CN104295543A - Hybrid power engineering machine composite motion control method - Google Patents
Hybrid power engineering machine composite motion control method Download PDFInfo
- Publication number
- CN104295543A CN104295543A CN201410454160.3A CN201410454160A CN104295543A CN 104295543 A CN104295543 A CN 104295543A CN 201410454160 A CN201410454160 A CN 201410454160A CN 104295543 A CN104295543 A CN 104295543A
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- Prior art keywords
- valve
- master controller
- hybrid power
- power engineering
- control valve
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- 230000033001 locomotion Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/023—Excess flow valves, e.g. for locking cylinders in case of hose burst
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a hybrid power engineering machine composite motion control method and belongs to the technical field of engineering machines. A motor driving a working device to rotate and a hydraulic system driving the working device to ascend and descend are adopted in the method, in the hybrid power engineering machine composite motion process, control signals of the target rotation speed of a master controller are input through the displacement stroke of a rotary operating handle, the corresponding pilot pressure is generated and the opening degree of a lifting valve element is adjusted and determined through the displacement stroke of a lifting operating handle, and meanwhile signals detected by a speed sensor and a pressure sensor are transmitted to the master controller. The master controller calculates the current value between a two-position three-way control valve and the electric control end of an electromagnetic throttling valve according to real-time information of the sensors, a current signal is transmitted to the two-position three-way control valve and the electric control end of the electromagnetic throttling valve, the flow of a main oil way is adjusted in real time jointly through the two-position three-way control valve, the electric control end of the electromagnetic throttling valve and the valve element of a main valve, and the motion speed of an oil cylinder is controlled to be coordinated with the rotation speed of the motor.
Description
Technical field
The present invention relates to technical field of engineering machinery, especially a kind of hybrid power engineering machinery composite move controlling method.
Background technique
The equipment action normally composite move operationally of engineering machinery, such as equipment elevating movement is often along with rotation motion.A kind of hybrid power engineering machinery, what equipment elevating movement adopted is hydraulic driving as shown in Figure 1, hydraulic system shown in Fig. 1, include oil hydraulic pump 11 and oil cylinder 13, between oil hydraulic pump 11 and oil cylinder 13, be communicated with main valve 12 by main oil pipe, the control end of main valve 12 connects lifting pilot valve 14; Lifting pilot valve 14 is provided with descending operation handle, during work, promote descending operation handle, the guide oil that the oil outlet through being elevated pilot valve 14 is discharged enters the hydraulic control port of main valve 12, the displacement of valve rod of control bound 12, makes the equipment of engineering machinery move up and down.And equipment rotation motion employing is that the motor controlled by the master controller turning round operating grip and hybrid power engineering machinery drives; During work, promote revolution operating grip, output displacement signal to master controller, master controller according to displacement signal determination rotating speed of target, and control motor start rotation, till reaching rotating speed of target.But this hybrid power engineering machinery composite move controlling method also exists: its control between the two can not be compatible, the hydraulic control process of equipment elevating movement does not consider the automatically controlled process of equipment rotation motion, and the size of motor load can not be reflected on pressure and causes the inharmonic problem of hybrid power engineering machinery composite move.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of controlling method coordinating hybrid power engineering machinery composite move, and this method can solve the inharmonic problem of hybrid power engineering machinery composite move.
In order to solve the problem, the technical solution adopted in the present invention is: this hybrid power engineering machinery composite move controlling method, adopts the motor driving equipment rotation motion and the hydraulic system driving equipment elevating movement;
Described motor is controlled by the master controller of revolution operating grip and hybrid power engineering machinery, described motor is provided with the velocity transducer be connected with described master controller;
Described hydraulic system includes oil hydraulic pump, main valve and the oil cylinder of being ganged up by working connection, the hydraulic control end of described main valve is connected with lifting pilot valve by guide's oil pipe, lifting pilot valve is provided with descending operation handle, described guide's oil pipe is provided with the pressure transducer be connected with described master controller; Working connection between described main valve and described oil hydraulic pump is communicated with electromagnetic throttle valve and two-bit triplet control valve, described electromagnetic throttle valve is connected with described master controller respectively with the automatically controlled end of two-bit triplet control valve;
Its controlling method is as follows:
When hybrid power engineering machinery composite move, input to the control signal of described master controller rotating speed of target by the displacement stroke of described revolution operating grip and set up corresponding pilot pressure by described descending operation handle displacement stroke and regulate the spool aperture determining lifting, the signal transmission simultaneously described velocity transducer and described pressure transducer detected gives described master controller; Described master controller extrapolates the current value of described two-bit triplet control valve and the automatically controlled end of described electromagnetic throttle valve according to the real time information of described sensor, and this current signal is delivered to respectively the automatically controlled end of described two-bit triplet control valve and described electromagnetic throttle valve, now the spool of described two-bit triplet control valve, described electromagnetic throttle valve and described main valve regulates working connection flow jointly in real time, and the movement speed controlling described oil cylinder is coordinated mutually with the rotating speed of described motor.
