CN103452967A - PID (proportion integration differentiation)-regulation-based double-closed loop electro-hydraulic servo control device - Google Patents
PID (proportion integration differentiation)-regulation-based double-closed loop electro-hydraulic servo control device Download PDFInfo
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Abstract
The invention relates to an electro-hydraulic servo control device, in particular to a PID (proportion integration differentiation)-regulation-based double-closed loop electro-hydraulic servo control device, which comprises an outer-loop PID regulation module, an outer-loop feedback conditioning circuit, an inner-loop PID regulation module, an inner-loop feedback conditioning circuit and a power amplification circuit, wherein the outer-loop PID regulation module is connected with the outer-loop feedback conditioning circuit and the inner-loop PID regulation module respectively; the inner-loop PID regulation module is connected with the inner-loop feedback conditioning circuit and the power amplification circuit respectively. According to the device with the structure, a double-closed loop control structure is arranged, the outer-loop feedback conditioning circuit and the inner-loop feedback conditioning circuit are connected with an external sensing part respectively when the device is used, and two closed loop structures can be used for meeting the control requirements of a tertiary servo valve, and simultaneously achieving compatibility with a secondary servo valve which can be controlled in a single-loop way, so that the applicability is improved; due to the adoption of a PID regulation technology, the dynamic response and the stability of a system are improved.
Description
Technical field
The present invention relates to a kind of electro-hydraulic servo control device, especially a kind of two closed loop electro-hydraulic servo control devices of regulating based on PID.
Background technique
The electrohydraulic servo system electrohydraulic servo system is a kind of feedback control system be comprised of electric signal process unit and hydraulic power mechanism.Modal have electro-hydraulic position servo system, electro-hydraulic speed control system and electric fluid power (or moment) control system.
In prior art, the electro-hydraulic servo control technology is the important composition of modern control technology, and to have a dynamic response fast due to it, the advantages such as control accuracy is high, long service life, thereby be widely used in a plurality of fields such as Aero-Space, boats and ships, chemical industry and industrial production.Electronic-hydraulic Servo Controller is indispensable control unit in hydraulic servo control system, and the quality of controller directly affects the precision of whole hydraulic control system.Controller is by the signal (as displacement, acceleration) of test specimen feedback after conditioning, and the and instruction signal carries out passing to servovalve after deviation calculating, and servovalve drives test specimen and completes corresponding action.
More existing Servocontrol devices (containing servocontroller) only carry out closed loop control to this level of servovalve mostly, the cylinder body be connected to above servovalve is not done to control, so function ratio are more single, and applicability is wideless.
Summary of the invention
The object of the invention is to, a kind of two closed loop electro-hydraulic servo control devices of regulating based on PID that a kind of multilevel control, applicability are wide are provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of two closed loop electro-hydraulic servo control devices of regulating based on PID, comprise outer shroud PID adjustment module, outer shroud feedback conditioning circuit, interior ring PID adjustment module, interior ring feedback conditioning circuit, power amplification circuit, outer shroud PID adjustment module is connected with outer shroud feedback conditioning circuit, interior ring PID adjustment module respectively, and interior ring PID adjustment module is connected with interior ring feedback conditioning circuit, power amplification circuit respectively.
The further setting of the present invention is: outer shroud PID adjustment module comprises the inclined to one side circuit of outer circulation layer, outer shroud deviation counting circuit, outer shroud PID regulon, the outer shroud summing circuit, outer shroud deviation counting circuit respectively with the inclined to one side circuit of outer circulation layer, outer shroud PID regulon, outer shroud feedback conditioning circuit connects, outer shroud PID regulon is connected with the outer shroud summing circuit, interior ring PID adjustment module comprises the inclined to one side circuit of interior circulation layer, interior ring deviation counting circuit, interior ring PID regulon, interior ring summing circuit, the vibrating signal circuit, interior ring deviation counting circuit respectively with the inclined to one side circuit of interior circulation layer, interior ring PID regulon, interior ring feedback conditioning circuit connects, interior ring PID regulon is connected with interior ring summing circuit, interior ring summing circuit respectively with the vibrating signal circuit, power amplification circuit connects.
The further setting of the present invention is: outer shroud PID regulon is identical with interior ring PID regulon, comprise P adjustment module, I adjustment module, D adjustment module, the input end of P adjustment module, I adjustment module, D adjustment module is connected with corresponding deviation counting circuit respectively, and the output terminal of P adjustment module, I adjustment module, D adjustment module is connected with corresponding summing circuit respectively.
