symmetrical oil cylinder, a bidirectional hydraulic pump is installed in the oil tank, a servo motor for driving the bidirectional hydraulic pump to work is installed on one side of the oil tank, a diaphragm type energy accumulator communicating with an inner cavity of the oil tank is installed above the oil tank, a first electromagnetic valve oil inlet end and a second balance valve control cavity are respectively connected to one side oil passage of the bidirectional hydraulic pump through a three-way valve, a second electromagnetic valve oil inlet end and a first balance valve control cavity are respectively connected to the other side oil passage of the bidirectional hydraulic pump through a three-way valve, and the first balance valve and the second balance valve oil outlet ends communicate with the oil passage of the oil tank. The device has the beneficial effects that the improved and optimized design and the use of industrial standard parts and general elements reduce the cost and maintenance difficulty, and the device is suitable for teaching and popularization.

Description

Technical Field

[0001] This application relates to the field of teaching aids technology, and in particular to a training device for an electro-hydraulic actuator for teaching. Background Technology

[0002] Electro-hydraulic actuators, as high-performance actuators that deeply integrate electromechanical and hydraulic systems, are currently mainly used in the following scenarios: 1. Aerospace field, such as: flight control surface control: replacing traditional hydraulic systems, applied to the main flight control actuation of aircraft such as Boeing 787 and Airbus A350, providing high-precision and high-response control surface drive; aircraft landing gear retraction and extension and engine thrust reverser; vertical take-off and landing aircraft; 2. Deep-sea operations, such as: patent CN202510652160.2, which discloses a deep-sea underwater electro-hydraulic actuator EHA and its control system; 3. Basic research, such as: patent 202411141313, which discloses an integrated electro-hydraulic actuator and its control method that achieves energy self-sufficiency based on wind energy.

[0003] Based on the above applications, it can be seen that electro-hydraulic actuators are currently only used for high-end needs and in university research settings. This is due, on the one hand, to the price of electro-hydraulic actuators; and on the other hand, to the lack of systematic teaching and training products related to electro-hydraulic actuators on the market, which hinders their widespread adoption. Utility Model Content

[0004] This application proposes a training device for electro-hydraulic actuators for teaching purposes in order to solve the above-mentioned problems.

[0005] The technical solution of this application is implemented as follows: A training device for electro-hydraulic actuators for teaching purposes includes a double-rod symmetrical hydraulic cylinder. An oil tank is mounted above the cylinder, and a bidirectional hydraulic pump is installed inside the tank. A servo motor that drives the bidirectional hydraulic pump is mounted on one side of the tank. A diaphragm accumulator communicating with the tank's interior is mounted above the tank. One oil circuit of the bidirectional hydraulic pump is connected via a three-way valve to the inlet of a first solenoid valve and the control chamber of a second balance valve. The other oil circuit of the bidirectional hydraulic pump is connected via a three-way valve to the inlet of a second solenoid valve and the control chamber of the first balance valve. The oil outlets of the first and second balance valves are connected to the oil circuit of the oil tank. The oil outlet of the first solenoid valve and the oil inlet of the first balance valve are connected in parallel to the chamber at one end of the double-rod symmetrical cylinder. The oil outlet of the second solenoid valve and the oil inlet of the second balance valve are connected in parallel to the chamber at the other end of the double-rod symmetrical cylinder, so as to facilitate the extension and retraction of the double-rod symmetrical cylinder by oil control. A first pressure transmitter and a second pressure transmitter for detecting the oil pressure at both ends of the double-rod symmetrical cylinder are respectively installed on the two oil circuits connecting the first and second solenoid valves to the double-rod symmetrical cylinder.

[0006] Furthermore, a pressure gauge for detecting the pressure of the oil inside the tank is fixed on the oil tank.

[0007] Furthermore, filters are installed on the oil lines connecting the first balance valve, the second balance valve, and the oil tank.

[0008] Furthermore, a connecting plate is installed on the piston rod at one end of the dual-rod symmetrical hydraulic cylinder, and a displacement sensor for detecting the position of the piston rod is installed on the connecting plate.

[0009] Furthermore, a fixed base is installed at one end of the double-rod symmetrical hydraulic cylinder, and a force sensor corresponding to the position of the piston rod of the double-rod symmetrical hydraulic cylinder is fixed in the fixed base. A force test stop is installed between the force sensor and the piston rod of the double-rod symmetrical hydraulic cylinder.

