CN107503998B - Back pressure and power hydraulic hybrid integrated control multi-actuator system - Google Patents

Abstract

A back pressure and power-hydraulic hybrid integrated control multi-actuator system, which is additionally equipped with a power control unit, a back pressure control unit, a controller, a conversion control valve, a hydraulic control check valve and a pressure sensor, and uses an energy regeneration structure to control the highest The pressure of the oil return chamber of each actuator other than the load actuator makes the pressure difference between the oil inlet chamber and the control valve port of each actuator the same, so that the pressure and flow of the hydraulic pump match with each hydraulic actuator, and eliminates the multiple caused by the load difference. The actuator system throttles the loss, and regulates the working point of the power source by controlling the pressure of the oil return chamber of the actuator. The non-rigid connection between the control unit and the power source further extends the hydraulic hybrid power function to the recovery of kinetic energy and reduces the energy saving. It effectively improves the energy saving effect, shortens the investment recovery period, and is conducive to popularization and application.

Description

Back pressure and power hydraulic hybrid integrated control multi-actuator system

technical field

The invention relates to a multi-actuator control system in hydraulic control technology, in particular to an electro-hydraulic control technology used for power matching of engineering equipment and reducing pressure loss of a multi-actuator system.

Background technique

At present, various types of non-road mobile equipment such as construction machinery, road construction machinery, mining machinery, forestry machinery, and agricultural machinery generally use internal combustion engines to drive hydraulic pumps as power sources, distribute and transmit power through multi-way valves and pipelines, and control The hydraulic system with compound actions of multiple actuators is also the most widely used and most important field of hydraulic technology. It is characterized by high power density, compact structure, good controllability and strong environmental adaptability, but the fatal deficiency is low energy utilization. The energy efficiency of the whole machine is only about 20%. Studies have shown that the very large energy loss at the control valve port, the long-term work of the engine in the low-efficiency area, and the energy dissipation during the kinetic energy conversion process are the root causes of high installed power, high fuel consumption, poor emissions and serious heat generation of engineering equipment. Among them, the energy dissipation generated by the control valve is the most serious. In the published invention patent "Energy-saving shield segment assembly and positioning electro-hydraulic control system using load-sensing technology, CN103032396A", the multi-actuator system often has the characteristics of a wide range of load changes. By adopting the load-sensing control principle, the The output pressure of the hydraulic pump always changes with the change of the load, which avoids the energy waste caused by the original system always supplying oil at the highest working pressure, reduces throttling loss and overflow loss, but because the output pressure of the pump can only match the highest For multi-actuator systems, the throttling loss of low-load actuator control valves caused by large load differences can never be eliminated, and this part of the loss is precisely the most important source of energy consumption for multi-actuator systems, accounting for 35% ~ 39% of the engine output power.

In addition, the load of construction machinery varies in a large range during actual operation, causing the power source to often operate in a low-efficiency working area, which increases the emission and energy consumption of the power source. Therefore, it is necessary to use torque coupling to add Other forms of power sources are used to match the original power sources, such as electric/generators of hybrid electric power or hydraulic pumps/motors of hydraulic hybrid power. The power of the power source, thereby improving the energy efficiency of the main power source, and under heavy load conditions, the auxiliary power source releases the absorbed energy and assists the main power source to drive the load to do work together. However, in the existing hybrid power mode, the auxiliary power source provides The energy will be lost through the secondary throttling of the control valve, and the function is only to match the working point of the engine. After adding this unit, the cost of the whole machine will increase a lot, and the cost recovery period is longer, which restricts its popularization and application.

Contents of the invention

In view of the shortcomings of the above-mentioned existing multi-actuator systems such as load sensitivity, the present invention provides a back pressure and power-hydraulic hybrid integrated control multi-actuator system, which adopts an energy regeneration structure to control the actuators other than the highest load actuator. The pressure of the oil return chamber, so that the pressure of the oil inlet chamber of each actuator is the same, even if the pressure difference of all control valve ports is the same, the pressure and flow of the hydraulic pump are matched with each hydraulic actuator, eliminating the load difference caused by The throttling loss of the multi-actuator system, the system can also regulate the working point of the power source by controlling the pressure of the oil return chamber of the actuator, and the control unit and the power source can be connected non-rigidly, and the hydraulic hybrid power function is further extended to the kinetic potential energy Recycling and reducing throttling loss greatly improves the energy-saving effect and shortens the investment recovery period, which is conducive to popularization and application.

