CN102384118A - Electro-hydraulic proportional valve speed regulation control method, device and system and engineering mechanical equipment - Google Patents
Electro-hydraulic proportional valve speed regulation control method, device and system and engineering mechanical equipment Download PDFInfo
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Abstract
The invention discloses a speed regulation control method, a device and a system of an electro-hydraulic proportional valve and engineering mechanical equipment, wherein the method comprises the following steps: acquiring the actual speed of a hydraulic actuator; when the difference between the actual speed and the expected speed is larger than a preset value, adjusting the frequency and/or the duty ratio of a PWM signal applied to the electro-hydraulic proportional valve according to the difference; calculating the frequency and/or amplitude of the flutter signal according to the frequency and/or duty ratio of the adjusted PWM signal, and adjusting the amplitude of the calculated flutter signal according to the change rate of the difference between the actual speed and the expected speed; and inputting the adjusted flutter signal and the adjusted PWM signal to the electro-hydraulic proportional valve together. The invention can overcome the problem that the flutter signal of the static friction force of the valve core of the electro-hydraulic proportional valve is applied to the electro-hydraulic proportional valve, thereby improving the response speed and the linearity of the electro-hydraulic proportional valve.
Description
Technical field
The present invention relates to the control field, particularly, the engineering mechanical device that relates to a kind of electro-hydraulic proportional valve method for controlling speed regulation, device, system and have this system.
Background technique
Electro-hydraulic proportional valve is a kind of hydraulic control valve between between hydrovalve and electrohydraulic control; Electro-hydraulic proportional valve receives outside control signal; According to this control signal regulating spool displacement; Make the strong and weak proportional variation of valve opening and control signal, the medium through this electro-hydraulic proportional valve is effectively regulated, the final realization accurately controlled the system that uses this electro-hydraulic proportional valve.
The normal at present control signal that adopts pulse-width signal (pwm signal) as electro-hydraulic proportional valve.The pwm signal that the control system transmission has different frequency, different duty is to electro-hydraulic proportional valve, and electro-hydraulic proportional valve makes the proportional variation of dutycycle of valve opening and pwm signal according to the dutycycle regulating spool displacement pro rata of this pwm signal.
In electro-hydraulic proportional valve, because machining error, valve body hole and spool always produce certain form error; Both also impossible with one heart absolute and zero drafts; This just produces radial imbalance force inevitably on spool, push spool to opposite side, thereby produces bigger frictional force.In addition, the frictional force between electro-hydraulic proportional valve armature and the guide pin bushing is also restricting the raising of its control accuracy.Influenced by frictional force, actuator will have the moment can not the response instruction signal, thereby produce significantly stagnate ring and dead band for output, and the existence of friction can not in time be carried out adjusting, also causes the excessive of adjusting sometimes, makes the controlling performance variation of control system.
Therefore, when the PWM dutycycle hour, exist the flow dead band, dutycycle exists the flow saturated phenomenon when big.This is that corresponding to this voltage wave, the electric current on the valve coil can only increase relatively lentamente because the control signal that imposes on valve is the rectangular voltage ripple, when coming overcome friction to a certain degree producing enough electromagnetic forces greatly, and spool is moved.This causes spool to move and the significantly stagnant ring of current value generation, poor linearity.
For reducing the influence of frictional force to the electric-hydraulic proportion response valve; Electro-hydraulic proportional valve speed-adjusting and control system commonly used at present is as shown in Figure 1; PWM generating means 10 produces pwm signal according to the PWM setting value; Stack is inputed to electro-hydraulic proportional valve 20 with this pwm signal and electric shock signal, to drive this electro-hydraulic proportional valve 20 afterwards together by the electric shock signal that electric shock signal occurrence device 40 is produced in this pwm signal; The flow that this electro-hydraulic proportional valve 20 is exported can drive said hydraulic actuator 30 (such as, oil hydraulic cylinder, oil hydraulic motor etc.) action.The electric shock signal that said electric shock signal occurrence device 40 is produced is used to realize reducing the frictional force of spool.Generally speaking, electro-hydraulic proportional valve successively will overcome stiction and force of sliding friction from receiving pwm signal to producing corresponding spool travel.In input signal after the stack electric shock signal; The spool of electro-hydraulic proportional valve will produce a small extraneous vibration; If the arithmetic mean value of electric shock signal additional forces is greater than the stiction of spool; Then spool will state of rest not occur, and the influence of frictional force is obviously reduced, and improve the speed of response and the linearity of electro-hydraulic proportional valve.
