CN104132023B - Controlled variable cross-section hydraulic cylinder and hydraulic control system thereof and control method - Google Patents
Controlled variable cross-section hydraulic cylinder and hydraulic control system thereof and control method Download PDFInfo
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- CN104132023B CN104132023B CN201410311711.0A CN201410311711A CN104132023B CN 104132023 B CN104132023 B CN 104132023B CN 201410311711 A CN201410311711 A CN 201410311711A CN 104132023 B CN104132023 B CN 104132023B
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Abstract
Variable cross-section hydraulic cylinder, including cylinder barrel, first stage piston bar, second piston rod.First stage piston bar is arranged on cylinder barrel by piston ring and end cap seal, and first stage piston bar is the cylinder barrel of second piston rod, and second piston rod is arranged in first stage piston bar by piston ring and end cap seal.Above-mentioned variable cross-section hydraulic cylinder control system and control method thereof, by controlling two-bit triplet electromagnetic switch valve and 3-position 4-way servo valve, whether select first stage piston rodless cavity, first stage piston rod chamber, second piston rodless cavity, second piston rod chamber to connect with the oil-out of pump, fuel tank, thus obtain different effective active area if connecting or cut-off.Second piston rod arranges a carrying sensor, measures the load on second piston rod in real time, that is to say that variable cross-section hydraulic cylinder loads.According to load feedback, by electromagnetic switch valve group and the control of servo valve group, select suitable effective active area, realize hydraulic cylinder maximum power output to mate with carrying, by the output flow of self adaptation variable functional realiey pump of variable pump and mating of load flow, thus realize mating of variable pump output and bearing power, improve system effectiveness with this.
Description
Technical field
The present invention relates to a kind of controlled variable cross-section hydraulic cylinder and hydraulic control system thereof and control method.
Background technology
Move robot in recent years and obtain significant progress in fields such as structure, perception, path planning and controls, it is achieved
The sophisticated functions such as entertainment service, human-computer interaction, extreme environment investigation, but the energy and actuation techniques lagging in development, cause moving
Mobile robot load capacity is limited, constrains the practical of mobile robot.Now there are some researches show, when the output pressure of power source
During more than 3.5MPa, than pure electromechanical driving system, there is higher power density with the fluid power system of power.Use hydraulic pressure
Drive system is to improve the effective way of load capacity.The most many research units begin attempt to drive by hydraulic power system
Mobile robot, BIGDOG, the petman developed such as boston, U.S.A utility companies, KenKen II liquid of istituto Italiano Di Tecnologia
Pressure drives quadruped robot, and the high-performance quadruped robot project additionally subsidized by Chinese 863 high-tech research development plans is bright
Fluid power system to be used really is proposed.
Due to the restriction of weight and volume, what the fluid power system of mobile robot used is all single many execution of pumping source
Device system structure.Such fluid power system efficiency is very low, main cause be each executor be supported on synchronization all
Differing, and same executor also differs loading the most in the same time, pumping source can not negative with multiple executors simultaneously
It is loaded into row power match, is typically chosen high-power executor load and mates, thus cause other executor's branch roads to occur big
Amount throttling consume, causes inefficiency.
Inefficiency can cause following problem: the power requirement of power source is high, and the weight and volume of power source can rise；Complete
The energy (such as gasoline) becoming same job demand increases, and weight increases；System hydraulic pressure element function index request can improve, liquid
The weight and volume of pressure element can increase；System heat generation can be more serious, and the power of cooling system will become big, the body of cooling system
Long-pending and weight will increase.Therefore inefficiency can have a strong impact on the load capacity of mobile robot.
The method of the single pumping source multi executors fluid power system efficiency of existing raising is a lot, such as oil inlet and oil return independent throttle control
System, electrohydraulic mixed power and Energy Recovery Technology, load sensitive pump control technology, hydraulic transformer etc..These technical energy saving effects
Limited and do not account for the volume and weight of system, it is difficult to use in mobile robot.
