CN105119579B - Servo valve amplifier - Google Patents
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Abstract
本发明公开了一种伺服阀放大器，该伺服阀放大器首先收到实时控制器的控制模拟电压信号，该伺服阀放大器电路在稳压模块支持下，控制模拟电压信号首先通过差分输入的方式来减小误差；再将差分信号与颤振信号发生电路产生的颤振信号叠加后通过反相器模块反相后输入到电流泵模块；最后电流泵模块根据输入信号大小按设定的放大比例将电压信号转化为输出恒定且不受负载影响的电流信号，从而输出并控制电液伺服阀；本发明在电液伺服阀的控制上，具有可靠、高灵敏度、减少伺服阀卡顿的特点。
The invention discloses a servo valve amplifier. The servo valve amplifier first receives a control analog voltage signal from a real-time controller. With the support of a voltage stabilizing module, the servo valve amplifier circuit first reduces the control analog voltage signal through differential input. small error; then the differential signal and the chatter signal generated by the chatter signal generating circuit are superimposed and then input to the current pump module after being inverted by the inverter module; finally, the current pump module converts the voltage according to the set amplification ratio according to the size of the input signal The signal is converted into a constant output current signal that is not affected by the load, thereby outputting and controlling the electro-hydraulic servo valve; the present invention has the characteristics of reliability, high sensitivity, and reduced jamming of the servo valve in the control of the electro-hydraulic servo valve.
Description
技术领域technical field
本发明涉及电液伺服阀控制技术领域，尤其涉及一种应用于可穿戴式助力外骨骼下肢电液伺服控制系统中的伺服阀放大器。The invention relates to the technical field of electro-hydraulic servo valve control, in particular to a servo valve amplifier used in a wearable power-assisted exoskeleton lower limb electro-hydraulic servo control system.
背景技术Background technique
伺服阀放大器为电液伺服阀的驱动、控制专用控制器。伺服放大器作用是将输入指令信号(电压)同系统反馈信号(电压)进行比较、放大和运算后，输出一个与偏差电压信号成比例的控制电流给伺服阀力矩马达控制线圈，控制伺服阀阀芯开度大小。并通过采用各种液压设备和测量传感器构成对位置、速度、加速度、力等物理量进行控制的电液伺服系统，如：阀控油缸、阀控马达、阀控泵等。The servo valve amplifier is a dedicated controller for the drive and control of the electro-hydraulic servo valve. The function of the servo amplifier is to compare, amplify and calculate the input command signal (voltage) with the system feedback signal (voltage), and output a control current proportional to the deviation voltage signal to the servo valve torque motor control coil to control the servo valve spool Opening size. And through the use of various hydraulic equipment and measurement sensors to form an electro-hydraulic servo system that controls physical quantities such as position, speed, acceleration, and force, such as: valve-controlled cylinders, valve-controlled motors, valve-controlled pumps, etc.
常用的伺服阀放大器有指令与信号输入电路、调零偏置电路、前置放大电路、限流电路、功率放大电路等模块，一般存在以下缺点：Commonly used servo valve amplifiers include command and signal input circuits, zero-adjustment bias circuits, preamplifier circuits, current limiting circuits, power amplifier circuits and other modules, and generally have the following disadvantages:
1）由于阀的库伦摩擦力影响，常用的伺服阀放大器易存在阀芯卡滞的现象。1) Due to the influence of the Coulomb friction force of the valve, commonly used servo valve amplifiers are prone to spool sticking.
2）误差干扰大，导致受控阀的分辨率较低。2) Large error interference leads to low resolution of the controlled valve.
3）漂移现象明显，稳定性差，对环境要求高，不适合户外工作。3) The phenomenon of drift is obvious, the stability is poor, and the requirements for the environment are high, so it is not suitable for outdoor work.
4）响应速度快但超调量一般偏大，难以满足实时性需求。4) The response speed is fast, but the overshoot is generally too large, which is difficult to meet the real-time requirements.
发明内容Contents of the invention
本发明的目的是针对现有技术的不足，提供一种伺服阀放大器，该放大器电路在电液伺服阀的控制上，具有可靠、高灵敏度、减少伺服阀卡顿等特点。The purpose of the present invention is to provide a servo valve amplifier for the deficiencies of the prior art. The amplifier circuit has the characteristics of reliability, high sensitivity, and less jamming of the servo valve in the control of the electro-hydraulic servo valve.