Yet, in method shown in Figure 1, the pwm signal and the signal that trembles are all regulated through corresponding analog circut generating means; Precision is low, error is big; And when the characteristic that does not form a complete system, particularly electro-hydraulic proportional valve was each other changed by extraneous factor, existing technology was difficult to real-time tracking; Controllability and bad adaptability, limited for the raising of the electro-hydraulic proportional valve speed of response and the linearity.
Summary of the invention
The engineering mechanical device that the purpose of this invention is to provide a kind of electro-hydraulic proportional valve method for controlling speed regulation, device, system and have this system can significantly improve the speed of response and the linearity of electro-hydraulic proportional valve.
To achieve these goals, the present invention also provides a kind of electro-hydraulic proportional valve method for controlling speed regulation, and this method comprises: the actual velocity of obtaining hydraulic actuator; During greater than predetermined value,, regulate the frequency and/or the dutycycle of the pwm signal that is applied to said electro-hydraulic proportional valve in the difference of said actual velocity and desired speed according to this difference; According to the frequency and/or the dutycycle of the pwm signal after the said adjusting, calculate the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, the amplitude of the electric shock signal that calculated is regulated; And electric shock signal after the said adjusting and the pwm signal after the said adjusting inputed to said electro-hydraulic proportional valve together.
Correspondingly, the present invention also provides a kind of electro-hydraulic proportional valve speed governer, and this device comprises: actual velocity is obtained equipment, is used to obtain the actual velocity of hydraulic actuator; And the PWM regulating equipment, when being used for difference at said actual velocity and desired speed,, regulate the frequency and/or the dutycycle of the pwm signal that is applied to said electro-hydraulic proportional valve according to this difference greater than predetermined value; The electric shock regulating equipment is used for frequency and/or dutycycle according to the pwm signal after regulating, calculates the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, and the amplitude of the electric shock signal that calculated is regulated; Output unit is used for the electric shock signal after pwm signal after the said adjusting and the said adjusting is inputed to said electro-hydraulic proportional valve together.
Correspondingly; The present invention also provides a kind of electro-hydraulic proportional valve speed-adjusting and control system, and this system comprises controller, electro-hydraulic proportional valve, hydraulic actuator and speed detector, and the pwm signal of said controller drives said electro-hydraulic proportional valve and drives said hydraulic actuator; Said speed detector detects the actual velocity of said hydraulic actuator; And this actual velocity fed back to said controller, wherein, this controller is for carrying out the controller of above-mentioned electro-hydraulic proportional valve method for controlling speed regulation.
Correspondingly, the present invention also provides a kind of engineering mechanical device, and this equipment comprises above-mentioned electro-hydraulic proportional valve speed-adjusting and control system.
Pass through technique scheme; Can be when pwm signal be carried out feedback regulation; Through feedback regulation to the electric shock signal; Thereby can the electric shock signal of the stiction of the spool that just can overcome electro-hydraulic proportional valve be applied to electro-hydraulic proportional valve, improve the speed of response and the linearity of electro-hydraulic proportional valve.
Other features and advantages of the present invention will partly specify in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of specification, is used to explain the present invention with following embodiment, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the block diagram of electro-hydraulic proportional valve speed-adjusting and control system of the prior art;
Fig. 2 is the block diagram of electro-hydraulic proportional valve speed-adjusting and control system of the present invention;
Fig. 3 is the block diagram of a mode of execution of electro-hydraulic proportional valve speed-adjusting and control system of the present invention;
Fig. 4 is the flow chart of electro-hydraulic proportional valve method for controlling speed regulation of the present invention;
Fig. 5 is the block diagram of a mode of execution of electro-hydraulic proportional valve method for controlling speed regulation of the present invention; And
Fig. 6 is the block diagram of electro-hydraulic proportional valve speed governer of the present invention.
Description of reference numerals
10 controllers, 20 electro-hydraulic proportional valves
30 hydraulic actuators, 40 speed detectors
110 PWM generating means, 120 electric shock signal occurrence device
11 actual velocitys are obtained equipment 12 PWM regulating equipments
13 electric shock regulating equipments, 14 output units
Embodiment
Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.Should be understood that embodiment described herein only is used for explanation and explains the present invention, is not limited to the present invention.
