CN111306118A - Active flow distribution type electromagnetic direct-drive hydrostatic actuating system - Google Patents

Abstract

The invention relates to an active flow distribution electromagnetic direct drive hydrostatic actuation system, comprising a linear motor, a plunger pump, an active control valve group, a hydraulic cylinder, a displacement sensor and a controller, and is characterized in that a linear motor is used to directly drive a column At the same time, the volume of the working chamber at both ends of the piston of the plunger pump is changed, combined with the opening and closing of the high-speed switch valve in the active control valve group, the two-way transmission of the hydraulic oil of the plunger pump is realized, so as to realize the two-way movement of the two pistons of the hydraulic cylinder; the controller The displacement of the hydraulic cylinder and the linear motor is collected by the displacement sensor, and the linear motor and the active control valve group are controlled in real time: by controlling the movement frequency and amplitude of the linear motor, the hydraulic oil flow in the system is controlled, and the opening and closing phase combination of the active control valve group is controlled. The flow direction of the hydraulic oil in the control system is controlled to control the movement of the hydraulic cylinder; the invention combines the technical advantages of the electric control direct drive and the pump control direct drive, and has the advantages of simple structure, high efficiency and good dynamic performance, and has great prospects.

Description

An active flow distribution electromagnetic direct drive hydrostatic actuation system

technical field

The invention relates to an active flow distribution electromagnetic direct-drive hydrostatic actuation system, which belongs to the technical field of electro-hydraulic servo control.

Background technique

Electro Hydrostatic Actuator (EHA) is a volume control system composed of electric motors, pumps, actuators, etc. It is a highly integrated local hydraulic drive system. Different from the traditional hydraulic system, it controls the drive unit through electrical signals, directly drives the pump, controls the pressure and flow output by the pump, and realizes precise control of the displacement of the drive element. Therefore, the electro-hydrostatic actuation system not only has the advantages of high dynamic stability and fast response speed of the traditional hydraulic system, but also effectively reduces the volume and mass, realizes modularization and distribution, and improves the reliability and availability of the drive system. Maintainability is widely used in industries such as aviation, aerospace, robotics, automobiles and other fields.

The electro-hydrostatic actuation system mostly adopts the combination of rotary motor and hydraulic pump, among which plunger pump, gear pump and rotary motor technology are relatively mature. But it has some problems of its own (reliability and longevity, system dynamics, and redundancy configuration difficulties). Jiao Zongxia and other scholars proposed an electro-hydrostatic actuation system using a linear motor as the drive unit. Compared with the electro-hydrostatic actuation system using the rotary motor, the structure is simpler because there is no need for a motion conversion mechanism, and the linear motor has a faster response speed and higher control accuracy.

At this stage, the electro-hydrostatic actuation system mostly adopts the valve-controlled actuation system, which has the advantages of fast response speed and high control accuracy, but the power loss is large; the non-direct-drive pump-controlled or rotary motor pump-controlled hydrostatic actuation system works High efficiency, but the motor response speed is slow, the structure is complex, the rotational inertia is large, and the production cost of the motor that meets the pressure control accuracy is high. The direct drive pump control is to solve the high energy consumption of the valve-controlled hydrostatic actuation system. An effective way to solve the difficulties of low dynamic performance of the actuating system.

The invention proposes an active flow distribution electromagnetic direct drive hydrostatic actuation system, which combines the technical advantages of electronically controlled direct drive and pump controlled direct drive, and adopts a high power density moving coil linear motor to directly drive the hydraulic pump piston for reciprocating motion. , without the need for motion conversion mechanism, the power transmission route is shortened, the work efficiency is effectively improved, and the energy saving effect is good; with the active one-way valve of the high-response energy-saving electromagnet, the efficient output flow size and direction control are realized. Under the control of the flow distribution, the two cavities of the piston realize oil suction and discharge respectively during the two-way movement, which effectively improves the power density; the action of the asymmetric hydraulic cylinder is controlled by the linear motor, and the response is faster and the dynamic performance is good.