In order to achieve the above purpose, the technical solution of the present invention is: a back pressure and power hydraulic hybrid integrated control multi-actuator system, including: power source, main hydraulic pump, transfer case, safety valve, first hydraulic actuator , the second hydraulic actuator, the third hydraulic actuator, the first control valve, the second control valve and the third control valve; characterized in that:

Further add: power control unit, first back pressure control unit, second back pressure control unit, controller first conversion control valve, second conversion control valve, third conversion control valve, first hydraulic control check valve G1 , the second hydraulic control check valve G2, the third hydraulic control check valve G3, the first pressure sensor, the second pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor and the sixth pressure sensor;

The working oil port of the first control valve communicates with the working oil port of the first hydraulic actuator respectively; the working oil port of the second control valve communicates with the working oil port of the second hydraulic actuator respectively; the working oil port of the third control valve The oil ports are respectively connected with the working oil port of the third hydraulic actuator; the oil outlet of the main hydraulic pump is respectively connected with the oil inlet ports of the first control valve, the second control valve and the third control valve, and the oil return of the first control valve The port is connected with the oil outlet of the first hydraulic control check valve G1, the oil outlet of the second control valve is connected with the oil outlet of the second hydraulic control check valve G2, the oil outlet of the third control valve is connected with the third The oil outlet of the hydraulic control check valve G3 is connected; the output shaft of the power source is connected with the transfer case, and the input shaft of the main hydraulic pump is connected with the transfer case; the oil port A1 and the oil port B1 of the first switching control valve are respectively connected with The working oil port of the first hydraulic actuator is connected, the oil port A2 and the oil port B2 of the second switching control valve are respectively connected with the working oil port of the second hydraulic actuator, the oil port A3 and the oil port B3 of the third switching control valve They are respectively connected with the working oil port of the third hydraulic actuator; the first pressure sensor and the second pressure sensor are respectively connected with the working oil port of the first hydraulic actuator, and the third pressure sensor and the fourth pressure sensor are respectively connected with the second hydraulic actuator The working oil port of the actuator is connected, the fifth pressure sensor and the sixth pressure sensor are respectively connected with the working oil port of the third hydraulic actuator; the output signals of all pressure sensors, displacement sensors and speed sensors are connected to the controller, and these signals are passed through After calculation, the controller gives signals for controlling the actions of the first control valve, the second control valve, the third control valve, the first conversion control valve, the second conversion control valve, the third conversion control valve and the speed controller.

A further technical solution is: the first back pressure regulation unit has the same structure as the second back pressure regulation unit, including a back pressure regulation hydraulic pump/motor I, a back pressure regulation hydraulic pump/motor II, a back pressure regulation accumulator Ⅰ. Back pressure regulating accumulator Ⅱ, oil charge check valve, seventh pressure sensor, eighth pressure sensor, first displacement sensor, rotational speed sensor and second displacement sensor;

In the first back pressure regulating unit: the oil port P1 of the back pressure regulating hydraulic pump/motor I is connected with the oil port R1 of the first switching control valve and the oil port R2 of the second switching control valve, and the back pressure regulating hydraulic pump/motor I The oil port P2 of the pump is connected with the oil inlet port of the accumulator I for back pressure regulation, the seventh pressure sensor, and the oil outlet port of the charge check valve. The back pressure regulates the swing angle of the hydraulic pump/motor Ⅰ; the back pressure regulates the hydraulic pump/motor Ⅰ and the back pressure regulates the hydraulic pump/motor Ⅱ is coaxially connected, they are connected with the transfer case or not, and the back pressure regulates the hydraulic pump/motor The oil outlet of II is connected to the eighth pressure sensor and the oil inlet of accumulator II for back pressure regulation, the oil outlet of hydraulic pump/motor II for back pressure regulation is connected to the oil tank, the second displacement sensor detects the back pressure and regulates hydraulic pump/motor II the displacement;

In the second back pressure control unit: the oil port P1 of the back pressure control hydraulic pump/motor I is connected with the oil port R3 of the third conversion control valve; the back pressure control hydraulic pump/motor I and the back pressure control hydraulic pump/motor II The drive shaft is not connected with the transfer case, and the rest of the structural relationship is the same as that of the first back pressure regulating unit.

