CN110714941B - Pump valve composite cylinder control force control and valve control cylinder position control combined loading device and control method - Google Patents

Abstract

The invention discloses a combined loading device and a control method of a pump-valve compound-controlled cylinder force control and a valve-controlled cylinder position control. The device includes: a pump-valve compound cylinder control force control system, a valve-controlled cylinder position closed-loop system, a control device and an oil supply tank; the pump-valve compound cylinder control force control system includes a first asymmetric cylinder, a first pressure sensor, a second pressure a sensor, a first servo valve, a second servo valve, a first power unit, a force sensor and an oil replenishing unit; the valve-controlled cylinder position closed-loop system includes a second asymmetric cylinder, a displacement sensor, a third servo valve and a second power unit; The force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively connected with the control device of the control device terminal electrical connection. By using the device and method of the present invention, the control precision can be improved while the response speed is improved.

Description

Combined loading device and control method for pump-valve compound control cylinder force control and valve control cylinder position control

technical field

The invention relates to the technical field of fluid transmission and control, in particular to a combined loading device and control method of a pump-valve compound cylinder force control and valve control cylinder position control.

Background technique

In recent years, mobile robots have become more and more widely used in all walks of life in society. At present, the more advanced hydraulic-powered foot robots, the leg joint power devices mostly use highly integrated valve-controlled cylinder units, which are controlled by electro-hydraulic servo valves. ; There are also leg joint power devices using electro-hydrostatic actuators, that is, the pump direct drive control unit, by changing the pump displacement or speed, so that the output flow and pressure of the pump match the load requirements. The single valve-controlled cylinder system is a throttling type system, and the energy loss is relatively large, and due to the different pressure and flow requirements of the system on each joint when the robot is walking, it will cause a large energy loss and reduce the endurance of the footed robot in field work. The single pump control system belongs to the direct drive system. Compared with the valve control cylinder system, the response speed is slower and the control accuracy is poor. Therefore, how to improve the control accuracy while improving the response speed is an urgent problem to be solved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a pump-valve compound control cylinder and an integrated loading control device and control method, which have the advantages of improving the control precision while improving the response speed.

For achieving the above object, the present invention provides the following scheme:

A pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control combined loading device, comprising: a pump-valve compound-controlled cylinder force control system, a valve-controlled cylinder position closed-loop system, a control device, and an oil supply tank;

The pump-valve compound cylinder control force control system specifically includes: a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplement The first end of the first servo valve is connected with the rod cavity of the first asymmetric cylinder, the second end of the first servo valve is connected with the oil supply tank; the first end of the second servo valve is connected with the first end of the first servo valve. An asymmetric cylinder is connected with a rodless cavity, and the second end of the second servo valve is connected with the fuel supply tank; the first pressure sensor is arranged in the rod cavity of the first asymmetric cylinder and the first servo On the pipeline between the valves and close to the rod cavity of the first asymmetric cylinder, the first pressure sensor is used to detect the pressure signal of the rod cavity of the first asymmetric cylinder; the second pressure sensor is arranged at On the pipeline between the first asymmetric cylinder rodless cavity and the second servo valve and close to the first asymmetric cylinder rodless cavity, the second pressure sensor is used to detect the first asymmetrical The pressure signal of the rodless chamber of the cylinder; the first output end of the first power device is connected to the rod chamber of the first asymmetric cylinder, and the second output end of the first power device is connected to the first asymmetric cylinder. The cylinder is connected with a rodless cavity; the oil inlet end of the oil replenishment device is connected with the oil supply tank, and the rod cavity of the first asymmetric cylinder and the rodless cavity of the first asymmetric cylinder are respectively the oil replenishment device the oil outlet connection;

The valve-controlled cylinder position closed-loop system specifically includes: a second asymmetric cylinder, a displacement sensor, a third servo valve and a second power device; the first asymmetric cylinder has a rod cavity and the second asymmetric cylinder has a rod cavity connection; the force sensor is arranged on the connecting pipeline between the rod cavity of the first asymmetric cylinder and the rod cavity of the second asymmetric cylinder and is close to the rod cavity of the first asymmetric cylinder, and the force sensor is used for Detecting the load force of the first asymmetric cylinder; the displacement sensor is arranged on the connecting pipeline between the rod cavity of the first asymmetric cylinder and the rod cavity of the second asymmetric cylinder and is close to the second asymmetric cylinder There is a rod cavity, the displacement sensor is used to detect the output position voltage signal of the second asymmetric cylinder; the first end of the third servo valve is connected with the rodless cavity of the second asymmetric cylinder, and the third servo valve The second end is connected with the rod cavity of the second asymmetric cylinder, the third end of the third servo valve is respectively connected with the output end of the second power device, the third end of the first servo valve and the second servo valve The third end of the valve is connected, the fourth end of the third servo valve is connected with the fuel supply tank; the input end of the second power device is connected with the fuel supply tank;

The force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively electrically connected to the input end of the control device; the first power device, the first servo valve, the The second servo valve and the third servo valve are respectively electrically connected to the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.

Optionally, the control device specifically includes:

a first control module, a second control module, a third control module and a fourth control module;

The first control module specifically includes: an input force conversion module, a load force conversion module, a first controller and a servo controller; the first input end of the first controller is connected to the input force conversion module, so The second input end of the first controller is connected with the load force conversion module, the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor, and the load force conversion module is connected with the force sensor. The load force conversion module is used to convert the load force detected by the force sensor into a load force signal; the first controller is used to perform deviation processing between the input force signal converted by the input force conversion module and the load force signal obtaining a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal;

The second control module specifically includes: a first pressure conversion module and a second controller; the first input end of the second controller is connected to the first pressure sensor, and the second controller of the second controller is connected to the first pressure sensor. The input end is connected to the first pressure conversion module, and the control end of the second controller is connected to the first servo valve; the second controller is used to detect the first asymmetrical pressure detected by the first pressure sensor The pressure signal of the cylinder rod chamber and the first input pressure voltage signal converted by the first pressure conversion module are subjected to deviation processing to obtain a second deviation signal, and the first servo valve is controlled to adjust the valve port according to the second deviation signal. size;

The third control module specifically includes: a second pressure conversion module and a third controller; the first input end of the third controller is connected to the second pressure sensor, and the second pressure sensor of the third controller The input end is connected to the second pressure conversion module, and the control end of the third controller is connected to the second servo valve; the third controller is used to detect the first asymmetrical value of the second pressure sensor The pressure signal of the rodless chamber of the cylinder and the second input pressure voltage signal converted by the second pressure conversion module are subjected to deviation processing to obtain a third deviation signal, and the second servo valve is controlled to adjust the valve port according to the third deviation signal. size;

The fourth control module specifically includes: an input position conversion module and a fourth controller; the first input terminal of the fourth controller is connected to the input position conversion module, and the second input terminal of the fourth controller is connected to the input position conversion module. The terminal is connected to the displacement sensor, and the control terminal of the fourth controller is connected to the third servo valve; the fourth controller is used to convert the input position voltage signal converted by the input position conversion module with the The output position voltage signal detected by the displacement sensor is subjected to deviation processing to obtain a fourth deviation signal, and the third servo valve is controlled to adjust the valve port size according to the fourth deviation signal.