SUMMARY OF THE INVENTION

The purpose of designing an active flow distribution electromagnetic direct drive hydrostatic actuation system is to integrate the technical advantages of electronically controlled direct drive and pump controlled direct drive, and use a high power density moving coil linear motor to directly drive the hydraulic pump piston for reciprocating motion without the need for The motion conversion mechanism and the power transmission route are shortened, which effectively improves the work efficiency and has a good energy saving effect; cooperates with the active one-way valve of the high-response energy-saving electromagnet to achieve efficient output flow size and direction control, and the flow distribution in the one-way valve group Under the control, during the bidirectional movement of the piston, the two cavities realize oil suction and discharge respectively, which effectively improves the power density; the action of the asymmetric hydraulic cylinder is controlled by the linear motor, and the response is faster and the dynamic performance is good.

An active flow distribution electromagnetic direct drive hydrostatic actuation system of the present invention comprises a linear motor (1), a plunger pump (2), an active check valve control valve group (3), an accumulator (4), an overflow Flow valve (5), hydraulic cylinder (6), hydraulic cylinder displacement sensor (7), controller (8) and linear motor displacement sensor (9). The linear motor (1) the mover directly drives the piston of the plunger pump (2), so that the volumes of the two working chambers of the plunger pump (2) change simultaneously and alternately increase and shrink. The two active check valves in the direction valve control valve group (3) are respectively connected with the two cavities of the hydraulic cylinder (6), and the accumulator (4) is a low-pressure accumulator, which is respectively connected to the hydraulic cylinder ( 6) are connected; the inlet and outlet of the relief valve (5) are respectively connected with the two chambers of the hydraulic cylinder (6), and the pipelines connected to the inlets of the two relief valves (6) are different; the active check valve controls the valve group The active check valve in (3) is a normally closed high-speed switching solenoid valve. During the reciprocating motion of the piston of the plunger pump (2), only one of the active check valves connected to the same cavity of the hydraulic cylinder (6) is open. state, and only one of the active check valves connected to the same working chamber of the plunger pump (2) is in an open state, that is, a continuous one-way fluid output is generated, and the piston of the hydraulic cylinder (6) moves in one direction; ) When the piston moves in the reverse direction, the opening and closing phases of the two active check valves connected to the same working chamber of the plunger pump (2) are exchanged.

The active flow distribution electromagnetic direct drive hydrostatic actuation system is characterized in that: the linear motor (1) adopts a Halbach permanent magnet array to improve the air gap magnetic density, and the linear motor (1) has a moving coil type or moving magnet type mover. .

The active flow distribution electromagnetic direct drive hydrostatic actuation system is characterized in that: the controller (8) detects the hydraulic cylinder (6) and the linear motor respectively through the hydraulic cylinder displacement sensor (7) and the linear motor displacement sensor (9). (1) Output displacement, and output linear motor (1) control signal and active check valve control valve group (3) control signal.

The active flow distribution electromagnetic direct drive hydrostatic actuation system is characterized in that the control method comprises the following steps:

The controller (8) of S1 controls the cable to input electrical energy to the linear motor (1) and the active check valve control valve group (3), the linear motor (1) moves the mover, and the active check valve controls the valve group (3) to switch To the forward position (the linear motor moves forward, the active check valves 3.2 and 3.3 are opened; the linear motor moves in the reverse direction, and the active check valves 3.1 and 3.4 are opened);

S2 The mover of the linear motor (1) directly drives the piston of the plunger pump (2) to reciprocate, and the plunger pump sucks the hydraulic oil on one side of the hydraulic cylinder (6) and pumps it into the other side of the hydraulic cylinder (6). side, the piston rod of the hydraulic cylinder (6) moves forward;

S3 The controller (8) detects the working condition of the linear motor (1) according to the displacement sensor (9) of the linear motor, and controls the displacement and the displacement of the piston rod of the hydraulic cylinder (7) by controlling the motion frequency and amplitude of the linear motor (1). speed;

S4 The active one-way valve control valve group (3) is switched to the reverse position (the opening and closing phases of the two active one-way valves connected to the same working chamber of the plunger pump (2) are exchanged; Check valves 3.1 and 3.4 are opened; active check valves 3.2 and 3.3 are opened when the linear motor moves in the opposite direction); the piston rod of the hydraulic cylinder (7) moves in the opposite direction.