Change in real time the effective active area of hydraulic cylinder according to load so that the load pressure of each executor's branch road all with
The output pressure of pumping source is close, is automatically adjusted the output flow of pump and each tributary payload flows by the variable adaptive mechanism of pump
Amount sum coupling, thus the output realizing pump mates with each branch circuit load power sum, is effectively improved system effectiveness.
Therefore controlled variable cross-section hydraulic cylinder is developed significant for improving mobile robot load capacity.
Summary of the invention
Present invention aims to the deficiencies in the prior art provides one can be effectively improved mobile robot hydraulic pressure and drive
Dynamic system effectiveness, can be by selecting multistage hydraulic cylinder difference cavity by turning on high-pressure oil passage or coming with low pressure oil way conducting
Realize mating of oil supply pressure and load pressure, be finally reached variable cross-section hydraulic cylinder and the liquid thereof improving hydraulic system efficiency purpose
Pressure control system.
The present invention is achieved through the following technical solutions above-mentioned purpose.
A kind of variable cross-section hydraulic cylinder, including cylinder barrel, first stage piston and second piston, described first stage piston includes first stage piston
Bar and cylinder barrel, described first stage piston bar is arranged in described cylinder barrel by piston ring and end cap seal, and described second piston includes
Described first stage piston bar and second piston rod, the boring of described first stage piston bar, described first stage piston bar is as two grades of work
The cylinder barrel of stopper rod, described second piston rod is arranged in described first stage piston bar by piston ring and end cap seal, described two grades
Piston rod inner is provided with described two grades of rodless cavity oil circuits and two grades of rod chamber oil circuits, and described two grades of rodless cavity oil circuits are by outside oil circuit
Connecting with described second piston rodless cavity, described two grades of rod chamber oil circuits are by outside oil circuit with described second piston rod chamber even
Logical.
A kind of hydraulic control system of variable cross-section hydraulic cylinder, first stage piston rodless cavity, first stage piston rod chamber, second piston
Rod chamber and second piston rodless cavity respectively with the hydraulic fluid port C1 of the first switch valve, the hydraulic fluid port C2 of second switch valve, the 3rd switch valve
Hydraulic fluid port C3 and the hydraulic fluid port C4 of the 4th switch valve connect, the connection of described first switch valve and second switch valve and the first servo valve,
Described 3rd switch valve and the 4th switch valve and the second servo valve connect, and the hydraulic fluid port A1 of described first switch valve, described second open
The hydraulic fluid port B2 closing valve connects with the hydraulic fluid port VA1 of described first servo valve, the hydraulic fluid port B1 of described first switch valve, described second switch
The hydraulic fluid port A2 of valve connects with the hydraulic fluid port VB1 of described first servo valve, the hydraulic fluid port A3 of described 3rd switch valve, described 4th switch valve
Hydraulic fluid port B4 connect with the hydraulic fluid port VA2 mouth of described second servo valve, the hydraulic fluid port B3 of described 3rd switch valve, described 4th switch valve
Hydraulic fluid port A4 connect with the hydraulic fluid port VB2 of described second servo valve, the high pressure oil inlet P 1 of described first servo valve and described second
The high pressure oil inlet P 2 of servo valve connects with the high-pressure oil outlet of the power source that constant pressure variable displacement pump 8 and safety overflow valve 9 are constituted, institute
The low pressure oil return inlet T 2 of the low pressure oil return inlet T 1 and described second servo valve of stating the first servo valve connects with fuel tank.
Described switch valve is two-bit triplet electromagnetic switch valve, and described servo valve is 3-position 4-way servo valve.