为了达到上述目的，本发明所采用的技术方案如下：一种伺服阀放大器，所述伺服阀放大器用于连接实时控制器和电液伺服阀，它包括稳压模块、驱动模块、颤振信号发生模块和输入输出模块；其中，In order to achieve the above object, the technical scheme adopted by the present invention is as follows: a servo valve amplifier, which is used to connect a real-time controller and an electro-hydraulic servo valve, which includes a voltage stabilizing module, a driving module, a chatter signal generator modules and input and output modules; where,
所述稳压模块包括非极性电容C1、C2、C3、C4、C5、C6、C7、C8、C12、C16，极性电容C11、C15、C17，齐纳稳压二极管D3、D4、D5，发光二极管D6、D7，电阻R24、R25；其中，非极性电容C1、C2、C3、C4的一端和齐纳稳压二极管D3的负极均与外部输入+15V相连，非极性电容C1、C2、C3、C4的另一端、齐纳稳压二极管D3的正极、非极性电容C5、C6、C7、C8的一端和齐纳稳压二极管D4的负极均接地；非极性电容C5、C6、C7、C8的另一端和齐纳稳压二极管D4的正极均与外部输入-15V相连；极性电容C11的正极、非极性电容C12的一端、极性电容C17的正极、齐纳稳压二极管D5的负极相连后与外部输入+15V相连；极性电容C15、C17的负极，非极性电容C16的一端，齐纳稳压二极管D5的正极相连后与外部输入-15V相连；极性电容C11的负极、极性电容C15的正极、非极性电容C12、C16的另一端均接地；电阻R24的一端与外部输入+15V相连，另一端与发光二极管D7的正极相连；电阻R25的一端与外部输入-15V相连，另一端与发光二极管D6的负极相连；发光二极管D7的负极和发光二极管D6的正极均接地；The voltage stabilizing module includes non-polar capacitors C1, C2, C3, C4, C5, C6, C7, C8, C12, C16, polar capacitors C11, C15, C17, zener voltage regulator diodes D3, D4, D5, Light-emitting diodes D6, D7, resistors R24, R25; among them, one end of non-polar capacitors C1, C2, C3, C4 and the negative pole of Zener voltage regulator diode D3 are connected to the external input +15V, and non-polar capacitors C1, C2 , the other end of C3, C4, the positive pole of Zener voltage regulator diode D3, one end of non-polar capacitors C5, C6, C7, C8 and the negative pole of Zener voltage regulator diode D4 are all grounded; non-polar capacitors C5, C6, The other ends of C7 and C8 and the anode of the Zener diode D4 are connected to the external input -15V; the positive pole of the polar capacitor C11, one end of the non-polar capacitor C12, the positive pole of the polar capacitor C17, and the Zener diode The negative pole of D5 is connected to the external input +15V; the negative poles of the polar capacitors C15 and C17, one end of the non-polar capacitor C16, and the positive pole of the zener diode D5 are connected to the external input -15V; the polar capacitor C11 The negative pole of the polar capacitor C15, the other end of the non-polar capacitor C12, C16 are grounded; one end of the resistor R24 is connected to the external input +15V, and the other end is connected to the positive pole of the light-emitting diode D7; one end of the resistor R25 is connected to the external The input is connected to -15V, and the other end is connected to the negative pole of the light-emitting diode D6; the negative pole of the light-emitting diode D7 and the positive pole of the light-emitting diode D6 are both grounded;
所述驱动模块电路包括差分输入模块、偏置和颤振输入模块、反相器模块、电流泵模块和TVS瞬态稳压管模块；其中，所述差分输入模块包括电阻R14、R17、R21、R11，运算放大器AR3；其中，电阻R14的一端与电阻R11的一端相连后与运算放大器AR3的负极输入端相连；电阻R11的另一端与运算放大器AR3的输出端相连；电阻R17的一端与电阻R21的一端相连后与运算放大器AR3的正极输入端相连；电阻R21的另一端接地；运算放大器AR3的第一电源输入端和第二电源输入端分别接外部输入+15V和-15V；所述偏置和颤振输入模块包括电阻R1、R3、R8、R9，滑动变阻器R2、R10；其中，电阻R8的一端与滑动变阻器R10的变阻丝的一端相连；电阻R1的一端接外部输入-15V，另一端与滑动变阻器R2的电阻丝的一端相连；滑动变阻器R2的电阻丝的另一端与电阻R3的一端相连；电阻R3的另一端与外部输入+15V相连；滑动变阻器R2的滑动端与电阻R9的一端相连；所述反相器模块包括电阻R16、R13，运算放大器AR5；其中，电阻R13的一端与运算放大器AR5的负极输入端相连，运算放大器AR5的正极输入端接地；电阻R13的另一端与运算放大器AR5的输出端相连；运算放大器AR5的第一电源输入端和第二电源输入端分别接外部输入+15V和-15V端子；运算放大器AR3的输出端与电阻R16的一端相连；运算放大器AR5的负极输入端、电阻R16的另一端、滑动变阻器R10的变阻丝的另一端、滑动变阻器R10的滑动端和电阻R9的另一端相连于一点；所述电流泵模块包括电阻R12、R6、R18、R19、R15，滑动变阻器R7、R20，二极管D1、D2和运算放大器AR2；其中，电阻R12的一端接地，另一端与电阻R6的一端相连后接入运算放大器AR2的负极输入端；电阻R6的另一端分别与滑动变阻器R7的变阻丝一端和滑动变阻器R7的滑动端相连；电阻R18的一端与运算放大器AR5的输出端相连，另一端与电阻R19的一端相连后接入运算放大器AR2的正极输入端；电阻R19的另一端与滑动变阻器R20的电阻丝的一端相连，滑动变阻器R20的电阻丝的另一端与电阻R15的一端相连；电阻R15的另一端与滑动变阻器R7的变阻丝另一端相连后接入运算放大器AR2的输出端；运算放大器AR2的第一电源输入端和第二电源输入端分别接外部输入+15V和-15V；滑动变阻器R20的滑动端与二极管D1的正极相连；二极管D1的负极与二极管D2的负极相连；二极管D2的正极接地；所述TVS瞬态稳压管模块包括稳压管TVS2、TVS4、TVS5；其中，稳压管TVS2的一极与电阻R8的另一端相连，稳压管TVS4的一极与电阻R14的另一端相连，稳压管TVS5的一极与电阻R17的另一端相连，稳压管TVS2、TVS4、TVS5的另一极均接地；The drive module circuit includes a differential input module, a bias and dither input module, an inverter module, a current pump module and a TVS transient voltage regulator module; wherein the differential