[0010] Furthermore, the connecting plate and the force sensor are both located at the same end of the double-rod symmetrical hydraulic cylinder.

[0011] Furthermore, several rubber pads are installed on the lower end face of the dual-rod symmetrical hydraulic cylinder and the fixed base.

[0012] Furthermore, a valve assembly block is installed above the fixed base, and the filter, the first solenoid valve, the second solenoid valve, the first balancing valve, the second balancing valve, the first pressure transmitter, and the second pressure transmitter are all detachably connected and installed on the valve assembly block.

[0013] The beneficial effects of this application by adopting the above technical solution are as follows: by improving and optimizing the design and using industrial standard parts and general-purpose components, the cost and maintenance difficulty are reduced, making it suitable for teaching and promotion. Meanwhile, this device provides a complete set of practical training projects, enabling students to quickly gain a comprehensive understanding of electro-hydraulic actuators when using this device for practical training, which facilitates its widespread adoption. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is the first perspective view of this application; Figure 2 This is the second perspective view of this application; Figure 3 This is the third perspective view of this application; Figure 4 This is a perspective view of the present application after removing the fixing base and the oil tank; Figure 5 This is the front view of this application; Figure 6 This is a rear view of this application; Figure 7 This is a top view of this application; Figure 8 This is a cross-sectional view of the valve assembly block of this application; Figure 9 This is the hydraulic schematic diagram of this application; Figure 10 This is a schematic diagram of the interface layout of an electric hydrostatic actuator control system.

[0016] The annotations in the attached figures are explained as follows: 1. Diaphragm accumulator; 2. Fixed base; 3. Bidirectional hydraulic pump; 4. Servo motor; 5. Filter; 6a. First solenoid valve; 6b. Second solenoid valve; 7a. First balancing valve; 7b. Second balancing valve; 8a. First pressure transmitter; 8b. Second pressure transmitter; 9. Double-rod symmetrical hydraulic cylinder; 10. Displacement sensor; 11. Force sensor; 12. Pressure gauge; 13. Oil tank; 14. Valve integrated block; 15. Force test stop block; 16. Connecting plate; 17. Rubber pad. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0018] like Figures 1-8As shown, a training device for an electro-hydraulic actuator for teaching purposes includes a double-rod symmetrical hydraulic cylinder 9 (cylinder diameter: 28mm, rod diameter: 20mm, stroke: 100mm). An oil tank 13 is mounted above the double-rod symmetrical hydraulic cylinder 9. The oil tank 13 has an exhaust port D communicating with its inner cavity. An industrial-grade standard bidirectional hydraulic pump 3 is installed inside the oil tank 13. The method of implementation is not limited to using an industrial-grade standard bidirectional gear pump or other hydraulic pumps. The bidirectional hydraulic pump 3 provides pressurized oil to the double-rod symmetrical hydraulic cylinder 9. An oil discharge port L communicating with the inner cavity of the oil tank 13 is formed on the bidirectional hydraulic pump 3. Two one-way valves are installed in the two oil suction ports S of the bidirectional hydraulic pump 3 communicating with the oil tank 13. To prevent oil backflow, a 220VAC AC servo motor 4 is installed on one side of the oil tank 13 to drive the bidirectional hydraulic pump 3. The servo motor 4 is connected to the bidirectional hydraulic pump 3 via a diaphragm coupling. The servo motor 4 has a servo controller, a working voltage of 220VAC, a rated power of 400W, a rated torque of 1.27Nm, and a rated speed of 3000RPM. The running direction of the double-rod symmetrical hydraulic cylinder 9 can be changed by changing the rotation direction of the servo motor 4, and the running speed of the double-rod symmetrical hydraulic cylinder 9 can be adjusted by adjusting the speed of the servo motor 4. A diaphragm accumulator 1, model MDA-0, is installed above the oil tank 13 and communicates with the inner cavity of the oil tank 13.The 16L / 250ba diaphragm accumulator 1 provides a stable pre-pressure to the oil tank 13, ensuring sufficient oil intake by the pump, preventing cavitation, and enhancing system response speed. It is especially suitable for frequent start-stop and reversal conditions in teaching demonstrations. The left oil circuit of the bidirectional hydraulic pump 3 is connected to the inlet of the first solenoid valve 6a and the control chamber of the second balance valve 7b via a three-way valve. The right oil circuit of the bidirectional hydraulic pump 3 is connected to the inlet of the second solenoid valve 6b and the control chamber of the first balance valve 7a via a three-way valve. The first balance valve 7a and the second balance valve 7b are not limited to using standard cartridge balance valves or other types. The pressure regulating valves are implemented by connecting the oil outlets of the first balance valve 7a and the second balance valve 7b to the oil circuit of the oil tank 13. The first solenoid valve 6a and the second solenoid valve 6b are model LSV2-08-2NCRP. The oil outlet of the first solenoid valve 6a and the oil inlet of the first balance valve 7a are connected in parallel to the left chamber of the double-rod symmetrical cylinder 9. The oil outlet of the second solenoid valve 6b and the oil inlet of the second balance valve 7b are connected in parallel to the right chamber of the double-rod symmetrical cylinder 9, facilitating the extension and retraction of the double-rod symmetrical cylinder 9 via hydraulic control. When the first solenoid valve 6a and the second solenoid valve 6b are not energized, the solenoid valves function as follows: Regarding the function of the check valve, when the first solenoid valve 6a and the second solenoid valve 6b are energized, bidirectional flow is possible at the inlet and outlet of the solenoid valves. The electro-hydraulic actuator switches between displacement control mode and force control mode by controlling the on / off state of the first solenoid valve 6a and the second solenoid valve 6b. When the first solenoid valve 6a and the second solenoid valve 6b are de-energized, the electro-hydraulic actuator is suitable for displacement control mode. The first balance valve 7a and the second balance valve 7b, located on the valve assembly block 14, enable the double-rod symmetrical cylinder 9 to maintain its position under load and operate smoothly under negative load conditions. When the first solenoid valve 6a... When the second solenoid valve 6b is energized, the electro-hydraulic actuator operates in force control mode. A first pressure transmitter 8a and a second pressure transmitter 8b are respectively installed on the two oil lines connecting the first solenoid valve 6a, the second solenoid valve 6b, and the double-rod symmetrical cylinder 9 to detect the oil pressure at both ends of the cylinder 9. The first pressure transmitter 8a and the second pressure transmitter 8b can monitor the pressure in both chambers of the cylinder in real time, providing high-precision feedback signals for force closed-loop control. The first pressure transmitter 8a and the second pressure transmitter 8b detect pressures of 0-10 MPa, have a G1 / 4 thread, and an accuracy of 0.5 grade.

