CN119664736A - A hydraulic traction machine control system and control method based on dual variable speed regulation - Google Patents
A hydraulic traction machine control system and control method based on dual variable speed regulation Download PDFInfo
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Abstract
本发明涉及一种基于双变量调速的液压牵引机控制系统及控制方法，包括动力源、电比例变量泵、电比例变量马达、控制器和控制手柄，控制器能够控制电比例变量泵和电比例变量马达的运行状态，控制手柄输入控制信号；控制手柄的开度比例为0～100%，通过标定点A%将其分为0～A%和A%～100%两个调速区间，当控制手柄的开度为0～A%时，电比例变量马达保持最大排量，对应控制手柄开度的增大，电比例变量泵的排量从0到最大之间变化；当控制手柄的开度为A%～100%时，电比例变量泵的排量保持最大值，电比例变量马达排量随着开度的增加逐渐减小，直到减小到最小设定值。本发明通过控制电比例变量泵和电比例变量马达的工作状态，实现了适应不同负载的全自动化调节。
The present invention relates to a hydraulic traction machine control system and control method based on dual variable speed regulation, comprising a power source, an electric proportional variable pump, an electric proportional variable motor, a controller and a control handle, wherein the controller can control the operation state of the electric proportional variable pump and the electric proportional variable motor, and the control handle inputs a control signal; the opening ratio of the control handle is 0-100%, and it is divided into two speed regulation intervals of 0-A% and A%-100% by a calibration point A%, when the opening of the control handle is 0-A%, the electric proportional variable motor maintains a maximum displacement, and the displacement of the electric proportional variable pump changes from 0 to a maximum corresponding to the increase of the opening of the control handle; when the opening of the control handle is A%-100%, the displacement of the electric proportional variable pump maintains a maximum value, and the displacement of the electric proportional variable motor gradually decreases with the increase of the opening until it decreases to a minimum set value. The present invention realizes fully automatic regulation adapted to different loads by controlling the operation state of the electric proportional variable pump and the electric proportional variable motor.
Description
Technical Field
The invention relates to the technical field of hydraulic tractor speed regulation control, in particular to a hydraulic tractor control system and a control method based on bivariate speed regulation.
Background
Conventional hydraulic tractors typically rely on a single variable displacement pump or a combination of a fixed displacement pump and a motor to achieve power transmission, which has certain limitations in terms of speed range and efficiency:
The speed regulation range is limited, the traditional tractor can only operate efficiently in a narrow speed range, and the requirements of high speed, low torque and low speed, high torque can not be met at the same time, so that the working condition adaptability of the traditional tractor in a practical complex and changeable construction scene is limited.
The energy efficiency is low, the traditional control system cannot optimize the working states of the hydraulic pump and the motor according to the load requirement due to the single traction speed adjusting mechanism, so that the control system works in a low-efficiency zone in a large amount, unnecessary energy waste is caused by low transmission efficiency, and particularly when the high traction speed is required under the low load condition, the diesel engine is required to provide enough hydraulic oil flow through a very high rotating speed, so that the oil consumption and noise of the diesel engine are increased.
Operational complexity the operation of conventional hydraulic tractors often requires a high level of skill on the part of the driver in order to manually adjust the operating parameters of the pump and motor, which is a challenge for non-professional operators and is prone to equipment damage or performance degradation due to mishandling.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the limitation of the traditional hydraulic tractor in the prior art when dealing with complex construction scenes, and the invention provides a hydraulic tractor control system and a control method based on double-variable speed regulation.