A further technical solution is: when the power control unit is an electrical control structure, the power control unit includes a power control motor/generator, a speed controller, a bidirectional DC-DC converter, a super capacitor and a power switch; the power control unit The motor/generator drive shaft is connected to the transfer case, one end of the bidirectional DC-DC converter is connected to the DC bus of the speed controller, the other end of the bidirectional DC-DC converter is connected to the supercapacitor, and the input end of the speed controller is connected to the Power switch connection.

A further technical solution is: when the power regulation unit is in the hydraulic regulation mode, it includes a power regulation hydraulic pump/motor, a power regulation accumulator, a ninth pressure sensor and a third displacement sensor; the power regulation hydraulic pump/motor The drive shaft of the drive shaft is connected to the transfer case, the oil inlet P5 of the power regulation hydraulic pump/motor is connected with the working oil port of the power regulation accumulator and the working oil port of the ninth pressure sensor, and the oil port P6 of the power regulation hydraulic pump/motor It communicates with the fuel tank, and the third displacement sensor is installed on the power regulating hydraulic pump/motor to detect its displacement.

A further technical solution is that: the main hydraulic pump is a variable hydraulic pump, a constant pressure variable hydraulic pump, a constant power variable pump, a negative flow control hydraulic pump, or a proportional variable displacement hydraulic pump.

A further technical solution is that: the first control valve, the second control valve and the third control valve are multi-way reversing valves with four-way linkage, or hydraulic valve groups with independent control of the oil inlet and outlet ports, and the control method is hydraulic pilot Control, manual control, or electro-hydraulic proportional control.

A further technical solution is that: the first hydraulic actuator, the second hydraulic actuator, and the third hydraulic actuator are hydraulic cylinders or hydraulic motors.

A further technical solution lies in that: the first switching control valve, the second switching control valve, and the third switching control valve are hydraulically controlled or controlled by electrical signals.

A further technical solution is that: the oil ports A1 and B1 of the first switching control valve, the oil ports A2 and B2 of the second switching control valve, and the oil ports A3 and B3 of the third switching control valve are connected to the first control valve respectively. The oil inlet and outlet of the valve, the oil inlet and outlet of the second control valve, and the oil inlet and outlet of the third control valve are connected. The oil port R1 of the first conversion control valve and the oil port R2 of the second conversion control valve are connected with the back pressure The oil port P1 of the pressure regulating hydraulic pump/motor I is connected; the oil port P1 of the first back pressure regulating hydraulic pump/motor I in the second back pressure regulating unit is connected with the oil port R3 of the third conversion control valve.

Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial effects.

This system regulates the pressure of the actuator oil return chamber through the pressure energy hydraulic regeneration structure, so that the pressure difference of each actuator control valve is equal under the condition of large load difference in the multi-actuator system, and the output pressure of the hydraulic pump And the flow rate is matched to the needs of each actuator, thus eliminating the throttling loss caused by inconsistent loads.

The system does not need a differential pressure compensation valve, so it can control and distribute the flow accurately without being affected by the load difference, further reducing the throttling loss of the flow controlled by the control valve.

This system adopts a new control structure, including the recovery and utilization function of kinetic potential energy, that is, the same set of hardware system is used to realize the recovery and utilization of boom potential energy and rotary braking kinetic energy, and realize the integration of energy recovery and utilization and elimination of throttling loss caused by load differences. chemical control.

This system adopts a new structure to adjust the working point of the engine by controlling the pressure of the oil return chamber of the actuator, so that the engine can work in a high-efficiency working area and meet the requirements of engine power matching.

The whole machine structure scheme of this system reduces the installed power of the machine, reduces the heating of the system, increases the continuous working time of the machine and reduces the cooling power, and solves the problem of heating and aging of the hydraulic oil caused by the small hydraulic oil tank of construction machinery.

On the basis of retaining the advantages of the existing multi-actuator control mode, this system structure effectively eliminates the shortcomings of the original scheme, and has many advantages such as high energy efficiency, low emission, kinetic energy recovery and utilization, and power matching integration.

Description of drawings

Fig. 1 is a schematic structure diagram of a circuit including an electric power control unit and a back pressure control unit connected to a transfer case to control three hydraulic actuators in the present invention.