The hydraulic control method of a kind of variable cross-section hydraulic cylinder, described second piston rod arranges a carrying sensor,
If the effective active area of piston is Ae, if first piston forms two faces and is respectively AlFace and ArFace, the second piston forms two
Face is respectively BlFace and BrFace, thus at piston toward when overhanging, there is effective active area Ae and be respectively Al、Bl、Al-ArWith
Bl-Br, there is when piston is toward contract effective active area Ae and be respectively BrAnd Ar, the effective active area Ae of piston is by adjusting
Joint servo valve and the incompatible control of set of locations of electromagnetic switch valve,
If being recorded real-time varying load by carrying sensing is FLn, then load pressure PLnFor:
PLn=FLn/Ae
If constant pressure oil source output pressure is PS,
Fk=PS*Ae
Thus by effective active area AeBe converted to hydraulic cylinder maximum power output Fk；
Carrying sensor is obtained actual loading F in real timeLnWith effective active area AeMaximum power output F obtainedkEnter
Row compare, determine actual loading fall interval, Fk-1<FLn<Fk；
When hydraulic cylinder is toward time overhanging, select FkAs maximum power output, FkCorresponding effective active area is and to select
Effective active area；
When hydraulic cylinder is toward retraction, select Fk-1As maximum power output, Fk-1Corresponding effective active area AeIt is institute
Effective active area to be selected.
When hydraulic cylinder is toward time overhanging, select FkAfter maximum power output, by detect lower two moment hydraulic cylinders with
Track error, if tracking error expands further, then tunes up hydraulic cylinder maximum power output, selects Fk+1As maximum power output, so
After repeat above-mentioned steps, until tracking error no longer expands, the effective active area that the maximum power output that now selects is corresponding
It is effective active area to be selected；
When hydraulic cylinder is toward retraction, select Fk-1After maximum power output, when detecting lower two by numerical control system
Carve the tracking error of cylinder pressure, if tracking error expands further, then turn hydraulic cylinder maximum power output down, select Fk-2As
Big power output, then repeats above-mentioned steps, until tracking error no longer expands, and corresponding the having of maximum power output now selected
Effect active area is effective active area to be selected, and tracking error is expectation displacement and the actual bit of hydraulic cylinder piston rod
Difference between shifting, FkEffective active area A for different pistonseCorresponding hydraulic cylinder maximum power output, is set to Fk(k=1～
7), effective active area A is representedeObtain 7 different hydraulic cylinder maximum power outputs.
Owing to using such scheme, the present invention is that the effective active area with certain load matching capabilities changes controlled
Linear hydraulic cylinder, can be effectively improved the efficiency of single pumping source-multi executors fluid power system that each executor load changes greatly.
When performing varying load operating mode, two-stage telescopic hydraulic cylinder can be selected by different electromagnetic switch valves and the control combination of servo valve
Each cavity realizes mating of hydraulic cylinder maximum power output and load with the conduction status of high-pressure oil passage and low pressure oil way, finally reaches
To the purpose improving hydraulic system efficiency.It is all kinds of medium and small that the present invention can be used on that the autonomous each executor load of energy changes greatly
On type mobile platform, such as biped robot, quadruped robot, miniature self-service excavator, ectoskeleton equipment etc., it is possible to be effectively improved
This type of equips fluid power system efficiency, thus improves its load capacity, promotes that it is the most practical, realizes energy-saving ring simultaneously
Protect, there is preferable economic worth.Additionally due to the cylinder body of second piston is first stage piston, therefore this variable cross-section hydraulic cylinder has
Big stroke and little fundamental length, can effectively reduce the installing space of hydraulic cylinder.The load pressure obtained by this system of selection
PLnOil supply pressure P can be approached as far as possibleS, thus reduce restriction loss.This method can realize higher degree load matched
Meanwhile, meet the requirement of dynamic tracking precision, namely can realize system function requirement, drive efficiency can be improved again.
Accompanying drawing explanation
Fig. 1 (a) is the axonometric chart of the present invention；
Fig. 1 (b) is the one-stage hydraulic cylinder cut-away view of the present invention；
Fig. 1 (c) is the two-stage hydraulic cylinder cut-away view of the present invention；
The structural principle of Fig. 2 present invention and hydraulic control system schematic diagram；
The schematic diagram of the hydraulic cylinder power output of Fig. 3 present invention；
The hydraulic cylinder power output of Fig. 4 present invention and load matched schematic diagram；
Fig. 5 present invention applies the efficiency in single pumping source-Multi-actuator Hydraulic System to improve principle schematic.