In order to solve the technical problems, the invention provides a hydraulic tractor control system based on bivariate speed regulation, which comprises:
A power source;
the hydraulic energy conversion part comprises an electric proportional variable pump, a hydraulic control part and a hydraulic control part, wherein the electric proportional variable pump is connected with the power source and converts mechanical energy input by the power source into hydraulic energy, and the electric proportional variable pump can adjust the hydraulic oil displacement of the variable pump through the input of proportional current;
the execution part comprises an electric proportional variable motor, a motor control part and a control part, wherein the electric proportional variable motor is connected with the electric proportional variable pump and can receive hydraulic oil of the electric proportional variable pump, convert the hydraulic energy into mechanical energy and drive an execution mechanism to rotate;
The control part comprises a controller and a control handle, wherein the controller can control the running states of the electric proportional variable pump and the electric proportional variable motor, the control handle inputs control signals to the controller, the control handle is an opening proportion adjusting handle, the opening proportion of the control handle is 0-100%, and a standard point A for controlling switching is arranged between the opening proportion of 0-100%;
When the opening of the control handle is 0, the controller controls the electric proportional variable pump to be in a zero output state, and the controller controls the electric proportional variable motor to be in a maximum displacement;
When the opening of the control handle is 0~A%, the controller controls the hydraulic oil displacement of the electric proportional variable pump to increase from 0 along with the increase of the opening proportion, and when the opening of the control handle reaches a standard point A%, the hydraulic oil displacement of the electric proportional variable pump reaches the maximum, and the controller controls the electric proportional variable motor to keep the maximum displacement;
When the opening of the control handle is A% -100%, the controller controls the electric proportional variable pump to keep the maximum hydraulic oil displacement, and the controller controls the displacement of the electric proportional variable motor to gradually decrease along with the increase of the opening proportion until the displacement is reduced to the minimum set value.
In one embodiment of the invention, the hydraulic energy conversion part further comprises two pressure sensors respectively arranged at two working oil ports of the electric proportional variable pump and the electric proportional variable motor, wherein the pressure sensors detect the pressures of the oil ports at two sides of the electric proportional variable motor in real time, the difference value is the pressure difference of the electric proportional variable motor, and the displacement of the electric proportional variable motor is automatically controlled by utilizing pressure difference feedback.
In one embodiment of the invention, the controller compares the pressure difference detected by the pressure sensor in real time with a preset pressure difference safety threshold, and when the real-time pressure difference exceeds the pressure difference safety threshold, the displacement of the electric proportional variable pump is restored to a zero output state, and the control system is in a safe stop state and initiates an alarm until the opening of the control handle is regulated to be restored to 0 position.
In one embodiment of the invention, the controller detects the real-time load value of the power source in real time through the CAN bus, and when the real-time load value of the power source exceeds a preset load safety threshold, the control system dynamically adjusts the displacement of the electric proportional variable pump.
In one embodiment of the invention, the motor driving device further comprises a rotating speed sensor, the controller detects the rotating speed of the electric proportional variable motor driving actuating mechanism in real time through the rotating speed sensor, and when the rotating speed of the actuating mechanism exceeds a preset traction speed safety threshold, the control system automatically adjusts the displacement of the electric proportional variable pump.
In one embodiment of the invention, the control device further comprises a brake, wherein the brake is used for controlling the braking of a load, when the opening degree of the control handle is 0, the brake is in a braking state, and when the opening degree of the control handle is greater than 0, the brake is in an opening state.
In one embodiment of the present invention, the executing section further includes:
The input end of the speed reducer is connected with the electric proportional variable motor;
The output end of the gear set is connected with the speed reducer and is used for realizing power transmission;
The actuating mechanism is a winding drum, and the winding drum is connected with the gear set and used for winding and rolling the traction rope.
In one embodiment of the invention, the electric proportional variable pump is a bidirectional electric proportional variable pump, the electric proportional variable motor is a bidirectional electric proportional variable motor, and the control handle is a bidirectional control handle.
In one embodiment of the invention, the system further comprises a display which is connected and communicated with the controller through a CAN bus and is used for intensively displaying the state and parameters of the control system, including but not limited to the operation states and parameters of the electric proportional variable pump, the electric proportional variable motor and the control handle, and the rotation speed and the traction force of an executing mechanism in the control system.