Fig. 2 is a schematic structural diagram of a circuit including a hydraulic power control unit and a back pressure control unit connected to a transfer case to control three hydraulic actuators in the present invention.

Fig. 3 is a schematic structural diagram of a circuit for controlling three hydraulic actuators by using only a back pressure regulating unit connected to a transfer case in the present invention.

Fig. 4 is a schematic structural diagram of a circuit including an electric power control unit and a back pressure control unit separated from the transfer case to control three hydraulic actuators in the present invention.

Fig. 5 is a schematic structure diagram of a circuit including a hydraulic power control unit and a back pressure control unit separated from the transfer case to control three hydraulic actuators in the present invention.

Fig. 6 is a schematic structure diagram of a circuit for controlling three hydraulic actuators by using only the back pressure control unit separated from the transfer case in the present invention.

In the figure: 1. Power source, 2. Main hydraulic pump, 3. Transfer case, 4. Safety valve, 5. First hydraulic actuator, 6. Second hydraulic actuator, 7. Third hydraulic actuator, 8 , the first control valve, 9, the second control valve, 10, the third control valve, 11, the first switching control valve, 12, the second switching control valve, 13, the second switching control valve, 14, the first back pressure Regulation unit, 15, controller, 16, first pressure sensor, 17, second pressure sensor, 18, third pressure sensor, 19, fourth pressure sensor, 20, fifth pressure sensor, 21, sixth pressure sensor, 22. Back pressure regulating accumulator Ⅰ, 23. Back pressure regulating accumulator Ⅱ, 24. Back pressure regulating hydraulic pump/motor Ⅰ, 25. Back pressure regulating hydraulic pump/motor Ⅱ, 26. Charging check valve, 27. The seventh pressure sensor, 28. The eighth pressure sensor, 29. The first displacement sensor, 30. The rotational speed sensor, 31. The second displacement sensor, 32. The power control unit, 33. The power control electric/engine, 34. Power Regulating hydraulic pump/motor, 35, power regulating accumulator, 36, ninth pressure sensor, 37, third displacement sensor, 38, speed controller, 39, bidirectional DC-DC converter, 40, supercapacitor, 41, Power switch, 42, the second back pressure regulating unit.

G1: The first hydraulic control check valve, G2: The second hydraulic control check valve, G3: The third hydraulic control check valve, P1, back pressure control hydraulic pump/motor I oil inlet, P2, back pressure control hydraulic pressure Pump/motor Ⅰ oil outlet, P3, back pressure regulated hydraulic pump/motor Ⅱ oil inlet, P4, back pressure regulated hydraulic pump/motor Ⅱ oil outlet, P5, power regulated hydraulic pump/motor oil inlet, P6, Power regulating hydraulic pump/motor oil outlet, A1, oil port I of the first conversion control valve, B1 oil port II of the first conversion control valve, R1 oil port III of the first conversion control valve, A2 oil port I of the second conversion control valve , B2 second conversion control valve oil port II, R2 second conversion control valve oil port III, A3 third conversion control valve oil port I, B3 third conversion control valve oil port II, R3 third conversion control valve oil port III .

Detailed ways

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

Example 1

As shown in Figure 1, it is the embodiment 1 of the multi-actuator system for the integrated control of back pressure and power hydraulics of the present invention, which includes an electric power control unit and a back pressure control unit connected to the transfer case to control three hydraulic actuators circuit principle. In this system, the power source 1 is an internal combustion engine, the main hydraulic pump 2 is a variable hydraulic pump with negative flow control, the transfer case 3 mainly transmits torque, the speed ratio of each shaft is 1:1, and the set pressure of the safety valve 4 is 32 MPa , the first hydraulic actuator 5 is a hydraulic cylinder, the second hydraulic actuator 6 is also a hydraulic cylinder, and the third hydraulic actuator 7 is a hydraulic motor; the first control valve 8, the second control valve 9 and the third control valve 10 are all Proportional multi-way valve with negative flow control. Its structural relationship is to further add a power control unit 32, a first back pressure control unit 14, a second back pressure control unit 42 and a controller 15, the controller 15 adopts a 32-bit industrial control computer, and the first conversion control valve added 11. Both the second conversion control valve 12 and the third conversion control valve 13 adopt electrical control mode; the first hydraulic control check valve G1, the second hydraulic control check valve G2 and the third hydraulic control check valve G3 are all connected The pressure range of the first pressure sensor 16, the second pressure sensor 17, the third pressure sensor 18, the fourth pressure sensor 19, the fifth pressure sensor 20 and the sixth pressure sensor 21 is 0-40 MPa.