[0019] The main technical parameters of the electro-hydraulic actuator designed in this scheme are: rated power: 400W; rated working pressure: 6MPa; rated push / pull force: 1800N; maximum stroke: 100mm.

[0020] like Figure 9As shown, when the first solenoid valve 6a and the second solenoid valve 6b are not energized, the solenoid valves function as check valves, which is suitable for displacement control mode. In this mode, the servo motor 4 implements speed control. Changing the rotation direction of the servo motor 4 changes the running direction of the double-rod symmetrical hydraulic cylinder 9, and adjusting the servo motor speed adjusts the cylinder's running speed.

[0021] When the servo motor 4 drives the bidirectional hydraulic pump 3 to rotate forward, oil enters the bidirectional hydraulic pump 3 from the oil tank 13. The pressurized oil enters the left chamber of the double-rod symmetrical cylinder 9 through the first solenoid valve 6a, pushing the piston rod of the double-rod symmetrical cylinder 9 to move to the right. At the same time, the pressurized oil enters the control chamber of the second balance valve 7b, opening the second balance valve 7b. The oil returning from the right chamber of the double-rod symmetrical cylinder 9 passes through the second balance valve 7b and the filter 5 before returning to the oil tank 13. When the bidirectional hydraulic pump 3 rotates in reverse, oil enters the bidirectional hydraulic pump 3 from the oil tank 13. The pressurized oil enters the right chamber of the double-rod symmetrical cylinder 9 through the second solenoid valve 6b, pushing the piston rod of the double-rod symmetrical cylinder 9 to move to the left. At the same time, the first balance valve 7a opens, and the oil returning from the left chamber passes through the first balance valve 7a and the filter 5 before returning to the oil tank 13.

