阅读说明：本技术 基于电液伺服泵控多轴能量调控系统的多轴能量调控方法 (Multi-axis energy regulation and control method based on electro-hydraulic servo pump control multi-axis energy regulation and control system ) 是由 陈革新 陆建新 杨明昆 张天贵 刘会龙 闫桂山 于 2021-08-05 设计创作，主要内容包括：本发明提供一种基于电液伺服泵控多轴能量调控系统的多轴能量调控方法,其包括：S1、搭建电液伺服泵控单元；S2、搭建电液伺服泵控多轴能量调控系统；S3、对电液伺服泵控单元进行工况分析；S4、对电液伺服泵控多轴能量调控系统进行能量调控和能量回馈,根据控制伺服驱动器调节伺服电机输出的转速转矩,通过位移传感器和压力传感器分别采集的力和位移的数据,检测每个电液伺服泵控单元的伺服电机所处的工况,以及伺服电机产生的总能量与消耗的总能量的关系。本发明将电液伺服泵控多轴能量调控系统与共直流母线技术有效的结合,提升了整个系统的能量利用率。(The invention provides a multi-axis energy regulation and control method based on an electro-hydraulic servo pump control multi-axis energy regulation and control system, which comprises the following steps: s1, building an electro-hydraulic servo pump control unit; s2, building an electro-hydraulic servo pump control multi-axis energy regulation and control system; s3, analyzing the working condition of the electro-hydraulic servo pump control unit; s4, carrying out energy regulation and control and energy feedback on the electro-hydraulic servo pump control multi-shaft energy regulation and control system, regulating the rotating speed and torque output by the servo motor according to the control servo driver, and detecting the working condition of the servo motor of each electro-hydraulic servo pump control unit and the relation between the total energy generated by the servo motor and the total energy consumed by the servo motor through the force and displacement data respectively collected by the displacement sensor and the pressure sensor. The invention effectively combines the electro-hydraulic servo pump control multi-axis energy regulation and control system with the common direct current bus technology, and improves the energy utilization rate of the whole system.)

1. A multi-axis energy regulation and control method based on an electro-hydraulic servo pump control multi-axis energy regulation and control system is characterized by comprising the following steps:

s1, building an electro-hydraulic servo pump control unit, and specifically comprising the following substeps:

s11, connecting the input end of the servo motor with the first end of the power grid through a cable, and connecting the output end of the servo motor with the oil-free side of the bidirectional high-pressure pump through a coupler;

s12, connecting the oil supplementing accumulator and an oil drainage cavity of the bidirectional high-pressure pump with oil inlets of a first check valve and a second check valve respectively;

s13, connecting the first one-way valve and the second one-way valve with a first cavity and a second cavity of the double-rod hydraulic cylinder respectively;

s14, connecting a first end of a first safety overflow valve and a second end of a second safety overflow valve with a first cavity and a second cavity of a double-rod hydraulic cylinder respectively, and connecting a second end of the first safety overflow valve and a first end of the second safety overflow valve with corresponding oil ways respectively;

s15, connecting the first pressure sensor and the second pressure sensor with a first cavity and a second cavity of the double-rod hydraulic cylinder respectively;

s16, connecting the displacement sensor with a cylinder rod of a first cavity of the double-rod hydraulic cylinder;

s2, building an electro-hydraulic servo pump control multi-axis energy regulation and control system, and specifically comprising the following substeps:

s21, connecting the first end of the rectification feedback unit with the second end of the power grid, and connecting the second end of the rectification feedback unit with the first end of the common direct current bus;

s22, connecting the first end of the direct current bus with the first end of the inverter, and connecting the second end of the inverter with the electro-hydraulic servo pump control unit;

s3, analyzing the working condition of the electro-hydraulic servo pump control unit, specifically comprising the following substeps:

s31, respectively obtaining the directions of displacement and pressure according to the pressure sensor and the displacement sensor on the double-rod hydraulic cylinder, and judging the working condition of the electro-hydraulic servo pump control unit at the moment;

s311, carrying out differential processing on data acquired by the displacement sensor to obtain the displacement direction of the double-rod hydraulic cylinder;

s312, obtaining the pressure direction of the double-rod hydraulic cylinder according to the data collected by the first pressure sensor and the second pressure sensor;

s32, when the displacement direction and the pressure direction are the same, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a second four-quadrant, and the servo motor of the electro-hydraulic servo pump control unit is in a working condition of a generator;

s33, when the displacement direction is opposite to the pressure direction, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a first three-quadrant, and a servo motor of the electro-hydraulic servo pump control unit is in a motor working condition at the moment;

