CN115045876A - Control method of synchronous hydraulic system, counterweight synchronous hydraulic system and crane - Google Patents
Control method of synchronous hydraulic system, counterweight synchronous hydraulic system and crane Download PDFInfo
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- CN115045876A CN115045876A CN202210668377.9A CN202210668377A CN115045876A CN 115045876 A CN115045876 A CN 115045876A CN 202210668377 A CN202210668377 A CN 202210668377A CN 115045876 A CN115045876 A CN 115045876A
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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
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The application discloses a control method of a synchronous hydraulic system, a counterweight synchronous hydraulic system and a crane; the control method of the synchronous hydraulic system comprises the following steps: obtaining a first displacement D of a first oil cylinder 1 (ii) a Obtaining a second displacement D of the second oil cylinder 2 (ii) a Calculating a first displacement D 1 And a second displacement D 2 Has a difference of Δ The difference is that the number of the first and second, and according to the difference delta Difference (D) And adjusting the oil supply amount of the first oil cylinder and/or the second oil cylinder. The method has high response speed, and the first displacement D is detected in real time 1 And a second displacement D 2 And comparing the difference value delta between the two Difference (D) So that the speeds of the two are always in dynamic regulation, thereby ensuring the first positionMoving D 1 And a second displacement D 2 The balance weight is level, the synchronous precision is high, and the problem that the telescopic displacement of the two oil cylinders is not synchronous due to the fact that the balance weight is unbalanced left and right is avoided.
Description
Technical Field
The application relates to the technical field of hoisting equipment, in particular to a control method of a synchronous hydraulic system, a counterweight synchronous hydraulic system suitable for realizing the control method of the synchronous hydraulic system, and a crane with the counterweight synchronous hydraulic system.
Background
In order to realize synchronous extension and retraction of a left oil cylinder and a right oil cylinder, a synchronous valve is usually arranged in a basic loop, and the flow is divided and combined through the synchronous valve, so that the same oil supply amount of the two cylinders is ensured, and further, the synchronous motion of the two cylinders is realized; however, the synchronous precision of the flow dividing and combining of the synchronous valves is not high, and under the condition that the left and right weights of the balance weights are unbalanced, the double cylinders cannot move synchronously.
Disclosure of Invention
In view of this, the present application provides a control method of a synchronous hydraulic system, and also provides a counterweight synchronous hydraulic system suitable for implementing the control method of the synchronous hydraulic system, and also provides a crane having the counterweight synchronous hydraulic system.
In order to achieve the above purpose, the present application provides the following technical solutions:
a method of controlling a synchronous hydraulic system, comprising:
obtaining a first displacement D of a first oil cylinder 1 ；
Obtaining a second displacement D of the second oil cylinder 2 ；
Calculating the first displacement D 1 And the second displacement D 2 Has a difference of Δ Difference between And on the basis of said difference Δ Difference (D) And adjusting the oil supply quantity of the first oil cylinder and/or the second oil cylinder.
Optionally, in the control method of the synchronous hydraulic system,
setting a first preset value; the first preset value is more than 0;
setting a second preset value; the second preset value is less than 0;
when the difference value delta is Difference (D) When the oil supply quantity is larger than a first preset value, the oil supply quantity of the first oil way is adjusted to be reduced; and/or adjusting the oil supply amount of the second oil path to increase;
when the difference Δ Difference (D) < first preset valueAdjusting the oil supply amount of the first oil path to increase; and/or adjusting the oil supply amount of the second oil path to be reduced.
Optionally, in the control method of the synchronous hydraulic system,
the oil supply quantity of the first oil cylinder is adjusted through a first proportional valve;
adjusting the oil supply quantity of the second oil cylinder through a second proportional valve;
when the difference value delta is Difference (D) When the oil supply quantity is larger than a first preset value, the oil supply quantity of the first oil cylinder is adjusted to be reduced through the first proportional valve; and/or the oil supply quantity of the second oil cylinder is adjusted to be increased through the second proportional valve;
when the difference value delta is Difference between When the oil supply quantity is smaller than a second preset value, the oil supply quantity of the first oil cylinder is adjusted to be increased through the first proportional valve; and/or the oil supply quantity of the second oil cylinder is adjusted to be reduced through the second proportional valve.
Optionally, in the control method of the synchronous hydraulic system,
the first preset value is 10 mm;
the second preset value is-10 mm.
Optionally, in the control method of the synchronous hydraulic system,
the distance between the initial position and the target position of the first oil cylinder is D max (ii) a Setting the buffer distance to D x ；
When D is present 1 ＞D max -D x When the first oil cylinder is in the normal state, the first oil cylinder is controlled to decelerate;
when D is present 2 ＞D max -D x And controlling the second oil cylinder to decelerate.
Optionally, in the control method of the synchronous hydraulic system, the step D is performed x Has a value of 45mm to 55 mm.
A counterweight synchronous hydraulic system is used for realizing the control method of the synchronous hydraulic system, and comprises the following steps:
a first cylinder;
a second cylinder;
a first sensor for detecting the first oilFirst displacement D of cylinder 1 ；
A second sensor for detecting a second displacement D of the second cylinder 2 ；
A controller for calculating the first displacement D 1 And said second displacement D 2 Has a difference of Δ Difference (D) By said difference Δ Difference (D) And adjusting the oil supply amount of the first oil cylinder and/or the second oil cylinder.
Optionally, in the counterweight synchronous hydraulic system, the counterweight synchronous hydraulic system includes:
the first oil way supplies oil to the first oil cylinder;
the second oil way supplies oil to the second oil cylinder;
a first proportional valve that communicates in the first oil passage to adjust an oil supply amount of the first oil passage by the first proportional valve;
and the second proportional valve is communicated in the second oil path so as to adjust the oil supply amount of the second oil path through the second proportional valve.
