CN105604121B - A kind of control loop of engineer operation armament-related work device - Google Patents

Abstract

A kind of control loop of engineer operation armament-related work device, the boom cylinder control equipped for engineer operation, it includes：Oilhydraulic engineering working equipment equipment, boom cylinder, hydraulic cylinder liquid gas energy storage balanced loop, Driven by Hydraulic Cylinder loop, joystick；Boom cylinder connects oilhydraulic engineering working equipment equipment, the boom cylinder is the hydraulic cylinder with three cavity volumes, hydraulic cylinder liquid gas energy storage balanced loop connects an actuator port of boom cylinder, Driven by Hydraulic Cylinder loop connects the another two actuator port of boom cylinder, joystick connection liquid cylinder pressure driving circuit.When oilhydraulic engineering working equipment equipment rises, flow needed for hydraulic cylinder reduces, therefore can improve the rate of climb of equipment, so as to improve operating efficiency；When equipment declines, the heating that throttled at hydraulic valve is reduced, the temperature rise of hydraulic system is reduced, improves stability, extend the service life of Hydraulic Elements.

Description

A control loop of a working device for engineering operation equipment

technical field

The invention relates to a hydraulic circuit for controlling a working device of hydraulic engineering operation equipment, in particular to a control circuit for a boom lifting mechanism of hydraulic engineering operation equipment to reduce its working energy consumption.

Background technique

In engineering operation equipment, loaders and other mechanical devices driven by hydraulic cylinders that require frequent up and down reciprocating movements of the working device, usually due to the heavy weight of the working device itself, when the hydraulic cylinder drives it up, the hydraulic system needs to overcome its gravity to work. When the working device is lowered, the potential energy of the working device is converted into heat energy through the throttling of the hydraulic valve and consumed. This not only wastes energy, but also increases the oil temperature of the hydraulic system, increases the probability of system failure, and affects the service life of the hydraulic system.

If the potential energy of this type of working device can be recycled, there will be a considerable energy saving effect, and the life of the hydraulic system can be extended. In order to utilize this part of energy, German Liebherr company applied for the invention patent (CN 102561442 A) of using energy recovery cylinder to balance the gravity of working device and reduce this part of energy consumption. On the basis of the cylinder-driven working device, an invention patent (CN 102518606 A) is added to balance the weight of the working device with a gas-liquid energy storage cylinder. However, this method needs to add a third hydraulic cylinder on the basis of the original double hydraulic cylinder, which will change the structure of the original mechanical device, and it is also difficult to apply it to the layout of engineering operation equipment.

Contents of the invention

Aiming at the deficiencies in the prior art, the present invention provides a control circuit of a working device of engineering operation equipment that has a simple structure, can recover and reuse the potential energy of the working device without changing the structure of the original working device.

The invention has compact structure and high integration, does not affect the original hydraulic system of the mechanical device, is applicable to various hydraulic systems, and has various combination solutions.

A control circuit for a working device of engineering operation equipment, used for the control of boom hydraulic cylinders of engineering operation equipment, which includes: hydraulic engineering operation equipment working device, boom hydraulic cylinder, hydraulic cylinder liquid-air energy storage balance circuit, hydraulic pressure Cylinder drive circuit, control handle; the boom hydraulic cylinder is connected to the hydraulic engineering operation equipment working device, the boom hydraulic cylinder is a hydraulic cylinder with three cavities, and the hydraulic cylinder liquid-gas energy storage balance circuit is connected to the boom hydraulic cylinder One working oil port, the hydraulic cylinder driving circuit is connected to the other two working oil ports of the boom hydraulic cylinder, and the control handle is connected to the hydraulic cylinder driving circuit. .

The liquid-air energy storage balance circuit of the hydraulic cylinder includes a high-pressure accumulator, a low-pressure accumulator, a first stop valve, a second stop valve, a third stop valve, a prime mover, a hydraulic pump motor, a pressure sensor, and a second control valve. Devices, safety valves, one-way valves, oil tanks, displacement sensors.

