CN119284783B - Multi-mode compact direct-drive hydraulic winch system and control method - Google Patents
Multi-mode compact direct-drive hydraulic winch system and control method Download PDFInfo
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Abstract
本发明公开了一种多模式紧凑型直驱式液压绞车系统及控制方法，设计了一种闭式串联泵阀协同液压系统替代传统液压绞车的开式泵控或开式阀控系统，可进行泵控和阀控的模态切换。用低速大扭矩液压马达代替传统液压绞车系统中高速轴向液压马达加减速器的配置。并针对该系统提出了泵阀协同控制方法，将液压绞车的一个起吊作业任务分为泵控快速提升环节和阀控精确定位环节，充分结合了泵控容积调速和阀控节流调速的优点，相较于传统单泵控方式响应更快、末端定位更精确，相较于传统单阀控方式更节能、任务时长更短。本发明提出的泵阀协同式液压绞车系统与控制方法为高性能紧凑型液压绞车的新构型设计与智能控制策略研究提供了一种理论指导。
The present invention discloses a multi-mode compact direct-drive hydraulic winch system and control method. A closed series pump-valve coordinated hydraulic system is designed to replace the open pump control or open valve control system of the traditional hydraulic winch, and the pump control and valve control modes can be switched. A low-speed, high-torque hydraulic motor is used to replace the high-speed axial hydraulic motor acceleration and deceleration device in the traditional hydraulic winch system. A pump-valve coordinated control method is proposed for the system, which divides a lifting task of the hydraulic winch into a pump-controlled rapid lifting link and a valve-controlled precise positioning link, and fully combines the advantages of pump-controlled volume speed regulation and valve-controlled throttling speed regulation. Compared with the traditional single pump control method, it has faster response and more accurate terminal positioning, and is more energy-efficient and has a shorter task duration than the traditional single valve control method. The pump-valve coordinated hydraulic winch system and control method proposed in the present invention provide a theoretical guidance for the new configuration design and intelligent control strategy research of high-performance compact hydraulic winches.
Description
Technical Field
The invention belongs to the field of high-performance hydraulic winch system design and intelligent control strategies, and particularly relates to a multi-mode compact direct-drive hydraulic winch system and a control method.
Background
As a typical electrohydraulic servo control system, the hydraulic winch has the advantages of strong load capacity, high load rigidity, high power density, high torque density and the like, and is widely applied to the fields of marine equipment, mining machinery, construction machinery and the like. The current rotation output mode of the hydraulic winch system often adopts the configuration of a high-speed axial hydraulic motor acceleration and deceleration device. With the development of the low-speed high-torque hydraulic motor, the low-speed high-torque hydraulic motor can be directly connected with a high-power high-torque actuating mechanism due to the advantages of high power density, high torque density and compact structure, does not need to be matched with power through a speed reducer, and has a more compact transmission structure and a more flexible configuration mode compared with the traditional high-speed hydraulic motor-speed reducer driving. The low-speed high-torque hydraulic motor obviously becomes a better scheme of the output part of the high-performance high-power compact hydraulic winch.
Meanwhile, two basic circuits of the hydraulic winch system are a pump control open circuit and a valve control open circuit, and the two circuits have advantages and are applied to different engineering machinery according to requirements. The hydraulic motor is characterized in that the hydraulic motor is provided with a pump output flow, the pump output flow is directly supplied to the hydraulic motor, and the hydraulic motor is provided with a pump output flow. And by adopting electric proportional driving, the dynamic response of the system is quick. However, the two hydraulic circuits are single in single-use structure, and are often difficult to adapt to different application scenes. In recent years, with the increase of high-power, high-torque, high-inertia, quick response and high-precision demand scenes in the industry, higher requirements and greater challenges are provided for hydraulic winch system design and servo control, and pump control volume speed regulation and valve control throttling speed regulation are combined to provide a pump valve cooperative speed regulation loop, so that the pump valve cooperative speed regulation loop can make up for the shortages, and is a necessary trend of the development of high-performance high-power compact hydraulic winch technology.