Fig. 2 is the block diagram of electro-hydraulic proportional valve speed-adjusting and control system of the present invention.As shown in Figure 2; The invention provides a kind of electro-hydraulic proportional valve speed-adjusting and control system; This system comprises controller 10, electro-hydraulic proportional valve 20, hydraulic actuator 30 and speed detector 40; The pwm signal of said controller 10 drives said electro-hydraulic proportional valve 20 and drives said hydraulic actuator 30, and said speed detector 40 detects the actual velocity V of said hydraulic actuator 30
Actual, and with this actual velocity V
ActualFeed back to said controller 10, this controller 10 is at said actual velocity V
ActualWith desired speed V
DesiredDifference during greater than predetermined value; According to this difference e, regulate the frequency and/or the dutycycle of pwm signal, and the pwm signal after will regulating inputs to said electro-hydraulic proportional valve 20; Wherein, Said controller 10 also is used for: according to the frequency and/or the dutycycle of the pwm signal after the said adjusting, calculate the frequency and/or the amplitude of electric shock signal, and according to said actual velocity V
ActualWith desired speed V
DesiredThe variance ratio de of difference e, the amplitude of the electric shock signal that calculated is regulated, and the pwm signal of electric shock signal after said adjusting after will regulating inputs to said electro-hydraulic proportional valve 20.
Through this scheme, can regulate in frequency and/or the amplitude to the electric shock signal aspect two: (1) is according to the frequency and/or the dutycycle of the pwm signal after regulating; And (2) are according to actual velocity V
ActualWith desired speed V
DesiredThe variance ratio de of difference e.
Generally speaking; The frequency and/or the amplitude of said calculating electric shock signal comprise: the frequency of getting said electric shock signal is even number/one of the frequency of the pwm signal after the said adjusting, and the amplitude of getting said electric shock signal is the 0.075-0.125 of the amplitude average of the pwm signal after the said adjusting.Because there is this relation in the dutycycle (dutycycle has determined the amplitude average) of this relation of the frequency of electric shock signal and the frequency of pwm signal and the amplitude of electric shock signal and pwm signal; So under the situation of the change of frequency of pwm signal, the frequency of electric shock signal also need change accordingly; Under the situation of the change in duty cycle of pwm signal, the amplitude of electric shock signal also need change accordingly.
Yet; Above-mentioned value mode only can draw the frequency of electric shock signal and/or the approaching value of amplitude; If the electric shock signal of this frequency and/or amplitude is applied to electro-hydraulic proportional valve 20, can not eliminate the stagnant ring of electro-hydraulic proportional valve 20 and the defective of poor linearity fully, so also need according to said actual velocity V
ActualWith desired speed V
DesiredThe variance ratio de of difference e, the amplitude of the electric shock signal that draws with above-mentioned value mode is finely tuned.Wherein, according to said actual velocity V
ActualWith desired speed V
DesiredThe variance ratio de of difference e the frequency amplitude of electric shock signal is finely tuned can adopt pid control algorithm known in the field or FUZZY ALGORITHMS FOR CONTROL to carry out.
Preferably, said controller 10 also is used at said actual velocity V
ActualDuring greater than predetermined value, following steps are carried out in circulation, until actual velocity V with the difference e of said desired speed
ActualWith said desired speed V
DesiredDifference e be less than or equal to till the predetermined value: the actual velocity V that obtains the said hydraulic actuator 30 that said speed detector 40 detected
ActualAccording to this actual velocity V
ActualWith said desired speed V
DesiredDifference e, the frequency and/or the dutycycle of regulating said pwm signal; According to the frequency and/or the dutycycle of the pwm signal after the said adjusting, calculate the frequency and/or the amplitude of electric shock signal, and according to said actual velocity V
ActualWith desired speed V
DesiredThe variance ratio de of difference e, the amplitude of the electric shock signal that calculated is regulated; And the electric shock signal after pwm signal after the said adjusting and the said adjusting inputed to said electro-hydraulic proportional valve 20.By this, can make after regulating pwm signal and regulate after the electric shock signal can satisfy the requirement of control accuracy.