Optionally, the first input pressure voltage signal is 5 bar or (A ₁ P ₁ -F)/A ₂ ;

The second input pressure voltage signal is 5 bar or (F+A ₂ P ₂ )/A ₁ ;

Among them, F represents the load force signal, P1 represents the pressure signal of the rodless chamber of the _first asymmetrical cylinder, _P2 represents the pressure signal of the rodless chamber of the _first asymmetrical cylinder, and A1 represents the piston of the rodless chamber of the first asymmetrical cylinder Contact area, A ₂ represents the first asymmetric cylinder with rod cavity piston contact area.

Optionally, the oil replenishing device specifically includes:

Booster oil tank, first check valve, second check valve, third check valve, unloading check valve, first filter, charge pump and charge motor;

The booster oil tank is respectively connected with the conducting end of the first check valve, the conducting end of the second check valve, the cut-off end of the third check valve and the conducting end of the unloading check valve ; the cut-off end of the first one-way valve is connected to the rod cavity of the first asymmetric cylinder; the cut-off end of the second one-way valve is connected to the rodless cavity of the first asymmetric cylinder; The cut-off end of the valve is connected to the fuel supply tank; the input end of the fuel pump is connected to the fuel supply tank, the power supply end of the fuel pump is connected to the fuel motor, and the output end of the fuel pump is connected to the fuel pump. The input end of the first filter is connected, and the output end of the first filter is connected with the conducting end of the third one-way valve.

Optionally, the first power device specifically includes: a first gear pump and a first servo motor; a power supply end of the first gear pump is connected to the first servo motor; An output end is connected with the rod cavity of the first asymmetric cylinder, and the second output end of the first gear pump is connected with the rodless cavity of the first asymmetric cylinder;

The second power device specifically includes: a second gear pump and a second servo motor; a power supply end of the second gear pump is connected to the second servo motor; an output end of the second gear pump is connected to the second servo motor The third end of the third servo valve is connected to the third end, and the input end of the second gear pump is connected to the oil supply tank.

Optionally, the second power unit further includes:

The first shut-off valve, the second shut-off valve, the third shut-off valve, the second filter, the fourth one-way valve, the pressure gauge and the accumulator;

The output end of the second gear pump is respectively connected with the conducting end of the fourth check valve and one end of the third stop valve, and the other end of the third stop valve is connected with the pressure gauge; the The cut-off end of the fourth check valve is respectively connected with one end of the second filter and one end of the second cut-off valve, and the other end of the second cut-off valve is connected with the accumulator; the second filter The other end of the valve is connected with one end of the first shut-off valve, and the other end of the first shut-off valve is connected with the third end of the third servo valve.

Optionally, the described pump-valve compound cylinder force control and valve control cylinder position control combined loading device further includes:

Liquid level thermometer, cooler, low pressure ball valve and air filter;

One end of the cooler is connected to the oil supply tank, and the other end of the cooler is respectively connected to the second end of the first servo valve, the second end of the second servo valve, and the cut-off end of the unloading check valve. , the input end of the charge pump and the input end of the second gear pump are connected; the liquid level and temperature gauge is arranged on the pipeline between the cooler and the oil supply tank; one end of the low pressure ball valve is connected to the The air filter is connected, and the other end of the low pressure ball valve is connected with the cooler.

The present invention also provides a combined loading control method for a pump-valve compound-controlled cylinder force control and a valve-controlled cylinder position control, which is applied to the above-mentioned pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control combined loading device, comprising:

obtaining the load force of the first asymmetric cylinder detected by the force sensor, and the control device performs force load servo control on the first power device according to the load force of the first asymmetric cylinder;

The pressure signal of the rod chamber of the first asymmetric cylinder detected by the first pressure sensor is acquired, and the control device controls the first asymmetric cylinder according to the pressure signal of the rod chamber of the first asymmetric cylinder and the load force of the first asymmetric cylinder. A servo valve performs pressure servo control, adjusts the valve port size of the first servo valve, and replenishes or unloads oil to the rod cavity of the first asymmetric cylinder;

The pressure signal of the rodless chamber of the first asymmetric cylinder detected by the second pressure sensor is acquired, and the control device controls the first asymmetric cylinder according to the pressure signal of the rodless chamber of the first asymmetric cylinder and the load force of the first asymmetric cylinder. The second servo valve performs pressure servo control, adjusts the valve port size of the second servo valve, and replenishes or unloads oil to the rodless cavity of the first asymmetric cylinder;

The output position voltage signal of the second asymmetric cylinder detected by the displacement sensor is acquired, and the control device performs closed-loop displacement control on the third servo valve according to the output position voltage signal of the second asymmetric cylinder.

Compared with the prior art, the beneficial effects of the present invention are:

The invention proposes a combined loading control method of pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control. The output interference position of the valve-controlled cylinder position closed-loop system is loaded into the two-way quantitative pump and servo valve compound cylinder control system to test the high-precision output force control of the two-way quantitative pump and servo valve compound cylinder control system. At the same time, the bidirectional quantitative pump and the servo valve compound control cylinder system can be set as the loading system, and the output force of the bidirectional quantitative pump and the servo valve compound control cylinder loading system can be interfered and loaded into the valve control cylinder position closed-loop system for high-precision output position control. The advantage of improving the control accuracy while improving the response speed.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

Fig. 1 is the hydraulic principle diagram of the pump-valve compound control cylinder force control system in the embodiment of the present invention;

Fig. 2 is the principle block diagram of the two-way quantitative pump and the servo valve compound cylinder force control system in the embodiment of the present invention;

3 is a process diagram of a bidirectional quantitative pump and a servo valve composite cylinder force control system in an embodiment of the present invention;

4 is a control process diagram of a valve-controlled cylinder position closed-loop system in an embodiment of the present invention;

In the figure, 1.1 represents the first asymmetric cylinder, 1.2 represents the second asymmetric cylinder, 2 represents the booster tank, 3.1 represents the first one-way valve, 3.2 represents the second one-way valve, 3.3 represents the third one-way valve, 3.4 Indicates the fourth one-way valve, 4 indicates the charge pump, 5 indicates the charge motor, 6 indicates the first filter, 7.1 indicates the first gear pump, 7.2 indicates the second gear pump, 8.1 indicates the first servo motor, and 8.2 indicates the second Servo motor, 9.1 for the first servo valve, 9.2 for the second servo valve, 9.3 for the third servo valve, 10 for the cooler, 11 for the liquid level and temperature gauge, 12 for the air filter, 13 for the low pressure ball valve, 14 Represents the fuel supply tank, 15 represents the unloading check valve, 16.1 represents the first pressure sensor, 16.2 represents the second pressure sensor, 17 represents the displacement sensor, 18.1 represents the first stop valve, 18.2 represents the second stop valve, 18.3 represents the third Shut-off valve, 19 denotes a pressure gauge, 20 denotes a second filter, 21 denotes an accumulator, and 22 denotes a force sensor.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a combined loading device and control method for pump-valve compound cylinder control force control and valve control cylinder position control, which have the advantages of improving the control precision while improving the response speed.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example

As shown in Figure 1-4, a combined loading device for pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control includes: a pump-valve compound-controlled cylinder force control system, a valve-controlled cylinder position closed-loop system, a control device, and an oil supply Fuel tank 14.