[0022] The first balancing valve 7a and the second balancing valve 7b function as both balancing valves and relief valves: when the servo motor 4 stops, the balancing valve can keep the cylinder in a fixed position under external load; when the working condition is a negative load condition, the cylinder speed automatically matches the oil supply flow to ensure the cylinder speed is stable; when the oil supply pressure or load impact pressure is greater than the balancing valve's set pressure, the balancing valve's relief function is activated, and the oil returns to the oil tank 13 through the filter 5 to prevent pressure over-adjustment.

[0023] When the first solenoid valve 6a and the second solenoid valve 6b are energized, bidirectional flow is possible at the inlet and outlet of the solenoid valves, which is suitable for force control mode. In this mode, the servo motor 4 implements torque control. Changing the direction of the servo motor torque changes the direction of the applied force, and adjusting the servo motor torque changes the magnitude of the applied force.

[0024] In force control mode, the motor torque is actively controlled, while the motor speed passively adapts to the load speed (the controller limits the maximum speed to prevent overspeeding of the pump and motor). Based on the relationship between the load direction and the cylinder's movement direction, two operating conditions can be identified: When the load direction is opposite to the movement direction of the double-outlet symmetrical cylinder 9, it is an energy-consuming working condition: the servo motor 4 drives the bidirectional hydraulic pump 3 to supply oil to the double-outlet symmetrical cylinder 9. At this time, the electro-hydraulic actuator does work on the load and consumes energy.

[0025] As another preferred embodiment of the present invention, a pressure gauge 12 for detecting the pressure of the oil inside the oil tank 13 is fixed on the oil tank 13. The pressure gauge 12 is not limited to the method of direct connection of the pressure gauge or other methods of direct reading and display of pressure. In this application, the pressure gauge adopts a range of 0-0.6MPa, grade 2.5, and the pressure gauge 12 is directly connected to the oil tank 13, which makes it convenient for trainees to intuitively observe the pressure change of the oil tank 13 and enhance their understanding of the working principle of the booster oil tank.

[0026] As another preferred embodiment of the present invention, a filter 5 is installed on the oil line connecting the first balance valve 7a, the second balance valve 7b and the oil tank 13. It is not limited to using a general-purpose powder metallurgy filter element or other filter elements. It has high filtration accuracy, low maintenance cost, effectively protects hydraulic components from contamination and extends the service life of the device.

[0027] In another preferred embodiment of the present invention, a connecting plate 16 is installed on the piston rod at one end of the double-rod symmetrical hydraulic cylinder 9. A displacement sensor 10 for detecting the position of the piston rod is installed on the connecting plate 16. The displacement sensor 10 collects the position signal of the double-rod symmetrical hydraulic cylinder 9 in real time and is a key feedback element for position closed-loop control and displacement range control. The displacement sensor 10 is a KTM-125mm, 5V powered.

[0028] In another preferred embodiment of the present invention, a fixed base 2 is installed at one end of the double-rod symmetrical hydraulic cylinder 9. A force sensor 11 corresponding to the position of the piston rod of the double-rod symmetrical hydraulic cylinder 9 is fixed in the fixed base 2. A force test stop 15 is installed between the force sensor 11 and the piston rod of the double-rod symmetrical hydraulic cylinder 9. The force sensor 11 and the force test stop 15 cooperate to directly measure the output force of the double-rod symmetrical hydraulic cylinder 9, providing a real and accurate force value signal for the force closed-loop control experiment.

[0029] In another preferred embodiment of the present invention, the connecting plate 16 and the force sensor 11 are both located at the same end of the double-rod symmetrical hydraulic cylinder 9. This layout facilitates centralized acquisition and processing of sensor signals, reduces wiring complexity, shrinks equipment size, facilitates student observation, reduces interference, and improves system integration and teaching operability.

[0030] As another preferred embodiment of the present invention, a number of rubber pads 17 are installed on the lower end face of the double-rod symmetrical hydraulic cylinder 9 and the fixed base 2. The rubber pads 17 are designed to prevent the device from scraping against the experimental table during the training process, and at the same time play a role in shock absorption and anti-slip, making it easy to place and move, and enhancing the safety of the training.