Fig. 3 is the block diagram of a mode of execution of electro-hydraulic proportional valve 20 speed-adjusting and control systems of the present invention.Preferably; As shown in Figure 3; Said controller 10 also is used in each regulating cycle (promptly; The every pair of pwm signal and electric shock signal are once regulated), store the corresponding relation between the actual velocity of said hydraulic actuator 30 after frequency and the pwm signal after amplitude and this adjusting of input and the electric shock signal of frequency and the electric shock signal after dutycycle and the said adjusting of the pwm signal after the said adjusting; And when this system receives said desired speed; The actual velocity of this desired speed with storage in advance compared; Confirm that one is in the actual velocity in the prespecified range with the difference of this desired speed, and will have the pwm signal of storage in advance and the frequency corresponding pwm signal of this actual velocity and dutycycle and have store in advance input to said electro-hydraulic proportional valve 20 with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude.
Corresponding relation after frequency through the pwm signal after each regulating cycle is stored said adjusting and the frequency of the electric shock signal after dutycycle and the said adjusting and pwm signal after amplitude and this adjusting of input and the electric shock signal between the actual velocity of said hydraulic actuator 30; Can set up a self study database; Along with native system is carried out increasing of number of times; Content in this self study database is horn of plenty more; The all possible actual velocity of final covering; Thereby can be to the desired speed of each input, all can find the difference with this desired speed to be in the actual velocity in the prespecified range, what will have the pwm signal of storage in advance and the frequency corresponding pwm signal of this actual velocity and/or dutycycle afterwards and have a storage in advance inputs to said electro-hydraulic proportional valve 20 with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude; And on the basis of this actual velocity, carry out the regulating step of carrying out with cocycle.By this, saved and arrived this actual velocity adjustment process before, can further accelerate speed of response.If said prespecified range is very little; And it is not high to regulating required precision; Can be directly with the pwm signal with storage in advance and the frequency corresponding pwm signal of this actual velocity and dutycycle and have a storage in advance input to said electro-hydraulic proportional valve 20 with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude, and do not carry out the regulating step of follow-up circulation execution.
For failing to confirm that one is in for the situation of the actual velocity in the prespecified range with the difference of desired speed; Execution following steps capable of circulation are less than or equal to predetermined value until the difference of actual velocity and said desired speed: the actual velocity of obtaining said hydraulic actuator 30; Poor according to this actual velocity and said desired speed, the frequency and/or the dutycycle of regulating said pwm signal; According to the frequency and/or the dutycycle of the pwm signal after the said adjusting, calculate the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, the amplitude of the electric shock signal that calculated is regulated; And the electric shock signal after pwm signal after the said adjusting and the said adjusting inputed to said electro-hydraulic proportional valve 20.The term of execution; Also in each regulating cycle, store the corresponding relation between the actual velocity of said hydraulic actuator 30 after frequency and the pwm signal after amplitude and this adjusting of input and the electric shock signal of frequency and the electric shock signal after dutycycle and the said adjusting of the pwm signal after the said adjusting.
Fig. 4 is the flow chart of electro-hydraulic proportional valve method for controlling speed regulation of the present invention.As shown in Figure 4, correspondingly, the present invention also provides a kind of electro-hydraulic proportional valve method for controlling speed regulation, and this method comprises: the actual velocity of obtaining hydraulic actuator 30; During greater than predetermined value,, regulate the frequency and/or the dutycycle of the pwm signal that is applied to said hydraulic actuator 30 in the difference of said actual velocity and desired speed according to this difference; According to the frequency and/or the dutycycle of the pwm signal after the said adjusting, calculate the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, the amplitude of the electric shock signal that calculated is regulated; And electric shock signal after the said adjusting and the pwm signal after the said adjusting inputed to said electro-hydraulic proportional valve 20 together.
Wherein, Said frequency and/or dutycycle according to the pwm signal after regulating; Frequency and/or the amplitude of calculating the electric shock signal can comprise: the frequency of getting the said signal that trembles is even number/one of the frequency of the pwm signal after the said adjusting, and the amplitude of getting said electric shock signal is the 0.075-0.125 of the amplitude average of the pwm signal after the said adjusting.
Wherein, the variance ratio of said difference according to said actual velocity and said desired speed is regulated and can be carried out through utilizing pid control algorithm or FUZZY ALGORITHMS FOR CONTROL the amplitude of the electric shock signal that calculated.