The pump-valve compound cylinder force control system, namely the first part of the system, specifically includes: a first asymmetric cylinder 1.1, a first pressure sensor 16.1, a second pressure sensor 16.2, a first servo valve 9.1, a second servo valve 9.2, a first Power device, force sensor 22 and oil replenishing device; the first end of the first servo valve 9.1 is connected with the rod cavity of the first asymmetric cylinder 1.1, and the second end of the first servo valve 9.1 is connected with the fuel supply tank 14; the second servo valve 9.2 The first end is connected to the rodless cavity of the first asymmetric cylinder 1.1, and the second end of the second servo valve 9.2 is connected to the fuel supply tank 14; the first pressure sensor 16.1 is arranged in the rod cavity of the first asymmetric cylinder 1.1 and the first The pipeline between the servo valves 9.1 and close to the first asymmetric cylinder 1.1 has a rod cavity, and the first pressure sensor 16.1 is used to detect the pressure signal of the rod cavity of the first asymmetric cylinder 1.1; the second pressure sensor 16.2 is arranged in the first On the pipeline between the rodless cavity of the asymmetrical cylinder 1.1 and the second servo valve 9.2 and close to the rodless cavity of the first asymmetrical cylinder 1.1, the second pressure sensor 16.2 is used to detect the pressure signal of the rodless cavity of the first asymmetrical cylinder 1.1 ; The first output end of the first power device is connected with the rod cavity of the first asymmetric cylinder 1.1, and the second output end of the first power device is connected with the rodless cavity of the first asymmetric cylinder 1.1; the oil inlet end of the oil replenishing device Connected with the oil supply tank 14, the rod cavity of the first asymmetric cylinder 1.1 and the rodless cavity of the first asymmetric cylinder 1.1 are respectively connected to the oil outlet ends of the oil replenishing devices.

The valve-controlled cylinder position closed-loop system, that is, the second part of the system, specifically includes: a second asymmetric cylinder 1.2, a displacement sensor 17, a third servo valve 9.3 and a second power unit; the first asymmetric cylinder 1.1 has a rod cavity and a second The asymmetric cylinder 1.2 is connected with a rod cavity; the force sensor 22 is arranged on the connecting pipeline between the rod cavity of the first asymmetric cylinder 1.1 and the rod cavity of the second asymmetric cylinder 1.2 and is close to the rod cavity of the first asymmetric cylinder 1.1, and the force The sensor 22 is used to detect the load force of the first asymmetric cylinder 1.1; the displacement sensor 17 is arranged on the connecting pipeline between the rod cavity of the first asymmetric cylinder 1.1 and the rod cavity of the second asymmetric cylinder 1.2 and is close to the second asymmetric cylinder 1.2 There is a rod cavity, the displacement sensor 17 is used to detect the output position voltage signal of the second asymmetric cylinder 1.2; the first end of the third servo valve 9.3 is connected to the rodless cavity of the second asymmetric cylinder 1.2, the third servo valve 9.3 The second The end is connected with the rod cavity of the second asymmetric cylinder 1.2, and the third end of the third servo valve 9.3 is respectively connected with the output end of the second power device, the third end of the first servo valve 9.1 and the third end of the second servo valve 9.2. The fourth end of the third servo valve 9.3 is connected to the fuel supply tank 14; the input end of the second power device is connected to the fuel supply tank 14.

The force sensor 22, the first pressure sensor 16.1, the second pressure sensor 16.2 and the displacement sensor 17 are respectively electrically connected to the input end of the control device; the first power device, the first servo valve 9.1, the second servo valve 9.2 and the third servo valve 9.3 They are respectively electrically connected to the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.

The control device specifically includes: a first control module, a second control module, a third control module and a fourth control module.

The first control module specifically includes: an input force conversion module, a load force conversion module, a first controller (controller D in FIG. 3 ) and a servo controller; the first input end of the first controller is connected to the input force conversion module , the second input end of the first controller is connected with the load force conversion module, and the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor 22, and the load force conversion module is used to connect the force sensor 22 The detected load force is converted into a load force signal; the first controller is used for performing deviation processing between the input force signal converted by the input force conversion module and the load force signal to obtain a first deviation signal; the servo controller is used for controlling the first deviation signal according to the first deviation signal. powerplant.

The second control module specifically includes: a first pressure conversion module and a second controller (controller A in FIG. 3 ); the first input end of the second controller is connected to the first pressure sensor 16.1, and the first input end of the second controller is connected to the first pressure sensor 16.1. The two input ends are connected to the first pressure conversion module, and the control end of the second controller is connected to the first servo valve 9.1; the second controller is used to measure the pressure in the rod cavity of the first asymmetric cylinder 1.1 detected by the first pressure sensor 16.1 The second deviation signal is obtained by performing deviation processing between the signal and the first input pressure voltage signal converted by the first pressure conversion module, and the first servo valve 9.1 is controlled to adjust the valve port size according to the second deviation signal. The first input pressure voltage signal is 5 bar or (A ₁ P ₁ -F)/A ₂ . Among them, F represents the load force signal, P1 represents the pressure signal of the rodless cavity of the _first asymmetric cylinder 1.1, A1 represents the piston contact area of the rodless cavity of the _first asymmetrical cylinder 1.1, _A2 represents the first asymmetrical cylinder 1.1 has Rod cavity piston contact area.

The third control module specifically includes: a second pressure conversion module and a third controller (controller B in FIG. 3 ); the first input end of the third controller is connected to the second pressure sensor 16.2, and the first input end of the third controller is connected to the second pressure sensor 16.2. The second input end is connected to the second pressure conversion module, and the control end of the third controller is connected to the second servo valve 9.2; the third controller is used to measure the pressure of the rodless cavity of the first asymmetric cylinder 1.1 detected by the second pressure sensor 16.2 The signal and the second input pressure voltage signal converted by the second pressure conversion module are subjected to deviation processing to obtain a third deviation signal, and the second servo valve 9.2 is controlled to adjust the valve port size according to the third deviation signal. The second input pressure voltage signal is 5 bar or (F+A ₂ P ₂ )/A ₁ , and P ₂ represents the pressure signal of the rod chamber of the first asymmetric cylinder 1.1.