In order to solve the technical problems, the invention also provides a hydraulic tractor control method based on double variable speed regulation, which is completed by applying the hydraulic tractor control system based on double variable speed regulation, and comprises the following steps:
Providing a power source, and connecting an electric proportional variable pump with the power source;
connecting an electric proportional variable pump with an electric proportional variable motor such that the electric proportional variable motor is capable of receiving hydraulic oil from the electric proportional variable pump to drive a load;
receiving a control signal from a control handle through a controller, and adjusting working states of the electric proportional variable pump and the electric proportional variable motor according to the control signal;
When the opening of the adjusting control handle is 0, the electric proportional variable pump is controlled to be in a zero output state by the controller, and the electric proportional variable motor is controlled to be in a maximum displacement;
When the opening of the regulating control handle is increased from 0 to the opening proportion reaches the standard point A%, controlling the hydraulic oil displacement of the electric proportional variable pump to be increased along with the opening proportion from 0 by the controller until the opening of the control handle reaches the standard point A%, wherein the hydraulic oil displacement of the electric proportional variable pump reaches the maximum, and simultaneously controlling the electric proportional variable motor to keep the maximum displacement by the controller;
When the opening of the continuously-adjusted control handle is adjusted from the opening proportion of the standard point A% to the opening proportion of 100%, the controller controls the electric proportion variable pump to keep the maximum hydraulic oil displacement, and simultaneously, the controller controls the displacement of the electric proportion variable motor to gradually decrease along with the increase of the opening proportion until the displacement is reduced to the minimum set value.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. compared with the existing traditional tractor, the hydraulic tractor controlled by the bivariate control system has a very wide continuous speed regulation range, the service performance of the hydraulic tractor is effectively improved, when the traction force is smaller, the maximum traction speed can be realized when the small oil port of the power source is output, and the noise and the oil consumption of the power source are effectively reduced.
2. When the bivariate control system is adopted, compared with the single hydraulic pump variable adjustment, the hydraulic energy conversion part can work in a high-pressure zone more, and because the hydraulic elements are in higher working efficiency in the high-pressure zone, the transmission efficiency of the control system can be effectively improved, meanwhile, the discharge capacity requirements of the hydraulic pump and the motor can be effectively reduced when the model is designed and selected, and the economical efficiency of the control system is improved.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which:
FIG. 1 is a schematic diagram of a dual variable speed control based hydraulic tractor control system of the present invention;
FIG. 2 is a schematic diagram of a dual variable speed control based hydraulic tractor control system of the present invention;
FIG. 3 is a graph of the electrical proportional variable pump and electrical proportional variable motor of the present invention as a function of control handle opening;
fig. 4 is a graph of the traction force and traction speed as a function of control handle opening in accordance with the present invention.
The reference numerals of the instruction show that the control handle comprises a power source 1, an electric proportional variable pump 2, an electric proportional variable motor 3, a pressure sensor 4, a rotating speed sensor 5, a rotating speed sensor 6, a brake 7, a speed reducer 8, a winding drum 9, a controller and a control handle 10.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Example 1
Referring to fig. 1 and 2, the invention discloses a hydraulic tractor control system based on bivariate speed regulation, which comprises a power source 1, a hydraulic energy conversion part, an execution part and a control part, wherein:
The power source 1 is usually a diesel engine or an electric motor, and provides mechanical energy as a power source of the whole hydraulic energy conversion part;
The hydraulic energy conversion part comprises an electric proportional variable pump 2, which is connected with the power source 1, wherein the electric proportional variable pump 2 is integrated with a proportional electromagnetic valve, and the position action of a variable cylinder of the opening variable pump of the electromagnetic valve can be adjusted through the input of proportional current, so that the displacement change of the variable pump is realized;
The execution part comprises an electric proportional variable motor 3, a proportional electromagnetic valve, a motor displacement adjusting device and a control device, wherein the electric proportional variable motor 3 is connected with the electric proportional variable pump 2, the electric proportional variable motor 3 can receive hydraulic oil of the electric proportional variable pump 2 and convert the hydraulic oil into mechanical energy for driving an execution mechanism to rotate, and the electric proportional variable motor 3 is also integrated with the proportional electromagnetic valve, and the motor displacement is adjusted through the input of proportional current;
The control part comprises a controller 9 and a control handle 10, wherein the controller 9 can process signals from the control handle 10 and send instructions to the electric proportional variable pump 2 and the electric proportional variable motor 3 according to the signals, the operation states of the electric proportional variable pump 2 and the electric proportional variable motor 3 are controlled, and the control handle 10 is used for an operator to send control signals to the controller 9.