s4, performing energy regulation and control and energy feedback on the electro-hydraulic servo pump control multi-axis energy regulation and control system, and dividing the electro-hydraulic servo pump control multi-axis energy regulation and control system intoElectrohydraulic servo pump control unit under individual motor operating conditions andthe number of the electrohydraulic servo pump control units is n,indicates that the decimal point of the numerical value in the brackets is rounded off,the rounding of the carry-back of the numeric decimal point in the bracket is shown, and the rounding method specifically comprises the following substeps:

s41, adjusting the output rotating speed torque of the servo motor according to the control servo driver, and detecting the working condition of the servo motor of each electro-hydraulic servo pump control unit in the electro-hydraulic servo pump control multi-shaft energy regulation and control system built in the step S2 through the force and displacement data respectively collected by the displacement sensor and the pressure sensor;

s42, obtaining the rotating speed and the torque of the servo motor according to the step S41, and calculating the power of the servo motor in each electro-hydraulic servo pump control unit by using a power formula;

s43, pairElectrohydraulic servo pump control unit under individual motor operating conditions andrespectively summing up electrohydraulic servo pump control units under working conditions of individual generators to obtain sigma P_{Electric motor}Sum sigma P_GeneratorAnd simultaneously judging the total energy sigma P generated by the servo motor_GeneratorTotal energy sigma P consumed by servo motor_{Electric motor}The relationship of (1):

s431, if ∑ P_Generator＞∑P_{Electric motor}At the moment, the working mode of the electro-hydraulic servo pump control multi-axis energy regulation and control system is a feeding mode, and the generated redundant electric energy is fed back to the power grid through the direct-current bus;

s432, if ∑ P_Generator＝∑P_{Electric motor}At the moment, the electro-hydraulic servo pump controlled multi-axis energy regulation and control system is in a steady-state mode;

s433, if ∑ P_Generator＜∑P_{Electric motor}And at the moment, the working mode of the electro-hydraulic servo pump control multi-axis energy regulation and control system is a power supply mode, and the electro-hydraulic servo pump control multi-axis energy regulation and control system is supplied with power through a power grid.

2. The multi-axis energy regulating method based on the electro-hydraulic servo pump controlled multi-axis energy regulating system according to claim 1, wherein in step S12, the first check valve and the second check valve are connected in parallel.

3. The multi-axis energy regulating method based on the electro-hydraulic servo pump control multi-axis energy regulating system according to claim 1, wherein the step S311 specifically comprises the following steps:

s3111, if the acquired data is subjected to differential processing and is a positive value, the double-rod hydraulic cylinder is in an extending state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a first quadrant or a second quadrant;

s3112, if the acquired data is subjected to differential processing and is a negative value, the double-rod hydraulic cylinder is in a retraction state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a third four quadrant.

4. The multi-axis energy regulating method based on the electro-hydraulic servo pump control multi-axis energy regulating system according to claim 1, wherein the step S312 specifically comprises the following steps:

s3121, when the first pressure sensor is high pressure and the second pressure sensor is low pressure, the pressure direction of the double-rod hydraulic cylinder is from the second cavity of the double-rod hydraulic cylinder to the first cavity, and the unit pressure direction of the electro-hydraulic servo pump controlled multi-axis energy regulating system belongs to a first four-quadrant;

s3122, when the first pressure sensor is low pressure and the second pressure sensor is high pressure, the pressure direction of the double-rod hydraulic cylinder faces to the second cavity from the first cavity of the double-rod hydraulic cylinder, and the unit pressure direction of the electro-hydraulic servo pump control multi-axis energy regulating and controlling system belongs to a second three-quadrant.

5. The multi-axis energy regulating method based on the electro-hydraulic servo pump controlled multi-axis energy regulating system as claimed in claim 1, wherein in step S42, the specific expression of the power formula is:

wherein, P represents power (W), n represents the rotation speed (r/min) of the servo motor, and T represents the torque (N.m) of the servo motor.

6. The multi-axis energy regulating method based on the electro-hydraulic servo pump control multi-axis energy regulating system according to claim 1, wherein the electro-hydraulic servo pump control multi-axis energy regulating system is composed of a plurality of electro-hydraulic servo pump control units, and comprises a servo motor, an inverter, a direct current bus, a rectification feedback unit and a power grid.

Technical Field

The invention relates to the field of electro-hydraulic servo pump control multi-axis energy regulation and control systems, in particular to a multi-axis energy regulation and control method based on the electro-hydraulic servo pump control multi-axis energy regulation and control system.

Background

The electro-hydraulic servo system comprises two control modes, wherein one mode is an electro-hydraulic servo pump control multi-axis energy regulation and control system, and the other mode is an electro-hydraulic servo valve control system. The specific configuration of the electro-hydraulic servo pump control multi-shaft energy regulation and control system comprises a servo motor, a fixed displacement pump, a functional valve, an oil supplementing energy accumulator, a hydraulic cylinder, a controller, a driver and the like, and the system is also popularized and applied in a hydraulic system at present, has higher integration level, small occupied space of equipment, effectively saves the arrangement space of pipelines, has higher reliability and safety than the existing valve control system, and can effectively overcome the defects of a valve control hydraulic system from the aspects above.

