CN-121995807-A - Electrohydraulic servo actuator controller system

CN121995807ACN 121995807 ACN121995807 ACN 121995807ACN-121995807-A

Abstract

The invention belongs to the field of electrohydraulic servo actuators, in particular to an electrohydraulic servo actuator controller system, which aims at the problems that the existing controllers are of a simulation structure, namely, a large number of simulation electronic components are adopted to form a simulation control circuit, the parameter adjustment process is complicated, the timely replacement and adjustment of a control algorithm are not easy, and various working occasions are difficult to adapt, the invention proposes a scheme which comprises a control unit, the control unit is connected with a power supply unit, the invention can improve the overall performance of the electrohydraulic servo actuator, realize the rapid positioning of the rotor at any position, and overcome the defect of motor step-out at the same time, so that the invention has the advantages of high response speed and high control precision.

Inventors

LI ZHIHAO
WANG YONG
LIN ZHIXIANG
ZUO XIQING
YANG YAMING

Assignees

湖州职业技术学院

Dates

Publication Date: 20260508
Application Date: 20231212

Claims (10)

1. The utility model provides an electrohydraulic servo actuator controller system, includes the control unit, a serial communication port, the control unit is connected with power supply unit, the control unit is connected with 4G module, analog-to-digital converter, current detection unit and position detection unit, the control unit is STM32 microprocessor, 4G module is connected with cloud ware, analog-to-digital converter input is connected with sensor signal interface circuit, the control unit is connected with drive unit, drive unit is connected with step motor, drive unit is connected with current detection unit, step motor is connected with position detection unit, step motor is connected with the servo valve, the servo valve is connected with actuating mechanism and laser displacement sensor.
2. The electro-hydraulic servo actuator controller system of claim 1, wherein the power supply unit provides a stable power supply for the microprocessor, the analog-to-digital converter, the sensor signal interface circuit, the drive unit circuit, and the position current detection unit circuit.
3. The electro-hydraulic servo actuator controller system of claim 2, wherein the actuator is coupled to a piston displacement sensor, a first cavity pressure sensor, and a second cavity pressure sensor.
4. The electro-hydraulic servo actuator controller system of claim 3, wherein the laser displacement sensor, the piston displacement sensor, the first cavity pressure sensor, and the second cavity pressure sensor are each electrically connected to the sensor signal interface.
5. The electro-hydraulic servo actuator controller system according to claim 4, wherein the power supply unit provides a direct current power supply output with good indexes for the whole controller, the current detection unit detects the magnitude of two-phase current of the stepper motor, and the position detection unit transmits the position information of the rotor of the stepper motor and the piston movement position information in real time.
6. The electro-hydraulic servo actuator controller system according to claim 5, wherein the driving unit drives the stepper motor to perform rotary motion, so as to convert the control signal into a power signal, the control unit outputs a digital pulse signal, controls the power-on period and the power-off time of the power tube, changes the magnitude of two-phase current of the stepper motor, and realizes the rapid positioning of the position of the stepper motor.
7. The electro-hydraulic servo actuator controller system according to claim 6, wherein the analog-to-digital converter is configured to convert an analog quantity signal collected by the sensor of the preset type into a corresponding digital quantity signal.
8. The electro-hydraulic servo actuator controller system of claim 7, wherein the sensor signal interface circuit is configured to connect to a plurality of predetermined types of sensors, collect corresponding analog signals and send the analog signals collected by the plurality of types of sensors to the signal conversion module, the plurality of predetermined types of sensors including a proportional electromagnet current sampling resistor, a spool displacement sensor, a hydraulic cylinder speed sensor, and a hydraulic cylinder cavity pressure sensor.
9. The electro-hydraulic servo actuator controller system according to claim 8, wherein the control unit is programmed to process the various types of signals that have been converted to digital quantities and to calculate a control algorithm, and to output control signals to the drive unit.
10. The electro-hydraulic servo actuator controller system of claim 9, wherein the laser displacement sensor is configured to detect a spool position, the piston displacement sensor is configured to detect a displacement of an actuator piston rod, and the first chamber pressure sensor and the second chamber pressure sensor are configured to detect pressures of two hydraulic chambers of the actuator.