The speed regulation of the control system can be expressed as follows:
;
;
Wherein Nm is the rotation speed of the electric proportional variable motor 3;
The rotational speed of the electric proportional variable pump 2 is equal to that of the diesel engine because the electric proportional variable pump 2 and the power source 1 drive the flywheel to be directly connected through the coupling;
Vp is the displacement of the electric proportional variable pump 2, which is proportional to the current controlled by the electromagnet, adjustable between a minimum displacement vp.min (generally 0) and a maximum displacement vp.max;
vm is the displacement of the electric proportional variable motor 3, which is proportional to the current controlled by the electromagnet, and can be adjusted between a minimum displacement vm.min (which can be set before delivery according to the need) and a maximum displacement vm.max;
η1, the total volumetric efficiency of the hydraulic energy conversion unit can be regarded as a constant;
V, traction speed;
k1, proportional constant, which is related to parameters such as speed reducer speed ratio, gear set ratio, reel diameter and the like in the executing part;
As is clear from the above expression, when the rotational speed of the power source 1 is constant, the rotational speed Np of the electric proportional variable pump 2 coaxially connected to the power source 1 is constant, and the traction speed can be adjusted by adjusting Vp and Vm, and the traction speed and Vp are in a proportional relationship and Vm are in an inverse relationship.
Based on the above analysis, in this embodiment, the control handle 10 is set to be an opening ratio adjusting handle, the opening ratio of the control handle 10 is 0-100%, a calibration point a for controlling and switching is set between the opening ratios of 0-100%, the calibration point a% represents the switching of the controller 9 to the control between the electric proportional variable pump 2 and the electric proportional variable motor 3, and the value of a is reasonably set by calculation, so that the change rate of the traction speed is substantially the same when the opening of the control handle 10 is adjusted in the 0% -a% section and the a% -100% section.
Referring to fig. 3, specific control logic is:
When the opening degree of the control handle 10 is 0, the controller 9 controls the electric proportional variable pump 2 to be in a zero output state, namely, oil is not supplied to the control system, at the moment, the control system is in a waiting working state, and the controller 9 controls the electric proportional variable motor 3 to be in a maximum displacement, so that the electric proportional variable pump 2 can immediately respond and provide maximum torque output when the electric proportional variable pump 2 has flow output;
In the first stage, when the opening of the control handle 10 is adjusted steplessly in a 0~A% interval, the controller 9 controls the hydraulic oil displacement of the electric proportional variable pump 2 to increase from 0 along with the increase of the opening proportion, so that the output hydraulic oil flow is increased along with the increase of the opening proportion, and when the opening of the control handle 10 reaches a standard point A%, the hydraulic oil displacement of the electric proportional variable pump 2 synchronously reaches the maximum, and in the process, the controller 9 controls the electric proportional variable motor 3 to keep the maximum displacement unchanged, so that the speed in the adjustment interval is mainly adjusted by the displacement change of the electric proportional variable pump 2;
In the second stage, when the opening of the control handle 10 is adjusted in the interval of a% > -100%, the controller 9 controls the electric proportional variable pump 2 to keep the maximum hydraulic oil displacement unchanged, at this time, the controller 9 controls the displacement of the electric proportional variable motor 3 to gradually decrease with the increase of the opening proportion, and as the opening of the control handle 10 is further increased, the displacement of the electric proportional variable motor 3 gradually decreases to the minimum set value, so that the rotation speed is increased, and therefore, the speed adjustment in the adjustment interval is mainly realized by the displacement change of the electric proportional variable motor 3.