The electro-hydraulic servo valve control system has the principle that the position and the pressure of a hydraulic cylinder are controlled by controlling the size of an opening of a servo valve, although the technology has good position control precision, the equipment integration level is low and the installation cost is high due to the complex system configuration (comprising a hydraulic oil source, a pipeline system, a control valve group and a servo oil cylinder), and the waste of system energy is caused by the constant-pressure operation of the hydraulic oil source and the throttling loss of a pipeline and a valve port; in addition, because the servo valve has poor anti-pollution capacity and high requirement on oil cleanliness grade (NAS 3-5 grade), in order to ensure the reliable operation of the system, the system needs to be provided with a precise filtering device, the installation cost is increased, and meanwhile, the strict requirement is also put forward on equipment maintenance.

The electro-hydraulic servo pump control multi-axis energy regulation and control system is controlled by using a servo motor, but under the actual working condition, the whole system usually only has the servo motor working independently, and the condition that a plurality of servo motors work in a cooperative mode exists. In addition, most of energy of the conventional electro-hydraulic servo pump control multi-axis energy regulation and control system is consumed through a brake resistor, and a part of energy is consumed through heat energy.

The invention discloses a method for multi-axis energy regulation and control and energy feedback of an electro-hydraulic servo pump control multi-axis energy regulation and control system, wherein the system comprises a plurality of servo motors, inverters, a common direct current bus, a rectification feedback unit and a power grid, each servo motor is respectively connected with the inverter, the inverters are connected with the common direct current bus, the common direct current bus is connected with the rectification feedback unit, the rectification feedback unit is connected with the power grid, when the system works in a power supply state, the servo motors acquire electric energy from the power grid through the direct current bus, and when the system works in a feed state, the energy is directly fed back to the power grid through the direct current bus and the feedback unit.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a multi-axis energy regulation and control method based on an electro-hydraulic servo pump control multi-axis energy regulation and control system, a common direct current bus technology is utilized for multi-axis energy regulation and control and energy feedback, an inverter is used for recovering energy of motor braking, the energy generated by the motor braking is recovered by the inverter and is transmitted to a rectification feedback unit through the common direct current bus to finally feed back to a power grid, and therefore, the energy transmission efficiency is improved, and the purpose of saving energy of the electro-hydraulic servo pump control multi-axis energy regulation and control system is achieved.

The invention provides a multi-axis energy regulation and control method based on an electro-hydraulic servo pump control multi-axis energy regulation and control system, which comprises the following specific implementation steps of:

s1, building an electro-hydraulic servo pump control unit:

s11, connecting the input end of the servo motor with the first end of the power grid through a cable, and connecting the output end of the servo motor with the oil-free side of the bidirectional high-pressure pump through a coupler;

s12, connecting the oil supplementing accumulator and an oil drainage cavity of the bidirectional high-pressure pump with oil inlets of a first check valve and a second check valve respectively;

s13, connecting the first one-way valve and the second one-way valve with a first cavity and a second cavity of the double-rod hydraulic cylinder respectively;

s14, connecting a first end of a first safety overflow valve and a second end of a second safety overflow valve with a first cavity and a second cavity of a double-rod hydraulic cylinder respectively, and connecting a second end of the first safety overflow valve and a first end of the second safety overflow valve with corresponding oil ways respectively;

s15, connecting the first pressure sensor and the second pressure sensor with a first cavity and a second cavity of the double-rod hydraulic cylinder respectively;

s16, connecting the displacement sensor with a cylinder rod of a first cavity of the double-rod hydraulic cylinder;

s2, establishing an electro-hydraulic servo pump control multi-axis energy regulation and control system:

s21, connecting the first end of the rectification feedback unit with the second end of the power grid, and connecting the second end of the rectification feedback unit with the first end of the common direct current bus;

s22, connecting the second end of the direct current bus with the first end of the inverter, and connecting the second end of the inverter with the electro-hydraulic servo pump control unit;

s3, analyzing the working condition of the electro-hydraulic servo pump control unit:

s31, respectively obtaining the directions of displacement and pressure according to the pressure sensor and the displacement sensor on the double-rod hydraulic cylinder, and judging the working condition of the electro-hydraulic servo pump control unit at the moment;

s311, carrying out differential processing on data acquired by the displacement sensor to obtain the displacement direction of the double-rod hydraulic cylinder;

s312, obtaining the pressure direction of the double-rod hydraulic cylinder according to the data collected by the first pressure sensor and the second pressure sensor;