Owing to have employed technique scheme, the present invention compared with prior art has following beneficial effect:
1, be provided with two-bit triplet control valve that master controller controls and the pressure transducer of installation and measuring pilot pressure on first oil guide pipe owing to driving in the main oil pipe of the hydraulic system of equipment elevating movement, and drive the velocity transducer of this motor speed of installation and measuring on the pivotal motor of equipment; During work, master controller is determined revolution rotating speed of target value according to the displacement signal that revolution operating grip exports, is set up pilot pressure according to descending operation is lever operated, and the reading of real-time dynamic acquisition velocity transducer reading and pressure transducer, the current value of two-bit triplet control valve and electromagnetic throttle valve automatically controlled end when equipment composite move occurs is calculated through master controller, thus the flow of oil circuit described in dynamic conditioning, the movement speed of oil cylinder is coordinated mutually with the rotating speed of turning motor, reaches harmony during hybrid power engineering machinery composite move.
2, due to master controller export electromagnetic throttle valve electric current and two-position three-way valve electric current can regulate the flow determining lifting action oil circuit in real time, thus under being elevated pilot operated lever operated angle arbitrarily, lifting action speed is linearly adjustable with output current, make the regulation and control flexibility of lifting action speed and accuracy stronger, the problem that when overcoming hybrid excavator band rotary and lifting in operation, swing arm lifting is too fast.
3, due to the control to equipment lifting action oil circuit flow, lifting action is coordinated mutually with revolution action, thus shortens operating cycle, Energy harvesting is more balanced and effective.
Accompanying drawing explanation
Fig. 1 is the hydraulic schematic diagram of existing engineering machinery equipment.
Fig. 2 is the electric theory diagram of the embodiment of the present invention.
Fig. 3 is the hydraulic schematic diagram of hybrid power engineering machinery equipment in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiment, the invention will be further described:
Hybrid power engineering machinery composite move controlling method shown in Fig. 2, adopts the motor driving equipment rotation motion and the hydraulic system driving equipment elevating movement;
Motor is controlled by the master controller of revolution operating grip and hybrid power engineering machinery, motor is provided with the velocity transducer be connected with master controller;
Hydraulic system as shown in Figure 3 includes oil hydraulic pump 1, main valve 3 and the oil cylinder 4 of being ganged up by working connection, the hydraulic control end of main valve 3 is connected with lifting pilot valve 7 by guide's oil pipe, lifting pilot valve 7 is provided with descending operation handle, guide's oil pipe is provided with the pressure transducer 5 and pressure transducer 6 that are connected with master controller; Working connection between main valve 3 and oil hydraulic pump 1 is communicated with electromagnetic throttle valve 2a and two-bit triplet control valve 2b, electromagnetic throttle valve 2a are connected with master controller respectively with the automatically controlled end of two-bit triplet control valve 2b;
Its controlling method is as follows:
When hybrid power engineering machinery composite move, input to the control signal S10 of master controller rotating speed of target by turning round the displacement stroke of operating grip and set up corresponding pilot pressure by descending operation handle displacement stroke and regulate the spool aperture determining lifting, the signal S2 that signal S1a, S1b of detecting of pressure transducer and velocity transducer detect simultaneously passes to master controller; Master controller extrapolates the current value of two-bit triplet control valve and the automatically controlled end of electromagnetic throttle valve according to the real time information of sensor, and this current signal S3a, S3b are delivered to respectively the automatically controlled end of electromagnetic throttle valve and two-bit triplet control valve, the spool controlling electromagnetic throttle valve, two-bit triplet control valve and main valve regulates working connection flow jointly in real time, thus the control movement speed of oil cylinder 4 is coordinated mutually with the rotating speed of motor.