In the embodiment, through respectively adjusting the displacement of the electric proportional variable pump 2 and the displacement of the electric proportional variable motor 3, the performance of the control system can be optimized under wide working conditions, whether the high torque, the low speed and the high speed are needed or the low torque are needed, and under different load conditions, the energy consumption can be effectively reduced and the overall efficiency can be improved through the working parameters of the intelligent electric proportional variable pump 2 and the intelligent electric proportional variable motor 3;
Moreover, the displacement of the electric proportional variable pump 2 and the electric proportional variable motor 3 can be controlled very precisely by utilizing the proportional current regulation technology, so that the fine regulation of the speed and the torque of the tractor is realized.
The traction calculation of the control system can be expressed as follows:
;
wherein, F is traction force;
K2, proportional constant, which is related to parameters such as speed reducer speed ratio, gear set ratio, reel diameter and the like in the executing part;
vm is the displacement of the electric proportional variable motor 3;
ΔP is the inlet-outlet pressure difference of the electric proportional variable motor 3;
the total mechanical transmission efficiency, mainly including the mechanical transmission efficiency of the electric proportional variable motor 3, the mechanical transmission efficiency of a speed reducer, a gear set and the like in an executing part, and the like, can be regarded as constants.
From the above, the current traction force can be calculated by measuring the inlet-outlet pressure difference of the electric proportional variable motor 3 and the current displacement of the electric proportional variable motor 3.
Referring to fig. 4, the relationship between the traction force and the traction speed according to the opening of the control handle 10 is that the controller 9 controls the electric proportional variable motor 3 to be at the maximum displacement when the opening of the control handle 10 is 0~A%, the maximum traction force can be provided at this time, the traction speed ratio increases with the increase of the opening of the control handle 10, and the traction speed ratio increases with the decrease of the displacement of the electric proportional variable motor 3 and the traction upper limit ratio which can be provided by the control system decreases with the decrease of the displacement of the electric proportional variable motor 3 when the opening of the control handle 10 is a-100%.
In the figure, the point A represents the maximum power which can be output by the power source 1, the corresponding speed V1 is the speed when the equipment is in maximum traction, the opening of the control handle 10 reaches A when the corresponding speed V2 is the speed when the electric proportional variable pump 2 and the electric proportional variable motor 3 reach maximum displacement, the displacement of the electric proportional variable motor 3 reaches the minimum set value when the corresponding speed V3 is the equipment is in maximum traction speed calibration, and the speed V4 corresponding to the point D is the maximum traction speed which can be actually achieved by the equipment.
The solid line part in the curve is the boundary of the equipment adjusting range, the actual output of the equipment cannot exceed the boundary under any working condition, for example, the point h in the figure is any working condition point when the equipment works normally, the traction speed is V h, traction force F h under the working condition, the area of the corresponding shadow area is the actual output power of the equipment under the working condition of the point, if the maximum traction speed calibration value of the equipment is increased, the solid line part in the curve is increased, the dotted line part is reduced, namely the point C moves to the point D.
Through analysis of the traction speed and the traction force, the hydraulic traction machine controlled by the double-variable control system adopted by the invention has a very wide speed regulation range, the use performance and the adaptability of different working conditions are effectively improved, when the traction force is smaller, the maximum traction speed can be realized when the power source 1 is output from a smaller oil port, and the noise and the oil consumption of the power source 1 are effectively reduced;
When the double-variable control system is adopted, compared with the single hydraulic pump variable adjustment, the hydraulic energy conversion part can work in a high-pressure region more, so that the transmission efficiency of the control system can be effectively improved, and meanwhile, the discharge capacity requirements of the hydraulic pump and the motor can be effectively reduced when the model selection is designed, and the economical efficiency of the control system is improved.