s32, when the displacement direction and the pressure direction are the same, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a second four-quadrant, and the servo motor of the electro-hydraulic servo pump control unit is in a working condition of a generator;

s33, when the displacement direction is opposite to the pressure direction, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a first three-quadrant, and a servo motor of the electro-hydraulic servo pump control unit is in a motor working condition at the moment;

s4, performing energy regulation and control and energy feedback on the electro-hydraulic servo pump control multi-axis energy regulation and control system, and dividing the electro-hydraulic servo pump control multi-axis energy regulation and control system intoElectrohydraulic servo pump control unit under individual motor operating conditions andthe number of the electrohydraulic servo pump control units is n,indicates that the decimal point of the numerical value in the brackets is rounded off,indicating rounding of the numeric decimal point carry-back in parentheses:

s41, adjusting the output rotating speed torque of the servo motor according to the control servo driver, and detecting the working condition of the servo motor of each electro-hydraulic servo pump control unit in the electro-hydraulic servo pump control multi-shaft energy regulation and control system built in the step S2 through the force and displacement data respectively collected by the displacement sensor and the pressure sensor;

s42, obtaining the rotating speed and the torque of the servo motor according to the step S41, and calculating the power of the servo motor in each electro-hydraulic servo pump control unit by using a power formula;

s43, pairElectrohydraulic servo pump control unit under individual motor operating conditions andrespectively summing up electrohydraulic servo pump control units under working conditions of individual generators to obtain sigma P_{Electric motor}Sum sigma P_GeneratorAnd simultaneously judging the total energy sigma P generated by the servo motor_GeneratorTotal energy consumed by servo motorQuantity ∑ P_{Electric motor}The relationship of (1):

s431, if ∑ P_Generator＞∑P_{Electric motor}At the moment, the working mode of the electro-hydraulic servo pump control multi-axis energy regulation and control system is a feeding mode, and the generated redundant electric energy is fed back to the power grid through the direct-current bus;

s432, if ∑ P_Generator＝∑P_{Electric motor}At the moment, the electro-hydraulic servo pump controlled multi-axis energy regulation and control system is in a steady-state mode;

s433, if ∑ P_Generator＜∑P_{Electric motor}And at the moment, the working mode of the electro-hydraulic servo pump control multi-axis energy regulation and control system is a power supply mode, and the electro-hydraulic servo pump control multi-axis energy regulation and control system is supplied with power through a power grid.

Preferably, in step S12, the first check valve and the second check valve are connected in parallel.

Preferably, the step S311 specifically includes the following steps:

s3111, if the acquired data is subjected to differential processing and is a positive value, the double-rod hydraulic cylinder is in an extending state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a first quadrant or a second quadrant;

s3112, if the acquired data is subjected to differential processing and is a negative value, the double-rod hydraulic cylinder is in a retraction state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a third four quadrant.

Preferably, the step S312 specifically includes the following steps:

s3121, when the first pressure sensor is high pressure and the second pressure sensor is low pressure, the pressure direction of the double-rod hydraulic cylinder is from the second cavity of the double-rod hydraulic cylinder to the first cavity, and the unit pressure direction of the electro-hydraulic servo pump controlled multi-axis energy regulating system belongs to a first four-quadrant;

s3122, when the first pressure sensor is low pressure and the second pressure sensor is high pressure, the pressure direction of the double-rod hydraulic cylinder faces to the second cavity from the first cavity of the double-rod hydraulic cylinder, and the unit pressure direction of the electro-hydraulic servo pump control multi-axis energy regulating and controlling system belongs to a second three-quadrant.

Preferably, in step S42, the specific expression of the power formula is:

wherein, P represents power (W), n represents the rotation speed (r/min) of the servo motor, and T represents the torque (N.m) of the servo motor.

Preferably, the electro-hydraulic servo pump control multi-axis energy regulation and control system is composed of a plurality of electro-hydraulic servo pump control units, and comprises a servo motor, an inverter, a direct current bus, a rectification feedback unit and a power grid.

Compared with the prior art, the invention has the following advantages:

1. the invention can regulate and control the energy of the electro-hydraulic servo pump control multi-axis energy regulation and control system in a multi-axis state.

2. The invention can recover the energy of the electro-hydraulic servo pump control multi-axis energy regulation and control system, thereby effectively reducing the energy waste of the system.

3. The invention can effectively combine the electro-hydraulic servo pump control multi-axis energy regulation and control system with the common direct current bus technology, and improves the energy utilization rate of the whole system.

4. The invention is beneficial to popularizing the engineering application of applying the common direct current bus technology to the electro-hydraulic servo pump control multi-axis energy regulation and control system.