The working oil port P _A (P _B or P _C ) of the boom hydraulic cylinder is connected with the high-pressure accumulator through the first cut-off valve. One working oil port of the hydraulic pump motor is connected with the high-pressure accumulator through the second shut-off valve, and the other working oil port is connected with the low-pressure accumulator through the third shut-off valve. The oil port of each accumulator is connected with a safety valve and a check valve, wherein the high-pressure side of the safety valve is connected to the accumulator, and the low-pressure side is connected to the oil tank. The check valve connects the accumulator and the oil tank, allowing oil to flow in the direction from the oil tank to the accumulator. Pressure sensors are installed at the oil ports of the two accumulators, and the pressure signals are collected to the second controller. The prime mover is connected with the hydraulic pump motor through a coupling to drive the hydraulic pump motor. A displacement sensor is installed on the hydraulic cylinder, and the displacement signal of the hydraulic cylinder is collected to the second controller. The three shut-off valves and the prime mover are controlled by the second controller using a suitable control method.

When in use, the low-pressure accumulator is pre-filled with lower pressure gas or not filled with gas, while the high-pressure accumulator needs to be pre-filled with a certain high-pressure gas, and through the first cut-off valve and an oil port of the boom hydraulic cylinder (one of P _A and P _C ) connection, usually the first cut-off valve is open, the second cut-off valve and the third cut-off valve are closed. At this time, the chamber connected to the high-pressure accumulator has the same pressure as the high-pressure accumulator. By setting the pre-charged pressure, the chamber connected to the high-pressure accumulator can have sufficient balance force to balance the working device. the weight of. When the hydraulic cylinder drive circuit drives the boom hydraulic cylinder to retract, the working device descends, and the volume of the chamber connected to the high-pressure accumulator decreases, and the oil in the chamber enters the high-pressure accumulator, and the potential energy of the working device is converted and stored in the In the high-pressure accumulator, losses due to throttling at the hydraulic valve port are avoided. When the hydraulic cylinder drive circuit drives the hydraulic cylinder of the boom to extend, the working device rises, and the volume of the chamber connected to the high-pressure accumulator increases, and the oil in the high-pressure accumulator enters the chamber and is stored in the high-pressure accumulator The energy of the hydraulic pump is replaced by the potential energy of the working device, which reduces the output energy of the hydraulic pump and has a good energy-saving effect.

Since the oil pressure in the accumulator will change with the volume change, a low-pressure accumulator and related components are used to adjust the pressure of the high-pressure accumulator. The second controller has three working modes:

(1) Static working point mode

In this mode, three pressure thresholds p ₁ , p ₂ and p ₃ are set in the second controller, and p ₁ >p ₂ >p ₃ . Among them, p ₁ is the maximum working pressure of the high-pressure accumulator, p ₃ is the minimum working pressure of the high-pressure accumulator, and p ₂ is the preset working pressure of the high-pressure accumulator. The second controller monitors the pressure p of the high-pressure accumulator in real time through a pressure sensor.

When p >p ₁ , open the second cut-off valve and the third cut-off valve, and start the prime mover, the prime mover drives the hydraulic pump motor to transfer the oil in the high-pressure accumulator to the low-pressure accumulator until p <p ₂ Stop the prime mover at the same time, and close the second cut-off valve and the third cut-off valve at the same time, thereby reducing the pressure of the high-pressure accumulator, and tending to the preset working pressure p ₂ . During this process, if the second controller detects that the pressure of the low-pressure accumulator exceeds the safety limit value through the pressure sensor, it also stops the prime mover and closes the second shut-off valve and the third shut-off valve at the same time.

When p < p ₃ , open the second stop valve and the third stop valve, and start the prime mover, the prime mover drives the hydraulic pump motor to transfer the oil in the low-pressure accumulator to the high-pressure accumulator, until p > p ₂ Stop the prime mover at the same time, and close the second cut-off valve and the third cut-off valve at the same time, thereby increasing the pressure of the high-pressure accumulator, and tending to the preset working pressure p ₂ .

Two safety valves prevent the accumulator pressure from exceeding a safe value, and two check valves prevent the accumulator from being sucked empty.