The further setting of the present invention is: power amplification circuit comprises high electric current output amplifier OPA552, three high-operational amplifier OPA2134 and switching selecting circuit, ground connection after the IN+ of high electric current output amplifier holds and connects with resistance R 2, ground connection after the IN-end is connected with capacitor C 1, IN-end and the output terminal of receiving the interior PID of ring adjustment module after resistance R 3 is connected, the output terminal of interior ring PID adjustment module is after resistance R 3, connect capacitor C 2, the OUT end of the high electric current output of access amplifier after capacitor C 2, the output terminal of interior ring PID adjustment module is after resistance R 3, contact resistance R10, after resistance R 10, with a high-operational amplifier U2B, connect, high-operational amplifier U2B and resistance R 11, capacitor C 3 parallel connections, high-operational amplifier U2B and resistance R 13, high-operational amplifier U3A series connection, ground connection after high-operational amplifier U2B contact resistance R14, high-operational amplifier U2B and resistance R 12, high-operational amplifier U2A series connection, high-operational amplifier U3A, the output terminal of high-operational amplifier U2A is connected with switching selecting circuit respectively, switching selecting circuit and resistance R 5, the OUT end of the high electric current output of access amplifier after the parallel circuit series connection of resistance R 6.
The further setting of the present invention is: the series circuit parallel connection that described switching selecting circuit is connected with switch by five groups of resistance forms.
Said structure arranges a two closed loop controlling structure, outer shroud feedback conditioning circuit, interior ring feedback conditioning circuit are connected with the external sense parts respectively when in use, utilize two closed-loop structure, just can realize the demand for control of three stage servovalve, the grade B servo valve that simultaneously can compatible only need monocycle to control again, it is wide that applicability becomes, and adopt the PID regulation technology, improves dynamic response and the stability of system.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The theory diagram that Fig. 1 is the present embodiment;
The theory diagram that Fig. 2 is inside and outside PID conditioning unit;
The circuit diagram that Fig. 3 is power amplification circuit;
Embodiment
With reference to figure 1, Fig. 2, Fig. 3 is known, and a kind of two closed loop electro-hydraulic servo control devices of regulating based on PID of the present invention, comprise outer shroud PID adjustment module, outer shroud feedback conditioning circuit, interior ring PID adjustment module, interior ring feedback conditioning circuit, power amplification circuit, outer shroud PID adjustment module comprises the inclined to one side circuit of outer circulation layer, outer shroud deviation counting circuit, outer shroud PID regulon, the outer shroud summing circuit, outer shroud deviation counting circuit respectively with the inclined to one side circuit of outer circulation layer, outer shroud PID regulon, outer shroud feedback conditioning circuit connects, and outer shroud PID regulon is connected with the outer shroud summing circuit, and interior ring PID adjustment module comprises the inclined to one side circuit of interior circulation layer, interior ring deviation counting circuit, interior ring PID regulon, interior ring summing circuit, the vibrating signal circuit, interior ring deviation counting circuit respectively with the inclined to one side circuit of interior circulation layer, interior ring PID regulon, interior ring feedback conditioning circuit connects, and interior ring PID regulon is connected with interior ring summing circuit, interior ring summing circuit respectively with the vibrating signal circuit, power amplification circuit connects, and the output terminal of power amplification circuit is connected with hydrovalve with interior ring feedback conditioning circuit, and hydrovalve is connected with oil hydraulic cylinder, and oil hydraulic cylinder is connected with outer shroud feedback conditioning circuit.
Its outer-loop PID regulon is identical with interior ring PID regulon, comprise the P adjustment module, the I adjustment module, the D adjustment module, the P adjustment module, the I adjustment module, the input end of D adjustment module is connected with corresponding deviation counting circuit respectively, the P adjustment module, the I adjustment module, the output terminal of D adjustment module is connected with corresponding summing circuit respectively, corresponding meaning herein is, the P adjustment module of outer shroud PID regulon, the I adjustment module, the input end of D adjustment module is connected with outer shroud deviation counting circuit respectively, the P adjustment module of outer shroud PID regulon, the I adjustment module, the output terminal of D adjustment module is connected with the outer shroud summing circuit, interior ring PID regulon with corresponding interior ring deviation counting circuit, interior ring summing circuit connects.