Drawings

FIG. 1 is an energy flow diagram of the principle of an electro-hydraulic servo pump controlled multi-axis energy regulation and control system and different working conditions in the multi-axis energy regulation and control method based on the electro-hydraulic servo pump controlled multi-axis energy regulation and control system;

FIG. 2 is a direct current bus application schematic diagram of the multi-axis energy regulation and control method based on the electro-hydraulic servo pump control multi-axis energy regulation and control system;

FIG. 3 is a four-quadrant working principle diagram of the multi-axis energy regulating method based on the electro-hydraulic servo pump controlled multi-axis energy regulating system;

FIG. 4 is a flow chart of energy regulation in the multi-axis energy regulation method based on the electro-hydraulic servo pump controlled multi-axis energy regulation system of the present invention;

FIG. 5 is a flow chart of a multi-axis energy regulation method based on an electro-hydraulic servo pump control multi-axis energy regulation system.

Reference numerals:

the hydraulic system comprises a servo motor 1, a bidirectional high-pressure pump 2, a first check valve 31, a second check valve 32, an oil supplementing accumulator 4, a first safety overflow valve 51, a second safety overflow valve 52, a double-rod hydraulic cylinder 6, a first pressure sensor 71, a second pressure sensor 72 and a displacement sensor 8.

Detailed Description

The invention will be described in detail with reference to the accompanying drawings for describing the technical content, the achieved purpose and the efficacy of the invention.

As shown in fig. 1, the principle of the electro-hydraulic servo pump controlled multi-axis energy regulation and control system and the energy flow of the servo motor 1 under different working conditions are realized as follows:

the power grid supplies power to the servo motor 1, the servo motor 1 is connected with the bidirectional hydraulic pump 2 through a coupler, and the power grid is used as a power source of the electro-hydraulic servo pump control multi-axis energy regulation and control system and provides required pressure and flow for the electro-hydraulic servo pump control multi-axis energy regulation and control system; the oil supplementing energy accumulator 4 is connected to the low-pressure side of the bidirectional hydraulic pump 2 for supplementing oil, so that leakage of the electro-hydraulic servo pump control multi-axis energy regulation and control system is compensated; the first check valve 31 and the second check valve 32 are respectively connected with two cavities of the double-rod hydraulic cylinder 6 to play a role of one-way conduction; the first safety overflow valve 51 and the second safety overflow valve 52 are respectively connected with two cavities of the double-outlet-rod hydraulic cylinder 6, and when abnormal high pressure occurs during normal operation of the electro-hydraulic servo pump controlled multi-axis energy regulating system, the pressure of the electro-hydraulic servo pump controlled multi-axis energy regulating system is stabilized within a safety range. When the servo motor 1 is in a working condition of a generator, the energy of the electro-hydraulic servo pump controlled multi-shaft energy regulating and controlling system is converted into mechanical energy, hydraulic energy, mechanical energy and electric energy, and when the servo motor 1 is in a working condition of a motor, the energy of the electro-hydraulic servo pump controlled multi-shaft energy regulating and controlling system is converted into electric energy, mechanical energy, hydraulic energy and mechanical energy.

In a preferred embodiment of the present invention, the multi-axis energy regulating method based on the electro-hydraulic servo pump controlled multi-axis energy regulating system, as shown in fig. 5, includes the following steps:

and S1, building an electro-hydraulic servo pump control unit as shown in figure 1.

S11, the input end of the servo motor 1 is connected with the first end of the power grid through a cable, and the output end of the servo motor 1 is connected with one side of the oil-free port of the bidirectional high-pressure pump 2 through a coupler.

And S12, connecting the oil supplementing accumulator 4 and an oil drainage cavity of the two-way high-pressure pump 2 with oil inlets of the first check valve 31 and the second check valve 32 respectively.

S13, connecting the first check valve 31 and the second check valve 32 to the first chamber and the second chamber of the double-rod hydraulic cylinder 6, respectively.

And S14, respectively connecting the first end of the first safety overflow valve 51 and the second end of the second safety overflow valve 52 with the first cavity and the second cavity of the double-rod hydraulic cylinder 6, and simultaneously respectively connecting the second end of the first safety overflow valve 51 and the first end of the second safety overflow valve 52 with corresponding oil passages.

S15, connecting the first pressure sensor 71 and the second pressure sensor 72 to the first chamber and the second chamber of the double-rod hydraulic cylinder 6, respectively.

S16, the displacement sensor 8 is connected to the cylinder rod of the first chamber of the double-rod hydraulic cylinder 6.

S2, as shown in figure 2, an electro-hydraulic servo pump control multi-axis energy regulation and control system is built.

And S21, connecting the first end of the rectification feedback unit with the second end of the power grid, and connecting the second end of the rectification feedback unit with the first end of the common direct current bus.