(2) Dynamic working point - preset pressure curve mode

By presetting the pressure-displacement relationship curve in the second controller, the displacement sensor 33 collects the displacement signal in real time, and compares the preset curve to obtain the real-time ideal pressure value p ₀ .

If p >p ₀ , open the second cut-off valve and the third cut-off valve, and start the prime mover, the prime mover drives the hydraulic pump motor to transfer the oil in the high-pressure accumulator to the low-pressure accumulator until p =p ₀ When the prime mover is stopped, the second shut-off valve and the third shut-off valve are closed at the same time, thereby reducing the pressure of the high-pressure accumulator to p ₀ . During this process, if the second controller detects that the pressure of the low-pressure accumulator exceeds the safety limit value through the pressure sensor, it also stops the prime mover and closes the second shut-off valve and the third shut-off valve at the same time.

If p < p ₀ , open the second stop valve and the third stop valve, and start the prime mover, the prime mover drives the hydraulic pump motor to transfer the oil in the low-pressure accumulator to the high-pressure accumulator until p = p ₀ When the prime mover is stopped, the second cut-off valve and the third cut-off valve are closed at the same time, thereby increasing the pressure of the high-pressure accumulator to p ₀ .

(3) Dynamic working point - pressure matching mode

The first controller and the second controller can communicate in real time. The first controller collects the pressure values of each chamber of the boom hydraulic cylinder in real time through the pressure sensor, calculates the pressure required by the high-pressure accumulator, and adjusts the oil pressure of the high-pressure accumulator to an ideal value in real time.

The liquid-air energy storage balance circuit of the hydraulic cylinder can be simplified to a simple circuit that only includes a high-pressure accumulator, a safety valve and a one-way valve, and the working oil port PA (or PC) of the boom hydraulic cylinder and the high-pressure accumulator oil port, while the high-pressure accumulator oil port is connected to the safety valve and check valve. The high pressure side of the safety valve is connected to the accumulator, and the low pressure side is connected to the oil tank. The check valve connects the accumulator and the oil tank, allowing oil to flow in the direction from the oil tank to the accumulator. It also has a good energy-saving effect.

The high-pressure accumulator is composed of one high-pressure accumulator or a plurality of high-pressure accumulators connected in parallel.

The low-pressure accumulator is a high-pressure accumulator or a plurality of low-pressure accumulators connected in parallel.

The hydraulic cylinder drive circuit has various forms: open hydraulic circuit, closed circuit, etc.

The hydraulic open circuit includes: a joystick, a first controller, a hydraulic pump, a prime mover, a reversing valve, an oil tank, a safety valve, a pressure sensor, and a flow regeneration valve.

When the circuit drives the hydraulic cylinder, the first controller controls the reversing valve to be in different positions according to the signal of the joystick, so as to realize the extension and retraction of the hydraulic cylinder. The pressure sensor collects the pressure signals of the two working oil ports and transmits them to the first controller in real time. The highest pressure of the load is detected and fed back to the hydraulic pump. The variable control mechanism of the hydraulic pump controls the unloading swing angle of the hydraulic pump according to the feedback pressure, so that the output pressure of the hydraulic pump is always higher than the load pressure by a certain value. When flow regeneration is required, the first controller drives the flow regeneration valve to switch to a flow-through state to realize flow regeneration and reduce the output flow of the pump. This circuit can realize automatic matching of pump output flow, pressure and load, and reduce overflow loss.

The open hydraulic circuit includes: a joystick, a first controller, a hydraulic pump, a two-position two-way proportional valve, an oil tank, a prime mover, a safety valve, a pressure sensor, and a flow regeneration valve.

When the circuit is driving the hydraulic cylinder, the first controller calculates the required pressure and flow according to the signal of the joystick, coordinates and controls the four two-position two-way proportional valves and the hydraulic pump, and outputs appropriate output from the working oil ports P1 and P2. The pressure and flow of the hydraulic cylinder are controlled to extend and retract. The pressure signal collected by the pressure sensor is sent back to the first controller in real time, so that precise closed-loop control can be realized. When flow regeneration is required, the first controller drives the flow regeneration valve to switch to a flow-through state to realize flow regeneration and reduce the output flow of the pump. This circuit can realize the compound control of pump and valve, conveniently and individually control the working state of each oil port, realize the precise matching of pressure and flow, and can minimize the pressure loss on the hydraulic valve.