The fourth control module specifically includes: an input position conversion module and a fourth controller (controller C in FIG. 4 ); the first input end of the fourth controller is connected to the input position conversion module, and the second input terminal of the fourth controller is connected to the input position conversion module. The terminal is connected with the displacement sensor 17, and the control terminal of the fourth controller is connected with the third servo valve 9.3; The fourth deviation signal is obtained by the deviation processing, and the third servo valve 9.3 is controlled to adjust the valve port size according to the fourth deviation signal.

The oil replenishment device specifically includes: a booster oil tank 2, a first check valve 3.1, a second check valve 3.2, a third check valve 3.3, an oil discharge check valve 15, a first filter 6, a charge pump 4 and Charge motor 5. The booster oil tank 2 is respectively connected with the conducting end of the first check valve 3.1, the conducting end of the second check valve 3.2, the cut-off end of the third check valve 3.3 and the conducting end of the unloading check valve 15; The cut-off end of the valve 3.1 is connected with the rod cavity of the first asymmetric cylinder 1.1; the cut-off end of the second check valve 3.2 is connected with the rodless cavity of the first asymmetric cylinder 1.1; the cut-off end of the unloading check valve 15 is connected with the fuel supply tank 14 ; The input end of the charge pump 4 is connected with the fuel supply tank 14, the power supply end of the charge pump 4 is connected with the charge motor 5, the output end of the charge pump 4 is connected with the input end of the first filter 6, the first filter 6 The output end is connected to the conducting end of the third one-way valve 3.3.

The first power device specifically includes: a first gear pump 7.1 and a first servo motor 8.1; the power supply end of the first gear pump 7.1 is connected to the first servo motor 8.1; the first output end of the first gear pump 7.1 is connected to the first non The symmetrical cylinder 1.1 is connected with a rod cavity, and the second output end of the first gear pump 7.1 is connected with the rodless cavity of the first asymmetric cylinder 1.1.

The second power device specifically includes: a second gear pump 7.2 and a second servo motor 8.2; the power supply end of the second gear pump 7.2 is connected to the second servo motor 8.2; the output end of the second gear pump 7.2 is connected to the third servo valve 9.3 The third end is connected, and the input end of the second gear pump 7.2 is connected with the oil supply tank 14.

The second power unit further includes: a first shut-off valve 18.1, a second shut-off valve 18.2, a third shut-off valve 18.3, a second filter 20, a fourth check valve 3.4, a pressure gauge 19 and an accumulator 21. The output end of the second gear pump 7.2 is respectively connected to the conducting end of the fourth check valve 3.4 and one end of the third stop valve 18.3, and the other end of the third stop valve 18.3 is connected to the pressure gauge 19; the fourth check valve 3.4 is cut off The two ends are respectively connected with one end of the second filter 20 and one end of the second shut-off valve 18.2, the other end of the second shut-off valve 18.2 is connected with the accumulator 21; the other end of the second filter 20 is connected with the first shut-off valve 18.1. One end is connected, and the other end of the first shut-off valve 18.1 is connected with the third end of the third servo valve 9.3.

The pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control combined loading device also includes: a liquid level and temperature gauge 11 , a cooler 10 , a low-pressure ball valve 13 and an air filter 12 . One end of the cooler 10 is connected to the fuel supply tank 14, and the other end of the cooler 10 is respectively connected to the second end of the first servo valve 9.1, the second end of the second servo valve 9.2, the cut-off end of the unloading check valve 15, and the input of the charge pump 4. connected with the input end of the second gear pump 7.2; the liquid level and temperature gauge 11 is arranged on the pipeline between the cooler 10 and the oil supply tank 14; one end of the low pressure ball valve 13 is connected with the air filter 12, and the other end of the low pressure ball valve 13 is connected with The cooler 10 is connected.

Before starting, first turn on the charge motor 5 and charge pump 4, the charge motor 5 drives the charge pump 4 to fill the booster tank 2 with oil through the third check valve 3.3, and the opening pressure of the unload check valve 15 is 5bar , when the filling pressure of the booster tank 2 is greater than 5bar, the oil will be unloaded through the unloading check valve, so that the pressure in the booster tank 2 can be stabilized at 5bar. The function of the third one-way valve 3.3 is to prevent backflow of oil in the booster oil tank 2 .