A crane comprises a counterweight synchronous hydraulic system, wherein the counterweight synchronous hydraulic system is the counterweight synchronous hydraulic system.
Optionally, in the crane, the crane further includes: a hydraulic latch system and a turntable; when the first oil cylinder and the second oil cylinder synchronously move to a target position, the hydraulic bolt system is used for controlling the locking state between the counterweight synchronous hydraulic system and the rotary table.
According to the control method of the synchronous hydraulic system, the telescopic displacements of the first oil cylinder and the second oil cylinder are respectively detected by using the sensors, and the oil supply amounts of the two oil cylinders are respectively adjusted by calculating the difference value of the telescopic displacements of the two oil cylinders, so that the telescopic displacements of the two oil cylinders are ensured to be in a level state; the method has high response speed and detects the first displacement D in real time 1 And a second displacement D 2 And comparing the difference value delta between the two Difference (D) And further, the speed of the two cylinders is always in dynamic adjustment, so that the synchronization precision is increased, and the problem of asynchronous telescopic displacement of the two cylinders caused by the left-right imbalance of the balancing weight is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a hydraulic system of the present application;
fig. 2 is a flowchart of a control method according to the present application.
In fig. 1-2:
1-a first oil cylinder, 2-a second oil cylinder, 3-a first oil way, 4-a second oil way, 5-a first proportional valve, 6-a second proportional valve, 7-a hydraulic bolt system, 8-a first electromagnetic directional valve, 9-a second electromagnetic directional valve, 10-a first balance valve, 11-a second balance valve, 12-a first overflow valve and 13-a second overflow valve;
101-a first rod chamber, 102-a first rodless chamber;
201-a second rod chamber, 202-a second rodless chamber;
301-a first rod chamber working oil path, 302-a first rodless chamber working oil path;
401-a first rod chamber working oil path, 402-a first rodless chamber working oil path;
701-left bolt cylinder, 702-right bolt cylinder,
703-bolt rod cavity oil way, 704-bolt rodless cavity oil way and 705-bolt electromagnetic directional valve.
Detailed Description
The application provides a control method of a synchronous hydraulic system, and also provides a counterweight synchronous hydraulic system suitable for realizing the control method of the synchronous hydraulic system, and a crane with the counterweight synchronous hydraulic system.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
When a large-tonnage crane carries out hoisting operation, a balancing weight needs to be arranged on a frame; the balancing weight is placed on the balancing weight oil cylinder component. Connect the counter weight hydro-cylinder subassembly on the revolving stage, can rotate the balancing weight to the balancing weight installation position of frame through the revolving stage with the balancing weight, perhaps shift out the frame with the balancing weight. When the counterweight oil cylinder assembly is positioned at the counterweight block mounting position of the frame, the counterweight block can be mounted and dismounted at the counterweight block mounting position through the descending or lifting operation of the counterweight oil cylinder assembly.
In the actual work process, counter weight hydro-cylinder subassembly includes two counter weight hydro-cylinders, and the balancing weight carries out the dismouting operation under controlling of two counter weight hydro-cylinders of two sides, in order to guarantee the precision of balancing weight dismouting, needs the flexible displacement volume of two counter weight hydro-cylinders of strict management and control to make two counter weight hydro-cylinders simultaneous movement.
As shown in fig. 1-2, a method for controlling a synchronous hydraulic system of a hydraulic system includes:
obtaining a first displacement D of the first oil cylinder 1 ；
Obtaining a second displacement D of the second oil cylinder 2 ；
Calculating the first displacement D 1 And the second displacement D 2 Has a difference of Δ Difference (D) And based on said difference Δ Difference (D) And adjusting the oil supply amount of the first oil cylinder and/or the second oil cylinder.
In a further aspect of the present invention,
supplying oil to the first oil cylinder through a first oil way;
supplying oil to a second oil cylinder through a second oil way;
calculating the first displacement D by a controller 1 And the second displacement D 2 Has a difference of Δ Difference (D) 。
Further, in the above-mentioned case,
the first cylinder includes: the first piston cylinder and the first telescopic rod are arranged on the first piston cylinder;
the first cylinder includes: a first rod chamber and a first rodless chamber; the first rod cavity and the first rodless cavity are communicated with an oil tank through a first electromagnetic reversing valve; the potential obtaining of the first electromagnetic directional valve comprises: DT01A, median and DT 01B; when DT01B is electrified, the first oil way supplies oil to the first rod-less cavity, and the first piston cylinder extends out relative to the first telescopic rod; when DT01A is powered on, the first oil path supplies oil to the first rod cavity, and the first piston cylinder retracts relative to the first telescopic rod.
The second hydro-cylinder includes: a second piston cylinder and a second telescopic rod;
the second hydro-cylinder includes: a second rod-containing chamber and a second rodless chamber; the second rod cavity and the second rodless cavity are communicated with an oil tank through a second electromagnetic reversing valve; the potential obtaining of the second electromagnetic directional valve comprises: DT02A, median sum DT 02B; when the DT02B is electrified, the second oil way supplies oil to the second rodless cavity, and the second piston cylinder extends out relative to the second telescopic rod; when DT02A is powered, the second oil path supplies oil to the second rod chamber, and the second piston cylinder retracts relative to the second telescopic rod.