The present invention is an active flow distribution electromagnetic direct drive hydrostatic actuation system. The controller transmits energy through cables, the linear motor drives the plunger pump to move, and the linear motor and the active check valve control valve group control the movement of the asymmetric hydraulic cylinder. Action, the sensor detects the output displacement of the linear motor and the asymmetric hydraulic cylinder, generates a feedback signal and feeds it back to the controller, forming a closed-loop control.

An active flow distribution electromagnetic direct-drive hydrostatic actuation system of the present invention adopts a high-power-density moving-coil linear motor to directly drive the piston of a hydraulic pump to perform reciprocating motion, does not require a motion conversion mechanism, shortens the power transmission route, has a simple structure, and is responsive. It has the advantages of rapidity, high work efficiency and good energy saving effect.

An active flow distribution electromagnetic direct drive hydrostatic actuation system of the present invention uses an active check valve with a high-response and energy-saving electromagnet to achieve efficient output flow size and direction control. Under the flow distribution control of the check valve group, During the two-way movement of the piston, the two chambers realize oil suction and discharge respectively, which effectively improves the power density.

The active flow distribution electromagnetic direct drive hydrostatic actuation system of the present invention integrates the technical advantages of electric control direct drive and pump control direct drive, and has the advantages of simple structure, high efficiency, good dynamic performance, etc. After being put into industrial application, it will be bring huge economic benefits.

Description of drawings

Fig. 1 shows the linear motor of an active flow distribution electromagnetic direct drive hydrostatic actuation system moving to the right according to a specific embodiment of the present invention, the first active one-way valve and the fourth active one-way valve are opened, and the piston rod of the asymmetric hydraulic cylinder is positive in the direction of fluid flow during movement.

FIG. 2 is a flow direction of a hydraulic cylinder when a piston rod of a hydraulic cylinder of an active distribution type electromagnetic direct drive hydrostatic actuation system according to a specific embodiment of the present invention moves forward.

3 is a flow direction of a hydraulic cylinder when a piston rod of a hydraulic cylinder of an active distribution type electromagnetic direct drive hydrostatic actuation system according to a specific embodiment of the present invention moves in the opposite direction.

FIG. 4 is a structural diagram of an active flow distribution electromagnetic direct drive hydrostatic actuation system according to a specific embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 4, an active flow distribution electromagnetic direct drive hydrostatic actuation system includes a linear motor (1), a plunger pump (2), an active check valve control valve group (3), and an accumulator (4), relief valve (5), hydraulic cylinder (6), hydraulic cylinder displacement sensor (7), controller (8) and linear motor displacement sensor (9). The linear motor (1) the mover directly drives the piston of the plunger pump (2), so that the volumes of the two working chambers of the plunger pump (2) change simultaneously and alternately increase and shrink. The two active check valves in the direction valve control valve group (3) are respectively connected with the two cavities of the hydraulic cylinder (6), and the accumulator (4) is a low-pressure accumulator, which is respectively connected to the hydraulic cylinder ( 6) are connected; the inlet and outlet of the relief valve (5) are respectively connected with the two chambers of the hydraulic cylinder (6), and the pipelines connected to the inlets of the two relief valves (6) are different; the active check valve controls the valve group The active check valve in (3) is a normally closed high-speed switching solenoid valve. During the reciprocating motion of the piston of the plunger pump (2), only one of the active check valves connected to the same cavity of the hydraulic cylinder (6) is open. state, and only one of the active check valves connected to the same working chamber of the plunger pump (2) is in an open state, that is, a continuous one-way fluid output is generated, and the piston of the hydraulic cylinder (6) moves in one direction; ) When the piston moves in the reverse direction, the opening settings of the two active check valves connected to the same working chamber of the plunger pump (2) are exchanged.