During the work, in order to realize the output of load force, the first part of the system drives the bidirectional quantitative first gear pump 7.1 to run through the first servo motor 8.1 to supply oil to the whole system. As seen from Figure 1, when the first servo motor 8.1 rotates clockwise The right side of the two-way quantitative first gear pump 7.1 is the oil discharge port, and the left side is the oil return port. The oil flows out from the oil outlet on the right side of the two-way quantitative first gear pump 7.1, passes through the right pipeline, and reaches the rodless cavity of the first asymmetric cylinder 1.1. The oil in the rod cavity of the first asymmetric cylinder 1.1 passes through the left side. The side pipeline returns to the oil return port on the left side of the bidirectional gear pump 8 to form a closed-loop oil supply system. During this process, the pressure difference between the rodless cavity and the rod cavity of the first asymmetric cylinder 1.1 causes the system to output a corresponding positive direction. load force. When the first servo motor 8.1 rotates counterclockwise, the left side of the two-way quantitative first gear pump 7.1 is the oil discharge port, and the right side is the oil return port. The oil flows out from the left oil outlet of the two-way quantitative first gear pump 7.1, passes through the left pipeline, and reaches the rod cavity of the first asymmetric cylinder 1.1, and the oil in the rodless cavity of the first asymmetric cylinder 1.1 passes through the right The side pipeline returns to the oil return port on the right side of the bidirectional gear pump 7.1 to form a closed-loop oil supply system. During this process, the pressure difference between the rod cavity and the rodless cavity of the first asymmetric cylinder 1.1 causes the output of the first part of the system to correspond. Negative load force. In order to realize the displacement output of the second part of the system, it can be seen from FIG. 1 that the second asymmetric cylinder 1.2 needs a third servo valve 9.3 for steering in order to realize bidirectional movement. First of all, in order to realize the positive displacement output, the third servo valve 9.3 works in the left position, the servo motor 8.2 drives the one-way quantitative second gear pump 7.2 to run, and the oil is discharged through the one-way quantitative second gear pump 7.2 oil outlet, and the oil is discharged. Through the fourth check valve 3.4, the first stop valve 18.1 and the second filter 20, it reaches the third servo valve 9.3, and then reaches the rodless cavity of the second asymmetric cylinder 1.2. The oil in the rod cavity passes through the third servo valve. The valve 9.3 returns to the oil tank, during this process, the change in the oil flow rate formed inside the second asymmetric cylinder 1.2 causes the output of the asymmetric cylinder to be displaced in a positive direction. Secondly, in order to realize the negative displacement output, the third servo valve 9.3 works in the right position, the servo motor 8.2 drives the one-way quantitative second gear pump 7.2 to run, and the oil is discharged through the one-way quantitative second gear pump 7.2 oil outlet, and the oil is discharged. Through the fourth check valve 3.4 and the second filter 20, it reaches the third servo valve 9.3, and then reaches the rod cavity of the second asymmetric cylinder 1.2, and the oil in the rodless cavity returns to the fuel tank through the third servo valve 9.3, During this process, the change in the oil flow rate formed inside the second asymmetric cylinder 1.2 results in a negative displacement of the output of the asymmetric cylinder. During the whole process, since the first asymmetric cylinder 1.1 rodless cavity piston contact surface area A ₁ is greater than the rod cavity piston contact surface area A ₂ , when the first asymmetric cylinder 1.1 operates at a constant speed v, the first The flow rate of the rodless cavity of the asymmetric cylinder 1.1 is Q ₁ =v×A ₁ , the flow rate of the rod cavity of the first asymmetric cylinder 1.1 is Q ₂ =v×A ₂ , and the corresponding rodless cavity and the rod cavity have different flow rates. Symmetrical phenomenon, resulting in the flow rate of the rod cavity of the first asymmetric cylinder 1.1 returning to the left oil return port of the bidirectional quantitative gear pump through the left pipeline is smaller than the flow rate discharged from the oil discharge port of the bidirectional quantitative first gear pump 7.1 to the rodless cavity, of which , in order to supplement the flow of the left oil return port of the two-way quantitative first gear pump 7.1, the oil is discharged through the one-way quantitative second gear pump 7.2 of the second part of the system and the booster oil tank 2 of the first part of the system is connected to the left side of the system. Refuel on the road. On the contrary, when the first servo motor 8.1 rotates counterclockwise, the left side of the two-way quantitative first gear pump 7.1 is the oil discharge port, and the right side is the oil return port. The oil flows out from the oil discharge port and passes through the left pipeline to reach the first An asymmetric cylinder 1.1 has a rod cavity, and the oil in the rodless cavity returns to the oil return port through the right pipeline. Also, due to the flow asymmetry between the rodless cavity and the rod cavity of the first asymmetric cylinder 1.1, the flow rate discharged from the rod cavity of the first asymmetric cylinder 1.1 is smaller than the return flow rate of the rodless cavity, and the first asymmetric cylinder 1.1 has no flow rate. The excess flow of the rod cavity returning to the oil suction port on the right side of the bidirectional quantitative pump 7.1 is discharged to the oil tank through the second servo valve 9.2. The accumulator 21 in the second part of the system plays a role in regulating the system, the pressure gauge 19 observes the outlet pressure value of the one-way quantitative pump, and the fourth one-way valve 3.4 is used to prevent the backflow of oil in the pipeline.

The invention provides a combined loading device and a control method for force control and valve-controlled cylinder position control of a pump-valve composite cylinder, which are applied to a combined loading device for a pump-valve composite cylinder control and a valve-controlled cylinder position control, including:

The load force of the first asymmetric cylinder 1.1 detected by the force sensor 22 is acquired, and the control device performs force load servo control on the first power device according to the load force of the first asymmetric cylinder 1.1.

Acquire the pressure signal of the rod chamber of the first asymmetric cylinder 1.1 detected by the first pressure sensor 16.1, and the control device controls the first servo according to the pressure signal of the rod chamber of the first asymmetric cylinder 1.1 and the load force of the first asymmetric cylinder 1.1 The valve 9.1 performs pressure servo control, adjusts the valve port size of the first servo valve 9.1, and replenishes or unloads the rod cavity of the first asymmetric cylinder 1.1.

The pressure signal of the rodless cavity of the first asymmetric cylinder 1.1 detected by the second pressure sensor 16.2 is acquired, and the control device controls the second servo according to the pressure signal of the rodless cavity of the first asymmetric cylinder 1.1 and the load force of the first asymmetric cylinder 1.1 The valve 9.2 performs pressure servo control, adjusts the valve port size of the second servo valve 9.2, and performs oil filling or unloading on the rodless cavity of the first asymmetric cylinder 1.1.

The output position voltage signal of the second asymmetric cylinder 1.2 detected by the displacement sensor 17 is acquired, and the control device performs closed-loop displacement control on the third servo valve 9.3 according to the output position voltage signal of the second asymmetric cylinder 1.2.

Specifically, the force sensor 22 collects the force load signal of the first asymmetric cylinder 1.1 and feeds it back to the D controller to make a deviation from the input force signal. The deviation signal is input to the servo controller to control the first servo motor 8.1 to realize the force load servo control. The first pressure sensor 16.1 and the second pressure sensor 16.2 collect the real-time pressure values of the two chambers of the first asymmetric cylinder 1.1 and feed them back to the A controller and the B controller to make a deviation from the input pressure value. The deviation signal is input to the first servo valve 9.1, In the second servo valve 9.2, the drain oil of the first servo valve 9.1 and the second servo valve 9.2 is controlled to realize pressure servo control.

When the system sets the first part (ie the pump-valve compound cylinder control force control system) as the test system, and the second part (ie the valve-controlled cylinder position closed-loop system) as the loading system, as shown in Figure 2, the second part of the loading system outputs When the position changes, the first part of the measured system to achieve precise pressure servo control is mainly divided into four working conditions:

(1) When the first asymmetric cylinder 1.1 of the first part of the test system outputs the load force F>0 and the speed v>0

