CN102086893A - Multi-axis hydraulic synchronization control system, method and device - Google Patents
Multi-axis hydraulic synchronization control system, method and device Download PDFInfo
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Abstract
The invention discloses a multi-axis hydraulic synchronization control system, method and device, and belongs to the technical field of synchronization control. The system comprises a controller, a digital-to-analogue conversion module, at least two hydraulic proportional valves and position feedback devices the number of which is equal to the number of the hydraulic proportional valves; the controller is connected with each hydraulic proportional valve through the digital-to-analogue conversion module, and each hydraulic proportional valve can drive a hydraulic cylinder which is connected with each hydraulic proportional valve; each position feedback device is respectively connected with the controller, each position feedback device can detect the position of each hydraulic cylinder, and transmits the detected position data to the controller; and the controller can control each hydraulic proportional valve according to the position data of each hydraulic cylinder transmitted by each position feedback device and by consulting the stored synchronization data of the controller. The multi-axis hydraulic synchronization control system has the advantages of simple structure, high synchronization precision and low cost, and can be used for solving the problems of low synchronization and high cost of the existing multi-axis hydraulic synchronization.
Description
Technical field
The present invention relates to the synchronization control field, particularly relate to a kind of multiaxis hydraulic synchronous control system, method and apparatus.
Background technique
Some are by in the equipment of electromechanical control, as the stage of electromechanical control, for realizing the synchronization control lifting at present, synchronized cylinder or the syncmotors of adopting more, but when long, can cause the volume of employed synchronized cylinder or syncmotor bigger, involve great expense as if the lifting travel of stage.And the requirement on machining accuracy height of synchronized cylinder or syncmotor exists the potential safety hazard of internal leakage, problems such as maintenance cost height.
Summary of the invention
Based on above-mentioned existing in prior technology problem, embodiment of the present invention provides a kind of multiaxis hydraulic synchronous control system, method and apparatus, under the situation that does not adopt synchronized cylinder or syncmotor, can be according to the displacement amount of detected each oil hydraulic cylinder, realization is to the synchronous drive of each oil hydraulic cylinder, thus the control of realization multiaxis Hydraulic Synchronizing.
The objective of the invention is to be achieved through the following technical solutions:
Embodiment of the present invention provides a kind of multiaxis hydraulic synchronous control system, comprising:
Controller, D/A converter module, at least two hydraulic proportion valves and the position feedback device identical with hydraulic proportion valve quantity;
Described controller is connected with each hydraulic proportion valve through D/A converter module, and each hydraulic proportion valve can drive an oil hydraulic cylinder of its connection; Each position feedback device is connected with described controller respectively, and each position feedback device can detect the position of an oil hydraulic cylinder, and detected position data is flowed to described controller;
The position data of each oil hydraulic cylinder that described controller can be carried according to each position feedback device is controlled each hydraulic proportion valve with reference to the synchronous data of controller storage, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
The synchronous data of described controller storage comprises: according to the hydraulic cylinder works curve data of the working position formation of the simulate given amount of the control hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount.
Described controller comprises: receiving module, memory module and synchronization control module;
Described receiving module is used to receive the position data that each position feedback device detects each oil hydraulic cylinder of carrying the back;
Described memory module is used to store the described position data that synchronous data and described receiving module receive;
Described synchronization control module is used for the position data according to each oil hydraulic cylinder of each position feedback device conveying, controls each hydraulic proportion valve with reference to the synchronous data of described memory module storage, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
Described controller also comprises:
The compensation control module, be used for virtual spindle curve data according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder, and in the process of each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that described receiving module is received is carried and the described virtual spindle curve data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control.
Described compensation control module comprises: virtual spindle curve data generate submodule and comparison process submodule;
Described virtual spindle curve data generate submodule, be used for virtual spindle curve data, and described virtual spindle curve data are stored to described memory module according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder;
Described comparison process submodule, be used for process at each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that described receiving module is received is carried and the described synchronous locator data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control.
Described controller also comprises: self-learning module, be used for driving each oil hydraulic cylinder process at the control hydraulic proportion valve, the new working curve data that calculate each oil hydraulic cylinder according to the working position of the simulate given amount of carrying to each hydraulic proportion valve each oil hydraulic cylinder corresponding with each simulate given amount are as new synchronous data, and are stored to the existing synchronous data of replacement in the described memory module.
