Digital servo valve system

• US 4,951,549 A
• Filed: 12/12/1988
• Issued: 08/28/1990
• Est. Priority Date: 12/12/1988
• Status: Expired due to Term

• Current Assignee: Victory Controls, LLC
• Original Assignee: Olsen Controls, Inc.
• Inventors: D'Angelo, Gary, Olsen, Zenny, Hamman, Eric, Sperbeck, Albert J.
• Primary Examiner(s): Look, Edward K.
• Assistant Examiner(s): Denion, Thomas
• Application Number:
  US07/283,190
• Time in Patent Office: 624 Days
• Field of Search: 91/359, 91/360, 91/361, 91/363 R, 91/459, 91/362, 137/625.25, 137/625.65, 137/625.64, 137/625.28, 137/625.46, 251/129.08, 251/129.11, 251/129.04, 251/129.05
• US Class Current: 91/363.00R
• CPC Class Codes: F15B 13/0402 for linearly sliding valves, e.g. spool valves
• CPC Class Codes: F15B 13/044 operated by electrically-controlled means, e.g. solenoids, torque-motors
• CPC Class Codes: F15B 2013/0412 with three positions
• CPC Class Codes: F15B 9/03 with electrical control means F15B9/07, F15B9/09, F15B9/17 take precedence
• CPC Class Codes: G05B 19/232 with speed feedback only
• CPC Class Codes: G05B 19/4142 characterised by the use of a microprocessor G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/31154 Actuator sensor bus, asi, intelligent actuator, motor, sensor
• CPC Class Codes: G05B 2219/31203 Purpose, identification of messages, programs, variables
• CPC Class Codes: G05B 2219/33119 Servo parameters in memory, configuration of control parameters
• CPC Class Codes: G05B 2219/33187 Serial transmission rs232c, rs422, rs485 communication link
• CPC Class Codes: G05B 2219/34215 Microprocessor
• CPC Class Codes: G05B 2219/35438 Joystick
• CPC Class Codes: G05B 2219/37313 Derive speed from position
• CPC Class Codes: G05B 2219/37536 Rate of change, derivative
• CPC Class Codes: G05B 2219/41022 Small gain for small movements, large gain for large movements
• CPC Class Codes: G05B 2219/41047 Recirculating ballnut, ballscrew, preloaded bearing
• CPC Class Codes: G05B 2219/41121 Eliminating oscillations, hunting motor, actuator
• CPC Class Codes: G05B 2219/41146 Kalman filter
• CPC Class Codes: G05B 2219/41156 Injection of vibration anti-stick, against static friction, dither, stiction
• CPC Class Codes: G05B 2219/41203 Lead-phase compensation, lag-phase compensation servo
• CPC Class Codes: G05B 2219/41218 : Posicast, break reference into two parts, better settling time
• CPC Class Codes: G05B 2219/41298 : Stepping motor and control valve and power cylinder and mechanical feedback
• CPC Class Codes: G05B 2219/41367 : Estimator, state observer, space state controller
• CPC Class Codes: G05B 2219/41406 : LQR linear quadratic regulator to calculate gain for several known variables
• CPC Class Codes: G05B 2219/42033 : Kind of servo controller
• CPC Class Codes: G05B 2219/42276 : Action, on power failure, close pilot valve entirely by return spring
• CPC Class Codes: G05B 2219/43048 : Step change in reference, soft start, smoothing reference

Abstract

A novel digital servo valve system for use in displacing an actuator is capable of operating either in closed or open loop mode. The system includes a controller that compares computed values of actuator parameters with preselected parameter values and iteratively determines therefrom command signals for the servo valve. The servo valve is characterized by a ball screw mechanism that eliminates mechanical backlash and a torsion bar which increases radial and angular compliance. A servo valve provided according to the present invention also displays reduced flow forces using a simple, inexpensive valve body in combination with a uniquely configured displaceable spool.

Claims

1. A digital servo valve system for controlling a displaceable actuator, comprising:

valve body having an interior longitudinal cavity with a plurality of channels spaced therealong, each of said channels respectively communicating with a fluid pressure source, a fluid pressure return and the actuator;

a valve spool displaceable within said cavity along a longitudinal axis, said valve spool having a plurality of substantially cylindrical lands alternately spaced with a plurality of recessed regions, said spool cooperatively configured with said valve body to regulate fluid flow through said channels in dependence on said spool axial displacement;

a rotary to linear translation means affixed to said valve body and said spool for translating received rotational displacement to linear displacement of said spool;

feedback means for providing signals indicative of actuator displacement;

motor means connected with said rotary to linear translation means for providing discrete rotary displacement in response to position command signals;

a controller receiving said feedback signals and actuator control signals, said controller computing present actuator parameter values and comparing said computer values with nominal actuator parameter values and iteratively determining from said received and computed signals said position command signals;

said controller in computing said position command signals utilizes said feedback signals to compute actuator present position values and compares these values with a commanded final position to determine if the actuator is within a selected distance from the commanded final position; and

wherein when said controller determines that the actuator is within said selected distance, it alters said position command signals to cause said motor means to decelerate said valve spool along said selected distance such that the valve spool is positioned at the commanded final position without overshoot.