Power amplification circuit comprises high electric current output amplifier OPA552, three high-operational amplifier OPA2134 and switching selecting circuit, ground connection after the IN+ of high electric current output amplifier holds and connects with resistance R 2, ground connection after the IN-end is connected with capacitor C 1, IN-end and the output terminal of receiving the interior PID of ring adjustment module after resistance R 3 is connected, the output terminal of interior ring PID adjustment module is after resistance R 3, connect capacitor C 2, the OUT end of the high electric current output of access amplifier after capacitor C 2, the output terminal of interior ring PID adjustment module is after resistance R 3, contact resistance R10, after resistance R 10, with a high-operational amplifier U2B, connect, high-operational amplifier U2B and resistance R 11, capacitor C 3 parallel connections, high-operational amplifier U2B and resistance R 13, high-operational amplifier U3A series connection, ground connection after high-operational amplifier U2B contact resistance R14, high-operational amplifier U2B and resistance R 12, high-operational amplifier U2A series connection, high-operational amplifier U3A, the output terminal of high-operational amplifier U2A is connected with switching selecting circuit respectively, switching selecting circuit and resistance R 5, the OUT end of the high electric current output of access amplifier after the parallel circuit series connection of resistance R 6, and the series circuit parallel connection that switching selecting circuit is connected with switch by five groups of resistance forms.
The output terminal that regulation output in Fig. 3 is interior ring summing circuit, the output terminal that driver output is power amplification circuit.
Feedback conditioning circuit: realize the collection conditioning of the feedback input signal of various sensors in electrohydraulic servo system.Mainly comprise sensor support circuit and corresponding conditioning circuit.Wherein sensor supports the sensor that circuit is number of different types that interface support and signals collecting are provided, and can mate the input of 4-20mA signal, LVDT signal etc.The feedback conditioning circuit function of inside and outside ring is basic identical.
The PID adjustment module: the structure of a complete PID adjustment module specifically comprises deviation counting circuit, P adjustment module, I adjustment module, D adjustment module and summing circuit.
Deviation counting circuit: for calculating the difference of feedback signal and command signal.It is basic identical that the deviation of inside and outside ring is calculated circuit function.
P, I, D regulate: for realizing, the signal of deviation output circuit output is carried out to P adjusting, I adjusting and D adjusting, wherein the P adjustment module can be used separately, and with the P adjustment module, in conjunction with forming, PI regulates all the other two needs, PD regulates or the three forms the PID adjusting.
Summing circuit: for the processing of suing for peace of each signal after realizing PID is regulated.The summing circuit function of inside and outside ring is basic identical.
Zero circuit partially: for regulating the output zero-bit of electrohydraulic servo system, adjustable extent is 0～± 10V.Zero inclined to one side circuit function of inside and outside ring is basic identical, adopts high-precision amplifier to realize.
The vibrating signal circuit: according to the needs of electrohydraulic control, the high frequency that provides a kind of bucking-out system frictional force for electrohydraulic servo system is signal by a narrow margin.The amplitude of vibrating signal, frequency etc. can be regulated by potentiometer, adopt high-precision amplifier to realize.
Power amplification circuit: for realizing voltage/current (V/I) conversion to servo drive signal, and the power amplification driven, final output current signal drives electrohydraulic control.The large I of current drives output signal is selected different range gears according to the switching in switching selecting circuit, and main circuit will adopt high electric current output amplifier and high-operational amplifier to form.
In the present embodiment, command signal is provided by upper-position unit (or other equipment).The displacement signal that outer shroud feedback conditioning circuit will be returned from sensor feedback is after conditioning, and instruction signal, outer circulation layer offset joint signal are sent into outer shroud deviation counting circuit together, after outer shroud deviation counting circuit carries out deviation calculating by above-mentioned signal, send into outer shroud PID regulon and carry out the PID adjusting.After PID regulates, output signal is separately sent into the outer shroud summing circuit.After the outer shroud summing circuit calculates, interior ring deviation counting circuit is sent in output.Send into the interior ring valve position of the interior ring feedback of also having of interior ring deviation counting circuit conditioning circuit output simultaneously and move feedback signal, the No. of believing one side only zero of interior ring.After interior ring deviation counting circuit carries out deviation calculating by above-mentioned signal, send into interior ring PID regulon and carry out the PID adjusting.After PID regulates, output signal is separately sent into interior ring summing circuit.Another of interior ring summing circuit is input as vibrating signal.The regulation output of interior ring summing circuit is sent into power amplification circuit, carries out V/I conversion and power amplification.Power amplification circuit is given electrohydraulic control by the current drive signal obtained after conversion, to carry out servo drive control.
Obviously, above-described embodiment is only for giving an example of doing clearly is described, and is not the restriction to mode of execution.To those of ordinary skill in the art, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all mode of executions.And the apparent variation of being extended out thus or change are still in protection scope of the present invention.
