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一种高效直驱液压角度位置伺服控制系统的研究和实现
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Research and Implementation of an Efficient Direct Drive Hydraulic Angle Position Servo Control System
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    摘要:

    基于直驱式液压系统效率高和阀控伺服系统精度高的特点,提出一种位置二元控制方法。第一元是步进电机控制的数字阀和执行器通过机械负反馈形成的闭环伺服系统,实现系统的精准位置控制。第二元是伺服同步电机控制的柱塞泵系统,系统根据执行器能够达到的加/减速度、最高速度、作动器的排量、初始位置和目标位置的差等,计算所需流量和具体执行的步进电机控制的节奏,并以步进电机控制节奏为参考, 控制同步伺服电机速度及相应泵的流量,实现大偏差时高效运行;在小偏差时,在蓄能器压力达到设定值时,关闭同步伺服电机和柱塞泵,避免泵在低速低效区运行,用蓄能器储存的能量实现位置伺服纠偏控制;系统一直运行在高效状态。二元控制方法具有两个简洁的机制实现精准和高效目标,实用可靠。

    Abstract:

    A position bi-core control method was proposed based on high efficiency of direct drive volume control (DDVC) hydraulic system and high accuracy of hydraulic valve control servo system.The 1st core control was a closed loop valve servo control system,which was composed of digital control valve with stepper motor,actuator,and their mechanical feedback mechanism.The 1st core achieved accurate position control.The 2nd core control was that servo synchronous motor drove piston pump.During 1st core large position error control zone,2nd core system ran in high efficiency by the way that servo motor speed and related piston pump flow were controlled based on stepper motor speed chart,which was determined by actuator accelerating and decelerating capacity,actuator displacement,and difference between initial position and final position.During 1st core small position error servo control,servo motor and piston pump would be stopped when accumulator pressure got the set point.This could avoid pump to run in low speed and low efficiency zone.The stored energy in accumulators would help position servo control.So,2nd core can let system run in high efficiency based on 1st core situations.Bi-core control method has two concise mechanisms and targets.It is practicable and reliable.

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郭大勇,陈照弟,司国雷.一种高效直驱液压角度位置伺服控制系统的研究和实现[J].机床与液压,2023,51(9):124-129.
GUO Dayong, CHEN Zhaodi, SI Guolei. Research and Implementation of an Efficient Direct Drive Hydraulic Angle Position Servo Control System[J]. Machine Tool & Hydraulics,2023,51(9):124-129

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  • 在线发布日期: 2023-05-29
  • 出版日期: 2023-05-15