Described synchronization control module comprises: search submodule and output sub-module;
The described submodule of searching is used for the simulate given amount of searching control each hydraulic proportion valve corresponding with each position data in the synchronous data of described memory module storage;
Described output sub-module is used for searching each simulate given amount that submodule finds and being delivered to each corresponding hydraulic proportion valve described.
Described system also comprises: the oil hydraulic cylinder identical with hydraulic proportion valve quantity is connected with each position feedback device with each hydraulic proportion valve respectively.
Embodiment of the present invention also provides a kind of multiaxis Hydraulic Synchronizing controlling method, is applied to above-mentioned multiaxis hydraulic synchronous control system, comprising:
Receive the position data of each oil hydraulic cylinder that is connected with each hydraulic proportion valve respectively of each position feedback device conveying;
Synchronous data with reference to storage is controlled each hydraulic proportion valve, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
Described synchronous data with reference to storage is controlled each hydraulic proportion valve and is comprised:
From synchronous data, find the simulate given amount of the control hydraulic proportion valve corresponding with position data, by the simulate given amount control hydraulic proportion valve that finds, wherein, described synchronous data is the hydraulic cylinder works curve data according to the working position formation of the simulate given amount of the control hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount.
Described method also comprises:
The compensation control step, in the process of each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that receives is carried and the virtual spindle curve data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control; Wherein, described virtual spindle curve data are the virtual spindle curve data according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder.
Embodiment of the present invention provides a kind of multiaxis Hydraulic Synchronizing control apparatus again, comprise: synchronous control system, a plurality of oil hydraulic cylinder and platform component, it is characterized in that, described synchronous control system adopts above-mentioned multiaxis hydraulic synchronous control system, each hydraulic proportion valve of described synchronous control system is connected with each oil hydraulic cylinder respectively with each position feedback device, and platform component is arranged on the lift side of each oil hydraulic cylinder.
The technological scheme that provides by embodiment of the present invention as can be seen, detect the position data of each oil hydraulic cylinder that each hydraulic proportion valve drives in the embodiment of the present invention by position feedback device, and position data fed back to controller, by controller according to position data, synchronous data with reference to storage is controlled each hydraulic proportion valve, thereby but by each each oil hydraulic cylinder of hydraulic proportion valve synchronous drive.This system architecture is simple, and the synchronous control accuracy height not only have the Fast Dynamic response but also possess high-precision stable state positioning performance and real time synchronization, and cost is low.Having solved existing multiaxis Hydraulic Synchronizing technology adopts Proportional valve or servovalve control synchronized cylinder or syncmotor to drive that synchronization accuracy is low, equipment volume is big, the problem that maintenance cost is high.
Description of drawings
The structural representation of the multiaxis hydraulic synchronous control system that Fig. 1 provides for the embodiment of the invention;
The structured flowchart of the controller of the multiaxis hydraulic synchronous control system that Fig. 2 provides for the embodiment of the invention;
The structured flowchart of the synchronization control module of the controller of the multiaxis hydraulic synchronous control system that Fig. 3 provides for the embodiment of the invention;
The structured flowchart of the compensation control module of the controller of the multiaxis hydraulic synchronous control system that Fig. 4 provides for the embodiment of the invention;
The flow chart of the multiaxis Hydraulic Synchronizing controlling method that Fig. 5 provides for the embodiment of the invention;
The concrete structure block diagram of the multiaxis hydraulic synchronous control system that Fig. 6 provides for the embodiment of the invention;
The hydraulic cylinder works plotted curve of the multiaxis synchronous control system that Fig. 7 provides for the embodiment of the invention;
Multiaxis synchronous control system and Hydraulic Synchronizing auditory localization cues figure that Fig. 8 provides for the embodiment of the invention;
The structural representation of the multiaxis Hydraulic Synchronizing control apparatus that Fig. 9 provides for the embodiment of the invention.
Embodiment
The invention will be further described below in conjunction with specific embodiment.