input module includes resistors R14, R17, R21, R11, operational amplifier AR3; wherein, one end of the resistor R14 is connected to one end of the resistor R11 and then connected to the negative input terminal of the operational amplifier AR3; the other end of the resistor R11 is connected to the output terminal of the operational amplifier AR3; one end of the resistor R17 is connected to the resistor R21 One end of the operational amplifier AR3 is connected to the positive input end of the operational amplifier AR3; the other end of the resistor R21 is grounded; the first power input end and the second power input end of the operational amplifier AR3 are respectively connected to the external input +15V and -15V; the bias And the flutter input module includes resistors R1, R3, R8, R9, sliding rheostats R2, R10; wherein, one end of the resistor R8 is connected to one end of the rheostat wire of the sliding rheostat R10; one end of the resistor R1 is connected to the external input -15V, and the other One end is connected to one end of the resistance wire of the sliding rheostat R2; the other end of the resistance wire of the sliding rheostat R2 is connected to one end of the resistance R3; the other end of the resistance R3 is connected to the external input +15V; the sliding end of the sliding rheostat R2 is connected to the resistance R9 One end is connected; Described inverter module comprises resistance R16, R13, operational amplifier AR5; Wherein, one end of resistance R13 is connected with the negative pole input terminal of operational amplifier AR5, and the positive pole input terminal of operational amplifier AR5 is grounded; The other end of resistance R13 and The output terminal of the operational amplifier AR5 is connected; the first power input terminal and the second power input terminal of the operational amplifier AR5 are respectively connected to the external input +15V and -15V terminals; the output terminal of the operational amplifier AR3 is connected with one end of the resistor R16; the operational amplifier AR5 The negative input end of the negative pole, the other end of the resistor R16, the other end of the rheostat wire of the sliding rheostat R10, the sliding end of the sliding rheostat R10 and the other end of the resistor R9 are connected at one point; the current pump module includes resistors R12, R6, R18 , R19, R15, sliding rheostats R7, R20, diodes D1, D2 and operational amplifier AR2; wherein, one end of the resistor R12 is grounded, and the other end is connected to one end of the resistor R6 and connected to the negative input terminal of the operational amplifier AR2; the resistor R6 The other ends are respectively connected to one end of the rheostat wire of the sliding rheostat R7 and the sliding end of the sliding rheostat R7; one end of the resistor R18 is connected to the output end of the operational amplifier AR5, and the other end is connected to one end of the resistor R19 and then connected to the positive pole of the operational amplifier AR2 Input terminal; the other end of the resistor R19 is connected to one end of the resistance wire of the sliding rheostat R20, and the other end of the resistance wire of the sliding rheostat R20 is connected to one end of the resistor R15; the other end of the resistor R15 is connected to the other end of the resistance wire of the sliding rheostat R7 Connected to the output terminal of the operational amplifier AR2; the first power input terminal and the second power input terminal of the operational amplifier AR2 are respectively connected to the external input +15V and -15V; the sliding rheostat The sliding end of R20 is connected with the positive pole of diode D1; The negative pole of diode D1 is connected with the negative pole of diode D2; One pole of the voltage regulator tube TVS2 is connected to the other end of the resistor R8, one pole of the voltage regulator tube TVS4 is connected to the other end of the resistor R14, one pole of the voltage regulator tube TVS5 is connected to the other end of the resistor R17, and the voltage regulator tube TVS2, TVS4 , The other pole of TVS5 is grounded;