Fig. 5 is the block diagram of a mode of execution of electro-hydraulic proportional valve method for controlling speed regulation of the present invention.Preferably, as shown in Figure 5, this method can also comprise: store frequency and the dutycycle of the pwm signal after the said adjusting, frequency and the pwm signal after amplitude and this adjusting and the pairing actual velocity of electric shock signal of the electric shock signal after the said adjusting; And when receiving desired speed; This desired speed and the actual velocity of being stored are compared; Confirm that one is in the actual velocity in the prespecified range with this desired speed, and will have with the pwm signal of the frequency of the corresponding pwm signal of this actual velocity and dutycycle and have and input to said electro-hydraulic proportional valve 20 with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude.
The detailed description of relevant electro-hydraulic proportional valve method for controlling speed regulation of the present invention can repeat no more in this with reference to before to the description of electro-hydraulic proportional valve speed-adjusting and control system of the present invention.
Fig. 6 is the block diagram of electro-hydraulic proportional valve speed governer of the present invention.As shown in Figure 6, correspondingly, the present invention also provides a kind of electro-hydraulic proportional valve speed governer, and this device comprises: actual velocity is obtained equipment 11, is used to obtain the actual velocity of hydraulic actuator 30; And PWM regulating equipment 12, when being used for difference at said actual velocity and desired speed,, regulate the frequency and/or the dutycycle of the pwm signal that is applied to said hydraulic actuator 30 according to this difference greater than predetermined value; Electric shock regulating equipment 13 is used for frequency and/or dutycycle according to the pwm signal after regulating, calculates the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, and the amplitude of the electric shock signal that calculated is regulated; Output unit 14 is used for the electric shock signal after pwm signal after the said adjusting and the said adjusting is inputed to said electro-hydraulic proportional valve 20 together.
Wherein, Said frequency and/or dutycycle according to the pwm signal after regulating; Frequency and/or the amplitude of calculating the electric shock signal can comprise: the frequency of getting the said signal that trembles is even number/one of the frequency of the pwm signal after the said adjusting, and the amplitude of getting said electric shock signal is the 0.075-0.125 of the amplitude average of the pwm signal after the said adjusting.
Wherein, said electric shock regulating equipment 13 can be regulated the amplitude of the electric shock signal that calculated through utilizing pid control algorithm or FUZZY ALGORITHMS FOR CONTROL to accomplish according to the variance ratio of the difference of said actual velocity and said desired speed.
Preferably; This device can also comprise: self study equipment is used to store frequency and the dutycycle of the pwm signal after the said adjusting, frequency and the pwm signal after amplitude and this adjusting and the pairing actual velocity of electric shock signal of the electric shock signal after the said adjusting; And when receiving desired speed; This desired speed and the actual velocity of being stored are compared; Confirm that one is in the actual velocity in the prespecified range with the difference of this desired speed, and will have with the pwm signal of the frequency of the corresponding pwm signal of this actual velocity and dutycycle and have and input to said electro-hydraulic proportional valve 20 with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude.
The detailed description of relevant electro-hydraulic proportional valve speed governer of the present invention can repeat no more in this with reference to before to the description of electro-hydraulic proportional valve speed-adjusting and control system of the present invention.
In addition, the present invention also provides a kind of engineering mechanical device, and this equipment comprises above-mentioned electro-hydraulic proportional valve speed-adjusting and control system.This project machinery can comprise such as excavator, pump truck, hoist etc.
Pass through technique scheme; Can be when pwm signal be carried out feedback regulation; Through feedback regulation to the electric shock signal; Thereby can the electric shock signal of the stiction of the spool that just can overcome electro-hydraulic proportional valve be applied to electro-hydraulic proportional valve, improve the speed of response and the linearity of electro-hydraulic proportional valve.In addition, through setting up the self study database, can further heighten the speed of response and the linearity of liquid proportional valve in the self study link.
More than combine accompanying drawing to describe preferred implementation of the present invention in detail; But; The present invention is not limited to the detail in the above-mentioned mode of execution; In technical conceive scope of the present invention, can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove that in addition each the concrete technical characteristics described in above-mentioned embodiment under reconcilable situation, can make up through any suitable manner.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible compound modes.
