CN111810392B - Dual-motor oil source control system and control method - Google Patents
Dual-motor oil source control system and control method Download PDFInfo
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- CN111810392B CN111810392B CN202010706863.6A CN202010706863A CN111810392B CN 111810392 B CN111810392 B CN 111810392B CN 202010706863 A CN202010706863 A CN 202010706863A CN 111810392 B CN111810392 B CN 111810392B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
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Abstract
The invention provides a dual-motor oil source control system and method, which solve the technical problems of low control efficiency and inconvenient arrangement of the existing oil source. The system comprises: the upper computer is used for forming initial control data of the motor driver according to requirements, receiving a hydraulic state signal of an output pipeline of the parallel fixed displacement pump to form state control data, sending the state control data to the motor driver and establishing closed-loop control on the parallel fixed displacement pump; the main motor driver is used for forming main pump real-time control parameters of a main pump servo motor according to the state control data; the main pump servo motor is used for adjusting torque and rotating speed according to real-time control parameters of a main pump to output mechanical energy; the main pump is used for receiving mechanical energy to enable the oil source medium to flow in a connecting pipeline of the hydraulic system according to corresponding pressure and flow speed; the system also comprises an auxiliary motor driver, an auxiliary pump servo motor and an auxiliary pump. The system composition is beneficial to the flexibility of system layout. The flow change control can be realized by controlling the variable rotating speed of the high-precision servo motor, and the control effect of the pump is superior to that of a single variable pump.
Description
Technical Field
The invention relates to the technical field of hydraulic power, in particular to a dual-motor oil source control system and a control method.
Background
In the prior art, variable-flow and variable-pressure oil source design is often required in hydraulic application occasions, in order to ensure maximization of output efficiency, the total power and power distribution characteristics need to be considered in the oil source design process, the traditional oil source design usually uses constant rotating speed output of a three-phase alternating current motor, the variable-flow function is realized through a variable pump, and the design scheme has great power waste when a load needs small flow, and the reliability of the variable pump is relatively poor. Meanwhile, the traditional three-phase alternating current motor is more limited in use environment with limited arrangement space due to larger volume.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a dual-motor oil source control system and a control method, which solve the technical problems of low control efficiency and inconvenient layout of the existing oil source.
The dual-motor oil source control system of the embodiment of the invention comprises:
the upper computer is used for forming initial control data of the motor driver according to requirements, receiving hydraulic state signals of the output pipelines of the parallel constant delivery pumps through the CAN bus to form state control data, sending the state control data to the motor driver through the CAN bus, and establishing closed-loop control on the parallel constant delivery pumps;
the main motor driver is used for forming main pump real-time control parameters of a main pump servo motor according to the state control data;
the main pump servo motor is used for adjusting torque and rotating speed according to the real-time control parameters of the main pump to output mechanical energy;
the main pump is used for receiving mechanical energy to enable the oil source medium to flow in a connecting pipeline of the hydraulic system according to corresponding pressure and flow speed;
the auxiliary motor driver is used for forming an auxiliary pump real-time control parameter of an auxiliary pump servo motor according to the state control data;
the auxiliary pump servo motor is used for adjusting torque and rotating speed according to the auxiliary pump real-time control parameters to output mechanical energy;
and the auxiliary pump is used for receiving mechanical energy to enable the oil source medium to flow in a connecting pipeline of the hydraulic system according to corresponding pressure and flow rate.
In an embodiment of the present invention, the method further includes:
and the flow meter is used for acquiring flow speed and pressure information in the output pipeline of the parallel constant delivery pump to form the hydraulic state signal.
In an embodiment of the present invention, the flow meter includes a total flow meter, and the total flow meter collects flow output information on a general pipeline for outputting the parallel constant displacement pumps.
In an embodiment of the present invention, the flow meter includes a branch flow meter, and the branch flow meter collects flow output information on the individual output pipelines of the parallel fixed displacement pumps.
In an embodiment of the present invention, the flow output information includes a flow and/or a flow rate.
In an embodiment of the invention, the branch flowmeter acquires overflow valve overflow flow output information on the independent output pipelines of the parallel constant delivery pumps.