The working oil port of the first control valve 8 communicates with the working oil port of the first hydraulic actuator 5 respectively, the working oil port of the second control valve 9 communicates with the working oil port of the second hydraulic actuator 6 respectively, and the third control valve The working oil port of 10 communicates with the working oil port of the third hydraulic actuator 7 respectively; The oil return port of the first control valve 8 communicates with the oil outlet of the first hydraulic control check valve G1, the oil outlet of the second control valve 9 communicates with the oil outlet of the second hydraulic control check valve G2, and the third control The oil outlet of the valve 10 is connected with the oil outlet of the third hydraulic control check valve G3; the output shaft of the power source 1 is connected with the transfer case 3, and the input shaft of the main hydraulic pump 2 is connected with the transfer case 3; the first conversion The oil port A1 and oil port B1 of the control valve 11 communicate with the working oil port of the first hydraulic actuator 5 respectively, and the oil port A2 and oil port B2 of the second switching control valve 12 communicate with the working oil port of the second hydraulic actuator 6 respectively. The oil port A3 and the oil port B3 of the third conversion control valve 13 communicate with the working oil port of the third hydraulic actuator 7 respectively; the first pressure sensor 16 and the second pressure sensor 17 are respectively connected with the first hydraulic actuator 5 The working oil port of the third pressure sensor 18 and the fourth pressure sensor 19 are connected with the working oil port of the second hydraulic actuator 6 respectively, the fifth pressure sensor 20 and the sixth pressure sensor 21 are respectively connected with the third hydraulic actuator 7 The working oil ports are connected; the output signals of all pressure sensors, displacement sensors, and rotational speed sensors are connected to the controller 15, and these signals are given to control the first control valve 8, the second control valve 9, the third Signals for the operation of the control valve 10 , the first switching control valve 11 , the second switching control valve 12 , the third switching control valve 13 and the rotational speed controller 30 .

The first back pressure control unit 14 and the second back pressure control unit 42 are identical in composition and internal connection, both include a back pressure control hydraulic pump/motor I 25, a back pressure control hydraulic pump/motor II 25, and a back pressure control energy storage Device I22, back pressure regulating accumulator II22, oil supplement check valve 26, seventh pressure sensor 27, eighth pressure sensor 28, first displacement sensor 29, rotational speed sensor 30, second displacement sensor 31.

In the first back pressure regulating unit 14: the oil port P1 of the back pressure regulating hydraulic pump/motor I24 communicates with the oil port IR1 of the first conversion control valve and the oil port IIR2 of the second conversion control valve, and the outlet of the back pressure regulating hydraulic pump/motor I The oil port P2 is connected with the oil inlet port of the back pressure regulating accumulator I, the seventh pressure sensor 27, and the oil outlet port of the replenishment check valve 26, and the speed sensor 30 detects the back pressure regulating hydraulic pump/motor I 24 speed, the first displacement The sensor 29 detects the swing angle of the back pressure regulating hydraulic pump/motor I 24; the back pressure regulating hydraulic pump/motor I 24 is coaxially connected with the back pressure regulating hydraulic pump/motor II 25 and connected with the transfer case 3, and the back pressure regulating hydraulic pump/motor The oil outlet of the motor II 25 is connected to the eighth pressure sensor 28 and the oil inlet of the back pressure regulating accumulator II 23, the oil outlet of the back pressure regulating hydraulic pump/motor II 25 is connected to the fuel tank, and the second displacement sensor 31 detects the back pressure regulating hydraulic pump /Motor II 25's displacement.

In the second back pressure regulating unit 42: the oil inlet P1 of the back pressure regulating hydraulic pump/motor I communicates with the oil port III R3 of the third conversion control valve; the back pressure regulating hydraulic pump/motor I 24 and the back pressure regulating hydraulic pump/motor II 25 The drive shaft is not connected to the transfer case 3, and the rest of the connections are the same as those described in the first back pressure regulation unit.