In addition, also can carry out combination in any between the various mode of execution of the present invention, as long as it is without prejudice to thought of the present invention, it should be regarded as the disclosed content of the present invention equally.
Claims (10)
1. electro-hydraulic proportional valve method for controlling speed regulation, this method comprises:
Obtain the actual velocity of hydraulic actuator (30);
During greater than predetermined value,, regulate the frequency and/or the dutycycle of pulse duration modulation (PWM) signal that is applied to said electro-hydraulic proportional valve (20) in the difference of said actual velocity and desired speed according to this difference;
According to the frequency and/or the dutycycle of the pwm signal after the said adjusting, calculate the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, the amplitude of the electric shock signal that calculated is regulated; And
Electric shock signal after the said adjusting and the pwm signal after the said adjusting are inputed to said electro-hydraulic proportional valve (20) together.
2. method according to claim 1; It is characterized in that; Said frequency and/or dutycycle according to the pwm signal after the said adjusting; Frequency and/or the amplitude of calculating the electric shock signal comprise: the frequency of getting the said signal that trembles is even number/one of the frequency of the pwm signal after the said adjusting, and the amplitude of getting said electric shock signal is the 0.075-0.125 of the amplitude average of the pwm signal after the said adjusting.
3. method according to claim 1 is characterized in that, the variance ratio of said difference according to said actual velocity and said desired speed is regulated through utilizing pid control algorithm or FUZZY ALGORITHMS FOR CONTROL to carry out the amplitude of the electric shock signal that calculated.
4. according to the described method of each claim among the claim 1-3, it is characterized in that this method comprises:
The actual velocity that electric shock signal and the pwm signal said adjusting after of storage after with said adjusting inputs to the said afterwards hydraulic actuator of said electro-hydraulic proportional valve (20) (30) and frequency and the frequency of the electric shock signal after dutycycle and the said adjusting and the corresponding relation between the amplitude of the pwm signal after the said adjusting; And
When receiving desired speed; The actual velocity of this desired speed with storage in advance compared; Confirm that one is in the actual velocity in the prespecified range with the difference of this desired speed, and will have the pwm signal of storage in advance and the frequency corresponding pwm signal of this actual velocity and dutycycle and have store in advance input to said electro-hydraulic proportional valve (20) with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude.
5. electro-hydraulic proportional valve speed governer, this device comprises:
Actual velocity is obtained equipment (11), is used to obtain the actual velocity of hydraulic actuator (30); And
Pulse duration modulation (PWM) regulating equipment (12) when being used for difference at said actual velocity and desired speed greater than predetermined value, according to this difference, is regulated the frequency and/or the dutycycle of the pwm signal that is applied to said electro-hydraulic proportional valve (20);
Electric shock regulating equipment (13); Be used for frequency and/or dutycycle according to the pwm signal after regulating; Calculate the frequency and/or the amplitude of electric shock signal, and according to the variance ratio of the difference of said actual velocity and desired speed, the amplitude of the electric shock signal that calculated is regulated; And
Output unit (14) is used for the electric shock signal after pwm signal after the said adjusting and the said adjusting is inputed to said electro-hydraulic proportional valve (20) together.
6. device according to claim 5; It is characterized in that; Said frequency and/or dutycycle according to the pwm signal after the said adjusting; Frequency and/or the amplitude of calculating the electric shock signal comprise: the frequency of getting the said signal that trembles is even number/one of the frequency of the pwm signal after the said adjusting, and the amplitude of getting said electric shock signal is the 0.075-0.125 of the amplitude average of the pwm signal after the said adjusting.
7. device according to claim 5; It is characterized in that said electric shock regulating equipment (13) is regulated the amplitude of the electric shock signal that calculated through utilizing pid control algorithm or FUZZY ALGORITHMS FOR CONTROL to accomplish according to the variance ratio of the difference of said actual velocity and said desired speed.
8. according to the described device of each claim among the claim 5-7, it is characterized in that this device comprises:
Self study equipment is used to store electric shock signal after the said adjusting and the pwm signal after the said adjusting is inputed to the actual velocity of the said afterwards hydraulic actuator of said electro-hydraulic proportional valve (20) (30) and frequency and the frequency of the electric shock signal after dutycycle and the said adjusting and the corresponding relation between the amplitude of the pwm signal after the said adjusting; And when receiving desired speed; This desired speed and the actual velocity of store storage are in advance compared; Confirm that one is in the actual velocity in the prespecified range with the difference of this desired speed, and will have the pwm signal of storage in advance and the frequency corresponding pwm signal of this actual velocity and dutycycle and have store in advance input to said electro-hydraulic proportional valve (20) with the frequency of the corresponding electric shock signal of this actual velocity and the electric shock signal of amplitude.