When the load force of the first asymmetric cylinder 1.1 of the first part of the test system is greater than zero, the rodless cavity of the first asymmetric cylinder 1.1 of this part is high pressure, and the two-way quantitative first gear pump 7.1 rotates clockwise. At this time, when the first part of the test system is subjected to The position disturbance of the loading system of the second part causes the instantaneous speed v of the first asymmetric cylinder 1.1 of the first part of the test system to be greater than zero (the first part of the test system of the first asymmetric cylinder 1.1 extends out), due to the response of the pump control circuit of the first part of the test system The speed is slower than that of the valve control circuit. In a short time, the pump control circuit has no time to respond. If there is no first servo valve 9.1 to quickly drain excess oil, the pressure in the rod cavity of the first asymmetric cylinder 1.1 will increase instantaneously. And without the second servo valve 9.2 to quickly replenish the oil, the pressure in the rodless chamber of the first asymmetric cylinder 1.1 decreases instantly, which results in the poor force control effect of the first part of the test system. Therefore, under the working conditions, the first and second The servo valve is controlled according to the pressure control method of FIG. 2 : the specific control process of the first and second servo valves is shown in FIG. 3 , the first pressure sensor 16.1 collects the pressure signal P ₂ of the rod cavity of the first asymmetric cylinder 1.1, The deviation signal is obtained by comparing with the input expected pressure of 5 bar of the first servo valve 9.1, and then the produced deviation signal is output to the first servo valve 9.1 through the A controller, and the size of the valve port is adjusted to the first asymmetric cylinder 1.1. The rod cavity is carried out. The oil is replenished or drained to realize the closed-loop control of the rodless cavity pressure of the first asymmetric cylinder 1.1. The second pressure sensor 16.2 collects the rodless chamber pressure signal P ₁ of the first asymmetric cylinder 1.1, and compares it with the desired pressure (F+A ₂ P ₂ )/A ₁ input by the second servo valve 9.2 to obtain a deviation signal, and the B controller will The deviation signal is output to the second servo valve 9.2, and the valve port size of the valve is adjusted to supply or drain oil to the rodless cavity of the first asymmetric cylinder 1.1 to realize closed-loop pressure control of the rodless cavity of the first asymmetric cylinder 1.1. Thereby, the pressure of the rod chamber of the first asymmetric cylinder 1.1 tends to be 5bar, and the pressure of the rodless chamber is the pump port pressure (F+A ₂ P ₂ )/A ₁ , so the first part of the test system is not affected by the second part of the loading system. Interfere with the effect of positional changes.

(2) When the load force of the asymmetric cylinder in the first part of the test system is F > 0 and the speed v < 0

Under this working condition, when the load force of the asymmetric cylinder of the first part of the test system is greater than zero, similarly, the rodless cavity of the first asymmetric cylinder 1.1 in the first part of the test system is high pressure, and the two-way quantitative first gear pump 7.1 rotates clockwise, At this time, when the first part of the test system is disturbed by the output position of the second part of the loading system, the instantaneous speed v of the first asymmetric cylinder 1.1 of the first part of the test system is less than zero (the first part of the test system The first asymmetric cylinder 1.1 retracts inward), due to the The response speed of the pump control circuit of part of the test system is slower than that of the valve control circuit. In a short time, the pump control circuit has no time to respond. If there is no second servo valve 9.2 to quickly drain excess oil, the first asymmetric cylinder 1.1 has no rod. The chamber pressure will rise instantaneously. And without the first servo valve 9.1 to quickly replenish the oil, the pressure in the rod cavity of the first asymmetric cylinder 1.1 drops instantly, which leads to the poor force control effect of the first part of the test system. The force control method of the servo valve is in accordance with Fig. 2: the specific control process is shown in Fig. 3, the pressure sensor 16.1 collects the pressure signal P ₂ of the rod chamber of the first asymmetric cylinder 1.1, and the input desired pressure of the first servo valve 9.1 The deviation signal is obtained by comparing at 5 bar, and the deviation signal is output to the first servo valve 9.1 through the A controller, and the valve port size of the valve is adjusted to replenish or drain the rod cavity of the first asymmetric cylinder 1.1, so as to realize the first non-symmetrical cylinder 1.1. Symmetrical cylinder 1.1 Rodless cavity pressure closed-loop control. The pressure sensor 16.2 collects the rodless chamber pressure signal P ₁ of the first asymmetric cylinder 1.1, and compares it with the desired pressure (F+A ₂ P ₂ )/A ₁ input from the second servo valve 9.2 to obtain a deviation signal, and the deviation signal is passed through the B controller. The output is output to the second servo valve 9.2, and the valve port size of the valve is adjusted to replenish or drain oil to the rodless cavity of the first asymmetric cylinder 1.1, so as to realize closed-loop pressure control of the rodless cavity of the first asymmetric cylinder 1.1. Thereby, the pressure of the rod chamber of the first asymmetric cylinder 1.1 tends to be 5bar, and the pressure of the rodless chamber is the pump port pressure (F+A ₂ P ₂ )/A ₁ , so the first part of the test system is not affected by the second part of the loading system. Interfere with the effect of positional changes.

To sum up, when the load force F>0 of the first asymmetric cylinder 1.1 of the first part of the test system, the input pressure signal of the second servo valve 9.2 is (F+A ₂ P ₂ )/A ₁ , and the first servo valve 9.1 The input pressure signal is 5bar.

(3) When the load force F < 0 and the speed v > 0 of the asymmetric cylinder of the first part of the test system

When the load force of the asymmetric cylinder of the first part of the test system is less than zero, the rod cavity of the first asymmetric cylinder 1.1 is high pressure, and the first servo motor 8.1 rotates counterclockwise. When the first part of the test system is subjected to the input position of the second part of the loading system When the interference causes the speed of the first asymmetric cylinder 1.1 to be greater than zero (that is, the asymmetric cylinder of the first part of the test system extends out), because the response speed of the pump control circuit of the first part of the test system is slower than that of the valve control circuit, the pump control circuit has no time to respond quickly. If the excess flow is not drained by the first servo valve 9.1, the pressure in the rod chamber of the first asymmetric cylinder 1.1 will rise instantaneously. And without the second servo valve 9.2 to replenish oil, the pressure in the rodless chamber of the first asymmetric cylinder 1.1 will drop instantaneously, which will result in a poor force control effect of the first part of the test system. Therefore, under this working condition, set its control The method is shown in Figure 2: its specific control process is shown in Figure ₃ , the first pressure sensor 16.1 collects the first asymmetric cylinder 1.1 has a rod chamber pressure signal P2, and the input desired pressure of the _first servo valve 9.1 (A1 The deviation signal is obtained by comparing P ₁ -F)/A ₂ , and the deviation signal is output to the first servo valve 9.1 through the A controller to realize closed-loop control of the rod chamber pressure of the first asymmetric cylinder 1.1. The second pressure sensor 16.2 collects the rodless chamber pressure signal P ₁ of the first asymmetric cylinder 1.1, compares it with the desired pressure 5 bar input from the second servo valve 9.2 to obtain a deviation signal, and outputs the deviation signal to the second servo valve 9.2 through the B controller , and adjust the size of the valve port to replenish or drain oil to the rodless cavity of the first asymmetric cylinder 1.1, so as to realize closed-loop pressure control of the rodless cavity of the first asymmetric cylinder 1.1. As a result, the pressure of the rod chamber of the first asymmetric cylinder 1.1 is (A ₁ P ₁ -F)/A ₂ , and the pressure of the rodless chamber tends to be 5 bar, so the first part of the test system is not disturbed by the output position of the second part of the loading system impact of change.