One embodiment of the invention provides a kind of multiaxis hydraulic synchronous control system, this system can realize a plurality of oil hydraulic cylinders are carried out synchronization control, as shown in Figure 1, this system comprises: controller 1, D/A converter module 2 (D/A module), at least two hydraulic proportion valves 3 and the position feedback device 4 identical with hydraulic proportion valve quantity;
Wherein, controller 1 is connected with each hydraulic proportion valve 3 through D/A converter module 2, and each hydraulic proportion valve 3 can drive an oil hydraulic cylinder 4 of its connection; Each position feedback device 5 is connected with described controller 1 respectively, and each position feedback device 5 can detect the position of an oil hydraulic cylinder 4, and detected position data is flowed to described controller 1; The position data of each oil hydraulic cylinder that controller 1 can be carried according to each position feedback device 5, synchronous data with reference to controller 1 storage is controlled each hydraulic proportion valve 3, carry out synchronous drive by 3 pairs of each oil hydraulic cylinders 4 of each hydraulic proportion valve, realize the synchronization lifting of each oil hydraulic cylinder.
In the said system, the synchronous data of controller 1 storage is: according to the hydraulic cylinder works curve data of the working position formation of the simulate given amount of the control hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount.This hydraulic cylinder works curve data obtains after can being calculated according to the working position of the simulate given amount of the hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount by controller 1, and be stored in the controller, after also can calculating the working curve data of oil hydraulic cylinder in advance, store into again in the controller 1.
As shown in Figure 2, the controller in the said system 1 comprises: receiving module 11, memory module 12 and synchronization control module 13;
Wherein, receiving module 11 is connected with memory module 12, is used to receive the position data that each position feedback device detects each oil hydraulic cylinder of carrying the back;
As shown in Figure 3, above-mentioned synchronization control module 13 specifically can comprise: search submodule 131 and output sub-module 132;
Wherein, search submodule 131 and be connected, be used for the simulate given amount of searching each hydraulic proportion valve 3 of the control corresponding with each position data in the synchronous data of described memory module 12 storages with output sub-module 132; Output sub-module 132 is used for searching each simulate given amount that submodule finds and being delivered to each corresponding hydraulic proportion valve 3 described.
Above-mentioned controller 1 can also comprise: compensation control module 14, be connected with synchronization control module 13 with memory module 12 respectively, be used for according to target location each oil hydraulic cylinder 4 setting, Constant Linear Velocity, the virtual spindle curve data that the current location of acceleration and retardation and each oil hydraulic cylinder generates, and in the process of each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that described receiving module is received is carried and the described virtual spindle curve data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control.
As shown in Figure 4, the compensation control module 14 in the above-mentioned controller 1 comprises: virtual spindle curve data generate submodule 141 and comparison process submodule 142;
Wherein, virtual spindle curve data generate submodule 141 and are connected with the comparison process submodule, be used for virtual spindle curve data, and described virtual spindle curve data are stored to described memory module 12 according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder;
Above-mentioned controller 1 can also comprise: self-learning module 15, be used for driving each oil hydraulic cylinder process at the control hydraulic proportion valve, working position according to the simulate given amount of carrying to the hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount calculates the new working curve data of oil hydraulic cylinder as new synchronous data, and be stored in the described memory module and replace existing synchronous data, new synchronous data is as the reference data of each oil hydraulic cylinder of synchronization control, being implemented in the control hydraulic proportion valve drives in the process of each oil hydraulic cylinder, form the control mode of self study, realize self adaptive control.
On the basis of above-mentioned control system, the oil hydraulic cylinder identical with hydraulic proportion valve quantity can also be set, be connected with each position feedback device with each hydraulic proportion valve respectively, form a kind of multiaxis hydraulic synchronous control system that has oil hydraulic cylinder.
Another embodiment of the present invention also provides a kind of multiaxis Hydraulic Synchronizing controlling method, is applied to above-mentioned multiaxis hydraulic synchronous control system, and as shown in Figure 5, this method comprises:
Step S1 receives the position data of each oil hydraulic cylinder that is connected with each hydraulic proportion valve respectively that each position feedback device carries;
Step S2 controls each hydraulic proportion valve with reference to the synchronous data of storage, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
Among the above-mentioned steps S2, controlling each hydraulic proportion valve with reference to the synchronous data of storage specifically comprises: the simulate given amount that finds the control hydraulic proportion valve corresponding with position data from synchronous data, by the simulate given amount control hydraulic proportion valve that finds, wherein, described synchronous data is the hydraulic cylinder works curve data according to the working position formation of the simulate given amount of the control hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount.