Detailed description of the invention
Below in conjunction with the accompanying drawings, specific implementation of the patent mode is further described.
As it is shown in figure 1, controlled variable cross-section hydraulic cylinder is by end ring 1, two-bit triplet plug-in switch valve 2,3-position 4-way servo
Valve 3, cylinder barrel 4, first stage piston bar 5, second piston rod 6, the end ring 7 etc. of band oil-through hole form.Wherein switch valve 2 and servo valve 3
It is directly installed on cylinder barrel 4, the first switch valve SW in corresponding diagram 21, second switch valve SW2With the first servo valve SV1, it is mutual
Between oil circuit relation realized by the integrated oil path block 42 on cylinder barrel 4 as shown in Fig. 1 (b).First servo valve SV in Fig. 21's
Oil inlet P 1 mouthful and oil return inlet T 1 mouthful are the external oil circuit interfaces 41 of two as shown in Fig. 1 (b), the first switch valve SW1With one
Connecting of level piston rodless cavity is realized by the internal oil passages in integrated oil path block 42, second switch valve SW2Bar is had with first stage piston
The connection in chamber is realized by connecting line in Fig. 1 (b) 44, in Fig. 1 (b), is provided with technique plug 43 in the oil circuit of integrated package 42.Cylinder barrel
4 pass on left screw thread connects together with end ring 1, is realized and one by end cap 46, static sealing ring 45 and dynamic seal ring 47 on the right side of cylinder barrel 4
Sealing between level piston rod 54.First stage piston 51 realizes the sealing with cylinder barrel 4 inwall by lead ring 52 and dynamic seal ring 53.One
Level piston rod 5 is the cylinder barrel of second piston rod 6, and the right-hand member of first stage piston bar 5 is by end cap 56, static sealing ring 55 and dynamic seal ring
57 realize the sealing between second piston rod 6.Second piston 61 is realized and first stage piston by slip ring 62 and sealing ring 63
Slippage sealing of elastoplastic in relative motion dust seal.The cavity of second piston 61 left end is realized by oil-through hole 71 on oil-through hole 611, end ring 7 and dynamic seal ring 72
With the conducting of external impetus system oil-way, the cavity of second piston 61 right-hand member is by oil-through hole 71 and on oil-through hole 612, end ring 7
Dynamic seal ring 72 realizes the conducting with external impetus system oil-way.The dress being connected with second piston about 61 two ends cavity in Fig. 2
In the frame being connected with end ring 7, the 3rd switch valve SW3, the 4th switch valve SW4And servo valve SV2Drive owing to belonging to executor
Dynamic rack construction, the most not in the outside overall structure figure shown in Fig. 1 (a).
The operation principle of the present invention: as in figure 2 it is shown, the variable cross-section of the present invention is by four two-bit triplet plug-in switch valves
2 and two 3-position 4-way servo valves 3 realize, high-precision power and Bit andits control are real by two 3-position 4-way servo valves 3
Existing.Described first switch valve SW1C1 mouth connect with the first stage piston rodless cavity of described variable cross-section hydraulic cylinder, described second switch
Valve SW2C2 mouth connect with the first stage piston rod chamber of described variable cross-section hydraulic cylinder, described first switch valve SW1Hydraulic fluid port A1 with
Described second switch valve SW2Hydraulic fluid port B2 and described first servo valve SV1VA1 mouth connection, described second switch valve SW2Oil
Mouth B2 and described second switch valve SW2Hydraulic fluid port A2 and described first servo valve SV1VB1 mouth connection.Described 3rd switch valve
SW3C3 mouth connect with the second piston rod chamber of described variable cross-section hydraulic cylinder, described 4th switch valve SW4C4 mouth with described
The second piston rodless cavity connection of variable cross-section hydraulic cylinder, described 3rd switch valve SW3Hydraulic fluid port A3 and described 4th switch valve SW4
Hydraulic fluid port B4 and described second servo valve SV2VA1 mouth connection, described 3rd switch valve SW3Hydraulic fluid port B3 with described 4th switch
Valve SW4Hydraulic fluid port A4 and described second servo valve SV2VB2 mouth connection.Described first servo valve SV1P1 mouth and described second
Servo valve SV2The high-pressure oil outlet of power source that constitutes with by constant pressure variable displacement pump 8 and safety overflow valve 9 of P2 mouth connect, described
First servo valve SV1T1 mouth and described second servo valve SV2T2 mouth connect with fuel tank 10.