所述颤振信号发生模块电路包括电源滤波模块、发生器模块；所述电源滤波模块包括电容C10和C14；其中，电容C10一端与外部输入+15V相连，另一端与电容C14的一端相连后接地；电容C14的另一端与外部输入-15V相连；所述发生器模块包括电阻R22、R28、R29、R26，滑动变阻器R23、R27，电容C9、C13，运算放大器AR6、AR7；其中，电容C9的一端接地，另一端与电阻R22的一端相连后接运算放大器AR7的负极输入端；电阻R22的另一端与滑动变阻器R23的一端相连；电阻R28的一端接地，另一端与电阻R29的一端相连后接入运算放大器AR7的正极输入端；运算放大器AR7的第一电源输入端和第二电源输入端分别接外部输入+15V和-15V；滑动变阻器R23的另一端、电阻R26的一端、电阻R29的另一端均与运算放大器AR7的输出端相连；电阻R26的另一端、滑动变阻器R27的电阻丝的一端和电容C13的一端相连于一点；电容C13的另一端和滑动变阻器R27的电阻丝的另一端均接地；滑动变阻器R27的滑动端与运算放大器AR6的正极输入端口相连；运算放大器AR6的负极输入端口与输出端口短接；运算放大器AR6的输出端口与电阻R8的另一端相连；The flutter signal generation module circuit includes a power filter module and a generator module; the power filter module includes capacitors C10 and C14; wherein, one end of the capacitor C10 is connected to the external input +15V, and the other end is connected to one end of the capacitor C14 and grounded ; The other end of the capacitor C14 is connected to the external input -15V; the generator module includes resistors R22, R28, R29, R26, sliding rheostats R23, R27, capacitors C9, C13, operational amplifiers AR6, AR7; wherein, the capacitor C9 One end is grounded, and the other end is connected to one end of the resistor R22, and then connected to the negative input end of the operational amplifier AR7; the other end of the resistor R22 is connected to one end of the sliding rheostat R23; one end of the resistor R28 is grounded, and the other end is connected to one end of the resistor R29, and then connected to into the positive input terminal of the operational amplifier AR7; the first power input terminal and the second power input terminal of the operational amplifier AR7 are respectively connected to external input +15V and -15V; the other end of the sliding rheostat R23, one end of the resistor R26, and the other end of the resistor R29 One end is connected with the output terminal of the operational amplifier AR7; the other end of the resistor R26, one end of the resistance wire of the sliding rheostat R27 and one end of the capacitor C13 are connected at one point; the other end of the capacitor C13 and the other end of the resistance wire of the sliding rheostat R27 are all Grounding; the sliding end of the sliding rheostat R27 is connected to the positive input port of the operational amplifier AR6; the negative input port of the operational amplifier AR6 is short-circuited to the output port; the output port of the operational amplifier AR6 is connected to the other end of the resistor R8;
所述输入输出模块包括信号输入接线端子P1、输出电流接线端子P2、电源输入接线端子P3；其中，信号输入接线端子P1的正极输入端口接电阻R17的另一端，负极输入端口接电阻R14的另一端，接地端口接地；输出电流接线端子P2的输出端口接电流泵模块的滑动变阻器R20的滑动端与二极管D1的正极的公共端,接地端口接地；电源输入接线端子P3的正极端口接外部输入+15V，接地端口接地，负极端口接外部输入-15V；The input and output module includes a signal input terminal P1, an output current terminal P2, and a power input terminal P3; wherein, the positive input port of the signal input terminal P1 is connected to the other end of the resistor R17, and the negative input port is connected to the other end of the resistor R14. One end, the grounding port is grounded; the output port of the output current terminal P2 is connected to the common terminal of the sliding end of the sliding rheostat R20 of the current pump module and the positive pole of the diode D1, and the grounding port is grounded; the positive terminal of the power input terminal P3 is connected to the external input + 15V, the ground port is grounded, and the negative port is connected to the external input -15V;
实时控制器的两个控制模拟电压信号输出端口与信号输入接线端子P1的正极输入端口和负极输入端口相连；电液伺服阀的电流输入端口与输出电流接线端子P2的输出端口相连。The two control analog voltage signal output ports of the real-time controller are connected to the positive input port and the negative input port of the signal input terminal P1; the current input port of the electro-hydraulic servo valve is connected to the output port of the output current terminal P2.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
1）通过高频颤振信号提高了伺服阀的分辨率。1) The resolution of the servo valve is improved by the high frequency dither signal.