Description

Electrohydraulic servo actuator controller system Technical Field The invention relates to the technical field of electrohydraulic servo actuators, in particular to an electrohydraulic servo actuator controller system. Background The actuator is a common output device in a motion control system and is widely applied to industrial scenes such as a vibrating table, an automatic suspension system, a robot, an offshore gangway and the like. The composition of an actuator system generally includes a controller, sensors, a load, the actuator itself, etc., wherein the controller is the carrier of the control method and is responsible for receiving the sensor signals and outputting the drive signals to actuate the actuator. The controller is used as a control core of the electro-hydraulic servo actuator system, and the position of the actuating mechanism is controlled by controlling the flow of the electro-hydraulic servo valve, so that the performance of the controller directly influences the control effect of the actuator system. The existing controllers are mostly of analog structures, namely, a large number of analog electronic components are adopted to form an analog control circuit, the parameter adjustment process is complicated, timely replacement and adjustment of a control algorithm are not facilitated, and the controllers are difficult to adapt to various working occasions, so that the electro-hydraulic servo actuator controller system is provided for solving the problems. Disclosure of Invention The invention aims to solve the defects that in the prior art, most controllers are of an analog structure, namely, an analog control circuit is formed by adopting a large number of analog electronic components, the parameter adjustment process is complicated, the timely replacement and adjustment of a control algorithm are not facilitated, and various working occasions are difficult to adapt to, and provides an electrohydraulic servo actuator controller system. In order to achieve the above purpose, the present invention adopts the following technical scheme: The utility model provides an electrohydraulic servo actuator controller system, includes the control unit, the control unit is connected with power supply unit, the control unit is connected with 4G module, analog-to-digital converter, current detection unit and position detection unit, the control unit is STM32 microprocessor, 4G module is connected with cloud ware, analog-to-digital converter input is connected with sensor signal interface circuit, the control unit is connected with drive unit, drive unit is connected with step motor, drive unit is connected with current detection unit, step motor is connected with position detection unit, step motor is connected with the servo valve, the servo valve is connected with actuating mechanism and laser displacement sensor. Preferably, the actuating mechanism is connected with a piston displacement sensor, a first cavity pressure sensor and a second cavity pressure sensor. Preferably, the power supply unit provides direct current power supply output with good indexes for the whole controller, the current detection unit detects the two-phase current of the stepping motor, and the position detection unit transmits the position information of the rotor of the stepping motor and the position information of the piston motion in real time. Preferably, the analog-to-digital converter is used for converting the analog quantity signal acquired by the receiving preset type sensor into a corresponding digital quantity signal. Preferably, the control unit processes various signals converted into digital quantities through programming, and solves a control algorithm to output a control signal to the driving unit. Preferably, the laser displacement sensor is used for detecting the position of the valve core, the piston displacement sensor is used for detecting the displacement of a piston rod of the actuating mechanism, and the first cavity pressure sensor and the second cavity pressure sensor are used for detecting the pressures of two hydraulic cavities of the actuating mechanism. Preferably, the sensor signal interface circuit is used for being connected with a plurality of preset type sensors, collecting corresponding analog quantity signals and sending the analog quantity signals collected by the plurality of type sensors to the signal conversion module, and the plurality of preset type sensors comprise a proportional electromagnet current sampling resistor, a valve core displacement sensor, a hydraulic cylinder speed sensor and a hydraulic cylinder cavity pressure sensor. Preferably, the driving unit drives the stepping motor to do rotary motion, so as to realize conversion from a control signal to a power signal, the control unit outputs a digital pulse signal, the power-on period and the on-off time of the power tube are controlled, the magnitude of two-phase current of the stepping motor is changed, and the rapid