Arranging a carrying sensor on described second piston rod, first piston forms two faces and is respectively AlFace and Ar
Face, the second piston forms two faces and is respectively BlFace and BrFace, thus at piston toward when overhanging, there are four useful effect faces
Long-pending Al、Bl、Al-ArAnd Bl-Br, there are when piston is toward contract two effective active area BrAnd Ar, according to carrying sensor
The real time load measured, by described electromagnetic switch valve group and the control of described servo valve group, selects suitable useful effect face
Long-pending realizing hydraulic cylinder maximum power output and mate with carrying, concrete control method is as follows:
If effective active area is Ae, if the controlled quentity controlled variable of switch valve is xk, (k=1,2,3,4), above-mentioned x1、x2、x3、x4Point
Do not represent the first switch valve, second switch valve, the 3rd switch valve and the 4th switch valve, xk=1 represents that electromagnetic switch valve is in a left side
Position, xk=0 represents that electromagnetic switch valve is in right position, sets the controlled quentity controlled variable of servo valve as u simultaneouslyk(k=1,2), u1、u2Point expression the
One servo valve and the second servo valve, uk=-1 represents that servo valve is in left position maximum open, uk=0 represents that servo valve is in middle position,
uk=1 represents that servo valve is in right position maximum open；
When described electromagnetic switch valve and described servo valve are in different controlled state, corresponding different useful effect face
Long-pending, effective active area controls as shown in the table；
When output pressure one timing of constant pressure variable displacement pump 8, due to the pressure loss and three of two-bit triplet plug-in switch valve 2
Pressure loss during four-way servo valve 3 opening maximum of position is less, and the power output of hydraulic cylinder can be approximately:
FO=Ps·Ae
Wherein PsFor the outlet pressure of constant pressure variable displacement pump, FOFor hydraulic cylinder power output.
By selecting 3-position 4-way servo valve 3 and the different controlled state of two-bit triplet plug-in switch valve 2, can obtain
Different effective active area Ae, thus obtain different hydraulic cylinder power outputs, by each active area of hydraulic cylinder is carried out
Design, can obtain different distributions hydraulic cylinder power output, such as equally distributed hydraulic cylinder power output, as shown in Figure 3.For difference
Load, select different hydraulic cylinder power outputs to mate therewith, load matched schematic diagram is as shown in Figure 4.
The principle that the variable cross-section hydraulic cylinder utilizing this effective active area controlled improves drive-train efficiency is as follows.Moving machine
The ultimate principle block diagram of device people's list pumping source multi executors fluid power system is as shown in Figure 5.If the n-th valve-controlled cylinder drives branch road
Varying load is FLn, load pressure is PLn, then have:
PLn=FLn/Ae
PLn=FLn/Ae(such oil sources in mobile robot, is generally used), if constant pressure oil source is defeated when using constant pressure oil source
Going out pressure is PS, corresponding different hydraulic cylinder maximum power output P of different effective active areasSAe(namely servo valve opening is
Time big, the power output of hydraulic cylinder, in order to simplify description, the choke pressure drop of valve when omitting servo valve opening maximum here, substantially
Not impact analysis result).From the above mentioned, 7 effective active area Ae7 different hydraulic cylinder maximum power outputs can be obtained,
It is set to Fk(k=1～7).Through rational size design, hydraulic cylinder maximum power output F of different distributions can be obtainedk(k=1～
7), the most equally distributed hydraulic cylinder maximum power output.