Wherein, it needs to be further explained that,
when DT01B and DT02B are powered on simultaneously, the first oil path supplies oil to the first rodless cavity, and the second oil path supplies oil to the second rodless cavity; the first piston cylinder extends out relative to the first telescopic rod, and the second piston cylinder extends out relative to the second telescopic rod; at the moment, the relative displacement of the first piston cylinder and the first telescopic rod is detected and detected as a first displacement D through the first sensor 1 And the second sensor detects and detects the relative displacement of the second piston cylinder and the second telescopic rod as a second displacement D 2 (ii) a Calculating a first displacement D by a controller 1 And a second displacement D 2 Has a difference of Δ Difference (D) And based on the difference Δ Difference (D) And adjusting the oil supply quantity of the first oil way which is a first rodless cavity and the oil supply quantity of the second oil way which is a second rodless cavity so as to enable the extension quantity of the first oil cylinder to be equal to the extension quantity of the second oil cylinder.
When DT01A and DT02A are powered on simultaneously, the first oil way supplies oil to the first rod cavity, and the second oil way supplies oil to the second rod cavity; first pistonThe cylinder retracts relative to the first telescopic rod, and simultaneously the second piston cylinder retracts relative to the second telescopic rod; at the moment, the relative displacement of the first piston cylinder and the first telescopic rod is detected and detected as a first displacement D through the first sensor 1 And the second sensor detects and detects the relative displacement of the second piston cylinder and the second telescopic rod as a second displacement D 2 (ii) a Calculating a first displacement D by a controller 1 And a second displacement D 2 Has a difference of Δ Difference (D) And based on the difference Delta Difference (D) And adjusting the oil supply quantity of the first oil way which is a first rod cavity and the oil supply quantity of the second oil way which is a second rod cavity so as to enable the retraction quantity of the first oil cylinder to be equal to that of the second oil cylinder.
In the control method of the synchronous hydraulic system in the present application, the first displacement D of the first cylinder is detected by using the first sensor and the second sensor, respectively 1 And a second displacement D of the second cylinder 2 And calculating the difference between the two as delta Difference (D) The oil supply amount of the two oil cylinders is respectively adjusted, so that the stretching displacement amount of the two stretching oil cylinders is always kept level; the control method has high response speed and detects the first displacement D in real time 1 And a second displacement D 2 And comparing the difference Delta of the two Difference (D) So as to make the speeds of the two in dynamic regulation all the time, thereby ensuring the first displacement D 1 And a second displacement D 2 The balance weight is kept flat, the synchronous precision is high, and the problem that the telescopic displacement of the two oil cylinders is not synchronous due to the left-right imbalance of the balance weight is solved.
In some embodiments of the present application, a first preset value is set, and the first preset value is > 0; setting a second preset value, wherein the second preset value is less than 0;
when the difference value delta Difference (D) When the oil supply quantity is larger than a first preset value, the oil supply quantity of the first oil way is adjusted to be reduced; and/or adjusting the oil supply amount of the second oil path to increase.
When the difference value delta Difference (D) And when the oil supply quantity of the first oil way is less than the first preset value, adjusting the oil supply quantity of the first oil way to increase, and/or adjusting the oil supply quantity of the second oil way to decrease.
The displacement difference of first hydro-cylinder and second hydro-cylinder is controlled in the scope of second default to first default to this application, and then has managed the poor first default and the second default that do not surpass of displacement of two hydro-cylinders, and then has guaranteed that the displacement difference of two hydro-cylinders is in predetermined precision range, and then has guaranteed that the balancing weight can reach the assembly precision that needs at the dismouting in-process.
When delta Difference (D) When > first predetermined value, i.e. Δ Difference (D) The precision range is beyond the preset precision range; at this time, the first displacement D 1 Greater than a second displacement D 2 That is, the stretching speed of the first oil cylinder is greater than that of the second oil cylinder, and at this time:
firstly, the telescopic speed of the first oil cylinder is reduced, namely the oil supply quantity of the first oil way serving as the first oil cylinder is reduced, and then the first displacement D is ensured under the condition that the telescopic speed of the second oil cylinder is not changed 1 Becomes smaller so that the first displacement D is made 1 And a second displacement D 2 Relatively leveled, will be Difference (D) Restoring to a preset precision range;
increasing the extension speed of the second oil cylinder, namely increasing the oil supply of the second oil path to the second oil cylinder, and further ensuring that the extension speed of the first oil cylinder is not changed, and ensuring that the second displacement D is equal to the first displacement D 2 Becomes greater, and the first displacement D is caused to occur 1 And a second displacement D 2 Relatively leveled, will be Difference (D) Restoring to a preset precision range;
increasing the stretching speed of the second oil cylinder while reducing the stretching speed of the first oil cylinder, namely, reducing the oil supply of the first oil cylinder as the first oil cylinder and increasing the oil supply of the second oil cylinder as the second oil cylinder, thereby enabling the first displacement D 1 While the increase speed of (D) is made smaller and the second displacement D is made smaller 2 Becomes greater, and the first displacement D is caused to occur 1 And a second displacement D 2 Relatively leveled, will be Difference (D) And restoring to the preset precision range.
When delta Difference between At < second preset value, i.e. Δ Difference (D) The precision range is beyond the preset precision range; at this time, the first displacement D 1 Less than a second displacement D 2 That is, the stretching speed of the first oil cylinder is less than that of the second oil cylinder, and at this time:
increasing the stretching speed of the first oil cylinder, namely increasing the oil supply amount of the first oil way to the first oil cylinder, and further ensuring that the stretching speed of the second oil cylinder is not changed, and ensuring that the first displacement D is equal to the second displacement D 1 Becomes greater, and the first displacement D is caused to occur 1 And a second displacement D 2 Relatively leveled, will be Difference (D) Recovering to a preset precision range;
secondly, the stretching speed of the second oil cylinder is reduced, namely the oil supply quantity of the second oil path for the second oil cylinder is reduced, and further the second displacement D is ensured under the condition that the stretching speed of the first oil cylinder is not changed 2 Becomes smaller, and the first displacement D is further made 1 And a second displacement D 2 Relatively leveled, will be Difference (D) Restoring to a preset precision range;
increasing the stretching speed of the first oil cylinder and reducing the stretching speed of the second oil cylinder, namely increasing the oil supply of the first oil cylinder as the first oil cylinder and reducing the oil supply of the second oil cylinder as the second oil cylinder, thereby enabling the first displacement D 1 While the increasing speed of (2) becomes large, the second displacement D is caused to be large 2 Becomes smaller, and the first displacement D is further made 1 And a second displacement D 2 Relatively leveled, will be Difference (D) And restoring to the preset precision range.
