CN104295543B - Hybrid power engineering machinery composite move control method - Google Patents
Hybrid power engineering machinery composite move control method Download PDFInfo
- Publication number
- CN104295543B CN104295543B CN201410454160.3A CN201410454160A CN104295543B CN 104295543 B CN104295543 B CN 104295543B CN 201410454160 A CN201410454160 A CN 201410454160A CN 104295543 B CN104295543 B CN 104295543B
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- Prior art keywords
- valve
- master controller
- engineering machinery
- hybrid power
- control
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- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims abstract description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000004904 shortening 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 kind of hybrid power engineering machinery composite move control method, belong to technical field of engineering machinery, the method adopts the motor driving equipment gyration and drives the hydraulic system of equipment elevating movement；When hybrid power engineering machinery composite move, input to the control signal of master controller rotating speed of target by turning round the displacement stroke of operation handle and set up corresponding pilot pressure by descending operation handle displacement stroke and regulate the spool aperture determining lifting, the signal that velocity sensor and pressure transducer detect being passed to master controller simultaneously；Master controller is extrapolated two-bit triplet according to the real time information of sensor and is controlled the current value of valve and the automatically controlled end of electromagnetic throttle valve, and this current signal is delivered to the automatically controlled end of two-bit triplet control valve and electromagnetic throttle valve, jointly regulate working connection flow in real time with valve core of main valve, the rotating speed of the speed of action and motor that control oil cylinder is coordinated mutually.
Description
Technical field
The present invention relates to technical field of engineering machinery, especially a kind of hybrid power engineering machinery composite move control method.
Background technology
The action operationally of the equipment of engineering machinery is usually composite move, for instance equipment elevating movement is often along with gyration.A kind of hybrid power engineering machinery, what equipment elevating movement adopted is hydraulic-driven as shown in Figure 1, hydraulic system shown in Fig. 1, include hydraulic pump 11 and oil cylinder 13, being communicated with main valve 12 by main oil pipe between hydraulic pump 11 and oil cylinder 13, the control end of main valve 12 connects lifting pilot valve 14；Lifting pilot valve 14 is provided with descending operation handle, during work, promoting descending operation handle, the guide oil that the oil-out through lifting 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 gyration employing is that the motor controlled by the master controller of revolution operation handle and hybrid power engineering machinery drives；During work, promoting revolution operation handle, output displacement signal arrives master controller, and master controller determines rotating speed of target according to displacement signal, and controls motor and start rotation, till reaching rotating speed of target.But this hybrid power engineering machinery composite move control method also exists: the control between both can not be compatible, the hydraulic control process of equipment elevating movement does not consider the automatically controlled process of equipment gyration, and the size of motor load can not reflect and causes the inharmonic problem of hybrid power engineering machinery composite move on pressure.
Summary of the invention
The technical problem to be solved is to provide a kind of control 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 problems referred to above, the technical solution adopted in the present invention is: this hybrid power engineering machinery composite move control method, adopts the motor driving equipment gyration and drives the hydraulic system of equipment elevating movement；
Described motor controls by turning round the master controller of operation handle and hybrid power engineering machinery, and described motor is provided with the velocity sensor being connected with described master controller；
Described hydraulic system includes hydraulic pump, main valve and the oil cylinder ganged up by working connection, the hydraulic control end of described main valve is connected to 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 being connected with described master controller；Being communicated with electromagnetic throttle valve on working connection between described main valve and described hydraulic pump and two-bit triplet controls valve, the automatically controlled end that described electromagnetic throttle valve controls valve with two-bit triplet is connected with described master controller respectively；
Its control 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 operation handle and set up corresponding pilot pressure by described descending operation handle displacement stroke and regulate the spool aperture determining lifting, the signal that described velocity sensor and described pressure transducer detect being passed to described master controller simultaneously；Described master controller is extrapolated described two-bit triplet according to the real time information of described velocity sensor and described pressure transducer and is controlled the current value of valve and the automatically controlled end of described electromagnetic throttle valve, and this current signal is delivered to respectively the automatically controlled end of described two-bit triplet control valve and described electromagnetic throttle valve, the spool of now described two-bit triplet control valve, described electromagnetic throttle valve and described main valve regulates working connection flow jointly in real time, and the rotating speed of the speed of action and described motor that control described oil cylinder is coordinated mutually.
Owing to have employed technique scheme, the present invention compared with prior art has the advantages that
1, the two-bit triplet controlled owing to being provided with master controller in the main oil pipe of the hydraulic system of driving equipment elevating movement controls valve and installs the pressure transducer detecting pilot pressure on first oil guide pipe, and installs, driving, the velocity sensor detecting this motor speed on the pivotal motor of equipment；During work, master controller is determined revolution rotating speed of target value according to the displacement signal of revolution operation handle output, is set up pilot pressure according to the operation of descending operation handle, and the reading of Real-time and Dynamic picking rate sensor reading and pressure transducer, calculate two-bit triplet when equipment composite move occurs through master controller and control the current value of valve and the automatically controlled end of electromagnetic throttle valve, thus dynamically adjusting the flow of described oil circuit, make the speed of action of oil cylinder coordinate mutually with the rotating speed of turning motor, reach harmony during hybrid power engineering machinery composite move.
2, owing to the electromagnetic throttle valve electric current of master controller output can regulate, with two-position three-way valve electric current, the flow determining lifting action oil circuit in real time, thus arbitrarily lifting under pilot operated handle work angle, lifting action speed is linearly adjustable with output electric current, the regulation and control motility making lifting action speed is higher with accuracy, overcomes the problem that when hybrid excavator is with rotary and lifting in operation, swing arm lifting is too fast.