Load matched and effective active area system of selection: carrying sensor obtains actual loading F in real timeLn, it with 7
Individual hydraulic cylinder maximum power output compares, and determines that actual loading falls between those two maximum power outputs, as fallen at Fk-1<FLn<
Fk.If hydraulic cylinder is toward overhanging, it should allow maximum High power output load could be driven toward overhanging in actual loading, then to select Fk
As maximum power output, FkCorresponding effective active area is effective active area to be selected；If selecting FkAs
In the case of maximum power output, by detecting the tracking error of lower two moment hydraulic cylinders, if tracking error (tracking error:
Difference between expectation displacement and the actual displacement of hydraulic cylinder piston rod) expand further, the maximum power output that just explanation selects
The biggest, it is difficult to meet dynamic tracking demand, then to tune up hydraulic cylinder maximum power output further, select Fk+1Defeated as maximum
Exert oneself, then repeat above-mentioned steps, until tracking error no longer expands, corresponding effectively the making of maximum power output now selected
It is effective active area to be selected with area.In like manner, if hydraulic cylinder is toward retraction, it should allow maximum power output less than real
Border load just stretchy load retraction, then select Fk-1As maximum power output, then repeat above-mentioned steps, until following the tracks of
Error no longer expands, and effective active area corresponding to the maximum power output that now selects is useful effect face to be selected
Long-pending；If selecting Fk-1In the case of maximum power output, even if lower two moment servo valve openings are maximum, system is followed the tracks of
Error expands further, and the maximum power output that just explanation selects is the least, it is difficult to meet dynamic tracking demand, then adjust further
Small cylinder maximum power output, selects Fk-2As maximum power output, Fk-2Corresponding effective active area is to be selected
Effective active area.The load pressure P obtained by this kind of system of selectionLnOil supply pressure P can be approached as far as possibleS, thus reduce
Restriction loss.The method while realizing higher degree load matched, can meet the requirement of dynamic tracking precision, namely
System function requirement can be realized, drive efficiency can be improved again.
The power throttle analyzing branch road below loses:
The power throttle loss of nth-branch is:
ΔWn=Ps·Qn-PLn·Qn
=(Ps-PLn)·Qn
=Δ Pn·Qn
As load FLnDuring change, by regulation and control Ae, can allow PLnClose to Ps, namely can realize Δ PnLess than a ratio
Less pressure drop Δ Pmin, it may be assumed that
ΔWn<ΔPmin·Qn
Drive system total power throttle loss be:
QsCan be regulated in real time by the variable adaptive structure of constant pressure variable displacement pump, namely each time etching system need
Need how many flows, pump are provided with how many flows.The most as can be seen from the above equation, the power throttle loss of drive system is mainly depended on
In Δ Pmin, the namely load pressure P of each branch roadLnCloser to delivery side of pump pressure Ps, the power loss of system is the least.
Thus upper analysis understands relative to traditional constant cross-section hydraulic cylinder and can only be many in change cross section, fixed position
Level telescopic hydraulic cylinder, along with the change of load, each branch road PLnChange greatly, simultaneously because P during system designsIt is greater than whole system
The maximum load pressure P occurred in system operation processLmax, cause each branch road choke pressure drop Δ PnChange greatly and each other
Differ greatly, can not unify to a less pressure drop Δ P as used the present invention when designminOn, therefore its power joint
Stream loss is than the power throttle loss Δ P using the present inventionminQsMuch bigger；And apply this patent, can be according to load FLnChange
Change and adjust effective active area A in real timeeSo that load pressure PLnClose or equal to pump outlet pressure, reduce power loss, thus carry
High system effectiveness.