And S22, connecting the second end of the direct current bus with the first end of the inverter, and connecting the second end of the inverter with the electro-hydraulic servo pump control unit.

Specifically, the working conditions of a plurality of servo motors 1 exist in the electro-hydraulic servo pump control multi-axis energy regulation and control system, but not all the servo motors 1 are in a power supply state, and some servo motors 1 are in the working conditions of a generator to generate a large amount of regenerative electric energy; the inverter has the function of inverting the regenerated electric energy to feed back to the power grid; the direct current bus recovers the electric energy; the rectification feedback unit can rectify the power voltage into a constant controllable direct current power supply and can also feed energy back to the power grid. The electro-hydraulic servo pump control multi-axis energy regulation and control system utilizes the direct current bus to realize energy regulation and control and energy feedback.

And S3, analyzing the working condition of the electro-hydraulic servo pump control unit.

And S31, respectively obtaining the directions of the displacement and the pressure according to the pressure sensor on the double-rod hydraulic cylinder 6 and the displacement sensor 8, and judging the working condition of the electro-hydraulic servo pump control unit at the moment.

And S311, carrying out differential processing on the data acquired by the displacement sensor 8 to obtain the displacement direction of the double-rod hydraulic cylinder 6.

And S312, obtaining the pressure direction of the double-rod hydraulic cylinder 6 according to the data collected by the first pressure sensor 71 and the second pressure sensor 72.

And S32, when the displacement direction and the pressure direction are the same, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a second four-quadrant, and the servo motor 1 of the electro-hydraulic servo pump control unit is under the working condition of a generator.

And S33, when the displacement direction is opposite to the pressure direction, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a first three-quadrant, and the servo motor 1 of the electro-hydraulic servo pump control unit is in a motor working condition at the moment.

S4, performing energy regulation and energy feedback on the electro-hydraulic servo pump control multi-axis energy regulation and control system according to the graph of FIG. 4,

and rounding the decimal point carry-back.

And S41, adjusting the output rotating speed torque of the servo motor 1 according to the control servo driver, and detecting the working condition of the servo motor 1 of each electro-hydraulic servo pump control unit in the electro-hydraulic servo pump control multi-axis energy regulation and control system built in the step S2 through the force and displacement data respectively acquired by the displacement sensor 8 and the pressure sensor.

S42, obtaining the rotating speed and the torque of the servo motor 1 according to the step S41, and solving the power of the servo motor 1 in each electro-hydraulic servo pump control unit by using a power formula, wherein the specific expression of the power formula is as follows:

wherein, P represents power (W), n represents the rotation speed (r/min) of the servo motor, and T represents the torque (N.m) of the servo motor.

S43, pairElectrohydraulic servo pump control unit under individual motor operating conditions andrespectively summing up electrohydraulic servo pump control units under working conditions of individual generators to obtain sigma P_{Electric motor}Sum sigma P_GeneratorAnd simultaneously determining the total energy sigma P generated by the servo motor 1_GeneratorTotal energy Σ P consumed from the servo motor 1_{Electric motor}The relationship (2) of (c).

S431, if ∑ P_Generator＞∑P_{Electric motor}In the multi-shaft energy regulation system controlled by electrohydraulic servo pumpThe servo motor 1 generates more electric energy thanThe power generation of the electric energy consumed by the servo motor 1 is larger than the power consumption, at the moment, the working mode of the electro-hydraulic servo pump control multi-axis energy regulation and control system enters a feeding mode, and the generated redundant electric energy is fed back to the power grid through the direct current bus.

S432, if ∑ P_Generator＝∑P_{Electric motor}In the multi-shaft energy regulation system controlled by electrohydraulic servo pumpGenerated by a servo motorElectric energy is equal toThe power generation of the electric energy consumed by the servo motor is equal to the power consumption, the energy in the electro-hydraulic servo pump control multi-axis energy regulation and control system can realize self-sufficiency, the direct-current bus does not work at the moment, and the electro-hydraulic servo pump control multi-axis energy regulation and control system is in a steady-state mode.

S433, if ∑ P_Generator＜∑P_{Electric motor}In the multi-shaft energy regulation system controlled by electrohydraulic servo pumpThe electric energy generated by the servo motor is less thanThe power generation of the electric energy consumed by the servo motor is less than the power consumption, at the moment, the working mode of the electro-hydraulic servo pump control multi-axis energy regulation and control system enters a power supply mode, and the power supply is carried out on the electro-hydraulic servo pump control multi-axis energy regulation and control system through a power grid.

Specifically, in step S12, the first check valve 31 and the second check valve 32 are connected in parallel.