The drive circuit of the closed pump-controlled hydraulic cylinder includes: a joystick, a first controller, a hydraulic pump motor, a prime mover, an oil tank, a safety valve, a one-way valve, and a pressure sensor.

This circuit is used to drive the hydraulic cylinder. The first controller controls the positive and negative rotation of the prime mover to control the extension and retraction of the hydraulic cylinder according to the signal of the joystick, and inputs variable signals to the hydraulic pump motor to control the movement speed of the hydraulic cylinder. The pressure sensor collects pressure signals and transmits them to the first controller in real time for increasing control accuracy. The circuit has almost no throttling loss and has a good energy-saving effect.

The liquid-gas energy storage balance circuit and the hydraulic cylinder drive circuit can be combined arbitrarily and are suitable for various application occasions.

Technical effect of the present invention is as follows:

(1) It can effectively recover the potential energy of the repeatedly rising and falling working device and release the stored energy during its rising process, saving energy.

(2) The pressure in the high-pressure accumulator can be adjusted in real time, thereby adjusting the balance force of the entire system, which is suitable for various working conditions.

(3) With this invention, when the working device is raised, the required flow rate of the hydraulic cylinder is reduced, so the rising speed of the working device can be increased, thereby improving the working efficiency.

(4) When the working device is lowered, the throttling heat at the hydraulic valve is reduced, the temperature rise of the hydraulic system is reduced, the stability is improved, and the service life of the hydraulic components is extended.

(5) A hydraulic cylinder with three cavities is used, which can not only drive the working device, but also integrates the energy recovery function, with high integration and compact structure.

(6) When used for machine modification, there is no need to change the original mechanical structure, and it is suitable for various hydraulic systems.

Description of drawings

Fig. 1 is a structural schematic diagram of the working device of the engineering operation equipment;

Fig. 2 is a structural schematic diagram of a boom hydraulic cylinder with three cavities;

Fig. 3 is the hydraulic cylinder liquid-air energy storage balance circuit of the present invention;

Fig. 4 is a schematic diagram of an open hydraulic cylinder drive circuit;

Fig. 5 is a schematic diagram of another open hydraulic cylinder drive circuit;

Fig. 6 is a schematic diagram of a drive circuit of a closed hydraulic cylinder;

Fig. 7 is the first embodiment of the present invention, complete liquid-pneumatic energy storage balance circuit and closed hydraulic cylinder drive circuit;

Fig. 8 is the second embodiment of the present invention, a simplified liquid-pneumatic energy storage balance circuit and an open hydraulic cylinder drive circuit;

In the figure, 1-boom hydraulic cylinder, 2-flow regeneration valve, 3-high pressure accumulator, 4-low pressure accumulator, 7-prime mover, 8-hydraulic pump motor, 9-engineering operation equipment working device, 18 - Joystick, 19-first controller, 20-second controller, 21-hydraulic pump, 22-oil tank, 23-two-position two-way proportional valve, 24-safety valve, 25-one-way valve, 27-pressure Sensors, 29-reversing valve, 30-first stop valve, 31-second stop valve, 32-third stop valve, 33-displacement sensor.

detailed description

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

Embodiment one:

As shown in FIG. 7 , in this embodiment, the working device 9 is driven by the boom hydraulic cylinder 1 to perform frequent up and down reciprocating movements. The oil port PA of the boom hydraulic cylinder is connected with the high _- pressure accumulator 3 through the first cut-off valve 30 . One working oil port of the hydraulic pump motor 8 is connected with the high-pressure accumulator through the second shut-off valve 31 , and the other working oil port is connected with the low-pressure accumulator 4 through the third shut-off valve 32 . The oil port of each accumulator is connected with a safety valve 24 and a check valve 25, wherein the high-pressure side of the safety valve is connected to the accumulator, the low-pressure side is connected to the oil tank 22, and the check valve is connected to the accumulator and the oil tank. The direction of fluid flow is from the tank to the accumulator. The hydraulic pump motor is driven by prime mover 7. Pressure sensors are installed at the oil ports of the accumulator, and the pressure signals are collected to the second controller 20 . The first stop valve 30 is in a normally open state, and the second stop valve 31 and the third stop valve 32 are in a closed state. The low-pressure accumulator does not need pre-charged gas, and the high-pressure accumulator pre-charges high-pressure gas to balance the working device and recover its potential energy.