[0031] In another preferred embodiment of the present invention, a valve integration block 14 is mounted above the fixed base 2. The filter 5, the first solenoid valve 6a, the second solenoid valve 6b, the first balancing valve 7a, the second balancing valve 7b, the first pressure transmitter 8a, and the second pressure transmitter 8b are all mounted on the valve integration block 14 via detachable connections (threaded connections, quick-connect fittings). The valve integration block 14 has an oil injection hole F connected to the filter 5, and a one-way valve is installed inside the oil injection hole F. The valve integration block 14 also has a return port T connecting the filter 5 and the oil tank 13. This modular design facilitates the installation, debugging, and replacement of components, reduces maintenance difficulty, and is suitable for teaching and practical training.

[0032] The training device described in this application is a mechatronics teaching equipment specifically designed for higher education institutions, vocational schools, and related training organizations. By simulating the structure and control methods of an industrial-grade EHA system, and combining it with a wealth of practical training projects, this device helps students deeply understand the working principles, control methods, and application scenarios of electro-hydraulic actuators. The device uses industrial standard parts and common components, significantly reducing costs and facilitating widespread teaching; it also provides a complete training system from basic understanding to advanced control, suitable for different levels of teaching needs. The device supports the following seven major training projects, covering the complete teaching process from basic understanding to advanced control: I. Cognitive Experiment: Understand the structure, components, and working principle of an Electric Hydrostatic Actuator (EHA).

[0033] The electro-hydraulic actuator cognitive experiment is an experiment that combines theoretical learning with hands-on operation to systematically master the working principle and structure of electro-hydraulic actuators (devices that convert electrical signals into hydraulic power to drive mechanical actions). The core objective is to establish an understanding of its "electro-hydraulic-mechanical" energy conversion process.

[0034] Structural cognition: Observe the components that make up the training device, and deepen the understanding of the integrated hydraulic system structure through physical disassembly and assembly or 3D model demonstration. Identify the functions and assembly relationships of the hydraulic components that make up the electro-hydraulic actuator. Its core components include the electrical signal input unit (displacement sensor 10, pressure sensor 11, force sensor 11), hydraulic power unit (servo motor 4, bidirectional hydraulic pump 3), actuator (double rod symmetrical cylinder 9), and hydraulic accessories (hydraulic pipelines, connectors, diaphragm accumulator 1, pressure gauge 12, balance valve, solenoid valve, etc.).

[0035] Understanding the principles: Comprehend the complete control process of "electrical signal → hydraulic pump control → pressure / flow regulation → mechanical action → feedback correction". For example, the controller outputs a signal to adjust the servo motor 4, thereby controlling the oil volume of the cylinder to control the pressure value and drive the load to move.

[0036] Performance understanding: By testing the actuator's response speed, positioning accuracy, and stability under different operating conditions (such as different loads and different input signal frequencies), we can understand its dynamic / static performance indicators and influencing factors.

[0037] II. Demonstration experiment of control principle to master the basic response characteristics of EHA under open-loop control.

[0038] The wiring connects the controller to the solenoid valve, servo motor 4, force sensor 11, displacement sensor 10, and pressure sensor 11. The pressure in the oil tank 13 and the pipeline connections are checked. By sending forward and reverse rotation commands to the servo motor 4 through the controller, the direction and speed of the piston rod movement of the double-rod symmetrical cylinder 9 are observed to understand the correspondence between "motor direction / speed and cylinder extension / retraction / speed". This experiment helps students establish an intuitive connection between electrical signals and mechanical actions, laying the foundation for subsequent closed-loop control.

[0039] 3. Position PID closed-loop control experiment, to learn the implementation and debugging of position closed-loop control algorithm.

[0040] Input the target position, enable the position PID controller, record the tracking curve and steady-state error through the software in the controller, observe the displacement tracking curve, and adjust the PID parameters to optimize the response speed and steady-state error.

[0041] Closed-loop correction: Displacement sensor 10 collects real-time displacement data of the double-rod symmetrical hydraulic cylinder 9 and feeds the data back to the controller. The controller adjusts the speed of servo motor 4 and the flow rate of bidirectional hydraulic pump 3 through motor driver, thereby adjusting the position of hydraulic rod of double-rod symmetrical hydraulic cylinder 9, forming a position negative feedback closed loop. PID control can dynamically adjust the output according to the error, significantly improving the system's positioning accuracy and anti-interference capability.