The linear motor (1) adopts a Halbach permanent magnet array to improve the air gap magnetic density, and the mover of the linear motor (1) is a moving coil type or a moving magnet type.

The controller (8) detects the output displacement of the hydraulic cylinder (6) and the linear motor (1) respectively through the hydraulic cylinder displacement sensor (7) and the linear motor displacement sensor (9), and outputs the control signal of the linear motor (1) and the active one-way Valve control valve block (3) control signal.

The control method of the active distribution electromagnetic direct drive hydrostatic actuation system includes the following steps:

The controller (8) of S1 controls the cable to input electrical energy to the linear motor (1) and the active check valve control valve group (3), the linear motor (1) moves the mover, and the active check valve controls the valve group (3) to switch To the forward position (the linear motor moves forward, the active check valves 3.2 and 3.3 are opened; the linear motor moves in the reverse direction, and the active check valves 3.1 and 3.4 are opened);

S2 The mover of the linear motor (1) directly drives the piston of the plunger pump (2) to reciprocate, and the plunger pump sucks the hydraulic oil on one side of the hydraulic cylinder (6) and pumps it into the other side of the hydraulic cylinder (6). side, the piston rod of the hydraulic cylinder (6) moves forward;

S3 The controller (8) detects the working condition of the linear motor (1) according to the displacement sensor (9) of the linear motor, and controls the displacement and the displacement of the piston rod of the hydraulic cylinder (7) by controlling the motion frequency and amplitude of the linear motor (1). speed;

S4 The active one-way valve control valve group (3) is switched to the reverse position (the opening and closing phases of the two active one-way valves connected to the same working chamber of the plunger pump (2) are exchanged; Check valves 3.1 and 3.4 are opened; active check valves 3.2 and 3.3 are opened when the linear motor moves in the opposite direction); the piston rod of the hydraulic cylinder (7) moves in the opposite direction.

In more detail, as shown in Figure 1, an active distribution type electromagnetic direct drive hydrostatic actuation system includes a linear motor (1), a plunger pump (2), an active check valve control valve group (3), an accumulator An energy device (4), a relief valve (5), a hydraulic cylinder (6), a hydraulic cylinder displacement sensor (7), a controller (8) and a linear motor displacement sensor (9). The linear motor (1) the mover directly drives the piston of the plunger pump (2), so that the volumes of the two working chambers of the plunger pump (2) change simultaneously and alternately increase and shrink. The two active check valves in the direction valve control valve group (3) are respectively connected with the two cavities of the hydraulic cylinder (6), and the accumulator (4) is a low-pressure accumulator, which is respectively connected to the hydraulic cylinder ( 6) are connected; the inlet and outlet of the relief valve (5) are respectively connected with the two chambers of the hydraulic cylinder (6), and the pipelines connected to the inlets of the two relief valves (6) are different; the active check valve controls the valve group The active check valve in (3) is a normally closed high-speed switching solenoid valve. During the reciprocating motion of the piston of the plunger pump (2), only one of the active check valves connected to the same cavity of the hydraulic cylinder (6) is open. state, and only one of the active check valves connected to the same working chamber of the plunger pump (2) is in an open state, that is, a continuous one-way fluid output is generated, and the piston of the hydraulic cylinder (6) moves in one direction; ) When the piston moves in the reverse direction, the opening settings of the two active check valves connected to the same working chamber of the plunger pump (2) are exchanged.

The linear motor (1) adopts a Halbach permanent magnet array to improve the air gap magnetic density, and the mover of the linear motor (1) is a moving coil type or a moving magnet type.