In summary, the invention provides a multi-mode compact direct-drive hydraulic winch system and a control strategy. The winch system adopts a low-speed high-torque hydraulic motor to replace the configuration of a high-speed hydraulic motor accelerator and decelerator, and the closed system replaces the scheme of an open system, so that the system configuration is more compact. Meanwhile, the system has the advantages of a pump control system and a valve control system, and a pump and valve cooperative control strategy is provided for completing lifting operation tasks. The invention can be used for guiding the design and control research of a novel high-performance high-power compact hydraulic winch system.
Disclosure of Invention
Aiming at the new configuration design requirements of the compactness and high performance of the current hydraulic winch system, the invention provides a new configuration of the hydraulic winch system capable of realizing the direct driving of the low-speed high-torque hydraulic motor with the switching of the pump control mode and the valve control mode. The configuration uses a low-speed high-torque hydraulic motor to replace the configuration of a high-speed hydraulic motor accelerator and decelerator, and the closed system replaces the scheme of an open system, so that the system configuration is more compact. Based on the system, a control strategy for pump valve cooperative control is provided for actual lifting operation tasks, and compared with the traditional single control loop, the system is more energy-saving and more accurate in tail end positioning.
The invention aims at realizing the technical scheme that the multi-mode compact direct-drive hydraulic winch system comprises a main pump, a third one-way valve, an external control type constant-difference pressure reducing valve, a three-position four-way proportional reversing valve and a low-speed high-torque hydraulic motor;
The main pump supplies oil to the low-speed high-torque hydraulic motor through an external control type constant-difference pressure reducing valve and a three-position four-way proportional reversing valve to form a pump valve series oil circuit;
When pump control is adopted, the opening degree of the valve port of the three-position four-way proportional reversing valve is adjusted to be maximum, and oil liquid of the main pump bypasses the external control type constant-difference reducing valve and is supplied to the low-speed high-torque hydraulic motor through the third one-way valve;
when the valve control is adopted, the oil of the main pump throttles and flows into the low-speed high-torque hydraulic motor through the external control type constant-difference pressure reducing valve and the three-position four-way proportional reversing valve.
Further, the main pump is a closed variable pump, and the direction of oil is changed by changing the inclination angle of the swash plate.
Further, an outer oil control hole of the outer control type constant difference reducing valve is connected to the low-speed high-torque hydraulic motor through a second two-position two-way electromagnetic directional valve, and the second two-position two-way electromagnetic directional valve is controlled to conduct pressure compensation before the valve.
Further, when the valve is in a valve control state, the valve opening of the three-position four-way proportional reversing valve is adjusted to control the rotating speed and the rotating angle of the low-speed high-torque hydraulic motor.
Further, the P port of the three-position four-way proportional reversing valve is connected with an oil outlet of the external control type constant-difference reducing valve, the T port is connected back to the main pump, the A, B ports are respectively connected with an oil inlet and an oil outlet of the low-speed large-torque hydraulic motor, and the rotating speed of the motor is controlled in a throttling mode.
Further, the system is also provided with a supplementary oil pump which is rigidly connected with the main pump and is used for supplementing oil for the low-speed high-torque hydraulic motor.
Further, the system also comprises a brake, wherein the brake is a non-pressure wet multi-disc brake, the oil inlet is connected to the oil supplementing pump, and the back pressure of the oil supplementing loop is opened.