Claims (5)
1. two closed loop electro-hydraulic servo control devices of regulating based on PID, it is characterized in that: comprise outer shroud PID adjustment module, outer shroud feedback conditioning circuit, interior ring PID adjustment module, interior ring feedback conditioning circuit, power amplification circuit, outer shroud PID adjustment module is connected with outer shroud feedback conditioning circuit, interior ring PID adjustment module respectively, and interior ring PID adjustment module is connected with interior ring feedback conditioning circuit, power amplification circuit respectively.
2. according to two closed loop electro-hydraulic servo control devices of regulating based on PID claimed in claim 1, it is characterized in that: outer shroud PID adjustment module comprises the inclined to one side circuit of outer circulation layer, outer shroud deviation counting circuit, outer shroud PID regulon, the outer shroud summing circuit, outer shroud deviation counting circuit respectively with the inclined to one side circuit of outer circulation layer, outer shroud PID regulon, outer shroud feedback conditioning circuit connects, outer shroud PID regulon is connected with the outer shroud summing circuit, interior ring PID adjustment module comprises the inclined to one side circuit of interior circulation layer, interior ring deviation counting circuit, interior ring PID regulon, interior ring summing circuit, the vibrating signal circuit, interior ring deviation counting circuit respectively with the inclined to one side circuit of interior circulation layer, interior ring PID regulon, interior ring feedback conditioning circuit connects, interior ring PID regulon is connected with interior ring summing circuit, interior ring summing circuit respectively with the vibrating signal circuit, power amplification circuit connects.
3. according to two closed loop electro-hydraulic servo control devices of regulating based on PID claimed in claim 2, it is characterized in that: outer shroud PID regulon is identical with interior ring PID regulon, comprise P adjustment module, I adjustment module, D adjustment module, the input end of P adjustment module, I adjustment module, D adjustment module is connected with corresponding deviation counting circuit respectively, and the output terminal of P adjustment module, I adjustment module, D adjustment module is connected with corresponding summing circuit respectively.
4. according to claim 1 or 2 or 3 described two closed loop electro-hydraulic servo control devices of regulating based on PID, it is characterized in that: power amplification circuit comprises high electric current output amplifier OPA552, three high-operational amplifier OPA2134 and switching selecting circuit, ground connection after the IN+ of high electric current output amplifier holds and connects with resistance R 2, ground connection after the IN-end is connected with capacitor C 1, IN-end and the output terminal of receiving the interior PID of ring adjustment module after resistance R 3 is connected, the output terminal of interior ring PID adjustment module is after resistance R 3, connect capacitor C 2, the OUT end of the high electric current output of access amplifier after capacitor C 2, the output terminal of interior ring PID adjustment module is after resistance R 3, contact resistance R10, after resistance R 10, with a high-operational amplifier U2B, connect, high-operational amplifier U2B and resistance R 11, capacitor C 3 parallel connections, high-operational amplifier U2B and resistance R 13, high-operational amplifier U3A series connection, ground connection after high-operational amplifier U2B contact resistance R14, high-operational amplifier U2B and resistance R 12, high-operational amplifier U2A series connection, high-operational amplifier U3A, the output terminal of high-operational amplifier U2A is connected with switching selecting circuit respectively, switching selecting circuit and resistance R 5, the OUT end of the high electric current output of access amplifier after the parallel circuit series connection of resistance R 6.
5. according to two closed loop electro-hydraulic servo control devices of regulating based on PID claimed in claim 4, it is characterized in that: the series circuit parallel connection that described switching selecting circuit is connected with switch by five groups of resistance forms.
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| CN201310383194.3A CN103452967B (en) | 2013-08-28 | 2013-08-28 | A kind of based on the PID two close cycles electro-hydraulic servo control device regulated |
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| CN201310383194.3A CN103452967B (en) | 2013-08-28 | 2013-08-28 | A kind of based on the PID two close cycles electro-hydraulic servo control device regulated |
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| CN103452967B CN103452967B (en) | 2016-06-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104481977A (en) * | 2014-12-12 | 2015-04-01 | 广西科技大学 | Multi-channel electro-hydraulic servo control system for vehicle part fatigue test |
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2013
- 2013-08-28 CN CN201310383194.3A patent/CN103452967B/en active Active
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| JPH10159705A (en) * | 1996-11-27 | 1998-06-16 | Meidensha Corp | Water level regulating device for water tank in run-off-river hydraulic power plant |
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