2. The system of claim 1 wherein said controller further compares said nominal actuator parameters with said feedback signals and generates therefrom modified position command signals, thereby providing adaptive valve control.

3. The system of claim 1 wherein said controller determines said position command signals using a proportional-integral-derivative (PID) closed loop control algorithm.

4. The system of claim 1 wherein said controller computes said actuator parameter values and compares said computed values with said preselected values in real time.

5. The system of claim 3 wherein said control algorithm establishes a present value of position error and integrates said position error value with position error values in successive iterations.

6. The system of claim 1 wherein said controller determines said position command signals using closed loop control algorithms derived from output-feedback theory.

7. The system of claim 1 wherein said controller determines said position command signals using a closed loop control algorithm derived from state-space theory.

8. The system of claim 7 wherein said state-space algorithm includes an estimator variable constructed by said algorithm from other variables in the system.

9. The system of claim 8 wherein said estimator variable comprises a Lleuenberger type variable.

10. The system of claim 8 wherein said estimator variable comprises a Kalman filter.

11. The system of claim 7 wherein said state-space algorithm includes a linear quadratic regulator.

12. The system of claim 7 wherein said state-space algorithm comprises a pole placement technique.

13. The system of claim 1 wherein said computed parameters include actuator velocity and acceleration.

14. The system of claim 1 wherein said controller compares said computed parameter values with preselected values thereof and provides a time delay if said computed values exceed said preselected values, thereby providing for the temporal response of the actuator.

15. The system of claim 1 further comprising one or more analog servo valves configured with said valve body, said fluid pressure source, fluid pressure return and the actuator to receive said regulated fluid flow and provide hydraulic application.

16. The system of claim 1 wherein said controller comprises an algorithm which determines valve spool position and velocity and which compares said actuator computed position with said actuator measured position and determines further whether said valve spool has reached a deceleration position and spool velocity;

said controller for selecting a final valve spool positioning algorithm when said valve spool position is within a selected distance from a commanded position.

17. The system of claim 16 wherein said controller configures said final positioning algorithm from a deceleration control sub-algorithm a velocity control sub-algorithm and an accelerator control sub-algorithm, in dependence on said actuator parameter values.

18. The system of claim 1 wherein said motor means includes a return apparatus used with a stepper having an axis of rotation with a plurality of positional detents, said return apparatus comprising:

spring means for exerting a torque on the output shaft, said spring torque having a magnitude greater than an output shaft detent torque and less than the stepper motor torque;

said spring means including a coil spring; and

means for positioning said coil spring concentrically about said output shaft axis of rotation, defining a null position, for applying said spring torque thereto so as to rotate said output shaft to said null position in the absence of the stepper motor torque.

19. The apparatus of claim 18 wherein said centering apparatus rotates said shaft less than or equal to one shaft revolution.

20. The apparatus of claim 18 wherein said spring torque is applied in both clockwise and counter-clockwise directions.

21. The system of claim 1 wherein said controller further utilizing said feedback signals to compute actuator present velocity values, and

wherein said controller utilizes said actuator present velocity value to alter said position command signals to maintain a velocity set point when said valve spool is positioned outside of said selected distance.

22. The system of claim 21 wherein said controller utilizes said actuator present velocity values to compute actuator present acceleration values;

said controller further utilizing said actuator present acceleration values to alter said position command signals to accelerate said valve spool at a constant rate from and an initial at rest position up to said velocity set point.

23. The system of claim 21 wherein said controller computes an actuator position error value from the difference between the actuator present position value and the commanded final position;

and

when said controller computes said actuator present position as being very close to said commanded final position, said controller sums the remaining error value in successive iterations and issues position command signals for each iteration proportional to the amount of position error remaining.

24. An open loop digital spool valve control system for controlling a displaceable actuator, comprising:

valve body having an interior longitudinal cavity with a plurality of channels spaced therealong, each of said channels respectively communicating with a fluid pressure source, a fluid pressure return and the actuator;

a valve spool displaceable within said cavity along a longitudinal axis, said valve spool having a plurality of substantially cylindrical lands alternately spaced with a plurality of recessed regions, said spool cooperatively configured with said valve body to regulate fluid flow through said channels in dependence on said spool axial displacement;

a rotary to linear translation means affixed to said valve body and said spool for translating received rotational displacement to linear displacement of said spool;

said rotary to linear translation means including a ball screw assembly having a helical groove with no greater than one complete helical revolution formed in it for complete valve operation and having at least one ball received within said groove for translating said received rotational displacement to said linear displacement;

motor means for providing discrete rotary displacement in response to position command signals; and

a controller receiving actuator control signals, said controller computing present actuator parameter values and comparing said computed present actuator parameter values with preselected actuator parameter values and iteratively determining from said received and computed signals said position command signals.