The hydraulic cylinder driving circuit is a closed circuit. When the operating handle 18 generates a signal, the first controller 19 receives the signal, calculates and controls the prime mover 7 and the hydraulic pump motor 8 of the hydraulic cylinder drive circuit to enter a corresponding working state. When the control signal is to lower the working device, the hydraulic cylinder drive circuit drives the boom hydraulic cylinder to retract. Due to the heavy weight of the working device, it can be driven down by the self-weight of the working device, and a part of the oil enters the high-pressure accumulator, and the potential energy of the working device is converted and stored in the high-pressure accumulator, which avoids throttling at the hydraulic valve port. loss. When the control signal is to make the working device rise, the closed hydraulic cylinder drive circuit drives the boom hydraulic cylinder to extend, the working device rises, the oil in the high-pressure accumulator enters the hydraulic cylinder, and the energy stored in the high-pressure accumulator is loaded In exchange for the potential energy of the working device, the drive circuit only needs to output less energy, which has a better energy-saving effect.

When the second controller detects that the pressure p of the high-pressure accumulator exceeds the high _- pressure limit value p1 through the pressure sensor, the second controller opens the second cut-off valve and the third cut-off valve, and starts the principle of the liquid-gas energy storage balance circuit The motor drives the hydraulic pump motor to transfer the oil in the high-pressure accumulator to the low-pressure accumulator until its pressure p is lower than the preset working pressure _p2 of the high-pressure accumulator, stops the prime mover, and closes the second cut-off at the same time valve and the third shut-off valve, thereby reducing the pressure of the oil in the high-pressure accumulator and tending to the preset working pressure. During this process, if the second controller detects that the oil pressure of the low-pressure accumulator exceeds the limit value through the pressure sensor, it also stops the prime mover and simultaneously closes the second shut-off valve and the third shut-off valve. When the second controller monitors through the pressure sensor that the pressure p of the high-pressure accumulator is lower than the low-pressure limit value p3, the second controller opens the second cut-off valve and the _third cut-off valve, and starts the principle of the liquid-gas energy storage balance circuit The prime mover drives the hydraulic pump motor to transfer the oil in the low-pressure accumulator to the high-pressure accumulator until p > p2, stops the prime mover, and closes the second stop valve and the third stop valve at the same time. Thereby increasing the pressure of the oil in the high-pressure accumulator and tending to the preset working pressure.

Embodiment two:

As shown in Figure 8, in this embodiment, the liquid-pneumatic energy storage balance circuit is connected to the oil port PC of the boom hydraulic cylinder 1; the liquid _- pneumatic energy storage balance circuit includes a high-pressure accumulator 3, a safety valve 24 and check valve 25, high-pressure accumulator 3 connects safety valve 24, and safety valve 24 connects oil tank 22, and two oil ports of safety valve 24 are connected with check valve 25. The high-pressure accumulator is charged with high-pressure gas in advance to balance the working device and recover its potential energy. The drive circuit of the hydraulic cylinder adopts an open hydraulic circuit.

When the control signal is to lower the working device 9, the first controller coordinates and controls the four two-position two-way proportional valves 23 and the hydraulic pump 21 to drive the boom hydraulic cylinder to retract. When the pressure in the small chamber of the boom hydraulic cylinder is low, the flow regeneration valve 2 is opened, and part of the oil in the large chamber enters the small chamber, reducing the output flow of the hydraulic pump. Part of the oil in the hydraulic cylinder of the boom enters the high-pressure accumulator, and a part of the potential energy of the working device is stored in the accumulator through the oil; when the working device is controlled to rise, the flow regeneration valve is closed, and the driving circuit drives the hydraulic cylinder of the boom to extend , to control the working device to rise. At this time, the oil in the high-pressure accumulator enters the boom hydraulic cylinder to assist in lifting the working device, and the energy stored in the accumulator is released and converted into kinetic energy and potential energy of the working device. During the entire working cycle, when the working device is lowered, a part of its kinetic energy and potential energy is stored in the accumulator, which reduces the waste of potential energy of the working device; when the working device rises, the energy stored in the accumulator is released and converted into The potential energy of the working device reduces the energy output by the pump. At the same time, the flow regeneration function reduces the pump output flow when the working device is lowered.