When a displacement D 1 And a second displacement D 2 Difference value delta between Difference (D) When the oil supply quantity exceeds the preset range value, the oil supply quantity of the first oil way and/or the second oil way can be flexibly adjusted, and then the stretching speed of the first oil cylinder and the stretching speed of the second oil cylinder are adjusted, so that the first displacement D is enabled 1 And a second displacement D 2 Relatively leveled, will be Difference (D) Restoring to a preset precision range; it has strong flexibility and applicability, and ensures the first displacement D 1 And a second displacement D 2 And the balance weight is always in dynamic balance, so that the accuracy of synchronous movement of the balance weight is improved.
In certain embodiments of the present application, the first preset value is 10 mm; the second preset value was-10 mm.
This application is with the poor absolute value control of displacement of first hydro-cylinder and second hydro-cylinder within 10mm, and then the poor absolute value of displacement of the management and control balancing weight both sides is no longer than 10mm, has satisfied the assembly precision that the balancing weight needs to reach at the dismouting in-process.
In some embodiments of the present application,
the oil supply quantity of the first oil cylinder is adjusted through a first proportional valve;
the oil supply quantity of the second oil cylinder is adjusted through a second proportional valve;
when the difference value delta Difference (D) When the oil supply quantity is larger than a first preset value, the oil supply quantity of the first oil cylinder is adjusted to be reduced through the first proportional valve; and/or adjusting the oil supply quantity of the second oil cylinder to increase through a second proportional valve;
when the difference value delta Difference (D) When the oil supply quantity is less than the second preset value, the oil supply quantity of the first oil cylinder is adjusted to be increased through the first proportional valve; and/or the oil supply quantity of the second oil cylinder is reduced by adjusting the second proportional valve.
In particular, the method comprises the following steps of,
when the difference value delta Difference (D) When the oil supply quantity is larger than the first preset value, the controller sends a first control signal to the first proportional valve so as to adjust the oil supply quantity of the first oil way to be reduced through the first proportional valve; and/or sending a first control signal to a second proportional valve through a controller so as to adjust the increase of the oil supply amount of the second oil path through the second proportional valve;
when the difference value delta Difference (D) When the oil supply quantity is smaller than the second preset value, the controller sends a second control signal to the second proportional valve so as to adjust the oil supply quantity of the second oil path to be reduced through the second proportional valve; and/or sending a second control signal to the first proportional valve through the controller so as to adjust the increase of the oil supply amount of the first oil path through the first proportional valve.
It should be noted that the first control signal is a first input current; the second control signal is a second input current.
The first proportional valve comprises a potential Y01, and a first input current is transmitted to Y01; the second proportional valve includes a potential Y02, and the second input current is delivered to Y02. The proportional valve realizes the adjustment of the size of the switch of the proportional valve according to the size of the input current, and further changes the oil supply amount.
The first displacement D is calculated by comparing the controller 1 And a second displacement D 2 Difference value Δ of Difference (D) By the difference Δ of the feedback Difference (D) Different input current signals are respectively sent to the first proportional valve and/or the second proportional valve, the opening and closing size (namely output flow) of the first proportional valve and/or the second proportional valve is continuously adjusted, the oil supply quantity of an oil way is changed, the stretching speed of the two oil cylinders is changed, and the first displacement D is finally enabled 1 And a second displacement D 2 Difference value Δ of Difference (D) Is always within-10 mm to 10 mm. The control method has high response speed, and the oil supply amount of the first oil way and the oil supply amount of the second oil way can be respectively and automatically, accurately and quickly regulated and controlled through the first proportional valve and the second proportional valve.
It should be noted that the first proportional valve and the second proportional valve are both pressure compensated, and the output flow of the proportional valve is only related to the input current no matter what the pressure of the system is.
In some embodiments of the present application, the distance between the initial position and the target position of the first cylinder is D max (ii) a Setting the buffer distance to D x ；
When D is present 1 ＞D max -D x When the first cylinder is in the first position, the controller controls the first cylinder to decelerate;
when D is present 2 ＞D max -D x And when the second cylinder is in the first position, the controller controls the second cylinder to decelerate.
It should be noted that, when the counterweight block is about to reach the target position, the moving speed of the counterweight block needs to be reduced to prevent the first oil cylinder and the second oil cylinder from impacting the target position and causing damage.
The distance between the initial position and the target position of the first oil cylinder is recorded as D max And presetting a buffer distance D x (ii) a The telescopic displacement of the first oil cylinder and the second oil cylinder exceeds D max -D x The speed reduction operation should be buffered within the distance; the control method has high response speed and can dynamically detect the first displacement D in real time 1 And a second displacement D 2 Whether or not it exceeds D max -D x The displacement distance, and then the flexible speed of accurate management and control first hydro-cylinder and second hydro-cylinder, its security promotes greatly, has effectively prevented first hydro-cylinder and second hydro-cylinder and target location from taking placeImpact, causing damage.
In certain embodiments of the present application, D x Has a value of 45mm to 55 mm.