Claims (1)
1. a hybrid power engineering machinery composite move controlling method, is characterized in that: adopt the motor driving equipment rotation motion and the hydraulic system driving equipment elevating movement;
Described motor is controlled by the master controller of revolution operating grip and hybrid power engineering machinery, described motor is provided with the velocity transducer be connected with described master controller;
Described hydraulic system includes oil hydraulic pump (1), main valve (3) and the oil cylinder (4) of being ganged up by working connection, the hydraulic control end of described main valve (3) is connected with lifting pilot valve (7) by guide's oil pipe, lifting pilot valve (7) is provided with descending operation handle, described guide's oil pipe is provided with the pressure transducer be connected with described master controller; Working connection between described main valve (3) and described oil hydraulic pump (1) is communicated with electromagnetic throttle valve (2a) and two-bit triplet control valve (2b), described electromagnetic throttle valve (2a) is connected with described master controller respectively with the automatically controlled end of two-bit triplet control valve (2b);
Its controlling method is as follows:
When hybrid power engineering machinery composite move, input to the control signal of described master controller rotating speed of target by the displacement stroke of described revolution operating grip and set up corresponding pilot pressure by described descending operation handle displacement stroke and regulate the spool aperture determining lifting, simultaneously the signal transmission that detects of described velocity transducer and described pressure transducer is to described master controller; Described master controller extrapolates the current value of described two-bit triplet control valve and the automatically controlled end of described electromagnetic throttle valve according to the real time information of described sensor, and this current signal is delivered to respectively the automatically controlled end of described two-bit triplet control valve and described electromagnetic throttle valve, now the spool of described two-bit triplet control valve, described electromagnetic throttle valve and described main valve regulates working connection flow jointly in real time, and the movement speed controlling described oil cylinder is coordinated mutually with the rotating speed of described motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454160.3A CN104295543B (en) | 2014-09-09 | 2014-09-09 | Hybrid power engineering machinery composite move control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454160.3A CN104295543B (en) | 2014-09-09 | 2014-09-09 | Hybrid power engineering machinery composite move control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104295543A true CN104295543A (en) | 2015-01-21 |
| CN104295543B CN104295543B (en) | 2016-06-29 |
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| CN201410454160.3A Active CN104295543B (en) | 2014-09-09 | 2014-09-09 | Hybrid power engineering machinery composite move control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105889494A (en) * | 2016-05-25 | 2016-08-24 | 广西柳工机械股份有限公司 | Control method and control system of planetary gearbox |
| CN109335471A (en) * | 2018-10-17 | 2019-02-15 | 山东科技大学 | Brakeable Hydraulic Control System for Dual Mode Drive of Belt Conveyor |
| CN109353759A (en) * | 2018-10-17 | 2019-02-19 | 山东科技大学 | Dual Mode Drive Brakeable Device for Belt Conveyors |
| CN109403413A (en) * | 2018-11-01 | 2019-03-01 | 上海华兴数字科技有限公司 | A kind of excavator movement Calculation Method of Energy Consumption and device |
| CN112834255A (en) * | 2021-01-04 | 2021-05-25 | 三一重机有限公司 | Coordination testing method for mechanical device, fault diagnosis method and engineering machine |
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| CN102007253A (en) * | 2008-04-14 | 2011-04-06 | 卡亚巴工业株式会社 | Device for controlling hybrid construction machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105889494A (en) * | 2016-05-25 | 2016-08-24 | 广西柳工机械股份有限公司 | Control method and control system of planetary gearbox |
| CN109335471A (en) * | 2018-10-17 | 2019-02-15 | 山东科技大学 | Brakeable Hydraulic Control System for Dual Mode Drive of Belt Conveyor |
| CN109353759A (en) * | 2018-10-17 | 2019-02-19 | 山东科技大学 | Dual Mode Drive Brakeable Device for Belt Conveyors |
| CN109403413A (en) * | 2018-11-01 | 2019-03-01 | 上海华兴数字科技有限公司 | A kind of excavator movement Calculation Method of Energy Consumption and device |
| CN109403413B (en) * | 2018-11-01 | 2021-01-08 | 上海华兴数字科技有限公司 | Excavator action energy consumption calculation method and device |
| CN112834255A (en) * | 2021-01-04 | 2021-05-25 | 三一重机有限公司 | Coordination testing method for mechanical device, fault diagnosis method and engineering machine |
| CN112834255B (en) * | 2021-01-04 | 2024-01-23 | 三一重机有限公司 | Coordination testing method and fault diagnosis method of mechanical device and engineering machinery |
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| Publication number | Publication date |
|---|---|
| CN104295543B (en) | 2016-06-29 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: Pull the the Liujiang River city Liuzhou County town Shuangyong road 545100 the Guangxi Zhuang Autonomous Region Applicant after: Liugong Machinery Co., Ltd. Applicant after: LIUGONG CHANGZHOU MACHINERY CO., LTD. Applicant after: Guangxi Liugong Machinery Co., Ltd. Address before: Pull the the Liujiang River city Liuzhou County town Shuangyong road 545100 the Guangxi Zhuang Autonomous Region Applicant before: Liugong Machinery Co., Ltd. Applicant before: Liugong Changzhou Excvavtor Co., Ltd. Applicant before: Guangxi Liugong Machinery Co., Ltd. |
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| CB03 | Change of inventor or designer information |
Inventor after: Wei Zanzhou Inventor after: Dai Qunliang Inventor after: Wang Hu Inventor before: Wang Hu Inventor before: Wei Zanzhou |
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| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |