CN115560117A - High-precision double-shaft linear electric valve servo control device and control method thereof - Google Patents

Abstract

The invention relates to a high-precision two-axis linear electric valve servo control device and a control method thereof, belonging to the technical field of servo control, and solves the problems that a hydraulic drive system occupies a large space and is difficult to realize multi-axis output in the prior art. The invention includes: a motion actuator, an engine valve body, a valve body connecting rod, and a servo system controller; the motion actuator can output linear displacement in four directions; the motion actuator includes an upper steering gear and a lower steering gear; The upper steering gear and the lower steering gear respectively drive the displacement of the engine valve body perpendicular to each other; there are four engine valve bodies, which are respectively connected to the four output displacement shaft ends of the motion actuator through valve body connecting rods, and the servo system The controller is used to control the motion actuator. The present invention realizes the horizontal cross linear displacement output of the electric valve by setting up and down symmetrical upper and lower steering gears, and at the same time realizes the integration and miniaturization of the overall structure.

Description

A high-precision two-axis linear electric valve servo control device and its control method

technical field

The invention relates to the technical field of servo control, in particular to a high-precision two-axis linear electric valve servo control device and a control method thereof.

Background technique

In the development of guidance actuators, there has been a technical trend in recent years to use motor servo systems to replace hydraulic servo systems. Compared with the hydraulic servo system, the main advantages of the motor servo system are small size, excellent dynamic performance, and no need for a hydraulic circulation system.

The existing linear servo mechanism is mainly in the form of an electric cylinder or a linear slide table. Most of the product structures provide torque for the motor, and the screw assembly converts the torque into a linear force. A linear potentiometer is used as a closed-loop control system formed by displacement feedback.

The main design idea of existing electric linear servo system products is the combination of various functional modules to meet the single-axis performance parameter index as the design goal, and the operating conditions are less considered for size and space factors, and there is no system layout level. Considering compact integration, most of the shapes are linear, and the volume space is also large. The advantage is that the force transmission environment is simple, and there is no influence of system stiffness, additional bending moment and other factors on the system movement. For example, the linear servo system commonly used in the field of automation equipment is mostly in the form of a stepping motor combined with a trapezoidal screw. There are relatively few requirements for the size and shape of the product, and in the force transmission environment, the main body of the screw and the nut are only affected by the axial force. effect.

In this context, under the conditions of engine valve control, multi-axis linear servo (horizontal cross axis) is required, and there are specific requirements for the size and shape of the product, so it is difficult to directly quote existing products.

According to the internal space requirements of the engine, an electric actuator is needed to replace the original hydraulic system, the output axis reciprocates and linearly moves, and the structural space layout needs to be compact, occupying as little space as possible, providing high thrust and high-precision positioning at the same time, It has good dynamic performance.

Contents of the invention

In view of the above analysis, the present invention aims to provide a high-precision two-axis linear electric valve servo control device and its control method to solve the problems that the existing hydraulic drive system occupies a large space and is difficult to achieve multi-axis output.

The purpose of the present invention is mainly achieved through the following technical solutions:

A high-precision two-axis linear electric valve servo control device, including: a motion actuator, a valve body connecting rod, and a servo system controller; the motion actuator can output linear displacements in four directions; the four motion actuators of the motion actuator The two output shaft ends are respectively connected to the four engine valve bodies through valve body connecting rods, and the servo system controller is used to control the motion direction and displacement outputted by the motion actuator.

Further, the four output displacement shaft ends of the motion actuator are respectively: a first shaft end, a second shaft end, a third shaft end and a fourth shaft end.

Further, the motion actuator includes an upper steering gear and a lower steering gear; the first shaft end and the second shaft end are driven by the upper steering gear for synchronous displacement; the third shaft end and the fourth shaft end are driven by the lower steering gear The machine drives the synchronous displacement.

Further, the first shaft end and the second shaft end are coaxial; the third shaft end and the fourth shaft end are coaxial; the axes of the first shaft end and the second shaft end are the same as the third shaft end Axes of the shaft end and the fourth shaft end are perpendicular to each other.