Wherein D is x The value of (A) is preferably 50 mm.
The buffer deceleration is carried out at the position 45mm to 55mm away from the target position, so that the impact damage of the oil cylinder can be ensured to be small enough, and the moving time of the oil cylinder is kept in a short range. The buffering and speed reduction at the position 50mm away from the target position can ensure that the oil cylinder is not impacted and damaged, and simultaneously ensure that the moving time of the oil cylinder is minimum.
Referring to fig. 1, the present application further provides a counterweight synchronous hydraulic system for implementing the control method of the synchronous hydraulic system; the synchronous hydraulic system of counter weight includes: the device comprises a first oil cylinder 1, a second oil cylinder 2, a first oil way 3, a second oil way 4, a first sensor, a second sensor and a controller; wherein:
the first oil way 3 controls the expansion of the first oil cylinder 1;
the second oil path 4 controls the extension and contraction of the second oil cylinder 2;
the first sensor is arranged on the first oil cylinder 1 and used for detecting the telescopic displacement of the first oil cylinder 1 and defining the telescopic displacement of the first oil cylinder as a first displacement D 1 ；
The second sensor is arranged on the second oil cylinder 2 and used for detecting the telescopic displacement of the second oil cylinder 2 and defining the telescopic displacement of the second oil cylinder as a second displacement D 2 ；
A controller for calculating a first displacement D 1 And a second displacement D 2 Has a difference of Δ Difference (D) By difference value delta Difference (D) The amount of oil supplied to first oil passage 3 and/or second oil passage 4 is adjusted.
In which it is to be noted that,
the counterweight synchronous hydraulic system comprises an oil tank; the oil tank comprises an oil tank oil supply port P and an oil tank oil return port T;
the first cylinder 1 includes: the first piston cylinder and the first telescopic rod are arranged on the first piston cylinder;
the first cylinder 1 includes: a first rod chamber 101 and a first rod chamber 102;
the first oil passage 3 includes: a first rod chamber working oil passage 301 and a first rodless chamber working oil passage 302;
the first electromagnetic directional valve 8 comprises a first working oil port, a second working oil port, a first oil supply port and a first oil return port;
the first oil supply port is communicated with an oil tank oil supply port P;
the first oil return port is communicated with an oil return port T of the oil tank;
the first working oil port is communicated to the first rod cavity 101 through a first rod cavity working oil way 301;
the second working oil port is communicated to the first rodless cavity 102 through a first rodless cavity working oil way 302;
the potential of the first electromagnetic directional valve 8 includes: DT01A, median and DT 01B.
When the DT01B is electrified, the first oil supply port is communicated with the second working oil port; the first oil return port is communicated with the first working oil port; hydraulic oil in the oil tank flows out of the first oil supply port and the second working oil port, and enters the first rod chamber 102 through the first rod chamber working oil path 302; the first piston cylinder extends out relative to the first telescopic rod;
when the DT01A is electrified, the first oil supply port is communicated with the first working oil port; the first oil return port is communicated with the second working oil port; hydraulic oil in the oil tank flows out of the first oil supply port and the first working oil port and enters the first rod cavity 101 through the first rod cavity working oil path 301; the first piston cylinder retracts relative to the first telescopic rod.
The second cylinder 2 includes: a second piston cylinder and a second telescopic rod;
the second hydro-cylinder includes: a second rod chamber 201 and a second rodless chamber 202;
the second oil passage 4 includes: a second rod chamber working oil path 401 and a second rodless chamber working oil path 402;
the second electromagnetic directional valve 9 comprises a third working oil port, a fourth working oil port, a second oil supply port and a second oil return port;
the second oil supply port is communicated with an oil tank oil supply port P;
the second oil return port is communicated with an oil return port T of the oil tank;
the third working oil port is communicated to the second rod cavity 201 through a second rod cavity working oil way 401;
the fourth working oil port is communicated to the first rodless cavity 202 through a second rodless cavity working oil passage 402;
the potential of the second electromagnetic directional valve 9 includes: DT02A, median and DT 02B.
When the DT02B is electrified, the second oil supply port is communicated with the fourth working oil port; the second oil return port is communicated with the third working oil port; hydraulic oil in the oil tank flows out from the second oil supply port and the fourth working oil port, and enters the second rodless cavity 202 through the second rodless cavity working oil path 402; the second piston cylinder extends out relative to the second telescopic rod;
when the DT02A is electrified, the second oil supply port is communicated with the third working oil port; the second oil return port is communicated with the fourth working oil port; hydraulic oil in the oil tank flows out from the second oil supply port and the third working oil port, and enters the second rod cavity 201 through the second rod cavity working oil path 401; the second piston cylinder retracts relative to the second telescopic rod.
Wherein, it needs to be further explained that,
when DT01B and DT02B are energized simultaneously, hydraulic oil in the oil tank supplies oil to the first rodless cavity 102 through the first oil supply port and the first rodless cavity working oil path 302, and simultaneously hydraulic oil in the oil tank supplies oil to the second rodless cavity 202 through the second oil supply port and the second rodless cavity working oil path 402; at the moment, the first piston cylinder extends relative to the first telescopic rod, and the second piston cylinder extends relative to the second telescopic rod, namely the first oil cylinder 1 and the second oil cylinder 2 synchronously extend. At the moment, the relative extension amount of the first piston cylinder and the first telescopic rod is detected and detected as a first displacement D through the first sensor 1 And the relative extension of the second piston cylinder and the second telescopic rod is detected as a second displacement D through the detection of a second sensor 2 (ii) a Calculating a first displacement D by a controller 1 And a second displacement D 2 Has a difference of Δ Difference (D) And based on the difference Δ Difference (D) The amount of oil supplied from the first oil supply port to the first rodless cavity working oil passage 302 and the amount of oil supplied from the second oil supply port to the second rodless cavity working oil passage 402 are adjusted so that the first displacement D is obtained 1 And a second displacement D 2 And the balance is realized, and the synchronous extension of the two oil cylinders is realized.