2）有效阻止了由于库伦摩擦力造成的阀芯卡滞现象。2) Effectively prevent the spool sticking phenomenon caused by Coulomb friction.
3）利用低零漂精密运算放大器芯片等方式有效降低零漂现象3) Use low-zero-drift precision operational amplifier chips to effectively reduce zero-drift phenomena
4）适应于户外工作、雷雨天气等较为恶劣环境。4) Adapt to harsh environments such as outdoor work and thunderstorm weather.
5）伺服放大器线性度好、响应速度快、超调量适中，基本满足实时控制需求。5) The servo amplifier has good linearity, fast response and moderate overshoot, basically meeting the real-time control requirements.
附图说明Description of drawings
图1是本发明的伺服阀放大器稳压模块的电路图；Fig. 1 is the circuit diagram of servo valve amplifier voltage stabilizing module of the present invention;
图2是本发明的伺服阀放大器驱动模块的电路图；Fig. 2 is the circuit diagram of servo valve amplifier drive module of the present invention;
图3是本发明的伺服阀放大器颤振信号发生模块的电路图；Fig. 3 is the circuit diagram of servo valve amplifier chatter signal generation module of the present invention;
图4是本发明的伺服阀放大器输入输出模块的电路图；Fig. 4 is the circuit diagram of servo valve amplifier input and output module of the present invention;
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
本发明的一种伺服阀放大器，该伺服阀放大器用于连接实时控制器和电液伺服阀，它包括：稳压模块、驱动模块、颤振信号发生模块和输入输出模块；A servo valve amplifier of the present invention, the servo valve amplifier is used to connect a real-time controller and an electro-hydraulic servo valve, and it includes: a voltage stabilizing module, a driving module, a flutter signal generating module and an input and output module;
如图1所述，稳压模块包括非极性电容C1、C2、C3、C4、C5、C6、C7、C8、C12、C16，极性电容C11、C15、C17，齐纳稳压二极管D3、D4、D5，发光二极管D6、D7，电阻R24、R25；其中，非极性电容C1、C2、C3、C4的一端和齐纳稳压二极管D3的负极均与外部输入+15V相连，非极性电容C1、C2、C3、C4的另一端、齐纳稳压二极管D3的正极、非极性电容C5、C6、C7、C8的一端和齐纳稳压二极管D4的负极均接地；非极性电容C5、C6、C7、C8的另一端和齐纳稳压二极管D4的正极均与外部输入-15V相连；极性电容C11的正极、非极性电容C12的一端、极性电容C17的正极、齐纳稳压二极管D5的负极相连后与外部输入+15V相连；极性电容C15、C17的负极，非极性电容C16的一端，齐纳稳压二极管D5的正极相连后与外部输入-15V相连；极性电容C11的负极、极性电容C15的正极、非极性电容C12、C16的另一端均接地；电阻R24的一端与外部输入+15V相连，另一端与发光二极管D7的正极相连；电阻R25的一端与外部输入-15V相连，另一端与发光二极管D6的负极相连；发光二极管D7的负极和发光二极管D6的正极均接地；As shown in Figure 1, the voltage stabilizing module includes non-polar capacitors C1, C2, C3, C4, C5, C6, C7, C8, C12, C16, polar capacitors C11, C15, C17, zener diodes D3, D4, D5, light-emitting diodes D6, D7, resistors R24, R25; among them, one end of non-polar capacitors C1, C2, C3, C4 and the negative pole of zener diode D3 are connected to the external input +15V, non-polar The other ends of capacitors C1, C2, C3, and C4, the positive pole of Zener voltage regulator diode D3, one end of non-polar capacitors C5, C6, C7, and C8, and the negative pole of Zener voltage regulator diode D4 are all grounded; the non-polar capacitor The other end of C5, C6, C7, C8 and the anode of zener diode D4 are all connected to the external input -15V; the anode of polar capacitor C11, one end of non-polar capacitor C12, the anode of polar capacitor C17, The negative pole of the Zener diode D5 is connected to the external input +15V; the negative poles of the polar capacitors C15 and C17, one end of the non-polar capacitor C16, and the positive pole of the Zener diode D5 are connected to the external input -15V; The negative pole of the polar capacitor C11, the positive pole of the polar capacitor C15, and the other ends of the non-polar capacitors C12 and C16 are all grounded; one end of the resistor R24 is connected to the external input +15V, and the other end is connected to the positive pole of the light-emitting diode D7; the resistor R25 One end of the LED is connected to the external input -15V, and the other end is connected to the negative pole of the light-emitting diode D6; the negative pole of the light-emitting diode D7 and the positive pole of the light-emitting diode D6 are both grounded;