Based on the above method, can also comprise: step S3, the compensation control step, in the process of each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that receives is carried and the virtual spindle curve data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control; Wherein, described virtual spindle curve data are the virtual spindle curve data according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder.
Below in conjunction with instantiation above-mentioned multiaxis hydraulic synchronous control system and controlling method thereof are described further.
As shown in Figure 6, the multiaxis hydraulic synchronous control system of the embodiment of the invention specifically can be made of the above oil hydraulic cylinder 4 of two covers, the hydraulic proportion valve 3 that drives each oil hydraulic cylinder, the position feedback device 5 that detects Position of Hydraulic Cylinder, controller 1, D/A module 2 (D/A converter module); Wherein, controller 1 is connected by D/A module 2 with hydraulic proportion valve 3, and each hydraulic proportion valve 3 all connects an oil hydraulic cylinder 4, and hydraulic proportion valve 3 can drive oil hydraulic cylinder 4 under the control of controller 1; Position feedback device 5 is connected with controller 1, be used for the position of each oil hydraulic cylinder 4 is detected, and the position signal (comprising the position data that detects the oil hydraulic cylinder that obtains) that detects flowed to controller 1, make the controller 1 can be according to control hydraulic proportion valve 3 after the position signal calculation process of position feedback device 5 feedback, realize each oil hydraulic cylinder 4 of synchronization control, become a kind of position closed loop system.Interconnecting between each hydraulic element in this system (as hydraulic proportion valve and oil hydraulic cylinder) can adopt high pressure hose to be connected, and can make a mark at filler opening and oil outlet; The news of each electric elements interconnect and the wiring of external equipment adopts terminal to connect, each terminal indicates terminal row title and terminal number respectively.
Above-mentioned multiaxis hydraulic synchronous control system can be used in the Synchronizing Control Devices, drive stage as synchronous hydraulic, the platform component of stage is arranged on the lift side of each oil hydraulic cylinder, realizes each hydraulic cylinder synchronous lifting by controlling each hydraulic proportion valve, finishes the lifting of stage.
Synchronization control process to above-mentioned multiaxis hydraulic synchronous control system is: with position feedback device to the position data of the position feedback of each oil hydraulic cylinder and the simulate given value of the given hydraulic proportion valve (openings of sizes of this simulate given value may command hydraulic proportion valve, thereby decision is transported to the flow and the pressure of oil hydraulic cylinder, drive oil hydraulic cylinder by given linear velocity lifting) constitute the working curve of an oil hydraulic cylinder, be stored in the controller; When controller control hydraulic proportion valve is carried out the lifting of oil hydraulic cylinder, from the working curve of oil hydraulic cylinder, search the simulate given value of answering given hydraulic proportion valve, output to hydraulic proportion valve according to the corresponding simulating setting value, control each hydraulic proportion valve and drive of the linear velocity lifting of each oil hydraulic cylinder, realize synchronous drive by correspondence.Control in each oil hydraulic cylinder process, can make each oil hydraulic cylinder follow a desirable virtual spindle curve operation, this virtual spindle curve can be defined by current location, target location, Constant Linear Velocity, acceleration and the retardation of oil hydraulic cylinder, and makes Shelving according to the maximum parameter of the definition of oil hydraulic cylinder; In the synchronization control process, adopt the synchronous control mode of virtual main shaft like this, can make controller possess the function of self study, in time each hydraulic proportion valve is controlled in compensation in control procedure, guarantees the precision of each hydraulic proportion valve synchronization control.
Below in conjunction with Fig. 6～Fig. 8, stage with the control of multiaxis Hydraulic Synchronizing is an example, above-mentioned control procedure is described further: this stage comprises the above oil hydraulic cylinder 4 of two covers, oil hydraulic cylinder 4 is equipped with position feedback device 5, flow to controller 1 after can detecting the position of oil hydraulic cylinder 4, position feedback device 5 can adopt position detecting devices such as displacement transducer or encoder, is arranged on the stage platform component 6 of the lift side of each oil hydraulic cylinder 4; Controller 1 can adopt single-chip microcomputer or PLC (programmable controller) or industrial computer, and controller 1 can be transported to hydraulic proportion valve 3 with the simulate given value by D/A module 2 (D/A converter module), and each hydraulic proportion valve 3 drives oil hydraulic cylinder 4 liftings.