The dual-motor oil source control method of the embodiment of the invention utilizes the dual-motor oil source control system, and comprises the following steps:
establishing flow characteristic associated data of a main pump and an auxiliary pump in a hydraulic system;
calibrating according to the inherent error of the flow control target value and the actual flow value of the main pump or the auxiliary pump, and correcting the flow characteristic associated data;
and when the hydraulic system is in a working condition, carrying out a servo motor closed-loop speed regulation control process of the main pump and the auxiliary pump according to the exceeding threshold value between the target flow instruction of the system and the actual system flow.
In an embodiment of the present invention, the method further includes:
and the input flow zero value instruction exits the closed-loop speed regulation control process, and controls the servo motor to decelerate and stop and break the enabling operation to complete the stop process of the hydraulic system.
In an embodiment of the present invention, the flow characteristic associated data of the main pump and the auxiliary pump is described by using the following formula:
wherein L is a flow instruction value, L10、L20Minimum flow rate of operation, L, of main and auxiliary pumps, respectively11、L21The maximum output flow of the main pump and the auxiliary pump respectively1(v1)、f2(v2) Flow-rotating speed corresponding relation polynomials of the main pump and the auxiliary pump are respectively shown.
In an embodiment of the present invention, the process of performing the closed-loop speed regulation control of the servo motors of the main pump and the auxiliary pump according to the exceeding threshold between the target flow instruction of the system and the actual system flow includes:
acquiring a system target flow instruction;
determining a system flow control value according to the system target flow instruction and the error calibration of the hydraulic system;
judging the starting time of the main pump and the auxiliary pump according to the system flow control value;
when the main pump is only required to be started:
determining the exceeding threshold value according to the system flow control value;
collecting actual system flow according to a main flow meter;
controlling the rotating speed of a servo motor of the main pump in a closed loop mode according to the difference value between the exceeding threshold and the actual system flow, and adjusting the flow of the main pump to be stabilized at the target system flow;
when the auxiliary pump needs to be started simultaneously, the main pump servo motor is controlled to enable the main pump to output the maximum flow according to the rated rotating speed;
simultaneously:
the auxiliary pump determines that the flow exceeds a threshold value according to the difference value between the system flow control value and the maximum flow output by the main pump;
collecting actual system flow according to a main flow meter;
and according to the difference value between the exceeded threshold and the actual system flow, the rotating speed of the auxiliary pump servo motor is controlled in a closed loop mode, and the auxiliary pump flow is adjusted to enable the actual system flow to be stabilized at the system target flow.
The dual-motor oil source control system and the dual-motor oil source control method have the advantages that the system composition is simple, the reliability is high, the application range is wide, the application working conditions of most hydraulic systems can be met, the distributable deployment of equipment and the real-time remote control of flow are realized by adopting a dual-motor bus network control mode, the system composition volume and the occupied space are small, the positions of a main pump and an auxiliary pump can be flexibly arranged by a distributed network structure, and the flexibility of the system layout is facilitated. The quantitative pumps with better cost performance are connected in parallel, and flow change control can be realized by controlling the variable rotating speed of the high-precision servo motor according to load change, so that the control effect of the pump is superior to that of a single variable pump.
Drawings
Fig. 1 is a schematic diagram of a dual-motor oil source control system according to an embodiment of the present invention.
Fig. 2 is a schematic feedback control diagram of a dual-motor oil source control system according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart illustrating a dual-motor oil source control method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A dual-motor oil source control system according to an embodiment of the present invention is shown in fig. 1. In fig. 1, the present embodiment includes:
and the upper computer 01 is used for forming initial control data of the motor driver according to requirements, receiving a hydraulic state signal of an output pipeline of the parallel constant delivery pump through the CAN bus to form state control data, sending the state control data to the motor driver through the CAN bus, and establishing closed-loop control on the parallel constant delivery pump.
And the main motor driver 11 is used for forming main pump real-time control parameters of the main pump servo motor according to the state control data.
The motor driver can adopt an encoder, a single chip microcomputer or a signal amplifier, and takes the state control data as input to output control parameters. The power signal may also be output directly.
And the main pump servo motor 12 is used for adjusting the torque and the rotating speed according to the real-time control parameters of the main pump to output mechanical energy.
Those skilled in the art will appreciate that the servo motor can make the speed control precision very accurate, and can convert the voltage signal into torque and rotation speed to drive the controlled object. The rotation speed of the rotor of the servo motor is controlled by the input signal, the servo motor can quickly respond, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert the received electric signal into angular displacement or angular speed on the shaft of the motor for output. When the signal voltage is zero, the rotation phenomenon does not occur, and the rotating speed is reduced at a constant speed along with the increase of the torque.