Referring to fig. 1, the hydraulic energy conversion part further includes two pressure sensors 4 respectively disposed at two working oil ports of the electric proportional variable pump 2 and the electric proportional variable motor 3, where the pressure sensors 4 detect the differential pressure of the oil ports at two sides of the electric proportional variable motor 3 in real time, so that the displacement of the electric proportional variable motor 3 can be adaptively controlled in a closed loop by using differential pressure feedback, and the control system can output traction force matched with the current load.
Specifically, if the calculated differential pressure is smaller than or equal to a preset calibration value, the current working state of the electric proportional variable motor 3 is considered to be satisfied without adjusting the control current, when the differential pressure is larger than the calibration value, it is indicated that the current electric proportional variable motor 3 may not be able to effectively cope with the load demand, at this time, the displacement of the electric proportional variable motor 3 needs to be increased to improve the output capability, and based on the difference (i.e. the deviation Δim) between the calculated differential pressure and the calibration value, a PI or PID control unit is integrated in the controller 9, where the PI control unit is a proportional-integral control unit, the PID control unit is a proportional-integral-derivative control unit, and the PI or PID control unit is two feedback control algorithms commonly used in industrial control, which is a prior art, can be integrated in the controller 9 and mainly applied in feedback adjustment of data, in this embodiment, the PI or PID control unit will generate a new control current value, i.e. a first negative feedback value, which will be used to adjust the electric proportional variable motor 3, and continuously adjust the displacement of the electric proportional variable motor until the displacement of the electric proportional variable 3 reaches the maximum displacement (i.e. the displacement of the electric motor reaches the current of the differential pump 3) or the differential pressure in real time or the differential pressure is controlled by the displacement of the current of the motor.
Specifically, the displacement control adjustment of the electric proportional variable motor 3 can be expressed by the following formula:
;
;
;
km is a proportionality constant of the current corresponding displacement of the electric proportionality variable motor 3;
Im 0 an electric proportional variable motor 3 reference control current proportional to the opening of the control handle 10;
vm 0 the electric proportional variable motor 3 controls the reference displacement;
Δim, the electric proportional variable motor 3 regulates the current, the first feedback value from the PI or PID control unit;
Deltavm is a displacement adjustment value corresponding to DeltaIm and is used for controlling automatic displacement adjustment after the system pressure exceeds a calibration value;
vm is the actual output displacement of the current electric proportional variable motor 3.
By monitoring and feeding back the differential pressure in real time, the displacement of the motor can be controlled very accurately, ensuring that the control system can respond quickly to load changes, and this adaptive adjustment mechanism helps to optimize the energy efficiency of the control system, since it increases the displacement of the electric proportional variable motor 3 only when necessary, avoiding unnecessary energy consumption.
Specifically, the invention also provides a protection mechanism for preventing the hydraulic energy conversion part from excessively large traction force caused by abnormal conditions, and the specific measures include:
the controller 9 compares the pressure difference detected by the pressure sensor 4 in real time with a preset pressure difference safety threshold, if the pressure difference is smaller than or equal to the pressure difference safety threshold, the control system keeps normal operation, but if the pressure difference exceeds the safety threshold, the current traction force is possibly overlarge, and potential safety risks exist, the control system immediately triggers a series of protection measures, the controller 9 controls the displacement of the electric proportional variable pump 2 to restore to a zero output state, stops supplying oil to the control system, and the brake performs braking action, so that the control system is in a safety stop state, and simultaneously initiates an alarm, a warning message is displayed on a display to prompt an operator that the current control system is in the safety stop state, and when the control system enters the safety stop state, the safety stop state is released only when the opening of the control handle 10 is restored to the position of 0 bit.
Through real-time monitoring and a quick response mechanism, the maximum traction force value can be ensured not to exceed the set value, measures can be immediately taken when abnormal high traction force is detected, and the risk of accidents is greatly reduced.
Specifically, based on the requirement of preventing the overload of the power source 1, in this embodiment, the maximum load value allowed by the power source 1 is also calibrated, and during the traction operation, the controller 9 detects the current load value of the power source 1 in real time through the CAN bus, and dynamically adjusts the displacement of the electric proportional variable pump 2 according to the deviation between the current load value and the preset maximum load value, so as to avoid the risk of the power source 1 stopping due to overload operation.