The four-quadrant method shown in fig. 3 is used for judging whether the electro-hydraulic servo pump control unit is in a generator state or a motor state, and then summing is performed to compare and judge a system working mode, wherein the specific working principle is as follows: the horizontal axis represents the load force of the double-rod hydraulic cylinder 6, and the vertical axis represents the speed of the double-rod hydraulic cylinder 6. In the first quadrant and the third quadrant, the direction of the speed is opposite to the direction of the pressure, which means that the electro-hydraulic servo pump controlled multi-axis energy regulation system works in a power supply mode, and at the moment, the system is in a power supply state, namely the energy consumed by the working condition of a motor in the system is more than the energy generated by the working condition of a generator, and the energy is consumed by supplying power from a power grid; in the second quadrant and the fourth quadrant, the direction of the speed is the same as the direction of the pressure, the electro-hydraulic servo pump controlled multi-axis energy regulation system works in a feeding mode state, the system is in a feeding state at the moment, namely the energy consumed by the working condition of a motor in the system is less than the energy generated by the working condition of a generator, and the energy is regenerated and fed back to a power grid. Wherein, the numerical value of the pressure sensor and the displacement sensor 8 is judged according to the change situation, if the numerical value at a certain moment shows that the numerical value is increased compared with the previous stage, the double-rod hydraulic cylinder 6 is proved to be in an extending state or a pressure increasing state at the moment, and otherwise, the double-rod hydraulic cylinder is retracted and the pressure is reduced.

Further, the method for determining the displacement direction of the double-rod hydraulic cylinder 6 in step S311 includes:

s3111, if the acquired data is subjected to differential processing and is a positive value, the double-rod hydraulic cylinder 6 is in an extending state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a first quadrant or a second quadrant;

s3112, if the acquired data is subjected to differential processing and is a negative value, the double-rod hydraulic cylinder 6 is in a retraction state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a third four quadrant.

Further, the method for determining the pressure direction of the double-rod hydraulic cylinder in step S312 includes:

s3121, when the first pressure sensor 71 is at a high pressure and the second pressure sensor 72 is at a low pressure, the direction of the pressure of the double-rod hydraulic cylinder 6 is from the second cavity of the double-rod hydraulic cylinder 6 to the first cavity, that is, the first cavity is in a relatively lower pressure state; the unit pressure direction of the electro-hydraulic servo pump controlled multi-axis energy regulation and control system belongs to a first four-quadrant;

s3122, when the first pressure sensor 71 is in a low pressure state and the second pressure sensor 72 is in a high pressure state, the pressure direction of the double-rod hydraulic cylinder 6 is that the first cavity of the double-rod hydraulic cylinder 6 faces the second cavity, and the unit pressure direction of the electro-hydraulic servo pump controlled multi-axis energy regulating system belongs to a second three-quadrant.

The electro-hydraulic servo pump control multi-axis energy regulation and control system consists of a plurality of electro-hydraulic servo pump control units and is determined according to actual working conditions. The system comprises a servo motor 1, an inverter, a direct current bus, a rectification feedback unit and a power grid. The drivers of the servo motors 1 are respectively connected with an inverter, the inverter is connected with a direct current bus, the direct current bus is connected with a rectification feedback unit, the rectification feedback unit is connected with a power grid, when the electro-hydraulic servo pump control multi-axis energy regulation and control system works in a power supply state, the inverter obtains electric energy from the direct current bus, when the electro-hydraulic servo pump control multi-axis energy regulation and control system works in a feed state, the energy is directly fed back to the power grid through the direct current bus and the feedback unit, and energy loss is effectively reduced through energy regulation and feedback of the electro-hydraulic servo pump control multi-axis energy regulation and control system.

The multi-axis energy regulation and control method based on the electro-hydraulic servo pump control multi-axis energy regulation and control system is further described by combining the embodiment as follows:

and S1, building an electro-hydraulic servo pump control unit as shown in figure 1.

S11, the input end of the servo motor 1 is connected with the first end of the power grid through a cable, and the output end of the servo motor 1 is connected with one side of the oil-free port of the bidirectional high-pressure pump 2 through a coupler.

And S12, connecting the oil supplementing accumulator 4 and an oil drainage cavity of the two-way high-pressure pump 2 with oil inlets of the first check valve 31 and the second check valve 32 respectively.

S13, connecting the first check valve 31 and the second check valve 32 to the first chamber and the second chamber of the double-rod hydraulic cylinder 6, respectively.

And S14, respectively connecting the first end of the first safety overflow valve 51 and the second end of the second safety overflow valve 52 with the first cavity and the second cavity of the double-rod hydraulic cylinder 6, and simultaneously respectively connecting the second end of the first safety overflow valve 51 and the first end of the second safety overflow valve 52 with corresponding oil passages.

S15, connecting the first pressure sensor 71 and the second pressure sensor 72 to the first chamber and the second chamber of the double-rod hydraulic cylinder 6, respectively.