As shown in Figure 3, the hydraulic cylinder liquid-gas energy storage balance circuit includes a high-pressure accumulator 3, a low-pressure accumulator 4, a first cut-off valve 30, a second cut-off valve 31, a third cut-off valve 32, a prime mover 7, a hydraulic Pump motor 8, pressure sensor 27, second controller 20, safety valve 24, check valve 25, oil tank 22, displacement sensor 33.

The hydraulic cylinder is connected to the displacement sensor 33, and the displacement sensor 33 is connected to the second controller 20; the second controller 20 is respectively connected to the pressure sensor 27, the prime mover 7, the second shut-off valve 31, the third shut-off valve 32, the low-pressure accumulator 4 A pressure sensor 27, a safety valve 24 and a one-way valve 25 are installed at the oil port, a pressure sensor 27, a safety valve 24 and a one-way valve 25 are installed at the oil port of the high-pressure accumulator 3, and both the safety valve 24 and the one-way valve 25 are connected to the oil tank 22 The high-pressure side of the safety valve 24 is connected to the accumulator, and the low-pressure side of the safety valve 24 is connected to the oil tank 22;

As shown in Figure 4, one of the hydraulic cylinder drive circuits of the present invention consists of a joystick 18, a first controller 19, a hydraulic pump 21, an oil tank 22, a safety valve 24, a pressure sensor 27, a reversing valve 29, a flow regeneration valve 2, The prime mover consists of 7;

Joystick 18 is connected to first controller 19, and first controller 19 is respectively connected to pressure sensor 27, hydraulic pump 21, reversing valve 29 and flow regeneration valve 2; hydraulic pump 21 is connected to oil tank 22, prime mover 7, safety valve 24 respectively And the reversing valve 29;

As shown in Figure 5, the second hydraulic cylinder drive circuit of the present invention consists of a joystick 18, a first controller 19, a hydraulic pump 21, 4 two-position two-way proportional valves 23, a fuel tank 22, a prime mover 7, a safety valve 24, The pressure sensor 27 and the flow regeneration valve 2 are composed. The joystick 18 is connected to the first controller 19, and the first controller 19 is respectively connected to the pressure sensor 27, the hydraulic pump 21, the two-position two-way proportional valve 23 and the flow regeneration valve 2; the hydraulic pump 21 is respectively connected to the fuel tank 22, the prime mover 7, The safety valve 24 and the two-position two-way proportional valve 23 ; the two-position two-way proportional valve 23 is respectively connected with the safety valve 24 , the oil tank 22 , the pressure sensor 27 and the flow regeneration valve 2 .

As shown in Fig. 6, the drive circuit of the third hydraulic cylinder of the present invention is composed of joystick 18, first controller 19, hydraulic pump motor 8, prime mover 7, fuel tank 22, safety valve 24, check valve 25, and pressure sensor 27. .

The joystick 18 is connected to the first controller 19, the first controller 19 is respectively connected to the pressure sensor 27, the hydraulic pump motor 8, and the prime mover 7, the hydraulic pump motor 8 is connected to the prime mover 7, and the hydraulic pump motor 8 is connected to the safety valve 24. Valve 25 , safety valve 24 and check valve 25 are all connected to oil tank 22 .

The first controller of the present invention adopts BODAS RC 12-18/20 controller, and the second controller adopts BODAS RC6-9/20 controller.

The above are only preferred and feasible embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Various modifications or applications made according to the above embodiments are within the protection scope of this technical solution.