On the other hand, the invention also provides a control method of the multi-mode compact direct-drive hydraulic winch system, which comprises the following steps:
the method comprises the steps of firstly, dividing a lifting operation task of a hydraulic winch system into a pump control rapid lifting stage, a valve control accurate positioning stage and a load maintaining stage, starting a main pump and an oil supplementing pump, wherein the oil supplementing pressure is larger than the brake starting pressure to cause brake release, a three-position four-way proportional reversing valve is positioned in a middle position, and the system is positioned in a waiting operation stage;
When the hydraulic winch system is in the pump control quick lifting stage, regulating the opening of the valve port of the three-position four-way proportional reversing valve to be maximum, wherein the rated flow is larger than the working flow;
When the hydraulic winch system is lifted to the vicinity of the target position, the system is switched to a valve control accurate positioning stage, and at the moment, the inclination angle of a sloping cam of a main pump is adjusted to cause the oil to change direction, and the oil throttles to flow into a low-speed high-torque hydraulic motor through a fixed-difference pressure reducing valve and a three-position four-way proportional reversing valve, so that the accurate positioning of the tail end of the operation is ensured;
And fourthly, after the system finishes the lifting operation task, closing the main pump and the oil supplementing pump, adjusting the three-position four-way proportional reversing valve to be in the middle position, closing the brake, and enabling the system to be in a load maintaining stage.
Further, when the system is in a pump control state, the system is not throttled in theory, the three-position four-way proportional reversing valve does not participate in control, oil provided by the main pump and the oil supplementing pump completely flows through the low-speed large-torque hydraulic motor, and the rotating speed and the rotating angle of the low-speed large-torque hydraulic motor are controlled by the main pump.
Further, when the system is in a valve control state, the rotating speed and the rotating angle of the low-speed high-torque hydraulic motor are not directly controlled by the main pump, but the opening degree of the valve port of the three-position four-way proportional reversing valve is regulated to control the rotating speed and the rotating angle of the low-speed high-torque hydraulic motor.
The invention has the beneficial effects that:
The multimode compact direct-drive hydraulic winch system and the control strategy provided by the invention enable the winch system to be switched between a pump control volume speed regulation mode and a valve control throttling speed regulation mode, have the advantages and functions of the pump control volume speed regulation mode and the valve control throttling speed regulation mode, simultaneously apply a low-speed high-torque hydraulic motor to replace the configuration of a high-speed hydraulic motor accelerator and decelerator, and enable the closed system to replace the scheme of an open system, so that the system configuration is more compact. The pump valve cooperative control strategy is provided for dividing the lifting operation task stages, and different stages correspond to different control modes, so that compared with the traditional single control mode, the pump valve cooperative control strategy has the advantages of faster response, higher efficiency and better tail end positioning.
The present invention is directed to innovative system designs for high performance high power compact hydraulic systems, particularly with unique advantages in terms of compactness and new configuration of the winch system.
Drawings
FIG. 1 is a schematic diagram of a pump valve coordinated low speed high torque direct drive hydraulic winch system.
In the figure, an oil tank 1, a filter 2, a main pump 3, a servo motor 4, an oil supplementing pump 5, a first one-way valve 6, a second one-way valve 7, a first two-position two-way electromagnetic reversing valve 8, an energy accumulator 9, a third one-way valve 10, an external control type constant difference reducing valve 11, a second two-position two-way electromagnetic reversing valve 12, a three-position four-way proportional reversing valve 13, a first overflow valve 14, a second overflow valve 15, a brake 16 and a low-speed high-torque hydraulic motor 17 are arranged.
Fig. 2 is a schematic diagram of the pump control loop of the system.
Fig. 3 is a schematic diagram of the system valve control loop.
Fig. 4 is a control strategy block diagram of the system.
Detailed Description
The invention will be described in detail with reference to the accompanying drawings and specific examples:
As shown in fig. 1, the invention provides a multi-mode compact direct-drive hydraulic winch system, and designs a closed type serial pump valve collaborative hydraulic system which replaces an open pump control system or an open valve control system of a traditional hydraulic winch, wherein the system can perform mode switching of pump control and valve control, and the control degree of freedom is higher.
The pump valve coordinated type hydraulic winch system comprises an oil tank 1, a filter 2, a main pump 3, a servo motor 4, an oil supplementing pump 5, a first one-way valve 6, a second one-way valve 7, a first two-position two-way electromagnetic directional valve 8, an energy accumulator 9, a third one-way valve 10, an external control type constant-difference pressure reducing valve 11, a second two-position two-way electromagnetic directional valve 12, a three-position four-way proportional directional valve 13, a first overflow valve 14, a second overflow valve 15, a brake 16 and a low-speed high-torque hydraulic motor 17.