The main pump 13 is used for receiving mechanical energy and enabling the oil source medium to flow in a connecting pipeline of the hydraulic system according to corresponding pressure and flow rate.
The main pump adopts the constant delivery pump in this embodiment, and the main pump obtains the mechanical energy input of main pump servo motor 12, and the main pump passes through connecting line with oil source medium output drive load. The main pump and the auxiliary pump are connected in parallel, and a shared output pipeline is arranged at the output end.
And the auxiliary motor driver 21 is used for forming an auxiliary pump real-time control parameter of the auxiliary pump servo motor according to the state control data.
The motor driver can adopt an encoder, a single chip microcomputer or a signal amplifier, and takes control data as input to output control parameters. The power signal may also be output directly.
And the auxiliary pump servo motor 22 is used for adjusting the torque and the rotating speed according to the real-time control parameters of the auxiliary pump to output mechanical energy.
Those skilled in the art will appreciate that the servo motor can make the speed control precision very accurate, and can convert the voltage signal into torque and rotation speed to drive the controlled object. The rotation speed of the rotor of the servo motor is controlled by the input signal, the servo motor can quickly respond, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert the received electric signal into angular displacement or angular speed on the shaft of the motor for output. When the signal voltage is zero, the rotation phenomenon does not occur, and the rotating speed is reduced at a constant speed along with the increase of the torque.
And the auxiliary pump 23 is used for receiving mechanical energy to flow the oil source medium in the connecting pipeline of the hydraulic system at corresponding pressure and flow rate.
In this embodiment, the auxiliary pump is a fixed displacement pump, the auxiliary pump obtains mechanical energy input of the auxiliary pump servo motor 22, and the auxiliary pump outputs the oil source medium to drive the load through a connecting pipeline. The main pump and the auxiliary pump are connected in parallel, and a shared output pipeline is arranged at the output end.
The dual-motor oil source control system provided by the embodiment of the invention has the advantages of simple composition, high reliability and wide application, can meet the application conditions of most hydraulic systems, realizes distributable deployment of equipment and real-time remote control of flow by adopting a dual-motor bus network control mode, has small system composition volume and occupied space, and can flexibly arrange the positions of a main pump and an auxiliary pump by adopting a distributed network structure. The quantitative pumps with better cost performance are connected in parallel, and flow change control can be realized by controlling the variable rotating speed of the high-precision servo motor according to load change, so that the control effect of the pump is superior to that of a single variable pump.
The feedback control process of the dual-motor oil source control system according to an embodiment of the invention is shown in fig. 2. In fig. 2, the dual-motor oil source control system further includes:
and the flowmeter 02 is used for acquiring flow speed and pressure information in the output pipelines of the parallel constant delivery pumps to form a hydraulic state signal.
In an embodiment of the invention, the flow meter comprises a total flow meter, and the total flow meter collects flow output information including but not limited to flow and flow speed on a parallel quantitative pump output general pipeline, so that the upper computer 01 can obtain current, forward or backward total flow state judgment data.
In an embodiment of the invention, the flow meter further comprises a branch flow meter, and the branch flow meter acquires flow output information including but not limited to flow and flow rate on the independent output pipeline of the parallel constant delivery pump, so that the upper computer 01 can obtain overflow state judgment data of the overflow valve in the current, forward or backward direction.
The dual-motor oil source control system provided by the embodiment of the invention is more beneficial to introducing a dual-pump flow compensation algorithm and realizing stable control of dynamic flow. When the high-precision flow demand working condition is adopted, the overflow flows of the two pumps are respectively introduced for correction and compensation, the long-time overflow of the system is reduced, and the cost-to-efficiency ratio generated by mechanical energy is optimized.
A method for controlling a dual-motor oil source according to an embodiment of the present invention is shown in fig. 3. In fig. 3, the present embodiment includes:
step 1: establishing flow characteristic associated data of a main pump and an auxiliary pump in a hydraulic system;
the hydraulic system may be a pump-controlled hydraulic system or a valve-controlled hydraulic system including the main pump and the auxiliary pump of the dual-motor oil supply control system of the above-described embodiment. The main pump and the auxiliary pump are provided with a general output pipeline with output ends, and the general output pipeline is provided with the total flow meter of the dual-motor oil source control system of the embodiment.