[0042] IV. Force PID closed-loop control experiment to master the principle and implementation of force control mode.

[0043] A force test stop 15 (a slot for inserting the force test stop 15 is formed on the fixed base 2) is inserted between the force sensor 11 and the hydraulic rod of the double-rod symmetrical oil cylinder 9. The target control force is input, the force closed-loop control is enabled, and the software records the tracking curve and steady-state error.

[0044] Closed-loop correction: The first pressure transmitter 8a and the second pressure transmitter 8b collect the internal pressure at both ends of the double-rod symmetrical hydraulic cylinder 9. The force sensor 11 collects the force value pushed out by the double-rod symmetrical hydraulic cylinder 9 and feeds the data back to the controller. The controller adjusts the speed of the servo motor 4 through the motor driver to regulate the flow rate of the bidirectional hydraulic pump 3, thereby adjusting the position of the hydraulic rod of the double-rod symmetrical hydraulic cylinder 9, forming a force negative feedback closed loop. This experiment is suitable for teaching industrial scenarios that require precise control of output force.

[0045] Fifth, the displacement interval PID control experiment will teach you how to perform position control in multiple intervals.

[0046] Input the target displacement range (upper and lower limits) into the controller, enable the position PID controller, and the software records and tracks the real-time displacement of the hydraulic cylinder to perform displacement range control.

[0047] Closed-loop correction: Displacement sensor 10 collects real-time displacement data of the double-rod symmetrical hydraulic cylinder 9 and feeds the data back to the controller. The controller adjusts the speed of servo motor 4 and the flow rate of bidirectional hydraulic pump 3 through motor driver, thereby adjusting the position of hydraulic rod of double-rod symmetrical hydraulic cylinder 9, forming a position negative feedback closed loop. This experiment is suitable for teaching applications of multi-position fixed-point control or area holding.

[0048] VI. Hydraulic cylinder vibration test: simulate vibration conditions and test the dynamic performance of the system.

[0049] The vibration frequency of the double-rod symmetrical hydraulic cylinder 9 is set by the controller (the controller outputs a sine wave signal). Clicking "Start Experiment" initiates the experiment. Displacement sensor 10 collects real-time displacement data of the double-rod symmetrical hydraulic cylinder 9, which then moves back and forth according to the specified sine wave vibration signal. This experiment can be used to study the system's frequency response, resonance point identification, and other dynamic characteristics, and is suitable for verifying advanced control algorithms.

[0050] VII. Handle control experiment to realize human-computer interaction control and enhance the operating experience.

[0051] The command handle is connected to the driver of the servo motor 4, and the real-time position of the double-rod symmetrical hydraulic cylinder 9 is directly controlled via the handle signal. When the command handle is pushed forward, the double-rod symmetrical hydraulic cylinder 9 extends; when the command handle is pushed backward, the double-rod symmetrical hydraulic cylinder 9 retracts. This experiment simulates a human-machine collaborative operation scenario in actual industry, enhancing the trainees' hands-on interest and interactive experience.

[0052] Through the above seven practical training projects, students can systematically master the knowledge and skills of electro-hydraulic actuators from basic structure, open-loop control to closed-loop control (position, force, range), dynamic performance testing and human-machine interaction. This knowledge is applicable to the teaching and practical training of courses such as mechatronics, hydraulic transmission, and automatic control.

[0053] The controller used in this teaching experiment uses control software developed based on configuration software, named "Electro-hydraulic Actuator Control System." This control system can communicate with the PLC and the electro-hydraulic actuator servo motor controller to collect real-time parameters of the electro-hydraulic actuator system, such as pressure, displacement, force, speed, and torque signals, thereby enabling corresponding signal acquisition and control.

[0054] The schematic diagram of the interface layout of the electro-hydraulic actuator control system is shown below. Figure 10As shown, the software interface displays the software name in the upper left corner; the middle area contains five training projects that require the software for practical training, corresponding to: Electro-hydraulic Actuator Control Principle Demonstration Experiment; Electro-hydraulic Actuator Position PID Closed-Loop Control Experiment; Electro-hydraulic Actuator Force PID Closed-Loop Control Experiment; Electro-hydraulic Actuator Displacement Range PID Control Experiment; Electro-hydraulic Actuator Cylinder Vibration Experiment; the lower left corner of the software is the status display and control area of ​​the electro-hydraulic actuator control system, which can monitor the operation of the electro-hydraulic actuator system in real time, as well as the enabling and de-energizing of the electro-hydraulic actuator; the lower middle area displays the current working mode, showing the name of the currently training project among the five projects; the lower right corner contains the exit button, which can be clicked to exit the electro-hydraulic actuator control system.