The main pump 3 is a closed variable pump and is driven by the servo motor 4 to finish closed loop oil supply, the oil supplementing pump 5 is rigidly connected with the main pump 3, an oil inlet is connected with the oil tank 1 through the filter 2, and the oil outlet is connected to the two first check valves 6 and 7 which are oppositely arranged, so that the oil can be prevented from flowing backwards, and the closed loop oil supplementing is finished. The accumulator 9 is connected to the first one-way valve 6 and the first one-way valve 7 through a two-position two-way electromagnetic directional valve 8, and participates in system oil supplementing and eliminates pressure pulsation. The oil inlet end of the external control type constant differential pressure reducing valve 11 is connected with the main pump 3, the oil outlet end is connected with the three-position four-way proportional reversing valve 13, the external control oil hole is connected to the oil inlet of the low-speed high-torque hydraulic motor 17 through the second two-position two-way electromagnetic reversing valve 12, and the second two-position two-way electromagnetic reversing valve 12 is controlled to compensate the pressure before the valve. The third check valve 10 is connected in parallel with two ends of the external control type constant difference pressure reducing valve 11, and when oil flows reversely, the oil passes through the third check valve to avoid throttling of the pressure reducing valve. The three-position four-way proportional reversing valve 13 is connected with an oil outlet of the external control type constant difference reducing valve 11, a T port is connected back to the main pump 3, A and B ports are respectively connected with oil inlet and outlet ports of the low-speed large-torque hydraulic motor 17, the motor rotating speed can be controlled in a throttling mode, and the position machine can be in an M type. The first overflow valve 14 and the second overflow valve 15 are respectively connected in parallel with an oil inlet and an oil outlet of the low-speed high-torque hydraulic motor 17, and are used for protecting loop pressure. The brake 16 is a non-pressure wet multi-disc brake, and an oil inlet is connected to the oil supplementing pump 5 and can be opened by the back pressure of an oil supplementing loop.
As shown in fig. 2, the invention provides a pump valve cooperative low-speed large-torque direct-drive hydraulic winch system, which has the function of a pump control system, and adjusts the inclination angle of a swash plate of a main pump 3 to cause oil to bypass a constant-difference reducing valve 11 through a third one-way valve 10, so that the valve port of a three-position four-way proportional reversing valve 13 is maximum, and the system is not throttled theoretically.
As shown in fig. 3, the invention provides a pump valve cooperative low-speed large-torque direct-drive hydraulic winch system, which has a valve control system function, and is characterized in that the inclination angle of a swash plate of a main pump 3 is adjusted to enable oil to flow through a constant-difference pressure reducing valve 11, a second two-position two-way electromagnetic directional valve 12 is opened to compensate the pressure of a valve port of a proportional valve, and the valve port of a three-position four-way proportional directional valve 13 is throttled.
As shown in fig. 4, the control method of the pump-valve coordinated multi-mode compact direct-drive hydraulic winch system provided by the invention divides the lifting operation task of the pump-valve coordinated low-speed high-torque hydraulic winch system into a pump-control quick lifting stage, a valve-control accurate positioning stage and a load holding stage, and the specific flow is as follows:
Step one, starting a servo motor 4, a main pump 3 and an oil supplementing pump 5, wherein the oil supplementing pressure is larger than the starting pressure of a brake 16, so that the brake is released, a three-position four-way proportional reversing valve 13 is positioned in the middle position, and the system is positioned in a waiting operation stage.