Step 2: calibrating according to the inherent error of the flow control target value and the actual flow value of the main pump or the auxiliary pump, and correcting the flow characteristic associated data;
the actual flow value independently output by the main pump or the auxiliary pump and the target value of the pump body flow control have inherent difference and need to be used as a pump body parameter for error calibration. And further, the error calibration is embodied in the flow characteristic related data for data correction.
And step 3: and when the hydraulic system is in a working condition, carrying out a servo motor closed-loop speed regulation control process of the main pump and the auxiliary pump according to the exceeding threshold value between the target flow instruction of the system and the actual system flow.
And starting speed regulation control of the main pump and the auxiliary pump according to the exceeding threshold value, and controlling the rotating speed of the main pump and the auxiliary pump by controlling the servo motor and stabilizing the rotating speed. So that the actual system flow output by the hydraulic system is stabilized within the exceeding threshold value of the system target flow.
The dual-motor oil source control method provided by the embodiment of the invention realizes the stable rotating speed of the main pump and the auxiliary pump by utilizing the effective rotating speed control of the servo motor, so that the output of the hydraulic system is stabilized at the target flow of the system, and the stability and the reliability of the target output flow are kept by fully utilizing the closed-loop feedback control of the servo motor and the constant delivery pump.
As shown in fig. 3, in an embodiment of the present invention, the method further includes:
and 4, step 4: and the input flow zero value instruction exits the closed-loop speed regulation control process, and controls the servo motor to decelerate and stop and break the enabling operation to complete the stop process of the hydraulic system.
The double-motor oil source control system of the embodiment is utilized to control the hydraulic system to be safely shut down, so that the pressure load of the oil source can be effectively unloaded, the safety of the hydraulic system is ensured, and potential operation danger and faults are avoided.
In an embodiment of the present invention, the flow characteristic related data of the main pump and the auxiliary pump is described by using the following formula:
wherein L is a flow instruction value, L10、L20Minimum flow rate of operation, L, of main and auxiliary pumps, respectively11、L21The maximum output flow of the main pump and the auxiliary pump respectively1(v1)、f2(v2) Flow-rotating speed corresponding relation polynomials of the main pump and the auxiliary pump are respectively shown.
The flow command value may be a threshold value where the flow target value exceeds 15% in consideration of the system flow leakage.
As shown in fig. 3, in an embodiment of the present invention, the servo motor closed-loop speed regulation control process in step 3 includes:
step 31: acquiring a system target flow instruction;
step 32: determining a system flow control value according to a system target flow instruction and error calibration of a hydraulic system;
step 33: judging the starting time of the main pump and the auxiliary pump according to the system flow control value;
and determining the starting time of the target flow of the system to the main pump and the auxiliary pump according to the flow expectation of the system and the maximum flow value of each pump to form a coordination process of double-pump flow compensation. The starting can be carried out progressively according to the maximum value, and the synchronous starting can also be carried out according to load balancing.
Step 34: when only the main pump needs to be started:
determining the exceeding threshold value according to the system flow control value;
collecting actual system flow according to a main flow meter;
controlling the rotating speed of a servo motor of the main pump in a closed loop mode according to the difference value between the exceeding threshold and the actual system flow, and adjusting the flow of the main pump to be stabilized at the target system flow;
step 35: when the auxiliary pump needs to be started simultaneously, the main pump servo motor is controlled to enable the main pump to output the maximum flow according to the rated rotating speed;
step 36: simultaneously:
the auxiliary pump determines that the flow exceeds a threshold value according to the difference value between the system flow control value and the maximum flow output by the main pump;
collecting actual system flow according to a main flow meter;
and according to the difference value between the exceeded threshold and the actual system flow, the rotating speed of the auxiliary pump servo motor is controlled in a closed loop mode, and the auxiliary pump flow is adjusted to enable the actual system flow to be stabilized at the system target flow.
The dual-motor oil source control method of the embodiment of the invention introduces a dual-pump flow compensation algorithm to realize stable control of dynamic flow.
The dual-motor oil source control system in an embodiment of the present invention includes:
and the memory is used for storing the program codes of the processing procedures of the dual-motor oil source control method of the embodiment.
And the upper computer is used for executing the program code of the processing process of the dual-motor oil source control method of the embodiment.