(4) When the load force F < 0 and the speed v < 0 of the asymmetric cylinder of the first part of the test system

When the load force of the asymmetric cylinder of the first part of the test system is less than zero, the rod cavity of the first asymmetric cylinder 1.1 of the system is high pressure, and the first servo motor 8.1 rotates counterclockwise. At this time, when the first part of the test system is subjected to the second part When the output position disturbance of the loading system causes the speed of the first asymmetric cylinder 1.1 of the first part of the test system to be less than zero (that is, the first asymmetric cylinder 1.1 of the first part of the test system is retracted), because the response speed of the pump control circuit of the first part of the test system is lower than that of the valve control circuit , in a short period of time, the pump control circuit cannot respond quickly. If there is no second servo valve 9.2 to drain the oil in time, the pressure in the rodless cavity of the first asymmetric cylinder 1.1 will increase instantaneously. And without the first servo valve 9.1 to replenish the oil in time, the pressure in the rod cavity of the first asymmetric cylinder 1.1 will drop instantly, which will result in poor force control effect of the first part of the test system. Therefore, under this working condition, the control method is set as shown in Figure 2: its specific control process is shown in Figure 3. The first pressure sensor 16.1 collects the first asymmetric cylinder 1.1 with a rod chamber pressure signal P ₂ , which is consistent with the first pressure signal P 2 . The input desired pressure (A ₁ P ₁ -F)/A ₂ of the servo valve 9.1 is compared to obtain a deviation signal, and the deviation signal is output to the first servo valve 9.1 through the A controller, so as to realize the rod cavity for the first asymmetric cylinder 1.1 Pressure closed loop control. The second pressure sensor 16.2 collects the rodless cavity pressure signal P ₁ of the second asymmetric cylinder 1.2, compares it with the desired pressure 5 bar input from the second servo valve 9.2 to obtain a deviation signal, and outputs the deviation signal to the second servo valve 9.2 through the B controller , and adjust the size of the valve port to replenish or drain oil to the rodless cavity of the first asymmetric cylinder 1.1, so as to realize closed-loop pressure control of the rodless cavity of the first asymmetric cylinder 1.1. As a result, the pressure of the rod chamber of the first asymmetric cylinder 1.1 is (A ₁ P ₁ -F)/A ₂ , and the pressure of the rodless chamber tends to be 5 bar, so the first part of the test system is not disturbed by the output position of the second part of the loading system Impact.

To sum up, when the load force F < 0 of the asymmetric cylinder of the first part of the test system, the input pressure signal of the first servo valve 9.1 of the system is (A ₁ P ₁ -F)/A ₂ , and the second servo valve 9.2 The input desired pressure signal is 5bar;

When the second part is used as the tested system, it mainly tests the position following control accuracy of this part of the system. The first part, as a loading system, provides the output force interference signal for the second part of the test system through a bidirectional quantitative pump and a servo valve compound control cylinder. Its specific high-precision position control method is shown in Figure 4: the second part of the test system displacement sensor 17 converts the displacement signal output by the second asymmetric cylinder 1.2 into a voltage signal and transmits it to the C controller to deviate from the input voltage signal, This deviation signal controls the working position and valve port size of the third servo valve 9.3 to realize position closed-loop control.

The principles and implementations of the present invention are described herein using specific examples. The descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; meanwhile, for those skilled in the art, according to the present invention There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (8)