The power regulation unit 32 is an electrical regulation method, and the power regulation unit 32 includes a power regulation motor/generator 33 , a speed controller 38 , a bidirectional DC-DC converter 39 , a supercapacitor 40 , and a power switch 41 . The power control motor/generator drive shaft is connected to the transfer case, one end of the bidirectional DC-DC converter 39 is connected to the DC bus of the speed controller 38, and the other end of the bidirectional DC-DC converter 39 is connected to the supercapacitor 40. The input terminal of the controller 38 is connected with the power switch 41 .

The main hydraulic pump 2 shown is a variable hydraulic pump of negative flow type.

The first control valve 8 , the second control valve 9 and the third control valve 10 are multi-way reversing valves with four-way linkage, and cooperate with the main hydraulic pump 2 to realize the negative flow control function.

The first hydraulic actuator 5 and the second hydraulic actuator 6 select the hydraulic cylinder, and the third hydraulic actuator 7 selects the hydraulic motor.

The first conversion control valve 11 , the second conversion control valve 12 , and the third conversion control valve 13 select the electric signal control mode.

Example 2

As shown in Figure 2, it is the embodiment 2 of the multi-actuator system for back pressure and power-hydraulic hybrid control of the present invention, which includes a hydraulic power control unit and a back pressure control unit connected to the transfer case 3 to control three hydraulic actuators. The circuit principle of the device.

The composition and connection relationship of this embodiment 2 is similar to that of embodiment 1, the difference is that the power control unit 32 adopts a hydraulic control method, and the hydraulic power control unit includes a power control hydraulic pump/motor 34, a power control accumulator 35, a ninth Pressure sensor 36, third displacement sensor 37. The power regulating hydraulic pump/motor 34 adopts an axial plunger structure, and its drive shaft is directly connected to the transfer case 3. The oil inlet P5 of the power regulating hydraulic pump/motor 34 is connected to the working oil of the power regulating accumulator 35. port, the ninth pressure sensor 36 is connected to the working oil port, the oil port P6 of the power control hydraulic pump/motor 34 is connected to the oil tank, and the third displacement sensor 37 is installed on the power control hydraulic pump/motor 34 to detect its swash plate horn.

Example 3

As shown in accompanying drawing 3, it is the embodiment 3 of the multi-actuator system of back pressure and power-hydraulic hybrid integrated regulation of the present invention, adopting the circuit principle of the back pressure regulation unit connected with the transfer case 3 to control three hydraulic actuators. The difference between this embodiment and Embodiment 1 and Embodiment 2 is that the power regulation unit 32 is not included in the system.

Example 4

As shown in accompanying drawing 4, it is the embodiment 4 of the multi-actuator system of back pressure and power-hydraulic hybrid integrated control of the present invention, which includes an electric power control unit and a back pressure control unit separated from the transfer case 3 to control three hydraulic actuators circuit principle. The composition of this system is exactly the same as that of Embodiment 1, the difference is that the back pressure regulation hydraulic pump/motor I 24 and the back pressure regulation hydraulic pump/motor II 25 in the first back pressure regulation unit are not connected to the transfer case 3, and the power source 1 selects the electric motor, and the main hydraulic pump 2 selects the constant pressure variable pump.

Example 5

As shown in Figure 5, it is Embodiment 5 of the multi-actuator system for back pressure and power-hydraulic hybrid control of the present invention, which includes a hydraulic power control unit and a back pressure control unit separated from the transfer case 3 to control three hydraulic actuators The circuit principle of the device. The system configuration of Embodiment 5 is the same as that of Embodiment 2, except that the back pressure regulation hydraulic pump/motor I24 and the backpressure regulation hydraulic pump/motor II25 in the first backpressure regulation unit are not connected to the transfer case 3, and the main hydraulic pressure Pump 2 uses a negative flow variable pump.

Example 6

As shown in accompanying drawing 6, it is embodiment 6 of the multi-actuator system of back pressure and power-hydraulic hybrid integrated control of the present invention, ——only adopt the circuit principle of controlling three hydraulic actuators by using the back pressure control unit separated from the transfer case 3 .