Further, the structures of the upper steering gear and the lower steering gear are the same.

Further, the lower steering gear includes: a servo motor, a gear assembly and a ball screw assembly.

Further, the ball screw assembly includes: a lead screw and a shaft-linked arm assembly; the servo motor transmits power to the lead screw through the gear assembly; the lead screw can drive the shaft when it rotates The connecting arm assembly linearly displaces; the two ends of the shaft connecting arm assembly are respectively connected to the two engine valve bodies through the valve body connecting rod.

Further, the gear assembly includes: a motor gear, a transition gear and a transmission gear; the motor gear is fixedly connected to the output end of the servo motor; the motor gear and the transmission gear are meshed through the transition gear transmission.

Further, the upper steering gear and the lower steering gear are perpendicular to each other.

A control method for a high-precision two-axis linear electric valve servo control device, using the above-mentioned high-precision two-axis linear electric valve servo control device for servo control;

Described control method comprises the following steps:

Step S1: Control the output speed of the servo motor of the motion actuator through the servo system controller;

Step S2: The servo motor transmits power to the lead screw through the gear assembly;

Step S3: the lead screw rotates, and at the same time drives the shaft end of the shaft-connecting-arm assembly to displace synchronously, thereby driving the engine valve body to displace;

Step S4: Feedback regulation.

The technical solution of the present invention can at least achieve one of the following effects:

1. The present invention relates to a high-precision two-axis linear electric valve servo control device, which has a valve control function, and can quickly and accurately control the movement of the valve to a designated position within a specified time after receiving an instruction signal from a host computer.

2. The high-precision two-axis linear electric valve servo control device involved in the present invention can realize the requirements of high precision and high dynamic response of the horizontal cross axis when controlling the engine valve. At the same time, through the rigidity design of the structure, the structural deformation error caused by the parallel shaft transmission is weakened, the bending moment borne by the screw drive part is reduced, and the highly integrated and compact structural layout is realized.

3. The high-precision two-axis linear electric valve servo control device of the present invention can realize boost valve control in all directions of the engine, and replace the hydraulic servo valve control system used in the original guidance execution system. While the performance index meets the requirements of the original system, the volume is greatly reduced, providing a huge optimization space for the internal space of the engine system.

In the present invention, the above technical solutions can also be combined with each other to realize more preferred combination solutions. Additional features and advantages of the invention will be set forth in the description which follows, and some of the advantages will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the matter particularly pointed out in the written description and appended drawings.

Description of drawings

The drawings are for the purpose of illustrating specific embodiments only and are not to be considered as limitations of the invention, and like reference numerals refer to like parts throughout the drawings.

Fig. 1 is a combination diagram of the high-precision two-axis linear electric valve servo control device and the engine block of the present invention;

Fig. 2 is a side view of the motion actuator of the high-precision two-axis linear electric valve servo control device of the present invention;

3 is a top view of the motion actuator of the high-precision two-axis linear electric valve servo control device of the present invention;

Fig. 4 is a structural schematic diagram of the lower steering gear of the motion actuator of the high-precision two-axis linear electric valve servo control device of the present invention;

Fig. 5 is a top view of the shaft-linked arm assembly of the lower steering gear in Fig. 4;

Fig. 6 is a sectional effect diagram of the A-A direction of the shaft-link arm assembly in Fig. 5;

Fig. 7 is a schematic diagram of the servo control of the present invention.

Reference signs:

1-motion actuator; 2-engine valve body; 3-valve body connecting rod; 4-servo system controller; 5-servo system base;

11-upper steering gear; 12-lower steering gear;

31-first shaft end; 32-second shaft end; 33-third shaft end; 34-fourth shaft end;

101-servo motor; 102-motor gear; 103-transition gear; 104-first bearing; 105-transmission gear; 106-lead screw; 107-second bearing; 108-rear bearing cover; ; 110-front bearing cover; 111-body;

1091-joint arm; 1092-ball nut; 1093-connecting pin; 1094-shaft arm groove; 1095-output shaft.

detailed description

The preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and together with the embodiments of the present invention are used to explain the principles of the present invention and are not intended to limit the scope of the present invention.

