CN-116480655-B - Simulation device of electrohydraulic servo control system

CN116480655BCN 116480655 BCN116480655 BCN 116480655BCN-116480655-B

Abstract

The invention discloses a simulation device of an electrohydraulic servo control system, which is internally provided with a twin model of an electrohydraulic servo execution device, wherein the electrohydraulic servo execution device comprises a command device, a hydraulic source, an electrohydraulic servo valve, a servo oil cylinder, a load and a sensor device, a valve control signal input end of the simulation device is connected with a servo valve control current output end of a servo controller of the electrohydraulic servo execution device, a command signal output end of the simulation device is connected with a command signal input end of the servo controller, a current feedback output end of the simulation device is connected with a current feedback input end of the servo controller, and a voltage feedback output end of the simulation device is connected with a voltage feedback input end of the servo controller. The invention realizes the simulation of the electrohydraulic servo executing device based on the twin model, can simulate the operation process of the electrohydraulic servo valve control system by combining with the servo controller, and does not need the application of a huge and heavy hydraulic source, an executing element, a feedback sensor and the like.

Inventors

BAO XINGTAO
YU YUEWEI
LI ZHINAN
Chi di
SUN SHANHU
ZHANG MENG

Assignees

北京瑞赛长城航空测控技术有限公司
中国航空工业集团公司北京长城航空测控技术研究所
北京长城航空测控技术研究所有限公司

Dates

Publication Date: 20260512
Application Date: 20230411

Claims (7)

1. The simulation device of the electrohydraulic servo control system is characterized in that a twin model of an electrohydraulic servo execution device is arranged in the simulation device, and the electrohydraulic servo execution device comprises a command device, a hydraulic source, an electrohydraulic servo valve, a servo oil cylinder, a load and a sensor device; The valve control signal input end of the simulation device is connected with the servo valve control current output end of the servo controller of the electrohydraulic servo executing device; The voltage feedback output end of the simulation device is connected with the voltage feedback input end of the servo controller; The construction mode of the twin model is as follows: Acquiring a voltage feedback signal and a current feedback signal of an electrohydraulic servo executing device when different servo valve control currents are input; Taking servo valve control current as input, taking a voltage feedback signal and a current feedback signal as output, and constructing a training sample; Training a neural network model based on the training sample, enabling a first output of the neural network model to be consistent with the voltage feedback signal, enabling a second output of the neural network model to be consistent with the current feedback signal, and obtaining the trained neural network model as the twin model.
2. The simulation device of an electro-hydraulic servo control system according to claim 1, wherein a double closed-loop control algorithm is arranged in the servo controller, an outer loop control algorithm in the double closed-loop control algorithm is used for calculating a current command signal according to a difference value between a voltage command signal and a voltage feedback signal, and an inner loop control algorithm in the double closed-loop control algorithm is used for calculating a servo valve control current according to a difference value between the current command signal and the current feedback signal.
3. The simulation apparatus of an electro-hydraulic servo control system according to claim 2, wherein the outer loop control algorithm is one of a PI control algorithm and a PID control algorithm, and the outer loop control algorithm is one of a PI control algorithm and a PID control algorithm.
4. The simulation device of the electrohydraulic servo control system of claim 1, wherein said simulation device includes an MCU master control board, and a master control signal input output terminal and a master control feedback output terminal connected to said MCU master control board; The main control signal input/output end comprises a command signal output end and a valve control signal input end, and the main control feedback output end comprises a current feedback output end and a voltage feedback output end The twin model is arranged in the MCU main control board.
5. A simulation device of an electro-hydraulic servo control system according to claim 4, wherein the number of the current feedback outputs is plural, and the number of the voltage feedback outputs is plural.
6. The simulation device of the electro-hydraulic servo control system according to claim 4, wherein the simulation device further comprises a redundant signal input/output end and a redundant feedback output end which are connected with the MCU main control board; The redundant signal input and output end comprises a command signal output end and a valve control signal input end, and the redundant feedback output end comprises a current feedback output end and a voltage feedback output end.
7. The simulation device of the electro-hydraulic servo control system according to claim 4, further comprising a touch display screen, a feedback signal adjusting knob and an instruction signal adjusting knob which are connected with the MCU main control board; The feedback signal adjusting knob is used for adjusting the voltage feedback signal and the current feedback signal output to the servo controller, and the command signal adjusting knob is used for adjusting the voltage command signal output to the servo controller.