The system composition of this embodiment 6 is the same as that of embodiment 3, except that the back pressure regulation hydraulic pump/motor I 24 and the back pressure regulation hydraulic pump/motor II 25 in the first back pressure regulation unit are not connected to the transfer case 3, and the main The hydraulic pump 2 is an electric proportional variable displacement hydraulic pump.

Claims (9)

1. a kind of back pressure and dynamicliquid pressure conglomerate integration regulate and control multi executors system, include: power source (1), Main Hydraulic Pump (2), transfer case (3), safety valve (4), the first hydraulic actuator (5), the second hydraulic actuator (6), third hydraulic actuator (7), the first control valve (8), the second control valve (9) and third control valve (10) further include the first displacement sensor (29), second Displacement sensor (31), third displacement sensor (37) and speed probe (30)；It is characterized by:

Further have additional: hydrodynamic regulation unit (32), the first back pressure regulation unit (14), second by pressure regulation unit (42), Controller (15), the first switchover control valve (11), the second switchover control valve (12), third switchover control valve (13), the first hydraulic control Check valve G1, the second hydraulic control one-way valve G2, third hydraulic control one-way valve G3, first pressure sensor (16), second pressure sensor (17), third pressure sensor (18), the 4th pressure sensor (19), the 5th pressure sensor (20) and the 6th pressure sensor (21)；

The actuator port of first control valve (8) is connected to the actuator port of the first hydraulic actuator (5) respectively；Second control The actuator port of valve (9) is connected to the actuator port of the second hydraulic actuator (6) respectively；The actuator port of third control valve (10) It is connected to respectively with the actuator port of third hydraulic actuator (7)；

The oil outlet of Main Hydraulic Pump (2) respectively with the first control valve (8), the second control valve (9) and third control valve (10) into Hydraulic fluid port connection, the oil return opening of the first control valve (8) are connected to the oil outlet of the first hydraulic control one-way valve G1, the second control valve (9) Oil outlet is connected to the oil outlet of the second hydraulic control one-way valve G2, the oil outlet and third hydraulic control one-way valve G3 of third control valve (10) Oil outlet connection；The output shaft of power source (1) is connect with transfer case (3), the input shaft of Main Hydraulic Pump (2) and transfer case (3) Connection；The hydraulic fluid port A1 and hydraulic fluid port B1 of first switchover control valve (11) are connected to the actuator port of the first hydraulic actuator (5) respectively, The hydraulic fluid port A2 and hydraulic fluid port B2 of second switchover control valve (12) are connected to the actuator port of the second hydraulic actuator (6) respectively, third The hydraulic fluid port A3 and hydraulic fluid port B3 of switchover control valve (13) are connected to the actuator port of third hydraulic actuator (7) respectively；First pressure Sensor (16), second pressure sensor (17) are connected to the actuator port of the first hydraulic actuator (5) respectively, and third pressure passes Sensor (18), the 4th pressure sensor (19) are connected to the actuator port of the second hydraulic actuator (6) respectively, the 5th pressure sensing Device (20), the 6th pressure sensor (21) are connected to the actuator port of third hydraulic actuator (7) respectively；All pressure sensings Device, displacement sensor, speed probe output signal be all connected to controller (15), these signals by controller (15) transport Control the first control valve (8), the second control valve (9), third control valve (10), the first switchover control valve (11), the are provided after calculation The signal of two switchover control valves (12), third switchover control valve (13) and rotational speed governor (38) movement.

2. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: First back pressure regulation unit (14) is identical as the second back pressure regulation unit (42), structure, include back pressure regulate and control hydraulic pump/ Motor I (24), back pressure regulation hydraulic pump/motor II (25), back pressure regulation accumulator I (22), back pressure regulation accumulator II (23), Repairing check valve (26), the 7th pressure sensor (27), the 8th pressure sensor (28), the first displacement sensor (29), revolving speed Sensor (30) and second displacement sensor (31)；