The upper computer can adopt a DSP (digital Signal processor), an FPGA (Field-Programmable Gate Array), an MCU (micro controller unit) system board, an SoC (system on a chip) system board or a PLC (Programmable Logic controller) minimum system including I/O.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. A dual-motor oil source control method utilizes a dual-motor oil source control system, and the dual-motor oil source control system comprises:
the upper computer is used for forming initial control data of the motor driver according to requirements, receiving hydraulic state signals of the output pipelines of the parallel constant delivery pumps through the CAN bus to form state control data, sending the state control data to the motor driver through the CAN bus, and establishing closed-loop control on the parallel constant delivery pumps;
the main motor driver is used for forming main pump real-time control parameters of a main pump servo motor according to the state control data;
the main pump servo motor is used for adjusting torque and rotating speed according to the real-time control parameters of the main pump to output mechanical energy;
the main pump is used for receiving mechanical energy to enable the oil source medium to flow in a connecting pipeline of the hydraulic system according to corresponding pressure and flow speed;
the auxiliary motor driver is used for forming an auxiliary pump real-time control parameter of an auxiliary pump servo motor according to the state control data;
the auxiliary pump servo motor is used for adjusting torque and rotating speed according to the auxiliary pump real-time control parameters to output mechanical energy;
the auxiliary pump is used for receiving mechanical energy to enable the oil source medium to flow in a connecting pipeline of the hydraulic system according to corresponding pressure and flow speed;
further comprising: the flow meter is used for collecting flow speed and pressure information in the output pipeline of the parallel constant delivery pump to form the hydraulic state signal; the flow meter comprises a total flow meter which collects flow output information on a general pipeline for outputting the parallel constant delivery pumps;
it is characterized by comprising:
establishing flow characteristic associated data of a main pump and an auxiliary pump in a hydraulic system;
calibrating according to the inherent error of the flow control target value and the actual flow value of the main pump or the auxiliary pump, and correcting the flow characteristic associated data;
when the hydraulic system is in a working condition, the closed-loop speed regulation control process of the servo motors of the main pump and the auxiliary pump is carried out according to the exceeding threshold value between the system target flow instruction and the actual system flow, and the closed-loop speed regulation control process comprises the following steps:
acquiring a system target flow instruction;
determining a system flow control value according to the system target flow instruction and the error calibration of the hydraulic system;
judging the starting time of the main pump and the auxiliary pump according to the system flow control value;
when the main pump is only required to be started:
determining the exceeding threshold value according to the system flow control value;
collecting actual system flow according to a main flow meter;
controlling the rotating speed of a servo motor of the main pump in a closed loop mode according to the difference value between the exceeding threshold and the actual system flow, and adjusting the flow of the main pump to be stabilized at the target system flow;
when the auxiliary pump needs to be started simultaneously, the main pump servo motor is controlled to enable the main pump to output the maximum flow according to the rated rotating speed;
simultaneously:
the auxiliary pump determines that the flow exceeds a threshold value according to the difference value between the system flow control value and the maximum flow output by the main pump;
collecting actual system flow according to a main flow meter;
and according to the difference value between the exceeded threshold and the actual system flow, the rotating speed of the auxiliary pump servo motor is controlled in a closed loop mode, and the auxiliary pump flow is adjusted to enable the actual system flow to be stabilized at the system target flow.
2. The dual-motor oil source control method of claim 1, further comprising:
and the input flow zero value instruction exits the closed-loop speed regulation control process, and controls the servo motor to decelerate and stop and break the enabling operation to complete the stop process of the hydraulic system.
3. The dual-motor oil supply control method of claim 1, wherein the flow characteristic related data of the main pump and the auxiliary pump is described by the following formula:
wherein L is a flow instruction value, L10、L20Minimum flow rate of operation, L, of main and auxiliary pumps, respectively11、L21The maximum output flow of the main pump and the auxiliary pump respectively1(v1)、f2(v2) Flow-rotating speed corresponding relation polynomials of the main pump and the auxiliary pump are respectively shown.
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| CN202165353U (en) * | 2010-03-30 | 2012-03-14 | 宁波安信数控技术有限公司 | High-precision hydraulic servo control system |
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| CN103727019A (en) * | 2013-12-23 | 2014-04-16 | 中煤矿山建设集团有限责任公司 | Constant-current frequency conversion control system for brine pumps of freezing station |
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