Example 1

A specific embodiment of the present invention discloses a high-precision two-axis linear electric valve servo control device, as shown in FIG. 1 , including: a motion actuator 1 , a valve body connecting rod 3 and a servo system controller 4 . The motion actuator 1 has four output shaft ends capable of outputting linear displacement in four directions; there are four engine valve bodies 2, which are respectively connected to the four output displacement shaft ends of the motion actuator 1 through the valve body connecting rod 3 Connect, and then drive the displacement of the engine valve body 2 through the motion actuator 1. Further, the servo system controller 4 controls the displacement direction and displacement output by the motion actuator 1 .

Specifically, the motion actuator 1 , the engine valve body 2 and the servo system controller 4 are all installed on the servo system base 5 ; the servo system base 5 is a disc-shaped structure, as shown in FIG. 1 .

As shown in Figure 1, the motion actuator 1 is fixedly installed in the middle of the servo system base 5, the engine valve body 2 is slidably installed on the servo system base 5, and a plurality of engine valve bodies 2 are evenly distributed in the circumferential direction of the motion actuator 1. Outer side: the engine valve body 2 is fixedly connected with the four output displacement shaft ends of the motion actuator 1 through the valve body connecting rod 3 .

In a specific embodiment of the present invention, the four output displacement shaft ends of the motion actuator 1 are respectively: a first shaft end 31 , a second shaft end 32 , a third shaft end 33 and a fourth shaft end 34 .

Further, as shown in FIG. 2 and FIG. 3 , the motion actuator 1 includes an upper steering gear 11 and a lower steering gear 12 .

Wherein, the first shaft end 31 and the second shaft end 32 are two ends of the output shaft of the upper steering gear 11 respectively, and the first shaft end 31 and the second shaft end 32 are driven by the upper steering gear 11 to move synchronously. The third shaft end 33 and the fourth shaft end 34 are the two ends of the output shaft of the lower steering gear 12 respectively;

Specifically, the first shaft end 31, the second shaft end 32, the third shaft end 33, and the fourth shaft end 34 are respectively connected to four engine valve bodies 2 through four valve body connecting rods 3, thereby being able to drive different engine valve bodies. Body 2 displacement.

Specifically, as shown in Fig. 2 and Fig. 3, the first shaft end 31 and the second shaft end 32 are coaxial; the third shaft end 33 and the fourth shaft end 34 are coaxial; the first The axes of the shaft end 31 and the second shaft end 32 are perpendicular to the axes of the third shaft end 33 and the fourth shaft end 34 .

In the present invention, the upper steering gear 11 and the lower steering gear 12 have the same structure. As shown in FIG. 2 and FIG. 3 , the lower steering gear 12 of the upper steering gear 11 is arranged up and down and perpendicular to each other.

In a specific embodiment of the present invention, the lower steering gear 12 includes: a servo motor 101 , a gear assembly and a ball screw assembly.

1) As shown in FIG. 4 , the gear assembly includes: a motor gear 102 , a transition gear 103 and a transmission gear 105 .

Specifically, the machine body 111 is the main bearing part of the lower steering gear 12 . The servo motor 101 is fixedly mounted on the machine body 111 ; the motor gear 102 is fixedly mounted on the output end of the servo motor 101 . The transition gear 103 is rotatably mounted on the machine body 111 through the first bearing 104 ; and the transition gear 103 meshes with the motor gear 102 . The transmission gear 105 is fixedly mounted on the end of the lead screw 106 in an interference fit manner.

The motor gear 102 is meshed with the transmission gear 105 through the transition gear 103 for transmission. That is, the transition gear 103 is disposed between the motor gear 102 and the transmission gear 105 , one side of the transition gear 103 meshes with the motor gear 102 , and the other side meshes with the transmission gear 105 . When the servo motor 101 outputs a rotating speed, it can drive the motor gear 102 to rotate, and the motor gear 102 meshes with the transition gear 103, and transmits power to the transmission gear 105 through the transition gear 103, driving the transmission gear 105 to rotate.