When DT01A and DT02A are energized simultaneously, hydraulic oil in the oil tank supplies oil to the first rod cavity 101 through the first oil supply port and the first rod cavity working oil path 301, and simultaneously hydraulic oil in the oil tank supplies oil to the second rod cavity 201 through the second oil supply port and the second rod cavity working oil path 401; at the moment, the first piston cylinder retracts relative to the first telescopic rod, and meanwhile, the second piston cylinder retracts relative to the second telescopic rod, namely the first oil cylinder 1 and the second oil cylinder 2 retract synchronously. At the moment, the relative retraction amount of the first piston cylinder and the first telescopic rod is detected to be a first displacement D through the first sensor 1 And the relative retraction amount of the second piston cylinder and the second telescopic rod is detected to be a second displacement D through a second sensor 2 (ii) a Calculating a first displacement D by a controller 1 And a second displacement D 2 Has a difference of Δ Difference (D) And based on the difference Δ Difference (D) The amount of oil supplied from the first oil supply port to the first rod chamber working oil passage 301 and the amount of oil supplied from the second oil supply port to the second rod chamber working oil passage 401 are adjusted, and the first displacement D is caused 1 And a second displacement D 2 And the leveling is realized, and the synchronous retraction of the two oil cylinders is realized.
In the control method of the synchronous hydraulic system in the present application, the first displacement D of the first cylinder is detected by using the first sensor and the second sensor, respectively 1 And a second displacement D of the second cylinder 2 And calculating the difference between the two as delta Difference (D) Respectively adjust the oil supply of the two oil cylinders, further ensure the expansion speed of the two expansion oil cylinders to be in dynamic adjustment all the time, and ensure the first displacement D 1 And a second displacement D 2 The leveling is always kept; the control method has high response speed and detects the first displacement D in real time 1 And a second displacement D 2 And comparing the difference Delta of the two Difference (D) And further, the speed of the two cylinders is always in dynamic adjustment, so that the synchronization precision is increased, and the problem of asynchronous telescopic displacement of the two cylinders caused by the left-right imbalance of the balancing weight is avoided.
In certain embodiments of the present application, a counterweight synchronous hydraulic system includes a first proportional valve 5 and a second proportional valve; a first proportional valve 5 is communicated in the first oil passage 3 to adjust the oil supply amount of the first oil passage 3 by the first proportional valve 5; the second proportional valve 6 communicates in the second oil passage 4 to adjust the oil supply amount of the second oil passage 4 by the second proportional valve 6.
It is further stated therein that,
the first proportional valve 5 is communicated with a communicating oil path of the oil tank oil supply port P and the first oil supply port;
the second proportional valve 6 is communicated with a communication oil path between the oil tank oil supply port P and the second oil supply port.
The oil supply quantity of the first oil supply port and the second oil supply port can be accurately and quickly regulated and controlled respectively by arranging the first proportional valve 5 and the second proportional valve 6, and then a displacement D is caused 1 And a second displacement D 2 The dynamic balance is always kept, and the accuracy of synchronous movement of the balancing weight is further improved.
In some embodiments of the present application,
the first rod chamber working fluid passage 301 is provided with a first balance valve 10, and the control fluid passage of the first balance valve 10 is connected to the first rod chamber working fluid passage 302. When the hydraulic oil flows from the oil tank to the first rod chamber 102 through the first rod chamber working oil path 302, the hydraulic oil is branched to the control oil path of the first balance valve 10 through the first rod chamber working oil path 302, so that the first balance valve 10 is opened, and the hydraulic oil in the first rod chamber 101 flows back to the oil tank through the first rod chamber working oil path 301.
A second balance valve 11 is provided on the second rod chamber working oil passage 401, and a control oil passage of the second balance valve 11 is connected to the second rodless chamber working oil passage 402. When the hydraulic oil flows from the oil tank to the second rodless chamber 202 through the second rodless chamber working oil path 402, the hydraulic oil is branched to the control oil path of the second balance valve 11 through the second rodless chamber working oil path 402, so that the second balance valve 11 is opened, and the hydraulic oil in the second rod chamber 201 flows back to the oil tank through the second rod chamber working oil path 401.
The first balance valve 10 and the second balance valve 11 have simple structures and stable flow rates, and can respectively realize the opening or closing of the first rod cavity working oil path 301 and the second rod cavity working oil path 401 under different working conditions.
In certain embodiments of the present application, the first rod chamber working oil passage 302 is provided with the first relief valve 12; the second rodless chamber hydraulic fluid passage 402 is provided with a second relief valve 13. The overflow valve can play a safety protection role in the hydraulic system, and when the pressure of the hydraulic system exceeds a specified value, the valve of the overflow valve is opened, so that the system pressure does not exceed the specified value.
In conclusion, this application still provides a hoist, and the hoist includes the synchronous hydraulic system of counter weight, the synchronous hydraulic system of counter weight be above the synchronous hydraulic system of counter weight.
Because the crane comprises the counterweight synchronous hydraulic system, please refer to the above contents for the beneficial effects brought by the counterweight synchronous hydraulic system of the crane, and the description is omitted here.
In certain embodiments of the present application, the crane comprises a hydraulic latch system 7 and a turntable; when the first oil cylinder 1 and the second oil cylinder 2 synchronously move to the target position, the hydraulic bolt system 7 locks/unlocks the counterweight synchronous hydraulic system and the rotary table.