如图2所示，驱动模块电路包括差分输入模块、偏置和颤振输入模块、反相器模块、电流泵模块和TVS瞬态稳压管模块；其中，差分输入模块输出信号与偏置和颤振输入模块输出信号并联后与反相器模块串联，反相器模块再与电流泵模块串联，得到输出电流IO，输出电流IO作为电流模拟信号输出到电液伺服阀作为控制信号；As shown in Figure 2, the drive module circuit includes a differential input module, a bias and dither input module, an inverter module, a current pump module and a TVS transient voltage regulator module; wherein, the output signal of the differential input module is consistent with the bias and The output signal of the flutter input module is connected in parallel with the inverter module, and the inverter module is connected in series with the current pump module to obtain the output current IO, which is output as a current analog signal to the electro-hydraulic servo valve as a control signal;
所述差分输入模块包括电阻R14、R17、R21、R11，运算放大器AR3；其中，电阻R14的一端与电阻R11的一端相连后与运算放大器AR3的负极输入端（端口2）相连；电阻R11的另一端与运算放大器AR3的输出端（端口6）相连；电阻R17的一端与电阻R21的一端相连后与运算放大器AR3的正极输入端（端口3）相连；电阻R21的另一端接地；运算放大器AR3的第一电源输入端（端口7）和第二电源输入端（端口4）分别接外部输入+15V和-15V；The differential input module includes resistors R14, R17, R21, R11, and an operational amplifier AR3; wherein, one end of the resistor R14 is connected to one end of the resistor R11 and then connected to the negative input terminal (port 2) of the operational amplifier AR3; the other end of the resistor R11 One end is connected to the output terminal (port 6) of the operational amplifier AR3; one end of the resistor R17 is connected to one end of the resistor R21 and then connected to the positive input terminal (port 3) of the operational amplifier AR3; the other end of the resistor R21 is grounded; the terminal of the operational amplifier AR3 The first power input terminal (port 7) and the second power input terminal (port 4) are respectively connected to external input +15V and -15V;
所述偏置和颤振输入模块包括电阻R1、R3、R8、R9，滑动变阻器R2、R10；其中，电阻R8的一端与滑动变阻器R10的变阻丝的一端相连；电阻R1的一端接外部输入-15V，另一端与滑动变阻器R2的电阻丝的一端相连；滑动变阻器R2的电阻丝的另一端与电阻R3的一端相连；电阻R3的另一端与外部输入+15V相连；滑动变阻器R2的滑动端与电阻R9的一端相连；The bias and flutter input module includes resistors R1, R3, R8, R9, and sliding rheostats R2, R10; wherein, one end of the resistor R8 is connected to one end of the rheostat wire of the sliding rheostat R10; one end of the resistor R1 is connected to an external input -15V, the other end is connected to one end of the resistance wire of the sliding rheostat R2; the other end of the resistance wire of the sliding rheostat R2 is connected to one end of the resistor R3; the other end of the resistor R3 is connected to the external input +15V; the sliding end of the sliding rheostat R2 Connected to one end of resistor R9;
所述反相器模块包括电阻R16、R13，运算放大器AR5；其中，电阻R13的一端与运算放大器AR5的负极输入端（端口2）相连，运算放大器AR5的正极输入端（端口3）接地；电阻R13的另一端与运算放大器AR5的输出端（端口6）相连；运算放大器AR5的第一电源输入端（端口7）和第二电源输入端（端口4）分别接外部输入+15V和-15V端子；运算放大器AR3的输出端（端口6）与电阻R16的一端相连；运算放大器AR5的负极输入端（端口2）、电阻R16的另一端、滑动变阻器R10的变阻丝的另一端、滑动变阻器R10的滑动端和电阻R9的另一端相连于一点；The inverter module includes resistors R16, R13, and an operational amplifier AR5; wherein, one end of the resistor R13 is connected to the negative input terminal (port 2) of the operational amplifier AR5, and the positive input terminal (port 3) of the operational amplifier AR5 is grounded; the resistor The other end of R13 is connected to the output terminal (port 6) of the operational amplifier AR5; the first power input terminal (port 7) and the second power input terminal (port 4) of the operational amplifier AR5 are respectively connected to the external input +15V and -15V terminals ; The output terminal (port 6) of the operational amplifier AR3 is connected to one end of the resistor R16; the negative input terminal (port 2) of the operational amplifier AR5, the other end of the resistor R16, the other end of the rheostat wire of the sliding rheostat R10, and the other end of the sliding rheostat R10 The sliding end and the other end of the resistor R9 are connected at one point;