The control system keeps the current situation if the current load value is smaller than or equal to the maximum load calibration value, and indicates that the diesel engine is at overload risk if the current load value exceeds the maximum load calibration value, at the moment, the control system forms an adjusting current delta Ip 1 aiming at the displacement of the electric proportional variable pump 2, wherein the adjusting current delta Ip 1 is calculated through a PI or PID control unit based on load deviation, namely a second negative feedback value, and the displacement of the electric proportional variable pump 2 is adjusted by delta Ip 1, specifically the displacement of the electric proportional variable pump 2 is reduced, so that the output power of the whole hydraulic energy conversion part is reduced, and the aim of reducing the power output of the power source 1 is to return the power source to a safe working range, so that the shutdown risk or other faults caused by insufficient power are avoided.
Specifically, the displacement control adjustment of the electric proportional variable pump 2 can be expressed by the following formula:
;
;
kp is the proportionality constant of the current corresponding displacement of the electric proportionality variable pump 2;
ip 0 reference control current of the electric proportional variable pump 2, proportional to the opening of the control handle 10;
Vp 0 the electric proportional variable pump 2 controls the reference displacement;
Δip 1 the electric proportional variable pump 2 adjusts the current from the second feedback value calculated by the PI or PID control unit.
DeltaVp 1, a displacement adjustment value corresponding to DeltaIp 1, for automatic displacement adjustment after engine load exceeds a calibrated value.
Through real-time monitoring and timely adjustment of the displacement of the electric proportional variable pump 2, the overload condition of the power source 1 is effectively prevented, the safe operation of equipment is guaranteed, and the self-adaptive adjustment mechanism enables the control system to reduce unnecessary energy consumption as much as possible while guaranteeing the performance, and improves the overall working efficiency.
Further, in this embodiment, the maximum traction speed is calibrated based on the speed limitation requirement of the safety requirement, as shown in fig. 1, and the electric proportional variable motor driving device further comprises a rotation speed sensor 5, wherein during traction operation, the controller 9 detects the rotation speed of the electric proportional variable motor 3 driving actuator in real time through the rotation speed sensor 5, and dynamically adjusts the displacement of the electric proportional variable pump 2 according to the deviation between the detected actual speed and the preset maximum traction speed, so as to avoid the safety risk caused by the excessively fast traction speed.
The control system keeps the current situation if the current traction speed is smaller than or equal to the maximum traction speed calibration value, and if the current traction speed exceeds the maximum traction speed calibration value, the overspeed risk is indicated, at the moment, the control system forms an adjusting current delta Ip 2 aiming at the displacement of the electric proportional variable pump 2, the current is calculated through a PI or PID control unit based on speed deviation, namely a third negative feedback value, the displacement of the electric proportional variable pump 2 is adjusted through delta Ip 2, specifically, the displacement of the electric proportional variable pump 2 is properly reduced, so that the pressure oil output flow of the electric proportional variable pump 2 is reduced, the traction speed of an executing mechanism of the tractor is reduced, the actual traction speed is always in a safe working range, and potential safety hazards caused by overspeed are avoided.
Specifically, the displacement control adjustment of the electric proportional variable pump 2 can be expressed by the following formula:
;
Wherein, deltaIp 2, the electric proportional variable pump 2 adjusts the current, and the current comes from a third negative feedback value calculated by a PI or PID control unit;
DeltaVp 2, a displacement adjustment value corresponding to DeltaIp 2, for automatic displacement adjustment after the traction speed exceeds a calibrated value.
The total displacement control and adjustment amount of the electric proportional variable pump 2 is as follows:
Vp=Vp0+ΔVp1+ΔVp2;
Vp: actual output displacement of the current electric proportional variable pump 2.