The hydraulic engineering operation equipment described in the present invention includes a hydraulic excavator, a loader, a forklift, a hoist, and a snow blower.

Claims (8)

1. a kind of control loop of engineer operation armament-related work device, for the boom cylinder for controlling engineer operation to equip, bag Include：Oilhydraulic engineering working equipment equipment, boom cylinder, hydraulic cylinder liquid-gas energy storage balanced loop, Driven by Hydraulic Cylinder are returned Road, joystick；Boom cylinder connects oilhydraulic engineering working equipment equipment, and the boom cylinder is that have three appearances The hydraulic cylinder of chamber, hydraulic cylinder liquid-gas energy storage balanced loop connects an actuator port of boom cylinder, Driven by Hydraulic Cylinder loop Connect the another two actuator port of boom cylinder, joystick connection liquid cylinder pressure driving circuit；It is characterized in that：The hydraulic cylinder Liquid-gas energy storage balanced loop, by high pressure accumulator, low pressure accumulator, the first stop valve, the second stop valve, the 3rd stop valve, Prime mover, hydraulic pump motor, pressure sensor, second controller, safety valve, check valve, fuel tank, displacement transducer composition；

Boom cylinder actuator port is connected by the first stop valve with high pressure accumulator；One actuator port of hydraulic pump motor leads to Cross the second stop valve with high pressure accumulator to be connected, another actuator port is connected by the 3rd stop valve with low pressure accumulator；It is low Press pressure of the accumulator to adjust high pressure accumulator；Pressure is all connected with the oil port of high pressure accumulator and low pressure accumulator to pass Sensor, safety valve and check valve, safety valve and check valve are all connected with fuel tank, it is allowed to fluid flow direction be from fuel tank to high pressure Accumulator and low pressure accumulator；The fuel injection pressure signal that pressure sensor is collected is sent to second controller；Prime mover and hydraulic pump Motor is connected by shaft coupling, for driving hydraulic pump motor；Displacement transducer is housed on hydraulic cylinder, displacement transducer will be adopted The displacement signal that the hydraulic cylinder collected stretches out is sent to second controller, controls three stop valves and original to move by second controller Machine.

2. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：Described Two controllers have following three kinds of mode of operations：

（1）Provided with three pressure threshold p in quiescent operation dot pattern, i.e. second controller₁, p₂And p₃, and p₁＞ p₂＞ p₃；

Wherein p₁For the maximum working pressure of high pressure accumulator,

p₃For the minimum operating pressure of high pressure accumulator,

p₂For the default operating pressure of high pressure accumulator,

P is the monitoring pressure in real time of high pressure accumulator；

As p ＞ p₁When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will Fluid in high pressure accumulator is transferred to low pressure accumulator, until p ＜ p₂When stop prime mover, simultaneously close off the second stop valve With the 3rd stop valve, so as to reduce the pressure of high pressure accumulator, and tend to default operating pressure p₂；During being somebody's turn to do, if controller When exceeding safety threshold value by pressure sensor monitoring to low pressure accumulator pressure, stop prime mover, simultaneously close off second section Only valve and the 3rd stop valve；

As p ＜ p₃When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will Fluid in low pressure accumulator is transferred to high pressure accumulator, until p ＞ p₂When stop prime mover, simultaneously close off the second stop valve With the 3rd stop valve, so as to improve the pressure of high pressure accumulator, and tend to default operating pressure p₂；

Two safety valves prevent high and low pressure energy storage pressure from exceeding safety value, and two check valves prevent that high and low pressure accumulator from being inhaled It is empty；

（2）Dynamic working point-preset pressure curve model, i.e., it is bent by the preset pressure in second controller and displacement relation Line, gathers displacement signal, contrast preset pressure and displacement relation curve by displacement transducer, draws real-time desired pressure in real time Value p₀；

If p ＞ p₀When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will Fluid in high pressure accumulator is transferred to low pressure accumulator, until p=p₀When stop prime mover, simultaneously close off the second stop valve and 3rd stop valve, so as to reduce the pressure of high pressure accumulator to p₀；During being somebody's turn to do, if second controller is supervised by pressure sensor When measuring low pressure accumulator pressure more than safety threshold value, stop prime mover, simultaneously close off the second stop valve and the 3rd stop valve；