9. electro-hydraulic proportional valve speed-adjusting and control system; This system comprises controller (10), electro-hydraulic proportional valve (20), hydraulic actuator (30) and speed detector (40); Pulse duration modulation (PWM) signal of said controller (10) drives said electro-hydraulic proportional valve (20) and drives said hydraulic actuator (30), and said speed detector (40) detects the actual velocity of said hydraulic actuator (30), and this actual velocity is fed back to said controller (10); It is characterized in that
Said controller (10) requires the controller of the described method of 1-4 for enforcement of rights.
10. an engineering mechanical device is characterized in that, this project machinery comprises the described electro-hydraulic proportional valve speed-adjusting and control system of claim 9.
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| CN102786135A (en) * | 2012-05-14 | 2012-11-21 | 苏州市职业大学 | Self-learning control system with de-mineralized water, ammonification and multiple inputs |
| CN103580575A (en) * | 2013-10-06 | 2014-02-12 | 赵祎 | Dynamic PWM algorithm SDPWM based on speed |
| CN103671308A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Hydraulic control equipment, method and system and engineering machinery |
| CN104421477A (en) * | 2013-09-03 | 2015-03-18 | 北京谊安医疗系统股份有限公司 | Proportional valve control device used for anesthesia machine |
| CN107752812A (en) * | 2017-12-08 | 2018-03-06 | 徐州佳乐福机械有限公司 | A kind of food blending machine and control method of intelligent control rotating speed |
| CN111645655A (en) * | 2020-05-07 | 2020-09-11 | 沃行科技(南京)有限公司 | Strategy for realizing rapid and accurate control of proportional relay valve based on low-frequency sine microwave algorithm |
| CN111857007A (en) * | 2020-07-30 | 2020-10-30 | 徐州徐工随车起重机有限公司 | Arm support control circuit suitable for folding arm type overhead working truck |
| CN112445165A (en) * | 2020-11-06 | 2021-03-05 | 江苏徐工工程机械研究院有限公司 | Proportional solenoid valve control method and control system |
| CN112727858A (en) * | 2021-01-15 | 2021-04-30 | 长沙九方湾流智能科技有限公司 | Point position control method, hydraulic control system and engineering vehicle |
| CN112842784A (en) * | 2020-12-31 | 2021-05-28 | 河北谊安奥美医疗设备有限公司 | Intelligent speed regulation control device for hydraulic system of electric operating table |
| CN112879368A (en) * | 2021-01-08 | 2021-06-01 | 长沙九方湾流智能科技有限公司 | Electro-hydraulic driving method, driving device and engineering vehicle |
| CN113378311A (en) * | 2021-05-06 | 2021-09-10 | 中联重科土方机械有限公司 | Compensation method and device for hysteresis of excavator proportional valve, excavator and processor |
| CN114001056A (en) * | 2021-11-04 | 2022-02-01 | 中国兵器装备集团自动化研究所有限公司 | Hydraulic control system suitable for pressing artillery and control method thereof |
| CN115981181A (en) * | 2023-02-01 | 2023-04-18 | 中国电建集团武汉重工装备有限公司 | Simulation method for hydraulic driving system of car dumper |
| CN117231592A (en) * | 2023-11-16 | 2023-12-15 | 邢台纳科诺尔精轧科技股份有限公司 | Hydraulic constant pressure control method and device, controller and hydraulic system |
| US11863105B2 (en) | 2018-07-25 | 2024-01-02 | Abb Schweiz Ag | Method and control system for controlling an electric motor |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102786135B (en) * | 2012-05-14 | 2014-03-19 | 苏州市职业大学 | Self-learning control system with de-mineralized water, ammonification and multiple inputs |
| CN102786135A (en) * | 2012-05-14 | 2012-11-21 | 苏州市职业大学 | Self-learning control system with de-mineralized water, ammonification and multiple inputs |