Through real-time monitoring and timely adjustment of the displacement of the electric proportional variable pump 2, the situation that the traction speed is too fast is effectively prevented, the safety of operators and equipment is guaranteed, and the self-adaptive adjustment mechanism enables the control system to be accurately maintained in a safe speed range while the performance is guaranteed, so that the overall control precision is improved.
As described with reference to fig. 1, the control system of the present embodiment further includes a brake 6, where the brake 6 is used for controlling the braking of the actuator, the opening and closing of the brake are controlled by the controller 9, and the brake 6 is in a braking state when the opening of the control handle 10 is 0, so as to ensure that the control system is stationary and prevent unexpected starting or sliding, and when the opening of the control handle 10 is greater than 0, the brake 6 is in an opening state, so as to allow the control system to drive the actuator to rotate.
By combining the functions of the brake 6, the hydraulic oil supply can be completely cut off and the brake can be started when power transmission is not needed, unnecessary energy consumption is avoided, the overall working efficiency is improved, and when the control system works accidentally, the brake 6 can rapidly respond and reliably brake, so that the safety of personnel and equipment is ensured.
Referring to fig. 1, the executing part further includes a speed reducer 7 connected with the electric proportional variable motor 3, a gear set driven by the speed reducer 7, and an executing mechanism connected with the gear set, wherein the gear set is used for realizing power transmission, in this embodiment, the executing mechanism is a winding drum 8, the winding drum 8 is used for winding and winding a traction rope, and the force exerted on the traction rope is the load force born by the control system.
In actual engineering, the retraction of the haulage rope is bidirectional, so in the embodiment, the electric proportional variable pump 2 is set as a bidirectional electric proportional variable pump 2, the electric proportional variable motor 3 is a bidirectional electric proportional variable motor, the control handle 10 is a bidirectional control handle, and the winding drum 8 can rotate bidirectionally as a mechanism for bearing load force.
Specifically, the control system of the embodiment further comprises a display, which is used for displaying the running states of the electric proportional variable pump 2, the electric proportional variable motor 3 and the control handle 10, and the rotation speed and the traction force of the driving executing mechanism of the control system, so that complete digital and visual control is realized.
Example 2
On the basis of the embodiment 1, the invention discloses a hydraulic tractor control method based on bivariate speed regulation, which comprises the following steps:
providing a power source 1, and connecting an electric proportional variable pump 2 with the power source 1;
connecting an electric proportional variable pump 2 with an electric proportional variable motor 3, so that the electric proportional variable motor 3 can receive hydraulic oil from the electric proportional variable pump 2 to drive an executing mechanism;
Receiving a control signal from a control handle 10 through a controller 9, and adjusting the working states of the electric proportional variable pump 2 and the electric proportional variable motor 3 according to the control signal;
When the opening degree of the regulating control handle 10 is 0, the electric proportional variable pump 2 is controlled to be in a zero output state by the controller 9, and the electric proportional variable motor 3 is controlled to be in a maximum displacement;
When the opening degree of the regulating control handle 10 is increased from 0to the opening degree proportion reaches the standard point A%, the controller 9 controls the hydraulic oil displacement of the electric proportional variable pump 2 to be increased along with the opening degree proportion from 0 until the opening degree of the control handle 10 reaches the standard point A%, the hydraulic oil displacement of the electric proportional variable pump 2 reaches the maximum, and simultaneously the controller 9 controls the electric proportional variable motor 3 to keep the maximum displacement;
When the opening of the continuously-adjusted control handle 10 is adjusted from the opening proportion of the standard point A% to the maximum opening proportion, the controller 9 controls the electric proportion variable pump 2 to keep the maximum hydraulic oil displacement, and simultaneously, the controller 9 controls the displacement of the electric proportion variable motor 3 to gradually decrease along with the increase of the opening proportion until the displacement is reduced to the minimum set value.
The method of this embodiment is implemented by the control system disclosed in embodiment 1, and specific implementation processes are referred to the description of embodiment 1 of the specification, and are not repeated here.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
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