2) As shown in FIG. 4 , the ball screw assembly includes: a lead screw 106 and a shaft-connecting-arm assembly 109 .

Specifically, as shown in FIG. 4 , the lead screw 106 is rotatably mounted on the machine body 111 through the second bearing 107 . The transmission gear 105 is fixedly connected with the lead screw 106, and when the transmission gear 105 rotates, the lead screw 106 rotates synchronously.

Specifically, as shown in FIGS. 5 and 6 , the shaft-connected-arm assembly 109 includes: a connected arm 1091 , a ball nut 1092 , a connecting pin 1093 , a shaft-arm slot 1094 and an output shaft 1095 .

Wherein, the ball nut 1092 is sheathed and installed outside the lead screw 106; the lead screw 106 and the ball nut 1092 form a lead screw nut pair, and when the lead screw 106 rotates, the ball nut 1092 is displaced along the axis of the lead screw 106.

The connecting arm 1091 is sheathed on the outside of the ball nut 1092 and connected as a whole through the connecting pin 1093; when the ball nut 1092 is displaced, the connecting arm 1091 is displaced synchronously.

The output shaft 1095 is arranged on the side of the connecting arm 1091, and the two are integrated. The middle part of the output shaft 1095 is provided with a shaft arm slot 1094 , and both sides of the shaft arm slot 1094 are shaft ends of the output shaft 1095 . Specifically, the two shaft ends of the output shaft 1095 of the lower steering gear 12 are respectively: the third shaft end 33 and the fourth shaft end 34 . The upper steering gear 11 has the same structure as the lower steering gear 12 , and the two shaft ends of the output shaft 1095 of the upper steering gear 11 are: a first shaft end 31 and a second shaft end 32 .

During implementation, the servo motor 101 transmits power to the screw 106 through the gear assembly; the screw 106 rotates and then drives the shaft-connected arm assembly 109 to linearly displace; the shaft-connected arm assembly The shaft ends at both ends of the output shaft 1095 of 109 are respectively connected to the two engine valve bodies 2 through the valve body connecting rod 3; furthermore, the reciprocal movement of the shaft ends of the output shaft 1095 drives the displacement of the engine valve body 2, and finally the servo to the engine can be realized. control.

In a specific embodiment of the present invention, the bottom surface of the shaft arm groove 1094 is a plane.

After the upper steering gear 11 is combined with the lower steering gear 12, the output shaft 1095 of the upper steering gear 11 and the output shaft 1095 of the lower steering gear 12 are perpendicular to each other; and the two output shafts 1095 of the upper steering gear 11 and the lower steering gear 12 The bottom surfaces of the two shaft arm slots 1094 are attached. Since the two output shafts 1095 are perpendicular to each other and the shaft arm grooves 1094 on the two output shafts 1095 fit together, the two output shafts 1095 on the upper steering gear 11 and the lower steering gear 12 cannot rotate relative to each other and can only slide relative to each other. ; The output shaft 1095 can only realize the displacement movement along its own axis direction.

Further, as shown in FIG. 6 , the depth of the shaft arm groove 1094 is the same as the radius of the output shaft 1095 . Since the bottom surfaces of the two shaft arm grooves 1094 fit together, the axes of the two output shafts 1095 on the upper steering gear 11 and the lower steering gear 12 are coplanar, that is, the first shaft end 31, the second shaft end 32, the third shaft end The axes of the shaft end 33 and the fourth shaft end 34 are located on the same plane, as shown in FIG. 3 .

In the present invention, due to the mutual limiting effect of the two shaft-arm grooves 1094 on the two shaft-connected arm assemblies 109 of the motion actuator 1, the shaft-connected arm assembly 109 cannot rotate relative to the lead screw 106, and the shaft-connected arm assembly The output shaft 1095 of the component 109 can only fit the shaft arm groove 1094 to slide.