3, due to the control to equipment lifting action oil circuit flow, making lifting action and revolution action mutually coordinated, thus shortening 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.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the invention will be further described:
Hybrid power engineering machinery composite move control method shown in Fig. 2, adopts the motor driving equipment gyration and drives the hydraulic system of equipment elevating movement；
Motor controls by turning round the master controller of operation handle and hybrid power engineering machinery, and motor is provided with the velocity sensor being connected with master controller；
Hydraulic system as shown in Figure 3 includes hydraulic pump 1, main valve 3 and the oil cylinder 4 ganged up by working connection, the hydraulic control end of main valve 3 is connected to 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 hydraulic pump 1 is communicated with electromagnetic throttle valve 2a and two-bit triplet controls valve 2b, electromagnetic throttle valve 2a and is connected with master controller respectively with the automatically controlled end of two-bit triplet control valve 2b；
Its control 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 operation handle and set up corresponding pilot pressure by descending operation handle displacement stroke and regulate the spool aperture determining lifting, while pressure transducer signal S1a, S1b of detecting and the signal S2 that detects of velocity sensor pass to master controller；Master controller is extrapolated two-bit triplet according to the real time information of velocity sensor and pressure transducer and is controlled the current value of valve and the automatically controlled end of electromagnetic throttle valve, 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 rotating speed of the speed of action and motor controlling oil cylinder 4 is coordinated mutually.
Claims (1)
1. a hybrid power engineering machinery composite move control method, it is characterised in that: adopt the motor driving equipment gyration and drive the hydraulic system of equipment elevating movement；
Described motor controls by turning round the master controller of operation handle and hybrid power engineering machinery, and described motor is provided with the velocity sensor being connected with described master controller；Described hydraulic system includes hydraulic pump (1), main valve (3) and the oil cylinder (4) ganged up by working connection, the hydraulic control end of described main valve (3) is connected to 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 being connected with described master controller；Being communicated with electromagnetic throttle valve (2a) on working connection between described main valve (3) and described hydraulic pump (1) and two-bit triplet controls valve (2b), the automatically controlled end that described electromagnetic throttle valve (2a) controls valve (2b) with two-bit triplet is connected with described master controller respectively；
Its control method is as follows:
When hybrid power engineering machinery composite move, inputing to the control signal of described master controller rotating speed of target by the displacement stroke of described revolution operation handle and set up corresponding pilot pressure by described descending operation handle displacement stroke and regulate the spool aperture determining lifting, the signal that described velocity sensor and described pressure transducer detect simultaneously passes to described master controller；Described master controller is extrapolated described two-bit triplet according to the real time information of described velocity sensor and described pressure transducer and is controlled the current value of valve and the automatically controlled end of described electromagnetic throttle valve, and this current signal is delivered to respectively the automatically controlled end of described two-bit triplet control valve and described electromagnetic throttle valve, the spool of now described two-bit triplet control valve, described electromagnetic throttle valve and described main valve regulates working connection flow jointly in real time, and the rotating speed of the speed of action and described motor that control described oil cylinder is coordinated mutually.
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN104295543A CN104295543A (en) | 2015-01-21 |
| CN104295543B true 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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| 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 |
| CN109353759B (en) * | 2018-10-17 | 2020-04-28 | 山东科技大学 | Dual-mode driving brakable device of belt conveyor |
| CN109335471B (en) * | 2018-10-17 | 2020-04-24 | 山东科技大学 | Double-mode driving brake-capable hydraulic control system of belt conveyor |
| 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 |
| 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 |
| CN115324977A (en) * | 2022-07-13 | 2022-11-11 | 中科云谷科技有限公司 | Electromagnetic valve debugging method for arm type mechanical product |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5317517B2 (en) * | 2008-04-14 | 2013-10-16 | カヤバ工業株式会社 | Control device for hybrid construction machine |
| CN102071716B (en) * | 2009-11-20 | 2012-06-13 | 北汽福田汽车股份有限公司 | Control system and method for rotating speed of excavator |
| JP5511425B2 (en) * | 2010-02-12 | 2014-06-04 | カヤバ工業株式会社 | Control device for hybrid construction machine |
| JP2012057766A (en) * | 2010-09-10 | 2012-03-22 | Hitachi Constr Mach Co Ltd | Hybrid system of construction machine |
| CN102734144B (en) * | 2012-06-15 | 2016-02-10 | 三一重机有限公司 | Flow distributing system and flow allocation method |
| CN102748343B (en) * | 2012-06-21 | 2015-04-22 | 三一重机有限公司 | Hydraulic control system and method for engineering machine |
| CN202767155U (en) * | 2012-09-12 | 2013-03-06 | 徐州徐工挖掘机械有限公司 | Device for improving straight walking performance of excavator in the process of doing compound actions |
| CN202831050U (en) * | 2012-09-29 | 2013-03-27 | 张国军 | Hydraulic pump control system for engineering machinery |
| CN102900121B (en) * | 2012-09-29 | 2015-10-14 | 张国军 | A kind of hydraulic pump control for engineering machinery and method |
| CN103205992B (en) * | 2013-03-13 | 2015-11-25 | 上海华兴数字科技有限公司 | A kind of excavator Power control component and method |
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| CN104295543A (en) | 2015-01-21 |
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| C06 | Publication | ||
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| C53 | Correction of patent for 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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