[0055] The circuit connections involved in this application are conventional methods used by those skilled in the art, and technical inspiration can be obtained through a limited number of experiments. They belong to widely used prior art.

[0056] Components not described in detail in this article are existing technologies.

[0057] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A training device for electro-hydraulic actuators for teaching purposes, characterized in that: The system includes a double-rod symmetrical hydraulic cylinder (9), with an oil tank (13) mounted above the cylinder (9). A bidirectional hydraulic pump (3) is installed inside the oil tank (13). A servo motor (4) driving the bidirectional hydraulic pump (3) is mounted on one side of the oil tank (13). A diaphragm accumulator (1) communicating with the inner cavity of the oil tank (13) is mounted above the oil tank (13). One side of the bidirectional hydraulic pump (3) has an oil circuit connected to the inlet of a first solenoid valve (6a) and the control chamber of a second balance valve (7b) via a three-way valve. The other side of the bidirectional hydraulic pump (3) has an oil circuit connected to the inlet of a second solenoid valve (6b) and the control chamber of a first balance valve (7a) via a three-way valve. 7a) The oil outlet of the second balance valve (7b) is connected to the oil circuit of the oil tank (13). The oil outlet of the first solenoid valve (6a) and the oil inlet of the first balance valve (7a) are connected in parallel to the chamber of one end of the double rod symmetrical cylinder (9). The oil outlet of the second solenoid valve (6b) and the oil inlet of the second balance valve (7b) are connected in parallel to the chamber of the other end of the double rod symmetrical cylinder (9), so as to facilitate the extension and retraction of the double rod symmetrical cylinder (9) by oil control. The first pressure transmitter (8a) and the second pressure transmitter (8b) are respectively installed on the two oil circuits connected to the first solenoid valve (6a), the second solenoid valve (6b) and the double rod symmetrical cylinder (9) for detecting the oil pressure at both ends of the double rod symmetrical cylinder (9).

2. The teaching electro-hydraulic actuator training device according to claim 1, characterized in that: A pressure gauge (12) for detecting the pressure of the oil inside the oil tank (13) is fixed on the oil tank (13).

3. The teaching electro-hydraulic actuator training device according to claim 1, characterized in that: A filter (5) is installed on the oil line connecting the first balance valve (7a), the second balance valve (7b) and the oil tank (13).

4. The teaching electro-hydraulic actuator training device according to claim 3, characterized in that: A connecting plate (16) is installed on the piston rod at one end of the double-rod symmetrical hydraulic cylinder (9), and a displacement sensor (10) for detecting the position of the piston rod is installed on the connecting plate (16).

5. A training device for an electro-hydraulic actuator for teaching purposes according to claim 4, characterized in that: One end of the double-rod symmetrical hydraulic cylinder (9) is equipped with a fixed base (2), and a force sensor (11) corresponding to the position of the piston rod of the double-rod symmetrical hydraulic cylinder (9) is fixed in the fixed base (2). A force test stop (15) is installed between the force sensor (11) and the piston rod of the double-rod symmetrical hydraulic cylinder (9).

6. The teaching electro-hydraulic actuator training device according to claim 5, characterized in that: The connecting plate (16) and the force sensor (11) are both located at the same end of the double-rod symmetrical oil cylinder (9).

7. A training device for an electro-hydraulic actuator for teaching purposes according to claim 6, characterized in that: Several rubber pads (17) are installed on the lower end face of the double-outlet symmetrical hydraulic cylinder (9) and the fixed base (2).

8. A training device for an electro-hydraulic actuator for teaching purposes according to claim 5, characterized in that: A valve assembly block (14) is installed above the fixed base (2). The filter (5), the first solenoid valve (6a), the second solenoid valve (6b), the first balancing valve (7a), the second balancing valve (7b), the first pressure transmitter (8a), and the second pressure transmitter (8b) are all detachably connected and installed on the valve assembly block (14).

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