所述电流泵模块包括电阻R12、R6、R18、R19、R15，滑动变阻器R7、R20，二极管D1、D2和运算放大器AR2；其中，电阻R12的一端接地，另一端与电阻R6的一端相连后接入运算放大器AR2的负极输入端（端口2）；电阻R6的另一端分别与滑动变阻器R7的变阻丝一端和滑动变阻器R7的滑动端相连；电阻R18的一端与运算放大器AR5的输出端（端口6）相连，另一端与电阻R19的一端相连后接入运算放大器AR2的正极输入端（端口3）；电阻R19的另一端与滑动变阻器R20的电阻丝的一端相连，滑动变阻器R20的电阻丝的另一端与电阻R15的一端相连；电阻R15的另一端与滑动变阻器R7的变阻丝另一端相连后接入运算放大器AR2的输出端（端口6）；运算放大器AR2的第一电源输入端（端口7）和第二电源输入端（端口4）分别接外部输入+15V和-15V；滑动变阻器R20的滑动端与二极管D1的正极相连，它们的公共端输出输出信号IO；二极管D1的负极与二极管D2的负极相连；二极管D2的正极接地；The current pump module includes resistors R12, R6, R18, R19, R15, sliding rheostats R7, R20, diodes D1, D2 and operational amplifier AR2; wherein, one end of the resistor R12 is grounded, and the other end is connected to one end of the resistor R6 and then connected to into the negative input terminal of the operational amplifier AR2 (port 2); the other end of the resistor R6 is respectively connected to one end of the variable resistance wire of the sliding rheostat R7 and the sliding end of the sliding rheostat R7; one end of the resistor R18 is connected to the output terminal of the operational amplifier AR5 (port 6) Connected, the other end is connected to one end of the resistor R19 and then connected to the positive input end of the operational amplifier AR2 (port 3); the other end of the resistor R19 is connected to one end of the resistance wire of the sliding rheostat R20, and the resistance wire of the sliding rheostat R20 The other end is connected to one end of the resistor R15; the other end of the resistor R15 is connected to the other end of the rheostat wire of the sliding rheostat R7, and then connected to the output end of the operational amplifier AR2 (port 6); the first power input end of the operational amplifier AR2 (port 7) and the second power input terminal (port 4) are respectively connected to external input +15V and -15V; the sliding terminal of the sliding rheostat R20 is connected to the positive pole of the diode D1, and their common terminal outputs the output signal IO; the negative pole of the diode D1 is connected to the diode D1 The cathode of D2 is connected; the anode of diode D2 is grounded;
所述TVS瞬态稳压管模块包括稳压管TVS2、TVS4、TVS5；其中，稳压管TVS2的一极与电阻R8的另一端相连，稳压管TVS4的一极与电阻R14的另一端相连，稳压管TVS5的一极与电阻R17的另一端相连，稳压管TVS2、TVS4、TVS5的另一极均接地；The TVS transient voltage regulator module includes voltage regulator tubes TVS2, TVS4, and TVS5; wherein, one pole of the voltage regulator tube TVS2 is connected to the other end of the resistor R8, and one pole of the voltage regulator tube TVS4 is connected to the other end of the resistor R14 , one pole of the voltage regulator tube TVS5 is connected to the other end of the resistor R17, and the other poles of the voltage regulator tubes TVS2, TVS4, and TVS5 are all grounded;
如图3所示，颤振信号发生模块电路包括电源滤波模块、发生器模块；两模块间并联；As shown in Figure 3, the dither signal generation module circuit includes a power filter module and a generator module; the two modules are connected in parallel;
所述电源滤波模块包括电容C10和C14；其中，电容C10一端与外部输入+15V相连，另一端与电容C14的一端相连后接地；电容C14的另一端与外部输入-15V相连；The power filter module includes capacitors C10 and C14; wherein, one end of the capacitor C10 is connected to the external input +15V, and the other end is connected to one end of the capacitor C14 and then grounded; the other end of the capacitor C14 is connected to the external input -15V;
所述发生器模块包括电阻R22、R28、R29、R26，滑动变阻器R23、R27，电容C9、C13，运算放大器AR6、AR7；其中，电容C9的一端接地，另一端与电阻R22的一端相连后接运算放大器AR7的负极输入端（端口2）；电阻R22的另一端与滑动变阻器R23的一端相连；电阻R28的一端接地，另一端与电阻R29的一端相连后接入运算放大器AR7的正极输入端（端口3）；运算放大器AR7的第一电源输入端（端口7）和第二电源输入端（端口4）分别接外部输入+15V和-15V；滑动变阻器R23的另一端、电阻R26的一端、电阻R29的另一端均与运算放大器AR7的输出端（端口6）相连；电阻R26的另一端、滑动变阻器R27的电阻丝的一端和电容C13的一端相连于一点；电容C13的另一端和滑动变阻器R27的电阻丝的另一端均接地；滑动变阻器R27的滑动端与运算放大器AR6的正极输入端口（端口3）相连；运算放大器AR6的负极输入端口（端口2）与输出端口（端口6）短接；运算放大器AR6的输出端口（端口6）输出颤振信号DitherOutput；运算放大器AR6的输出端口（端口6）与电阻R8的另一端相连；The generator module includes resistors R22, R28, R29, R26, sliding rheostats R23, R27, capacitors C9, C13, operational amplifiers AR6, AR7; wherein, one end of capacitor C9 is grounded, and the other end is connected to one end of resistor R22 and then connected to The negative input terminal of the operational amplifier AR7 (port 2); the other end of the resistor R22 is connected to one end of the sliding rheostat R23; one end of the resistor R28 is connected to the ground, and the other end is connected to one end of the resistor R29 and connected to the positive input terminal