| CN104421477A (en) * | 2013-09-03 | 2015-03-18 | 北京谊安医疗系统股份有限公司 | Proportional valve control device used for anesthesia machine |
| CN103580575B (en) * | 2013-10-06 | 2017-02-08 | 无锡华宸控制技术有限公司 | Discrete pulse width modulation method based on speed dynamic adjustment |
| CN103580575A (en) * | 2013-10-06 | 2014-02-12 | 赵祎 | Dynamic PWM algorithm SDPWM based on speed |
| CN103671308A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Hydraulic control equipment, method and system and engineering machinery |
| CN103671308B (en) * | 2013-12-12 | 2016-07-20 | 湖南中联重科智能技术有限公司 | Hydraulic control equipment, method and system and engineering machinery |
| CN107752812A (en) * | 2017-12-08 | 2018-03-06 | 徐州佳乐福机械有限公司 | A kind of food blending machine and control method of intelligent control rotating speed |
| US11863105B2 (en) | 2018-07-25 | 2024-01-02 | Abb Schweiz Ag | Method and control system for controlling an electric motor |
| CN111645655A (en) * | 2020-05-07 | 2020-09-11 | 沃行科技(南京)有限公司 | Strategy for realizing rapid and accurate control of proportional relay valve based on low-frequency sine microwave algorithm |
| CN111645655B (en) * | 2020-05-07 | 2023-10-17 | 沃行科技(南京)有限公司 | Strategy for realizing rapid and accurate control of proportional relay valve based on low-frequency sine microwave algorithm |
| CN111857007A (en) * | 2020-07-30 | 2020-10-30 | 徐州徐工随车起重机有限公司 | Arm support control circuit suitable for folding arm type overhead working truck |
| CN111857007B (en) * | 2020-07-30 | 2021-07-20 | 徐州徐工随车起重机有限公司 | Arm support control circuit suitable for folding arm type overhead working truck |
| CN112445165A (en) * | 2020-11-06 | 2021-03-05 | 江苏徐工工程机械研究院有限公司 | Proportional solenoid valve control method and control system |
| CN112842784A (en) * | 2020-12-31 | 2021-05-28 | 河北谊安奥美医疗设备有限公司 | Intelligent speed regulation control device for hydraulic system of electric operating table |
| CN112842784B (en) * | 2020-12-31 | 2023-03-24 | 河北谊安奥美医疗设备有限公司 | Intelligent speed regulation control device for hydraulic system of electric operating table |
| CN112879368B (en) * | 2021-01-08 | 2023-03-14 | 长沙九方湾流智能科技有限公司 | Electro-hydraulic driving method, driving device and engineering vehicle |
| CN112879368A (en) * | 2021-01-08 | 2021-06-01 | 长沙九方湾流智能科技有限公司 | Electro-hydraulic driving method, driving device and engineering vehicle |
| CN112727858B (en) * | 2021-01-15 | 2023-01-24 | 长沙九方湾流智能科技有限公司 | A point control method, hydraulic control system and engineering vehicle |
| CN112727858A (en) * | 2021-01-15 | 2021-04-30 | 长沙九方湾流智能科技有限公司 | Point position control method, hydraulic control system and engineering vehicle |
| CN113378311A (en) * | 2021-05-06 | 2021-09-10 | 中联重科土方机械有限公司 | Compensation method and device for hysteresis of excavator proportional valve, excavator and processor |
| CN114001056A (en) * | 2021-11-04 | 2022-02-01 | 中国兵器装备集团自动化研究所有限公司 | Hydraulic control system suitable for pressing artillery and control method thereof |
| CN114001056B (en) * | 2021-11-04 | 2023-09-19 | 中国兵器装备集团自动化研究所有限公司 | Hydraulic control system suitable for pressing artillery and control method thereof |
| CN115981181A (en) * | 2023-02-01 | 2023-04-18 | 中国电建集团武汉重工装备有限公司 | Simulation method for hydraulic driving system of car dumper |
| CN117231592A (en) * | 2023-11-16 | 2023-12-15 | 邢台纳科诺尔精轧科技股份有限公司 | Hydraulic constant pressure control method and device, controller and hydraulic system |
| CN117231592B (en) * | 2023-11-16 | 2024-03-08 | 邢台纳科诺尔精轧科技股份有限公司 | Hydraulic constant pressure control method and device, controller and hydraulic system |
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