The controller (8) detects the output displacement of the hydraulic cylinder (6) and the linear motor (1) respectively through the hydraulic cylinder displacement sensor (7) and the linear motor displacement sensor (9), and outputs the control signal of the linear motor (1) and the active one-way Valve control valve block (3) control signal.

As shown in FIG. 1 , in the active flow distribution electromagnetic direct drive hydrostatic actuation system of this specific embodiment, the active check valve control valve group (3) includes a first active check valve (3.1), a second active check valve (3.2), the third active one-way valve (3.3), the fourth active one-way valve (3.4); the first active one-way valve (3.1) and the third active one-way valve (3.3) and the hydraulic pump (2) No. A compression chamber is connected to the unloaded side and the loaded side of the hydraulic cylinder (6) respectively; the second active check valve (3.2) and the active check valve (3.4) are connected to the second compression chamber of the hydraulic pump, and are respectively connected with the unloaded side and the loaded side of the asymmetric hydraulic cylinder (6).

As shown in Figures 2-3, the control method of the active distribution type electromagnetic direct drive hydrostatic actuation system of this specific embodiment includes the following steps:

The active flow distribution electromagnetic direct drive hydrostatic actuation system does not work: the plunger pump (2) does not work and the active check valves in the active check valve control valve group (3) are closed;

Active distribution electromagnetic direct drive hydrostatic actuation system works:

The S1 controller (8) controls the cable to input electrical energy to the linear motor (1) and the active check valve control valve group (3), and the mover of the linear motor (1) directly drives the piston of the plunger pump (2) to reciprocate (when When the linear motor (1) moves forward, the second active one-way valve (3.2) and the third active one-way valve (3.3) are opened; when the linear motor (1) moves in the reverse direction, the first active one-way valve (3.1) and The fourth active check valve (3.4) opens;) The plunger pump sucks the hydraulic oil from the loaded side of the hydraulic cylinder (6) and pumps it into the unloaded side of the hydraulic cylinder (6), the piston of the hydraulic cylinder (6) The rod moves forward;

The S2 controller (8) controls the cable to input electrical energy to the linear motor (1) and the active check valve control valve group (3), and the mover of the linear motor (1) directly drives the piston of the plunger pump (2) to reciprocate (When the linear motor (1) moves forward, the first active one-way valve (3.1) and the fourth active one-way valve (3.4) open; when the linear motor (1) moves in the reverse direction, the second active one-way valve (3.2 ) and the third active check valve (3.3) open;) the plunger pump sucks the hydraulic oil from the unloaded side of the hydraulic cylinder (6) and pumps it into the loaded side of the hydraulic cylinder (6), the hydraulic cylinder (6) ) The piston rod moves in the opposite direction;

The S3 controller (8) detects the working condition of the linear motor (1) according to the linear motor displacement sensor (9), and controls the displacement and speed of the piston rod of the hydraulic cylinder (7) by controlling the motion frequency and amplitude of the linear motor (1);

S4 The active one-way valve control valve group (3) is switched to the reverse position (the opening and closing phases of the two active one-way valves connected to the same working chamber of the plunger pump (2) are exchanged; when the linear motor moves forward, the active one-way Valves 3.1 and 3.4 open; active check valves 3.2 and 3.3 open when the linear motor moves in the opposite direction); the piston rod of the hydraulic cylinder (7) moves in the opposite direction.

As shown in Figure 4, the active distribution electromagnetic direct drive hydrostatic actuation system includes a linear motor (1), a plunger pump (2), an active check valve control valve group (3), an accumulator (4), A relief valve (5), a hydraulic cylinder (6), a hydraulic cylinder displacement sensor (7), a controller (8) and a linear motor displacement sensor (9). The linear motor (1) is fixedly connected with the plunger pump (2); the active check valve control valve group (3) is arranged above the linear motor (1) and the plunger pump (2); the accumulator (4) is arranged On the right side of the linear motor (1) and the plunger pump (2); the hydraulic cylinder (6) is arranged below the linear motor and the plunger pump, and the linear motor (1) and the hydraulic cylinder (6) are respectively connected with the displacement sensor.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (4)