It should be further explained that the hydraulic latch system 7 includes: a left bolt cylinder 701, a right bolt cylinder 702, a bolt rod cavity oil way 703, a bolt rodless cavity oil way 704 and a bolt electromagnetic directional valve 705.
The piston cylinder of the left plug pin cylinder 701 and the piston rod of the right plug pin cylinder 702 are fixed, and the telescopic rod of the left plug pin cylinder 701 and the telescopic rod of the right plug pin cylinder 702 extend or retract to realize plugging and unplugging actions.
The latch solenoid directional valve 705 includes: a fifth working oil port, a sixth working oil port, a bolt oil supply port and a bolt oil return port;
the bolt oil supply port is communicated with an oil tank oil supply port P;
the bolt oil return port is communicated with an oil tank oil return port T;
a fifth working oil port is respectively communicated with a rod cavity of the left bolt cylinder 701 and a rod cavity of the right bolt cylinder 702 through a bolt rod cavity oil way 703;
a sixth working oil port is respectively communicated with a rodless cavity of the left bolt cylinder 701 and a rodless cavity of the right bolt cylinder 702 through a bolt rodless cavity oil way 704;
the potential of the latch solenoid directional valve 705 comprises: DT03A, median and DT 03B.
When the DT03B is electrified, the bolt oil supply port is communicated with the sixth working oil port, and the bolt oil return port is communicated with the fifth working oil port; hydraulic oil in the oil tank flows out from the bolt oil supply port and the sixth working oil port, enters a rodless cavity of the left bolt cylinder 701 and a rodless cavity of the right bolt cylinder 702 through the bolt rodless cavity oil path 704, and extends out of a telescopic rod of the left bolt cylinder 701 and a telescopic rod of the right bolt cylinder 702 to realize locking action;
when the DT03A is electrified, the bolt oil supply port is communicated with the fifth working oil port, and the bolt oil return port is communicated with the sixth working oil port; hydraulic oil in the oil tank flows out from the bolt oil supply port and the fifth working oil port, enters a rod cavity of the left bolt cylinder 701 and a rod cavity of the right bolt cylinder 702 through the bolt rod cavity oil path 703, and retracts between the telescopic rod of the left bolt cylinder 701 and the telescopic rod of the right bolt cylinder 702 to realize unlocking action.
Wherein, need further explain, counter weight oil cylinder subassembly includes: an upper counterweight frame; the first oil cylinder, the second oil cylinder and the lower counterweight bracket; the first oil cylinder and the second oil cylinder are vertically arranged in parallel; the upper counterweight frame is arranged at the top ends of the first piston cylinder and the second piston cylinder; the lower counterweight frame is connected to the bottom ends of the first telescopic rod and the second telescopic rod; the balancing weight is arranged on the lower balancing weight frame.
A left bolt cylinder 701 and a right bolt cylinder 702 are arranged on the upper counterweight frame; when the upper balance weight frame rises to a position opposite to the pin hole of the rotary table, the telescopic rod of the left bolt cylinder 701 and the telescopic rod of the right bolt cylinder 702 extend out, and the locking action of the balance weight blocks and the rotary table is realized.
When the counterweight self-disassembling system works:
1-self-jacking of an upper counterweight frame:
when DT01B and DT02B are simultaneously energized, hydraulic oil in the oil tank supplies oil to the first rodless cavity 102 through the first oil supply port and the first rodless cavity working oil path 302, and meanwhile hydraulic oil in the oil tank supplies oil to the second rodless cavity 202 through the second oil supply port and the second rodless cavity working oil path 402; at the moment, the first piston cylinder extends out relative to the first telescopic rod, and the second piston cylinder extends out relative to the second telescopic rod at the same time, so that the upper counterweight frame is self-jacked; at this time, through the first transmissionThe sensor detects that the relative extension amount of the first piston cylinder and the first telescopic rod is a first displacement D 1 Detecting the relative extension amount of the second piston cylinder and the second telescopic rod as a second displacement D through a second sensor 2 (ii) a Calculating a first displacement D by a controller 1 And a second displacement D 2 Has a difference of Δ Difference (D) And based on the difference Δ Difference between The amount of oil supplied from the first oil supply port to the first rodless-chamber working oil passage 302 and the amount of oil supplied from the second oil supply port to the second rodless-chamber working oil passage 402 are adjusted so that the first displacement D is obtained 1 And a second displacement D 2 The balance weight is kept flat, so that the upper balance weight frame can stably extend out;
when the upper counterweight frame is self-lifted to a position 50mm away from a terminal point (namely the position of a lock hole on the rotary table opposite to the left bolt cylinder 701 and the right bolt cylinder 702), the extension speeds of the first piston cylinder and the second piston cylinder are reduced;
when the upper counterweight frame is lifted to a terminal point (namely the position of a lock hole on the rotary table opposite to the left bolt cylinder 701 and the right bolt cylinder 702), and DT03B is electrified, hydraulic oil in the oil tank supplies oil to a rodless cavity of the left bolt cylinder 701 and a rodless cavity of the right bolt cylinder 702 through a bolt oil supply port and a bolt rodless cavity oil way 704, and a telescopic rod of the left bolt cylinder 701 and a telescopic rod of the right bolt cylinder 702 extend out to realize the locking of the counterweight oil cylinder assembly and the rotary table;
2-lower counterweight frame and counterweight block are mainly lifted:
when DT01A and DT02A are powered on simultaneously, hydraulic oil in the oil tank supplies oil to the first rod cavity 101 through the first oil supply port and the first rod cavity working oil way 301, and meanwhile hydraulic oil in the oil tank supplies oil to the second rod cavity 201 through the second oil supply port and the second rod cavity working oil way 401; at the moment, the first telescopic rod retracts (namely is lifted upwards) towards the direction close to the first piston cylinder, and meanwhile, the second telescopic rod retracts (namely is lifted upwards) towards the direction close to the second piston cylinder, namely the lower counterweight housing is lifted upwards; at the moment, the relative retraction amount of the first piston cylinder and the first telescopic rod is detected to be a first displacement D through the first sensor 1 And the relative retraction amount of the second piston cylinder and the second telescopic rod is detected to be a second displacement D through a second sensor 2 (ii) a Calculating a first displacement by a controllerD 1 And a second displacement D 2 Has a difference of Δ Difference (D) And based on the difference Δ Difference between The amount of oil supplied from the first oil supply port to the first rod chamber working oil passage 301 and the amount of oil supplied from the second oil supply port to the second rod chamber working oil passage 401 are adjusted, and the first displacement D is caused 1 And a second displacement D 2 And the balance weight is kept flat, and the synchronous lifting of the lower balance weight frame is realized.