1. a pump-valve composite control cylinder force control and valve-controlled cylinder position control combined loading device, is characterized in that, comprising: a pump-valve composite control cylinder force control system, a valve-controlled cylinder position closed-loop system, a control device and an oil supply tank; The pump-valve compound cylinder control force control system specifically includes: a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplement The first end of the first servo valve is connected with the rod cavity of the first asymmetric cylinder, the second end of the first servo valve is connected with the oil supply tank; the first end of the second servo valve is connected with the first end of the first servo valve. An asymmetric cylinder is connected with a rodless cavity, and the second end of the second servo valve is connected with the fuel supply tank; the first pressure sensor is arranged in the rod cavity of the first asymmetric cylinder and the first servo On the pipeline between the valves and close to the rod cavity of the first asymmetric cylinder, the first pressure sensor is used to detect the pressure signal of the rod cavity of the first asymmetric cylinder; the second pressure sensor is arranged at On the pipeline between the first asymmetric cylinder rodless cavity and the second servo valve and close to the first asymmetric cylinder rodless cavity, the second pressure sensor is used to detect the first asymmetrical The pressure signal of the rodless chamber of the cylinder; the first output end of the first power device is connected to the rod chamber of the first asymmetric cylinder, and the second output end of the first power device is connected to the first asymmetric cylinder. the rodless cavity of the cylinder is connected; the oil inlet end of the oil replenishing device is connected with the oil supply tank, the rod cavity of the first asymmetric cylinder and the rodless cavity of the first asymmetric cylinder are respectively connected with the oil replenishment The oil outlet connection of the device; The valve-controlled cylinder position closed-loop system specifically includes: a second asymmetric cylinder, a displacement sensor, a third servo valve and a second power device; the first asymmetric cylinder has a rod cavity and the second asymmetric cylinder has a rod cavity connection; the force sensor is arranged on the connecting pipeline between the rod cavity of the first asymmetric cylinder and the rod cavity of the second asymmetric cylinder and is close to the rod cavity of the first asymmetric cylinder, and the force sensor is used for Detecting the load force of the first asymmetric cylinder; the displacement sensor is arranged on the connecting pipeline between the rod cavity of the first asymmetric cylinder and the rod cavity of the second asymmetric cylinder and is close to the second asymmetric cylinder There is a rod cavity, the displacement sensor is used to detect the output position voltage signal of the second asymmetric cylinder; the first end of the third servo valve is connected with the rodless cavity of the second asymmetric cylinder, and the third servo valve The second end is connected with the rod cavity of the second asymmetric cylinder, the third end of the third servo valve is respectively connected with the output end of the second power device, the third end of the first servo valve and the second servo valve The third end of the valve is connected, the fourth end of the third servo valve is connected with the fuel supply tank; the input end of the second power device is connected with the fuel supply tank; The force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively electrically connected to the input end of the control device; the first power device, the first servo valve, the The second servo valve and the third servo valve are respectively electrically connected to the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control. 2. The pump-valve composite control cylinder force control and valve control cylinder position control combined loading device according to claim 1, wherein the control device specifically comprises: a first control module, a second control module, a third control module and a fourth control module; The first control module specifically includes: an input force conversion module, a load force conversion module, a first controller and a servo controller; the first input end of the first controller is connected to the input force conversion module, so The second input end of the first controller is connected with the load force conversion module, the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor, and the load force conversion module is connected with the force sensor. The load force conversion module is used to convert the load force detected by the force sensor into a load force signal; the first controller is used to perform deviation processing between the input force signal converted by the input force conversion module and the load force signal obtaining a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal; The second control module specifically includes: a first pressure conversion module and a second controller; the first input end of the second controller is connected to the first pressure sensor, and the second controller of the second controller is connected to the first pressure sensor. The input end is connected to the first pressure conversion module, and the control end of the second controller is connected to the first servo valve; the second controller is used to detect the first asymmetrical pressure detected by the first pressure sensor The pressure signal of the cylinder rod chamber and the first input pressure voltage signal converted by the first pressure conversion module are subjected to deviation processing to obtain a second deviation signal, and the first servo valve is controlled to adjust the valve port according to the second deviation signal. size; The third control module specifically includes: a second pressure conversion module and a third controller; the first input end of the third controller is connected to the second pressure sensor, and the second pressure sensor of the third controller The input end is connected to the second pressure conversion module, and the control end of the third controller is connected to the second servo valve; the third controller is used to detect the first asymmetrical value of the second pressure sensor The pressure signal of the rodless chamber of the cylinder and the second input pressure voltage signal converted by the second pressure conversion module are subjected to deviation processing to obtain a third deviation signal, and the second servo valve is controlled to adjust the valve port according to the third deviation signal. size; The fourth control module specifically includes: an input position conversion module and a fourth controller; the first input terminal of the fourth controller is connected to the input position conversion module, and the second input terminal of the fourth controller is connected to the input position conversion module. The terminal is connected to the displacement sensor, and the control terminal of the fourth controller is connected to the third servo valve; the fourth controller is used to convert the input position voltage signal converted by the input position conversion module with the The output position voltage signal detected by the displacement sensor is subjected to deviation processing to obtain a fourth deviation signal, and the third servo valve is controlled to adjust the valve port size according to the fourth deviation signal. 3. The pump-valve composite control cylinder force control and valve control cylinder position control combined loading device according to claim 2, characterized in that, The first input pressure voltage signal is 5 bar or (A ₁ P ₁ -F)/A ₂ ; The second input pressure voltage signal is 5 bar or (F+A ₂ P ₂ )/A ₁ ; Among them, F represents the load force signal, P1 represents the pressure signal of the rodless chamber of the _first asymmetrical cylinder, _P2 represents the pressure signal of the rodless chamber of the _first asymmetrical cylinder, and A1 represents the piston of the rodless chamber of the first asymmetrical cylinder Contact area, A ₂ represents the first asymmetric cylinder with rod cavity piston contact area. 4. The pump-valve composite cylinder force control and valve-controlled cylinder position control combined loading device according to claim 1, wherein the oil replenishing device specifically comprises: Booster oil tank, first check valve, second check valve, third check valve, unloading check valve, first filter, charge pump and charge motor; The booster oil tank is respectively connected with the conducting end of the first check valve, the conducting end of the second check valve, the cut-off end of the third check valve and the conducting end of the unloading check valve ; the cut-off end of the first one-way valve is connected to the rod cavity of the first asymmetric cylinder; the cut-off end of the second one-way valve is connected to the rodless cavity of the first asymmetric cylinder; The cut-off end of the valve is connected to the fuel supply tank; the input end of the fuel pump is connected to the fuel supply tank, the power supply end of the fuel pump is connected to the fuel motor, and the output end of the fuel pump is connected to the fuel pump. The input end of the first filter is connected, and the output end of the first filter is connected with the conducting end of the third one-way valve. 5. The pump-valve composite control cylinder force control and valve control cylinder position control combined loading device according to claim 4, characterized in that, The first power device specifically includes: a first gear pump and a first servo motor; the power supply end of the first gear pump is connected to the first servo motor; the first output end of the first gear pump is connected to the first servo motor. The first asymmetric cylinder is connected with a rod cavity, and the second output end of the first gear pump is connected with the rodless cavity of the first asymmetric cylinder; The second power device specifically includes: a second gear pump and a second servo motor; a power supply end of the second gear pump is connected to the second servo motor; an output end of the second gear pump is connected to the second servo motor The third end of the third servo valve is connected to the third end, and the input end of the second gear pump is connected to the oil supply tank. 6. The pump-valve compound cylinder control force control and valve control cylinder position control combined loading device according to claim 5, wherein the second power device further comprises: The first shut-off valve, the second shut-off valve, the third shut-off valve, the second filter, the fourth one-way valve, the pressure gauge and the accumulator; The output end of the second gear pump is respectively connected with the conducting end of the fourth check valve and one end of the third stop valve, and the other end of the third stop valve is connected with the pressure gauge; the The cut-off end of the fourth check valve is respectively connected with one end of the second filter and one end of the second cut-off valve, and the other end of the second cut-off valve is connected with the accumulator; the second filter The other end of the valve is connected with one end of the first shut-off valve, and the other end of the first shut-off valve is connected with the third end of the third servo valve. 7. The pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control combined loading device according to claim 5, wherein the pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control combined loading device, Also includes: Liquid level thermometer, cooler, low pressure ball valve and air filter; One end of the cooler is connected to the oil supply tank, and the other end of the cooler is respectively connected to the second end of the first servo valve, the second end of the second servo valve, and the cut-off end of the unloading check valve. , the input end of the charge pump and the input end of the second gear pump are connected; the liquid level and temperature gauge is arranged on the pipeline between the cooler and the oil supply tank; one end of the low pressure ball valve is connected to the The air filter is connected, and the other end of the low pressure ball valve is connected with the cooler. 8. A pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control combined loading control method, which is applied to the combined loading of the pump-valve compound-controlled cylinder force control and valve-controlled cylinder position control according to any one of claims 1-7 The device, characterized in that, includes: obtaining the load force of the first asymmetric cylinder detected by the force sensor, and the control device performs force load servo control on the first power device according to the load force of the first asymmetric cylinder; The pressure signal of the rod chamber of the first asymmetric cylinder detected by the first pressure sensor is acquired, and the control device controls the first asymmetric cylinder according to the pressure signal of the rod chamber of the first asymmetric cylinder and the load force of the first asymmetric cylinder. A servo valve performs pressure servo control, adjusts the valve port size of the first servo valve, and replenishes or unloads oil to the rod cavity of the first asymmetric cylinder; The pressure signal of the rodless chamber of the first asymmetric cylinder detected by the second pressure sensor is acquired, and the control device controls the first asymmetric cylinder according to the pressure signal of the rodless chamber of the first asymmetric cylinder and the load force of the first asymmetric cylinder. The second servo valve performs pressure servo control, adjusts the valve port size of the second servo valve, and replenishes or unloads oil to the rodless cavity of the first asymmetric cylinder; The output position voltage signal of the second asymmetric cylinder detected by the displacement sensor is acquired, and the control device performs closed-loop displacement control on the third servo valve according to the output position voltage signal of the second asymmetric cylinder.

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