Another feature of the present invention is: owing to the cylinder body of second piston is first stage piston, therefore this controlled variable cross-section liquid
Cylinder pressure has short fundamental length and long stroke, and required installing space is less.
Claims (4)
1. a hydraulic control system for variable cross-section hydraulic cylinder, including cylinder barrel, first stage piston and second piston, described first stage piston
Including first stage piston bar and cylinder barrel, described first stage piston bar is arranged in described cylinder barrel by piston ring and end cap seal, described
Second piston includes described first stage piston bar and second piston rod, the boring of described first stage piston bar, described first stage piston
Bar is arranged on described first stage piston bar as the cylinder barrel of second piston rod, described second piston rod by piston ring and end cap seal
In, it being provided with two grades of rodless cavity oil circuits and two grades of rod chamber oil circuits inside described second piston rod, described two grades of rodless cavity oil circuits will
Outside oil circuit connects with described second piston rodless cavity, and outside oil circuit is had by described two grades of rod chamber oil circuits with described second piston
Bar chamber connect, it is characterised in that first stage piston rodless cavity, first stage piston rod chamber, second piston rod chamber and second piston without
Bar chamber respectively with the hydraulic fluid port C1 of the first switch valve, the hydraulic fluid port C2 of second switch valve, the hydraulic fluid port C3 of the 3rd switch valve and the 4th switch
The hydraulic fluid port C4 of valve connects, described first switch valve and second switch valve and the connection of the first servo valve, described 3rd switch valve and the
Four switch valves and the second servo valve connect, the hydraulic fluid port A1 of described first switch valve, the hydraulic fluid port B2 of described second switch valve and described
The hydraulic fluid port VA1 connection of the first servo valve, the hydraulic fluid port B1 of described first switch valve, the hydraulic fluid port A2 of described second switch valve and described the
The hydraulic fluid port VB1 connection of one servo valve, the hydraulic fluid port A3 of described 3rd switch valve, the hydraulic fluid port B4 and described second of described 4th switch valve
The hydraulic fluid port VA2 mouth connection of servo valve, the hydraulic fluid port B3 of described 3rd switch valve, the hydraulic fluid port A4 and described second of described 4th switch valve
The hydraulic fluid port VB2 connection of servo valve, the high pressure oil inlet P 1 of described first servo valve and the high pressure oil-in of described second servo valve
P2 connects with the high-pressure oil outlet of the power source that constant pressure variable displacement pump (8) and safety overflow valve (9) are constituted, described first servo valve
Low pressure oil return inlet T 1 connects with fuel tank with the low pressure oil return inlet T 2 of described second servo valve.
The hydraulic control system of variable cross-section hydraulic cylinder the most according to claim 1, it is characterised in that: described first switch
Valve, second switch valve, the 3rd switch valve and the 4th switch valve are two-bit triplet electromagnetic switch valve, described first servo valve and
Two servo valves are 3-position 4-way servo valve.
3. a hydraulic control method for variable cross-section hydraulic cylinder, for controlling variable cross-section hydraulic cylinder as claimed in claim 2
Hydraulic control system, it is characterised in that a carrying sensor is set on described second piston rod, if the useful effect of piston
Area is Ae, if first piston forms two faces and is respectively AlFace and ArFace, the second piston forms two faces and is respectively BlFace and Br
Face, thus at piston toward when overhanging, there is effective active area Ae and be respectively Al、Bl、Al-ArAnd Bl-Br, piston is received inside
There is during contracting effective active area Ae and be respectively BrAnd Ar, the effective active area Ae of piston is opened by regulation servo valve and electromagnetism
Close the incompatible control of set of locations of valve,
If being recorded real-time varying load by carrying sensing is FLn, then load pressure PLnFor:
PLn=FLn/Ae
If constant pressure oil source output pressure is PS,
Fk=PS*Ae
Thus by effective active area AeBe converted to hydraulic cylinder maximum power output Fk；FkEffective active area A for different pistonseRight
The hydraulic cylinder maximum power output answered, is set to Fk(k=1～7), represents effective active area AeObtain 7 different hydraulic cylinders maximum
Power output；
Carrying sensor is obtained actual loading F in real timeLnWith effective active area AeMaximum power output F obtainedkCompare
Relatively, determine actual loading fall interval, Fk-1<FLn<Fk；
When hydraulic cylinder is toward time overhanging, select FkAs maximum power output, FkCorresponding effective active area is to be selected to be had
Effect active area；
When hydraulic cylinder is toward retraction, select Fk-1As maximum power output, Fk-1Corresponding effective active area AeIt is and to select
Effective active area.