If p ＜ p₀When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will Fluid in low pressure accumulator is transferred to high pressure accumulator, until p=p₀When stop prime mover, simultaneously close off the second stop valve and 3rd stop valve, so as to improve the pressure of high pressure accumulator to p₀；

（3）Dynamic working point-pressure match pattern, i.e. the first controller can be with real-time Communication for Power with second controller；First control Device gathers each cavity pressure value of hydraulic cylinder by pressure sensor in real time, calculates the pressure needed for high pressure accumulator, and adjust in real time High pressure accumulator oil liquid pressure is saved to ideal value.

3. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：It is described Hydraulic cylinder liquid-gas energy storage balanced loop be made up of high pressure accumulator, safety valve, check valve, fuel tank；Boom cylinder working oil Mouth is connected with high pressure accumulator hydraulic fluid port, high pressure accumulator hydraulic fluid port connection safety valve and check valve；Safety valve high-voltage side connects accumulation of energy Device, safety valve low-pressure side connection fuel tank；Check valve connects accumulator and fuel tank, it is allowed to fluid flow direction be from fuel tank to storage Can device.

4. a kind of control loop of engineer operation armament-related work device according to any one in claim 1 ~ 3, it is special Levy is that the high pressure accumulator is that a high pressure accumulator or multiple high pressure accumulators are composed in parallel.

5. a kind of control loop of engineer operation armament-related work device according to any one in claim 1 ~ 3, it is special Levy is that the low pressure accumulator is that a high pressure accumulator or multiple low pressure accumulators are composed in parallel.

6. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：The liquid Cylinder pressure driving circuit is by control crank, the first controller, hydraulic pump, prime mover, reversal valve, fuel tank, safety valve, pressure sensing Device, flow regeneration valve composition；During driving hydraulic cylinder, the first controller is according to the signal of control crank, and control reversal valve is not in Same position, so as to realize that hydraulic cylinder is stretched out with retracting；Pressure sensor gathers two actuator port pressure signals of hydraulic cylinder, Real-time Transmission detects the maximum pressure of load to the first controller, and feeds back to hydraulic pump；The variable control mechanism root of hydraulic pump Disk pivot angle is unloaded according to the force control hydraulic pressure pump of feedback, the hydraulic pressure pump output pressure is consistently higher than load pressure certain value；When need When wanting flow regeneration, the first controller driving flow regeneration valve is converted to open position, realizes that flow regenerates, and reduces pump output Flow；So as to realize pump output flow, pressure and the Auto-matching of load, spill losses is reduced.

7. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：The liquid Cylinder pressure driving circuit is by control crank, the first controller, hydraulic pump, 2/2-way proportioning valve, fuel tank, prime mover, safety valve, pressure Force snesor, flow regeneration valve composition；During driving hydraulic cylinder, the first controller calculates hydraulic pressure according to the signal of control crank Pressure and flow needed for cylinder, coordinate four 2/2-way proportioning valves of control and hydraulic pump, from two actuator port P₁And P₂Output Pressure and flow, control the stretching and retraction of hydraulic cylinder；The hydraulic oil pressure force signal collected by pressure sensor is passed back in real time First controller, realizes accurate closed-loop control；When needing flow to regenerate, the first controller driving flow regeneration valve is converted to Open position, realizes that flow regenerates, reduces the flow of pump output；Pump valve complex controll is realized, so as to realize the essence of pressure flow Really matching, reduces the pressure loss on hydraulic valve.

8. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：The liquid Cylinder pressure driving circuit is passed by control crank, the first controller, hydraulic pump motor, prime mover, fuel tank, safety valve, check valve, pressure Sensor is constituted；During driving hydraulic cylinder, the first controller is according to the signal of control crank, the rotating control hydraulic pressure of control prime mover Cylinder is stretched out with retracting, and hydraulic cylinder speed is controlled to hydraulic pump motor input variable signal；Pressure sensor gathers hydraulic oil Pressure signal is simultaneously sent to the first controller in real time.