Control procedure can adopt the control mode of virtual main shaft, generate a virtual spindle curve according to synchronous positional parameter (comprising current location, target location, Constant Linear Velocity, acceleration and retardation), all synchronous hydraulic cylinder position closed loop controls can be followed virtual spindle curve motion.
Be specially: controller 1 generates virtual spindle curve according to synchronous positional parameter, by from the working curve (working curve is formed by the position of each oil hydraulic cylinder and the simulate given value of given hydraulic proportion valve) of oil hydraulic cylinder 4, searching, obtaining should be to the given simulate given value of hydraulic proportion valve corresponding to a certain position of oil hydraulic cylinder, to search the simulate given value that obtains by D/A module 2 and flow to hydraulic proportion valve 3, hydraulic proportion valve 3 can determine that according to the simulate given value its openings of sizes and decision flow to the flow and the pressure of oil hydraulic cylinder 4, thereby drive oil hydraulic cylinder 4 by given linear velocity lifting, all hydraulic cylinder 4 synchronization liftings then drive 6 liftings of stage platform component.In the lifting process, position feedback device 5 feeds back to controller 1 with the displacement signal of each oil hydraulic cylinder 4 in real time, the displacement that the virtual main shaft (this virtual main shaft moves by virtual spindle curve) that generates with controller 1 moves is made comparisons, by D/A module 2 compensation control hydraulic proportion valves 3, so just formed the multiaxis Hydraulic Synchronizing positioning control closed-loop system of following virtual main shaft according to comparative result (after carrying out the PI computing).The stage of this multiaxis Hydraulic Synchronizing control reaches 20 meters at the stage height, and under the situation that the platform span is long 20 meters, the synchronization lifting positional deviation can guarantee the requirement at ± 2mm, has the higher synchronous control precision.
Further embodiment of this invention is on above-mentioned synchronous control system basis, a kind of multiaxis Hydraulic Synchronizing control apparatus also is provided, as shown in Figure 9, this equipment comprises: synchronous control system, a plurality of oil hydraulic cylinder and platform component, described synchronous control system adopts above-mentioned multiaxis hydraulic synchronous control system, each hydraulic proportion valve of described synchronous control system is connected with each oil hydraulic cylinder respectively with each position feedback device, and platform component is arranged on the lift side of each oil hydraulic cylinder.
In sum, the multiaxis hydraulic synchronous control system of the embodiment of the invention has solved the mode that existing multiaxis Hydraulic Synchronizing technology adopts Proportional valve or servovalve control synchronized cylinder or syncmotor, and existing synchronization accuracy is low, volume reaches the high shortcoming of cost greatly.This multiaxis hydraulic synchronous control system not only has the Fast Dynamic response but also possesses high-precision stable state positioning performance and real time synchronization.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (12)
1. a multiaxis hydraulic synchronous control system is characterized in that, comprising:
Controller, D/A converter module, at least two hydraulic proportion valves and the position feedback device identical with hydraulic proportion valve quantity;
Described controller is connected with each hydraulic proportion valve through D/A converter module, and each hydraulic proportion valve can drive an oil hydraulic cylinder of its connection; Each position feedback device is connected with described controller respectively, and each position feedback device can detect the position of an oil hydraulic cylinder, and detected position data is flowed to described controller;
The position data of each oil hydraulic cylinder that described controller can be carried according to each position feedback device is controlled each hydraulic proportion valve with reference to the synchronous data of controller storage, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
2. multiaxis hydraulic synchronous control system according to claim 1 is characterized in that, the synchronous data of described controller storage comprises:
Hydraulic cylinder works curve data according to the working position formation of the simulate given amount oil hydraulic cylinder corresponding of control hydraulic proportion valve with each simulate given amount.