S16, the displacement sensor 8 is connected to the cylinder rod of the first chamber of the double-rod hydraulic cylinder 6.

S2, as shown in FIG. 2, an electro-hydraulic servo pump control multi-axis energy regulation and control system with 5 electro-hydraulic servo pump control units is built.

And S21, connecting the first end of the rectification feedback unit with the second end of the power grid, and connecting the second end of the rectification feedback unit with the first end of the common direct current bus.

And S22, respectively connecting the second ends of the direct current buses with the first ends of the 5 inverters, and respectively connecting the second ends of the 5 inverters with the 5 electro-hydraulic servo pump control units.

And S3, analyzing the working condition of the electro-hydraulic servo pump control unit.

And S31, respectively obtaining the directions of displacement and pressure according to the first pressure sensor 71, the second pressure sensor 72 and the displacement sensor 8 on the double-rod hydraulic cylinder 6, and judging the working condition of the electro-hydraulic servo pump control unit at the moment.

And S311, integrating the data collected by the displacement sensor 8, and respectively carrying out differential processing to obtain the displacement direction of the double-rod hydraulic cylinder 6.

S3111, if the acquired data is subjected to differential processing and is a positive value, the double-rod hydraulic cylinder 6 is in an extending state, and the unit displacement direction of the electro-hydraulic servo pump controlled multi-axis energy regulating and controlling system belongs to a first quadrant;

s3112, if the acquired data is subjected to differential processing to be a negative value, the double-rod hydraulic cylinder 6 is in a retraction state, and the unit displacement direction of the electro-hydraulic servo pump control multi-axis energy regulation and control system belongs to a third quadrant.

And S312, obtaining the pressure direction of the double-rod hydraulic cylinder 6 according to the data collected by the first pressure sensor 71 and the second pressure sensor 72.

S3121, when the first pressure sensor 71 is in a high pressure state and the second pressure sensor 72 is in a low pressure state, the pressure direction of the double-rod hydraulic cylinder 6 is that the second cavity of the double-rod hydraulic cylinder 6 faces the first cavity, and the unit pressure direction of the electro-hydraulic servo pump controlled multi-axis energy regulation and control system belongs to a first quadrant;

s3122, when the first pressure sensor 71 is in a low pressure state and the second pressure sensor 72 is in a high pressure state, the pressure direction of the double-rod hydraulic cylinder 6 is that the first cavity of the double-rod hydraulic cylinder 6 faces the second cavity, and the unit pressure direction of the electro-hydraulic servo pump controlled multi-axis energy regulating system belongs to the second quadrant.

And S32, when the displacement direction and the pressure direction are the same, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a second quadrant, and the servo motor 1 of the electro-hydraulic servo pump control unit is under the working condition of a generator.

And S33, when the displacement direction is opposite to the pressure direction, the pressure and the displacement direction of the electro-hydraulic servo pump control unit belong to a first quadrant, and the servo motor 1 of the electro-hydraulic servo pump control unit is under the working condition of a motor.

And S4, performing energy regulation and control and energy feedback on the electro-hydraulic servo pump control multi-axis energy regulation and control system according to the graph of FIG. 4, wherein the working conditions of the electro-hydraulic servo pump control multi-axis energy regulation and control system comprise electro-hydraulic servo pump control units under the working conditions of 3 motors and electro-hydraulic servo pump control units under the working conditions of 2 generators.

S41, adjusting the output rotating speed torque of the servo motor 1 according to the control servo driver, respectively acquiring force and displacement data through the displacement sensor 8 and the pressure sensor, and calculating the power of the servo motor 1 in each electro-hydraulic servo pump control unit by using a power formula, wherein the specific expression of the power formula is as follows:

wherein, P represents power (W), n represents the rotation speed (r/min) of the servo motor, and T represents the torque (N.m) of the servo motor.

S42, respectively summing the electro-hydraulic servo pump control units under the working conditions of 3 motors and the electro-hydraulic servo pump control units under the working conditions of 2 generators to obtain sigma P_{Electric motor}Sum sigma P_GeneratorAnd simultaneously determining the total energy sigma P generated by the servo motor 1_GeneratorTotal energy Σ P consumed from the servo motor 1_{Electric motor}The relationship (2) of (c).

S43, obtaining Sigma P according to the step S42_Generator＞∑P_{Electric motor}The electric energy generated by 2 servo motors 1 in the electro-hydraulic servo pump controlled multi-axis energy regulation and control system is larger than the electric energy consumed by 3 servo motors 1, the power generation is larger than the power consumption, the working mode of the electro-hydraulic servo pump controlled multi-axis energy regulation and control system enters a feed mode, and the generated redundant electric energy is fed back to the power grid through a direct current bus.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.