Specifically, the output shaft 1095 on the upper steering gear 11 slides along the shaft arm slot 1094 of the output shaft 1095 on the lower steering gear 12 , and the displacement stroke is the length of the shaft arm slot 1094 . The motion of the output shaft 1095 of the lower steering gear 12 is the same.

In a specific embodiment of the present invention, in order to ensure the smooth operation of the motion actuator 1 and avoid the influence of the external environment on the rotation of the gear assembly or the lead screw 106, a front bearing cover 110 is provided outside the first bearing 104; The outer side of the second bearing 107 is provided with a rear bearing cover 108; the front bearing cover 110, the rear bearing cover 108 and the body 111 are fixedly connected by screws for realizing the protection and sealing of the motion actuator 1.

Further, the first bearing 104 is a deep groove ball bearing, and the second bearing 107 is an angular contact ball bearing; the bearings provide fixed support for the transition gear 103 and the lead screw 106 and reduce friction caused by rotation. Bearing caps provide fixed support for angular contact ball bearings. Elastic washers are arranged between the rear bearing cover 108 , the front bearing cover 110 and the body 111 .

Further, displacement sensors are provided at the four engine valve bodies 2 for monitoring the displacement of the engine valve bodies 2 . The servo system controller 4 is used to control the rotation speed and start-stop time of the servo motor 101 on the one hand, and on the other hand, it can receive the position information of the engine valve body 2 monitored by the displacement sensor, and then regulate the action of the servo motor 101 according to the feedback result .

During implementation, the working principle of the electric servo system of the present invention is as shown in Figure 7:

The servo motor 101 of the present invention adopts a DC brushless motor; the ball screw pair and the spur gear pair are used as a mechanical conversion device, and the LVDT servo control mode is adopted to transmit the output speed of the DC brushless motor to the ball screw pair through the spur gear pair , the ball screw pair converts the rotary motion into linear motion and transmits it to the shaft-link arm assembly 109, and outputs it through the shaft end of the shaft-link arm assembly 109, and drives the engine valve body 2 to linearly displace through the valve body connecting rod 3.

Specifically, after electrification, the servo motor 101 outputs rotational motion, drives the motor gear 102 to rotate, and the motor gear 102 transmits the rotational motion to the transmission gear 105 through the transition gear 103, and the transmission gear 105 drives the screw 106 of the ball screw assembly to rotate, and the balls The screw assembly converts the rotational motion into a linear motion, and finally performs a linear output motion through the output shaft 1095 rigidly connected with the ball nut 1092 , and then drives the engine valve body 2 to displace through the valve body connecting rod 3 . Finally, the forward and reverse rotation of the servo motor 101 is controlled by the servo system controller 4, so that the motion actuator 1 can output two reciprocating linear motions in directions perpendicular to each other.

When the electric servo system is working normally, the electric servo system controller receives the displacement position command given by the host computer, the servo motor 101 drives the gear pair to rotate, and at the same time, the servo system controller 4 collects the actual displacement position in real time to ensure that the output shaft 1095 is in a certain position. The servo system controller 4 adopts a high-speed PWM speed regulation mode to approach the given position with a certain accuracy within the response time, and realizes the control of the average value of the output voltage by adjusting the pulse width of the PWM, so as to achieve the goal of controlling the electric current of the servo motor 101. The pivot voltage is used to realize the speed regulation of the electric servo system.

Example 2

A specific embodiment of the present invention provides a control method for a high-precision two-axis linear electric valve servo control device, using the high-precision two-axis linear electric valve servo control device described in Embodiment 1 to perform servo control on the engine valve body 2 control.

Described control method comprises the following steps:

Step S1: Control the output speed of the servo motor 101 of the motion actuator 1 through the servo system controller 4;

Step S2: The servo motor 101 transmits power to the lead screw 106 through the gear assembly;

Step S3: The lead screw 106 rotates and simultaneously drives the shaft end of the shaft-link arm assembly 109 to displace synchronously, thereby driving the engine valve body 2 to displace.

In the step S1, the servo system controller 4 receives the displacement position command given by the host computer, and then determines the output direction and the number of output turns of the two servo motors 101 of the upper steering gear 11 and the lower steering gear 12.