And secondly, when the pump valve coordinated type hydraulic winch system is in the pump control rapid lifting stage, the opening of the valve port of the three-position four-way proportional reversing valve 13 is regulated to be maximum, and the rated flow is larger than the working flow. The inclination angle of the swash plate of the main pump 3 is adjusted so that the oil passes through the third check valve 10 to bypass the constant difference reducing valve 11. The system is in a pumping state, and in theory, the system is not throttled, and oil provided by the main pump 3 and the oil supplementing pump 5 all flow through the low-speed high-torque hydraulic motor 17. When the system is in the state, the winch system is lifted at the highest speed, the highest efficiency and the best energy-saving effect.
And thirdly, switching the system to a valve control accurate positioning stage when the pump valve coordinated hydraulic winch system is lifted to the vicinity of the target position. At this time, the inclination angle of the swash plate of the main pump 3 is adjusted to cause the oil to change direction, and the oil is throttled to flow into the low-speed high-torque hydraulic motor 17 through the constant-difference reducing valve 11 and the three-position four-way proportional reversing valve 13. When the system is in the state, the valve opening of the three-position four-way proportional reversing valve 13 can be adjusted to control the rotating speed and the rotating angle of the low-speed high-torque hydraulic motor 17, so that the accurate positioning of the tail end of the operation is ensured.
And fourthly, after the system finishes the task of lifting operation, the servo motor 4, the main pump 3 and the oil supplementing pump 5 are closed, the three-position four-way proportional reversing valve 13 is adjusted to be in the middle position, the brake 16 is closed, and the system is in a load maintaining stage.
When the hydraulic winch completes one operation task, the working cycle can be carried out according to the flow.
In summary, the embodiment of the invention provides a multi-mode compact direct-drive hydraulic winch system and a control method.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (7)
1. The multi-mode compact direct-drive hydraulic winch system is characterized by comprising a main pump (3), a third one-way valve (10), an external control type constant-difference reducing valve (11), a three-position four-way proportional reversing valve (13), a brake (16) and a low-speed high-torque hydraulic motor (17);
the main pump (3) supplies oil to the low-speed high-torque hydraulic motor (17) through the external control type constant-difference pressure reducing valve (11) and the three-position four-way proportional reversing valve (13) to form a pump valve series oil path, and the direction of oil is changed by changing the inclination angle of a swash plate of the main pump (3);
the brake (16) is a non-pressure wet multi-disc brake, an oil inlet is connected to the oil supplementing pump (5), and the back pressure of the oil supplementing loop is opened;
When pump control is adopted, the opening of a valve port of the three-position four-way proportional reversing valve (13) is adjusted to be maximum, and the inclination angle of a swash plate of the main pump (3) is adjusted to cause the oil liquid of the main pump to bypass the external control type constant difference reducing valve (11) and supply the oil liquid to the low-speed high-torque hydraulic motor (17) through the third one-way valve (10);
When the valve control is adopted, the inclination angle of the swash plate of the main pump (3) is regulated to change the direction of oil so that the oil of the main pump throttles and flows into the low-speed large-torque hydraulic motor (17) through the external control type constant-difference reducing valve (11) and the three-position four-way proportional reversing valve (13), and the valve opening of the three-position four-way proportional reversing valve (13) is regulated to control the rotating speed and the rotating angle of the low-speed large-torque hydraulic motor (17).
2. The multi-mode compact direct-drive hydraulic winch system according to claim 1, wherein the outer oil control hole of the outer control type constant differential pressure reducing valve (11) is connected to the low-speed high-torque hydraulic motor (17) through the second two-position two-way electromagnetic directional valve (12), and the second two-position two-way electromagnetic directional valve (12) is controlled to conduct pre-valve pressure compensation.
3. The multi-mode compact direct-drive hydraulic winch system according to claim 1, wherein the P port of the three-position four-way proportional reversing valve (13) is connected with an oil outlet of the external control type constant-difference pressure reducing valve (11), the T port is connected back to the main pump (3), and the A, B ports are respectively connected with an oil inlet and an oil outlet of the low-speed high-torque hydraulic motor (17) to throttle and control the rotation speed of the motor.