When the lower weight frame is lifted to a position 50mm away from a terminal point (namely the position where the lower weight frame is matched with the upper weight frame), the retraction speed of the first telescopic rod and the second telescopic rod cylinder is reduced;
and 3, after the lower counterweight frame rises to the target position, the counterweight oil cylinder assembly is separated from the frame through the rotation of the rotary table.
The components, devices referred to in this application are meant as illustrative examples only and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the drawings. These components, devices may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the apparatus of the present application, the components may be disassembled and/or reassembled. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A method of controlling a synchronous hydraulic system, comprising:
obtaining a first displacement D of a first oil cylinder 1 ；
Obtaining a second displacement D of the second oil cylinder 2 ；
Calculating the first displacement D 1 And the second displacement D 2 Has a difference of Δ Difference (D) And on the basis of said difference Δ Difference (D) And adjusting the oil supply amount of the first oil cylinder and/or the second oil cylinder.
2. The control method of a synchronous hydraulic system as set forth in claim 1,
setting a first preset value; the first preset value is greater than 0;
setting a second preset value; the second preset value is less than 0;
when the difference value delta is Difference (D) When the oil supply quantity is larger than a first preset value, the oil supply quantity of the first oil way is adjusted to be reduced; and/or adjusting the oil supply amount of the second oil path to increase;
when the difference Δ Difference (D) If the oil supply quantity is smaller than the first preset value, adjusting the oil supply quantity of the first oil way to increase; and/or adjusting the oil supply amount of the second oil path to be reduced.
3. The control method of a synchronous hydraulic system as set forth in claim 2,
the oil supply quantity of the first oil cylinder is adjusted through a first proportional valve;
adjusting the oil supply quantity of the second oil cylinder through a second proportional valve;
when the difference value delta is Difference (D) When the oil supply quantity is larger than a first preset value, the oil supply quantity of the first oil cylinder is adjusted to be reduced through the first proportional valve; and/or the oil supply quantity of the second oil cylinder is adjusted to be increased through the second proportional valve;
when said difference Δ is Difference (D) When the oil supply quantity is smaller than a second preset value, the oil supply quantity of the first oil cylinder is adjusted to be increased through the first proportional valve; and/or the oil supply quantity of the second oil cylinder is adjusted to be reduced through the second proportional valve.
4. The control method of a synchronous hydraulic system as claimed in claim 2 or 3,
the first preset value is 10 mm;
the second preset value is-10 mm.
5. The control method of a synchronous hydraulic system as set forth in claim 1,
the distance between the initial position and the target position of the first oil cylinder is D max (ii) a Setting the buffer distance to D x ；
When D is present 1 ＞D max -D x When the first oil cylinder is in the normal state, the first oil cylinder is controlled to decelerate;
when D is 2 ＞D max -D x And controlling the second oil cylinder to decelerate.
6. Method for controlling a synchronous hydraulic system according to claim 4, characterized in that D x Has a value of 45mm to 55 mm.
7. A counterweight synchronous hydraulic system characterized by implementing a control method of the synchronous hydraulic system according to any one of claims 1 to 5, comprising:
a first cylinder;
a second cylinder;
a first sensor for detecting a first displacement D of the first cylinder 1 ；
A second sensor for detecting a second displacement D of the second cylinder 2 ；
A controller for calculating the first displacement D 1 And said second displacement D 2 Has a difference of Δ Difference (D) By said difference Δ Difference (D) And adjusting the oil supply quantity of the first oil cylinder and/or the second oil cylinder.
8. The counterweight synchronous hydraulic system of claim 7, comprising:
the first oil way supplies oil to the first oil cylinder;
the second oil way supplies oil to the second oil cylinder;
a first proportional valve that communicates in the first oil passage to adjust an oil supply amount of the first oil passage by the first proportional valve;
and the second proportional valve is communicated in the second oil path so as to adjust the oil supply amount of the second oil path through the second proportional valve.
9. A crane comprising a counterweight synchronous hydraulic system, wherein the counterweight synchronous hydraulic system is as claimed in any one of claims 7 to 8.
10. The crane of claim 9, further comprising: a hydraulic latch system and a turntable; when the first oil cylinder and the second oil cylinder synchronously move to a target position, the hydraulic bolt system is used for controlling the locking state between the counterweight synchronous hydraulic system and the rotary table.
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| CN202210668377.9A CN115045876A (en) | 2022-06-14 | 2022-06-14 | Control method of synchronous hydraulic system, counterweight synchronous hydraulic system and crane |
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| CN202210668377.9A CN115045876A (en) | 2022-06-14 | 2022-06-14 | Control method of synchronous hydraulic system, counterweight synchronous hydraulic system and crane |
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