Specifically, according to the quantity and displacement of the engine valve bodies 2 whose positions need to be adjusted, the direction and magnitude of the rotation angle displacement output by the servo motor 101 in the upper steering gear 11 and/or the lower steering gear 12 are determined.

Specifically, according to the transmission ratio of the gear assembly, the number of rotations of the lead screw 106 corresponding to one rotation of the servo motor 101 can be calculated, and then the displacement of the output shaft 1095 can be calculated according to specific parameters of the ball screw pair.

In the step S2, after the servo motor 101 outputs the rotary motion, it can drive the motor gear 102 to rotate, the motor gear 102 meshes with the transition gear 103, and can drive the transition gear 103 to rotate; the transition gear 103 meshes with the transmission gear 105, and then can drive the transmission The gear 105 rotates. The lead screw 106 is fixedly connected with the transmission gear 105, and when the transmission gear 105 rotates, the lead screw 106 also rotates synchronously.

In the step S3, when the lead screw 106 rotates, the ball nut 1092 can be driven to linearly displace along the axial direction of the lead screw 106; the ball nut 1092 and the connecting arm 1091 are fixed as one by the connecting pin 1093, and the connecting arm 1091 and the output shaft 1095 are Integral structure; when the ball nut 1092 linearly displaces along the axial direction of the lead screw 106, the output shaft 1095 linearly displaces synchronously.

The output shaft 1095 is fixedly connected with the engine valve body 2 through the valve body connecting rod 3 , so as to drive the engine valve body 2 to linearly displace.

Specifically, by controlling the displacement of different output shafts 1095, different engine valve bodies 2 can be driven to displace.

Further, the control method further includes: Step S4: feedback adjustment.

Specifically, the feedback adjustment process of step S4 is:

Step S41: When there is an error between the actual displacement position of the engine valve body 2 and the required displacement position, the servo system controller 4 generates a PWM wave modulation signal and a signal for controlling the forward and reverse rotation of the servo motor 101 .

Specifically, four displacement sensors (not shown) are nested inside the servo system installation base, and the displacement sensors are LVDT sensors; the displacements and displacement directions of the four engine valve bodies 2 are monitored respectively by the four displacement sensors.

Step S42: After the PWM signal is amplified by power, it drives the servo motor 101 to rotate; the servo motor 101 outputs forward/reverse rotation according to the forward and reverse signals generated by the servo system controller 4 .

Step S43: The torque output by the servo motor 101 is decelerated and transmitted through the gear assembly and the ball screw assembly, driving the output shaft 1095 to move; specifically, when the position error is positive, the servo system controller 4 gives a signal to make the servo motor 101 rotate forward , the output shaft 1095 moves in the positive direction; when the position error is negative, the servo system controller 4 gives a signal to reverse the servo motor 101, the output shaft moves in the negative direction, and the output shaft 1095 moves in the opposite direction; thereby continuously adjusting position, forming a position closed-loop control system.

Among them, PWM is pulse width modulation, which is a pulse waveform with variable duty cycle.

Specifically, the forward direction and the reverse direction involved in step S43 do not refer to specific directions, but refer to the same direction as the preset motion direction as the forward direction, and the direction opposite to the preset motion direction as the reverse direction; position If the error is positive, it means that the displacement of the output shaft 1095 is less than the preset displacement. At this time, it moves forward until the actual displacement is equal to the preset displacement; when the position error is negative, it means that the actual displacement of the output shaft 1095 is greater than the preset displacement. Set the displacement, at this time reverse movement until the actual displacement is the same as the preset displacement.

Compared with the prior art, compared with the prior art, the technical solution provided by this embodiment has at least one of the following beneficial effects:

1. The system layout of the high-precision two-axis linear electric valve servo control device of the present invention is compact, occupies a small space, and can adapt to servo-driven operations in a space-limited environment.