of the operational amplifier AR7 ( port 3); the first power input terminal (port 7) and the second power input terminal (port 4) of the operational amplifier AR7 are respectively connected to the external input +15V and -15V; the other end of the sliding rheostat R23, one end of the resistor R26, the resistor The other end of R29 is connected to the output terminal (port 6) of the operational amplifier AR7; the other end of the resistor R26, one end of the resistance wire of the sliding rheostat R27 and one end of the capacitor C13 are connected at one point; the other end of the capacitor C13 is connected to the sliding rheostat R27 The other ends of the resistance wires are grounded; the sliding end of the sliding rheostat R27 is connected to the positive input port (port 3) of the operational amplifier AR6; the negative input port (port 2) of the operational amplifier AR6 is short-circuited to the output port (port 6); The output port (port 6) of the operational amplifier AR6 outputs a dither signal DitherOutput; the output port (port 6) of the operational amplifier AR6 is connected to the other end of the resistor R8;
如图4所示，输入输出模块包括信号输入接线端子P1、输出电流接线端子P2、电源输入接线端子P3；其中，信号输入接线端子P1的正极输入端口接电阻R17的另一端，负极输入端口接电阻R14的另一端，接地端口接地；输出电流接线端子P2的输出端口接电流泵模块的滑动变阻器R20的滑动端与二极管D1的正极的公共端,接地端口接地；电源输入接线端子P3的正极端口接外部输入+15V，接地端口接地，负极端口接外部输入-15V；As shown in Figure 4, the input and output module includes a signal input terminal P1, an output current terminal P2, and a power input terminal P3; wherein, the positive input port of the signal input terminal P1 is connected to the other end of the resistor R17, and the negative input port is connected to The other end of the resistor R14, the grounding port is grounded; the output port of the output current terminal P2 is connected to the common terminal of the sliding end of the sliding rheostat R20 of the current pump module and the positive pole of the diode D1, and the grounding port is grounded; the positive terminal of the power input terminal P3 Connect to external input +15V, ground port to ground, negative port to external input -15V;
实时控制器的两个控制模拟电压信号输出端口与信号输入接线端子P1的正极输入端口和负极输入端口相连；电液伺服阀的电流输入端口与输出电流接线端子P2的输出端口相连。The two control analog voltage signal output ports of the real-time controller are connected to the positive input port and the negative input port of the signal input terminal P1; the current input port of the electro-hydraulic servo valve is connected to the output port of the output current terminal P2.
伺服放大器电路的工作原理：伺服放大器在实际工况中，颤振信号发生模块的发生器模块自激产生并输出颤振信号DirtherOutput；实时控制器的两个模拟电压信号分别与信号输入接线端子P1的正极输入端口和的负极输入端口相连，实时控制器向驱动模块发送模拟电压信号IN+和IN-，模拟电压信号IN+和IN-通过差分输入模块抑制共模信号从而减小误差；改善后的差分信号与颤振信号叠加后通过反相器模块反相后输入到电流泵模块；电流泵模块根据输入信号的大小，按滑动变阻器R7和R20所控制的放大比例，将电压信号转化为输出恒定且不受负载影响的电流信号IO，输出的恒定电流信号IO控制电液伺服阀，最终实现高灵敏度，低误差，可靠的伺服放大驱动作用。The working principle of the servo amplifier circuit: In the actual working condition of the servo amplifier, the generator module of the dither signal generating module self-excites and outputs the dither signal DirtherOutput; the two analog voltage signals of the real-time controller are respectively connected to the signal input terminal P1 The positive input port is connected to the negative input port, and the real-time controller sends analog voltage signals IN+ and IN- to the drive module, and the analog voltage signals IN+ and IN- suppress the common mode signal through the differential input module to reduce the error; the improved differential After the signal and the flutter signal are superimposed, they are inverted by the inverter module and then input to the current pump module; the current pump module converts the voltage signal into a constant output and The current signal IO that is not affected by the load, the output constant current signal IO controls the electro-hydraulic servo valve, and finally realizes high sensitivity, low error, and reliable servo amplification driving effect.
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