First back pressure regulates and controls in unit (14): back pressure regulates and controls the hydraulic fluid port P1 and the first switchover control valve of hydraulic pump/motor I (24) (11) the hydraulic fluid port R2 connection of hydraulic fluid port R1 and the second switchover control valve (12), back pressure regulate and control the hydraulic fluid port P2 of hydraulic pump/motor I (24) It is connected to, turns with oil inlet, the 7th pressure sensor (27), repairing check valve (26) oil outlet of back pressure regulation accumulator I (22) Fast sensor (30) detection back pressure regulates and controls I revolving speed of hydraulic pump/motor, and it is hydraulic that the first displacement sensor (29) detects back pressure regulation The pivot angle of pump/motor I (24)；Back pressure regulation hydraulic pump/motor I (24) and back pressure regulate and control that hydraulic pump/motor II (25) are coaxial connects It connects, they connect or be not connected to transfer case (3), and back pressure regulates and controls hydraulic pump/motor II (25) oil outlet and the 8th pressure sensing Device (28), back pressure regulation accumulator II (23) oil inlet connection, back pressure regulates and controls hydraulic pump/motor II (25) oil outlet and fuel tank connects It connects, second displacement sensor (31) detects the discharge capacity of back pressure regulation hydraulic pump/motor II (25)；

Second back pressure regulates and controls in unit (42): back pressure regulates and controls the hydraulic fluid port P1 and third switchover control valve of hydraulic pump/motor I (24) (13) hydraulic fluid port R3 connection；Back pressure regulates and controls the drive shaft of hydraulic pump/motor I (24) and back pressure regulation hydraulic pump/motor II (25) It is not connect with transfer case (3), remaining structural relation is identical as the first back pressure regulation unit (14).

3. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: When the hydrodynamic regulation unit (32) is electrical adjusted and controlled, hydrodynamic regulation unit (32) include hydrodynamic regulation it is electronic/hair Motor (33), rotational speed governor (38), bidirectional DC-DC converter (39), supercapacitor (40) and power switch (41)；Power Regulation dynamoelectric machine (33) drive shaft is connect with transfer case (3), and one end of bidirectional DC-DC converter (39) and revolving speed control The DC bus of device (38) connects, and the other end of bidirectional DC-DC converter (39) is connect with supercapacitor (40), revolving speed control The input terminal of device (38) is connect with power switch (41).

4. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: It include hydrodynamic regulation hydraulic pump/motor (34), hydrodynamic regulation when the hydrodynamic regulation unit (32) is hydraulic regulating mode Accumulator (35), the 9th pressure sensor (36) and third displacement sensor (37)；The drive of hydrodynamic regulation hydraulic pump/motor (34) Moving axis is connected with transfer case (3), the oil inlet P 5 of hydrodynamic regulation hydraulic pump/motor (34) and the work of hydrodynamic regulation accumulator (35) Make hydraulic fluid port, the connection of the 9th pressure sensor (36) actuator port, the hydraulic fluid port P6 and fuel tank of hydrodynamic regulation hydraulic pump/motor (34) connect Logical, third displacement sensor (37) is mounted on hydrodynamic regulation hydraulic pump/motor (34), detects its discharge capacity.

5. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: The Main Hydraulic Pump (2) is volume adjustable hydraulic pump.

6. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: First control valve (8), the second control valve (9) and third control valve (10) they are the multiple directional control valves of four sides linkage, or into The hydraulic valve bank of oil outlet independent control, control mode are Hydraulic guide controls, are manually controlled or electrical-liquid control.

7. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: First hydraulic actuator (5), the second hydraulic actuator (6), third hydraulic actuator (7) are hydraulic cylinder or hydraulic horse It reaches.

8. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: First switchover control valve (11), the second switchover control valve (12), third switchover control valve (13) are hydraulic controls, or electricity The control of gas signal.

9. back pressure according to claim 1 and dynamicliquid pressure conglomerate integration regulate and control multi executors system, it is characterised in that: Hydraulic fluid port A2, B2 of hydraulic fluid port A1, B1 of first switchover control valve (11), the second switchover control valve (12), third conversion and control Hydraulic fluid port A3, B3 of valve (13) are to control respectively with the first control valve (8) oil inlet and outlet, the second control valve (9) oil inlet and outlet, third The connection of valve (10) oil inlet and outlet, the hydraulic fluid port R1 of the first switchover control valve (11), the hydraulic fluid port R2 of the second switchover control valve (12) and the One back pressure regulates and controls the hydraulic fluid port P1 connection of back pressure regulation hydraulic pump/motor I (24) in unit (14)；Second back pressure regulates and controls unit (42) In the first back pressure regulation hydraulic pump/motor I (24) hydraulic fluid port P1 be connected to the hydraulic fluid port R3 of third switchover control valve (13).