The hydraulic control method of variable cross-section hydraulic cylinder the most according to claim 3, it is characterised in that: when hydraulic cylinder is toward overhanging
Time, select FkAfter maximum power output, by detecting the tracking error of lower two moment hydraulic cylinders, if tracking error enters one
Step expands, then tune up hydraulic cylinder maximum power output, selects Fk+1As maximum power output, then repeat above-mentioned steps, until with
Track error no longer expands, and effective active area corresponding to the maximum power output that now selects is useful effect face to be selected
Long-pending；
When hydraulic cylinder is toward retraction, select Fk-1After maximum power output, detect lower two moment by numerical control system and press
The tracking error of cylinder, if tracking error expands further, then turns hydraulic cylinder maximum power output down, selects Fk-2Defeated as maximum
Exert oneself, then repeat above-mentioned steps, until tracking error no longer expands, corresponding effectively the making of maximum power output now selected
It is effective active area to be selected with area；
Tracking error is the difference between expectation displacement and the actual displacement of hydraulic cylinder piston rod.
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| CN201410311711.0A CN104132023B (en) | 2014-07-02 | 2014-07-02 | Controlled variable cross-section hydraulic cylinder and hydraulic control system thereof and control method |
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| CN201410311711.0A CN104132023B (en) | 2014-07-02 | 2014-07-02 | Controlled variable cross-section hydraulic cylinder and hydraulic control system thereof and control method |
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| CN105782164B (en) * | 2016-05-26 | 2017-11-14 | 中国人民解放军国防科学技术大学 | Multicarity hydraulic cylinder and its control system and control method |
| CN108869447B (en) * | 2018-09-04 | 2019-11-29 | 哈尔滨工业大学 | A kind of change effective active area hydraulic cylinder |
| CN109454637A (en) * | 2018-12-28 | 2019-03-12 | 哈尔滨理工大学 | A kind of hydraulic quadruped robot becomes the joint energy conserving system of charge oil pressure |
| CN110202568A (en) * | 2019-07-15 | 2019-09-06 | 广东工业大学 | A kind of hydraulic driving mechanical |
| CN110439876B (en) * | 2019-09-04 | 2024-05-17 | 辽宁工程技术大学 | Digital hydraulic cylinder suitable for rocker arm mechanism |
| CN111637111B (en) * | 2020-06-05 | 2022-10-25 | 徐州徐工矿业机械有限公司 | Get-off tensioning hydraulic system of super-tonnage excavator |
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| US5778669A (en) * | 1994-12-21 | 1998-07-14 | Kubik; Philip A. | Hydraulic positioning system with internal counterbalance |
| DE19543876A1 (en) * | 1995-11-24 | 1997-05-28 | Rexroth Mannesmann Gmbh | Method and device for controlling a hydraulic system of an implement |
| CN201588837U (en) * | 2010-01-29 | 2010-09-22 | 白炳生 | Two-stage sleeve oil cylinder with oil intake on center of top cylinder |
| CN103775399B (en) * | 2014-01-24 | 2016-05-18 | 北京交通大学 | For the hydraulic system of tunnel loading test platform |
| CN204041615U (en) * | 2014-07-02 | 2014-12-24 | 中国人民解放军国防科学技术大学 | Controlled variable cross section oil hydraulic cylinder and hydraulic control system thereof |
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