Description

Simulation device of electrohydraulic servo control system Technical neighborhood The invention relates to the field of industrial electrohydraulic servo control, in particular to a simulation device of an electrohydraulic servo control system. Background The electrohydraulic servo valve control system shown in fig. 1 is a hydraulic control system with a control servo element (electrohydraulic servo valve SV) as a control core, and generally consists of a command device FIC, a servo controller SC, a hydraulic source HS, a servo element (voltage servo valve SV), an actuator element (servo cylinder SM), a position feedback sensor ZE and a load L. The servo controller SC controls the opening and closing direction and opening of the electrohydraulic servo valve SV according to the command signal of the command device FIC to control the executive component (the load L is usually a stator blade fan of an axial flow fan, the executive component servo oil cylinder SM acts to drive the load L to act, so that the actual equipment such as a hydraulic source, the executive component, a feedback sensor and the like in the actual application is finally controlled to be huge and heavy, and if the intelligent control device is used for new product development, accidents such as overload, oil leakage, signal open circuit and the like are very easy to occur, the intelligent control device is not suitable for installation test in research and development design occasions such as office writing buildings, and the like. Disclosure of Invention The invention aims to provide a simulation device of an electrohydraulic servo control system, which is used for simulating the operation process of the electrohydraulic servo valve control system by combining a servo controller, and does not need the application of a huge and heavy hydraulic source, an executing element, a feedback sensor and the like. In order to achieve the above object, the present invention provides the following solutions: the invention provides a simulation device of an electrohydraulic servo control system, wherein a twin model of an electrohydraulic servo execution device is arranged in the simulation device, and the electrohydraulic servo execution device comprises a command device, a hydraulic source, an electrohydraulic servo valve, a servo oil cylinder, a load and a sensor device; The valve control signal input end of the simulation device is connected with the servo valve control current output end of the servo controller of the electrohydraulic servo executing device; The current feedback output end of the simulation device is connected with the current feedback input end of the servo controller, and the voltage feedback output end of the simulation device is connected with the voltage feedback input end of the servo controller. Optionally, the twin model is constructed in the following manner: Acquiring a voltage feedback signal and a current feedback signal of an electrohydraulic servo executing device when different servo valve control currents are input; Taking servo valve control current as input, taking a voltage feedback signal and a current feedback signal as output, and constructing a training sample; Training a neural network model based on the training sample, enabling a first output of the neural network model to be consistent with the voltage feedback signal, enabling a second output of the neural network model to be consistent with the current feedback signal, and obtaining the trained neural network model as the twin model. Optionally, a dual closed-loop control algorithm is arranged in the servo controller, an outer loop control algorithm in the dual closed-loop control algorithm is used for calculating a current command signal according to a difference value between a voltage command signal and a voltage feedback signal, and an inner loop control algorithm in the dual closed-loop control algorithm is used for calculating a servo valve control current according to a difference value between the current command signal and the current feedback signal. The voltage feedback signal is used for representing the position feedback value, the current feedback signal is used for representing the speed feedback value, the corresponding voltage command signal is used for representing the position command value, and the current command signal is used for representing the speed command value. Optionally, the outer loop control algorithm is one of a PI control algorithm and a PID control algorithm, and the outer loop control algorithm is one of a PI control algorithm and a PID control algorithm. Optionally, the simulation device comprises an MCU main control board, and a main control signal input and output end and a main control feedback output end which are connected with the MCU main control board; The main control signal input/output end comprises a command signal output end and a valve control signal input end, and the main control feedback output end