4. A multi-mode compact direct drive hydraulic winch system according to claim 1, characterized in that the system is further provided with a supplementary oil pump (5) rigidly connected to the main pump (3), the supplementary oil pump (5) being adapted to supplement the low-speed high-torque hydraulic motor (17).
5. A control method based on the multi-mode compact direct-drive hydraulic winch system according to any one of claims 1-4, characterized in that the method steps are as follows:
The method comprises the steps of dividing a lifting operation task of a hydraulic winch system into a pump control rapid lifting stage, a valve control accurate positioning stage and a load maintaining stage, starting a main pump (3) and an oil supplementing pump (5), wherein the oil supplementing pressure is larger than the opening pressure of a brake (16) to cause brake release, a three-position four-way proportional reversing valve (13) is positioned in a middle position, and the system is positioned in a waiting operation stage;
When the hydraulic winch system is in the pump control quick lifting stage, regulating the opening of a valve port of a three-position four-way proportional reversing valve (13) to be maximum, wherein the rated flow is larger than the working flow, regulating the inclination angle of a swash plate of a main pump (3) to enable oil to bypass a fixed-difference pressure reducing valve (11) through a third one-way valve (10) to be supplied to a low-speed high-torque hydraulic motor (17), and realizing quick lifting of the tail end position;
When the hydraulic winch system is lifted to the vicinity of the target position, the system is switched to a valve control accurate positioning stage, and at the moment, the inclination angle of a swash plate of a main pump (3) is adjusted to cause the oil to change direction, and the oil throttles to flow into a low-speed high-torque hydraulic motor (17) through a fixed-difference pressure reducing valve (11) and a three-position four-way proportional reversing valve (13) to ensure the accurate positioning of the tail end of the operation;
And fourthly, after the system finishes the lifting operation task, closing the main pump (3) and the oil supplementing pump (5), adjusting the three-position four-way proportional reversing valve (13) to be in the middle position, closing the brake (16), and enabling the system to be in a load maintaining stage.
6. The control method of the multi-mode compact direct-drive hydraulic winch system according to claim 5, wherein when the system is in a pumping state, the three-position four-way proportional reversing valve (13) does not participate in control, oil provided by the main pump (3) and the oil supplementing pump (5) completely flows through the low-speed high-torque hydraulic motor (17), and the rotating speed and the rotating angle of the low-speed high-torque hydraulic motor (17) are controlled by the main pump (3).
7. The control method of the multi-mode compact direct-drive hydraulic winch system according to claim 5, wherein when the system is in a valve-controlled state, the rotation speed and the rotation angle of the low-speed high-torque hydraulic motor (17) are not directly controlled by the main pump (3), but the valve opening of the three-position four-way proportional reversing valve (13) is regulated to control the rotation speed and the rotation angle of the low-speed high-torque hydraulic motor (17).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19713592A1 (en) * | 1997-04-02 | 1998-10-08 | Delmag Maschinenfabrik | Hydraulic winch with hydraulic motor |
| CN102588358A (en) * | 2012-02-20 | 2012-07-18 | 北京理工大学 | High-performance energy saving type electro-hydraulic servo control oil line |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004100798A (en) * | 2002-09-09 | 2004-04-02 | Kawasaki Precision Machinery Ltd | Hydraulic motor drive mechanism for winch |
| CN108298474B (en) * | 2017-12-26 | 2024-09-03 | 浙江大学 | Fork truck high-efficient economizer system with speed governing function |
| CN213744202U (en) * | 2020-09-30 | 2021-07-20 | 潍柴动力股份有限公司 | Control system of hydraulic cylinder and excavator |
| CN116928159A (en) * | 2022-03-31 | 2023-10-24 | 北京机械设备研究所 | High-low pressure isolation type electrohydraulic steering engine and working method thereof |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19713592A1 (en) * | 1997-04-02 | 1998-10-08 | Delmag Maschinenfabrik | Hydraulic winch with hydraulic motor |
| CN102588358A (en) * | 2012-02-20 | 2012-07-18 | 北京理工大学 | High-performance energy saving type electro-hydraulic servo control oil line |
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