1. An active flow distribution type electromagnetic direct-drive hydrostatic actuating system is characterized by comprising a linear motor (1), a plunger pump (2), an active check valve control valve group (3), an energy accumulator (4), an overflow valve (5), a hydraulic cylinder (6), a hydraulic cylinder displacement sensor (7), a controller (8) and a linear motor displacement sensor (9); the method is characterized by comprising the following steps:

the rotor of the linear motor (1) directly drives the piston of the plunger pump (2) to enable the volumes of two working cavities of the plunger pump (2) to be changed simultaneously and to be increased and reduced alternately, each working cavity of the plunger pump (2) is respectively connected with two cavities of the hydraulic cylinder (6) through two driving one-way valves in the driving one-way valve control valve set (3), and the energy accumulator (4) is a low-pressure energy accumulator and is respectively connected with the two cavities of the hydraulic cylinder (6) through the two one-way valves; the inlet and the outlet of the overflow valve (5) are respectively connected with two cavities of the hydraulic cylinder (6), and pipelines connected with the inlets of the two overflow valves (6) are different; the active one-way valves in the active one-way valve control valve group (3) belong to normally closed high-speed switch electromagnetic valves, in the reciprocating motion process of a piston of the plunger pump (2), only one of the active one-way valves connected with the same cavity of the hydraulic cylinder (6) is in an open state, only one of the active one-way valves connected with the same working cavity of the plunger pump (2) is in an open state, namely the plunger pump (2) generates continuous one-way fluid output, and the piston of the hydraulic cylinder (6) moves in a one-way mode; when the piston of the hydraulic cylinder (6) needs to move in a reversing way, the opening and closing phases of two driving one-way valves connected with the same working cavity of the plunger pump (2) are set and exchanged.

2. The active flow distributing electromagnetic direct-drive hydrostatic actuating system as set forth in claim 1, wherein: the Halbach permanent magnet array is adopted by the linear motor (1) to improve the air gap flux density, and a rotor of the linear motor (1) is of a moving coil type or a moving magnet type.

3. The active flow distributing electromagnetic direct-drive hydrostatic actuating system as set forth in claim 1, wherein: the controller (8) respectively detects the output displacement of the hydraulic cylinder (6) and the linear motor (1) through a hydraulic cylinder displacement sensor (7) and a linear motor displacement sensor (9), and outputs a control signal of the linear motor (1) and a control signal of the active check valve control valve group (3).

4. The active flow distributing type electromagnetic direct-drive hydrostatic actuating system as claimed in claim 1, wherein the control method comprises the following steps:

s1, the controller (8) controls a cable to input electric energy to the linear motor (1) and the active check valve control valve group (3), the rotor of the linear motor (1) moves, the active check valve control valve group (3) is switched to a forward station (the linear motor moves forward, the active check valves 3.2 and 3.3 are opened, the linear motor moves in the reverse direction, and the active check valves 3.1 and 3.4 are opened);

s2, a rotor of the linear motor (1) directly drives a piston of the plunger pump (2) to reciprocate, the plunger pump sucks hydraulic oil on one side of the hydraulic cylinder (6) and pumps the hydraulic oil into the other side of the hydraulic cylinder (6), and a piston rod of the hydraulic cylinder (6) moves in the positive direction;

s3, the controller (8) detects the working condition of the linear motor (1) according to the linear motor displacement sensor (9), and controls the displacement and the speed of the piston rod of the hydraulic cylinder (7) by controlling the motion frequency and the amplitude of the linear motor (1);

s4, switching the active check valve control valve group (3) to a reverse station (setting and exchanging the opening and closing phases of two active check valves connected with the same working cavity of the plunger pump (2), wherein the active check valves 3.1 and 3.4 are opened when the linear motor moves forward, and the active check valves 3.2 and 3.3 are opened when the linear motor moves reversely); the piston rod of the hydraulic cylinder (7) moves reversely.

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