3. multiaxis hydraulic synchronous control system according to claim 1 is characterized in that, described controller comprises:
Receiving module, memory module and synchronization control module;
Described receiving module is used to receive the position data that each position feedback device detects each oil hydraulic cylinder of carrying the back;
Described memory module is used to store the described position data that synchronous data and described receiving module receive;
Described synchronization control module is used for the position data according to each oil hydraulic cylinder of each position feedback device conveying, controls each hydraulic proportion valve with reference to the synchronous data of described memory module storage, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
4. multiaxis hydraulic synchronous control system according to claim 3 is characterized in that, described controller also comprises:
The compensation control module, be used for virtual spindle curve data according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder, and in the process of each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that described receiving module is received is carried and the described virtual spindle curve data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control.
5. multiaxis hydraulic synchronous control system according to claim 4 is characterized in that, described compensation control module comprises:
Virtual spindle curve data generate submodule and comparison process submodule;
Described virtual spindle curve data generate submodule, be used for virtual spindle curve data, and described virtual spindle curve data are stored to described memory module according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder;
Described comparison process submodule, be used for process at each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that described receiving module is received is carried and the described synchronous locator data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control.
6. multiaxis hydraulic synchronous control system according to claim 3, it is characterized in that, described controller also comprises: self-learning module, be used for driving each oil hydraulic cylinder process at the control hydraulic proportion valve, the new working curve data that calculate each oil hydraulic cylinder according to the working position of the simulate given amount of carrying to each hydraulic proportion valve each oil hydraulic cylinder corresponding with each simulate given amount are as new synchronous data, and are stored to the existing synchronous data of replacement in the described memory module.
7. multiaxis hydraulic synchronous control system according to claim 3 is characterized in that, described synchronization control module comprises:
Search submodule and output sub-module;
The described submodule of searching is used for the simulate given amount of searching control each hydraulic proportion valve corresponding with each position data in the synchronous data of described memory module storage;
Described output sub-module is used for searching each simulate given amount that submodule finds and being delivered to each corresponding hydraulic proportion valve described.
8. according to each described multiaxis hydraulic synchronous control system of claim 1～7, it is characterized in that described system also comprises:
The oil hydraulic cylinder identical with hydraulic proportion valve quantity is connected with each position feedback device with each hydraulic proportion valve respectively.
9. a multiaxis Hydraulic Synchronizing controlling method is characterized in that, is applied to aforesaid right requirement 1～7 each described multiaxis hydraulic synchronous control system, comprising:
Receive the position data of each oil hydraulic cylinder that is connected with each hydraulic proportion valve respectively of each position feedback device conveying;
Synchronous data with reference to storage is controlled each hydraulic proportion valve, by each hydraulic proportion valve each oil hydraulic cylinder is carried out synchronous drive.
10. multiaxis Hydraulic Synchronizing controlling method according to claim 9 is characterized in that, described synchronous data with reference to storage is controlled each hydraulic proportion valve and comprised:
From synchronous data, find the simulate given amount of the control hydraulic proportion valve corresponding with position data, by the simulate given amount control hydraulic proportion valve that finds, wherein, described synchronous data is the hydraulic cylinder works curve data according to the working position formation of the simulate given amount of the control hydraulic proportion valve oil hydraulic cylinder corresponding with each simulate given amount.
11. multiaxis Hydraulic Synchronizing controlling method according to claim 9 is characterized in that described method also comprises:
The compensation control step, in the process of each hydraulic proportion valve of control, position data corresponding in the position data of each oil hydraulic cylinder that each position feedback device that receives is carried and the virtual spindle curve data compares, comparative result is delivered to described synchronization control module, through described each hydraulic proportion valve of synchronization control module compensation control; Wherein, described virtual spindle curve data are the virtual spindle curve data according to the current location generation of target location, Constant Linear Velocity, acceleration and retardation that each oil hydraulic cylinder is set and each oil hydraulic cylinder.
12. multiaxis Hydraulic Synchronizing control apparatus, comprise: synchronous control system, a plurality of oil hydraulic cylinder and platform component, it is characterized in that, described synchronous control system adopts aforesaid right to require 1～7 each described multiaxis hydraulic synchronous control system, each hydraulic proportion valve of described synchronous control system is connected with each oil hydraulic cylinder respectively with each position feedback device, and platform component is arranged on the lift side of each oil hydraulic cylinder.
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