2. The high-precision two-axis linear electric valve servo control device of the present invention is combined with the upper and lower two-part servo, that is, the upper steering gear 11 and the lower steering gear 12 are stacked up and down, and the output shafts 1095 of the two are perpendicular to each other. The linear servo system forming a horizontal cross axis can output linear displacements in four directions in the horizontal direction, and the included angle between the four displacement directions is 90°, thereby driving the linear displacement of four circumferentially uniform engine valve bodies 2 .

3. The high-precision two-axis linear electric valve servo control device of the present invention arranges the output LVDT sensor inside the mechanism to reduce the occupied space volume.

4. The connecting arm 1091, the ball nut 1092, the connecting pin 1093 and the output shaft 1095 of the high-precision two-axis linear electric valve servo control device of the present invention are combined to form a special-shaped one piece, which improves the transmission rigidity, and uses two connecting pins 1093 The ball nut 1092 is connected, and the moment arm of equal length is used to reduce the bending moment borne by the ball nut and improve the structural strength.

5. The high-precision two-axis linear electric valve servo control device and control method of the present invention, through the reciprocating high-precision linear motion of the output shaft 1095 driven by the servo motor 101, after receiving the command signal from the host computer, cooperate with the ignition of the engine, and at the same time can Quickly and accurately control the movement of the engine valve body 2 to a designated position within a specified time.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention.

Claims (10)

1. The utility model provides a high accuracy biax straight line electric valve servo control device which characterized in that includes: the motion actuator (1), the valve body connecting rod (3) and the servo system controller (4); the motion actuating mechanism (1) can output linear displacement in four directions; the four output shaft ends of the motion executing mechanism (1) are respectively connected with four engine valve bodies (2) through valve body connecting rods (3), and the servo system controller (4) is used for controlling the motion direction and the displacement output by the motion executing mechanism (1).

2. A high-precision double-shaft linear electric valve servo control device according to claim 1, wherein the four output displacement shaft ends of the motion actuator (1) are respectively: a first shaft end (31), a second shaft end (32), a third shaft end (33) and a fourth shaft end (34).

3. The high-precision double-shaft linear electric valve servo control device according to claim 2, wherein the motion actuator (1) comprises an upper steering engine (11) and a lower steering engine (12); the first shaft end (31) and the second shaft end (32) are driven to synchronously displace through the upper steering engine (11); and the third shaft end (33) and the fourth shaft end (34) are driven to synchronously displace through the lower steering engine (12).

4. A high precision dual axis linear electro-valve servo control device as claimed in claim 3, wherein the first axis end (31) and the second axis end (32) are coaxial; the third shaft end (33) and the fourth shaft end (34) are coaxial.

5. A high accuracy dual axis linear electro-valve servo control device as claimed in claim 4 wherein the axes of the first and second axial ends (31, 32) and the axes of the third and fourth axial ends (33, 34) are perpendicular to each other.

6. A high-precision double-shaft linear electric valve servo control device according to claim 5, characterized in that the upper steering engine (11) and the lower steering engine (12) are identical in structure.

7. A high precision dual axis linear electro-valve servo control device as claimed in claim 5 or 6, wherein the lower steering engine (12) comprises: servo motor (101), gear assembly and ball screw subassembly.

8. A high accuracy dual axis linear electro-valve servo control as claimed in claim 7 wherein said ball screw assembly comprises: a lead screw (106) and a shaft linkage arm assembly (109).

9. A high-precision double-shaft linear electric valve servo control device according to any one of claims 3 to 8, characterized in that the upper steering engine (11) and the lower steering engine (12) are perpendicular to each other.

10. A control method of a high-precision biaxial linear electric valve servo control device, which is characterized in that the high-precision biaxial linear electric valve servo control device of any one of claims 1 to 9 is adopted for servo control; the control method comprises the following steps:

step S1: the output rotating speed of a servo motor (101) of the motion actuating mechanism (1) is controlled through a servo system controller (4);

step S2: the servo motor (101) transmits power to the lead screw (106) through a gear assembly;

and step S3: the screw rod (106) rotates to drive the shaft end of the shaft connecting arm assembly (109) to synchronously displace, and then the engine valve body (2) is driven to displace.

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