CN102705283A - Hydraulic synchronous system for realizing load balance based on proportional relief valve - Google Patents
Hydraulic synchronous system for realizing load balance based on proportional relief valve Download PDFInfo
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Abstract
The invention discloses a hydraulic synchronous system for realizing load balance based on a proportional relief valve. The system comprises a hydraulic transmission loop and an electro-hydraulic control system and aims to realize high-precision synchronous motion on a condition of unbalance load; the hydraulic transmission loop comprises an oil case, a filter, a fine filter, a motor, a coupler, a variable capacity pump, a speed regulating valve, an electro-hydraulic reversing valve, a proportional relief valve, a proportional reversing valve, a one-way valve, a relief valve, dual-way hydraulic motors, a small gear and a large gear; and the electro-hydraulic control system comprises a speed synchronous control loop based on speed feedback and a load balance regulation and control loop based on pressure feedback. According to the invention, working pressure of hydraulic motors is directly regulated and controlled by the proportional relief valve specifically to a working condition of unbalance load, so that the load balance between different hydraulic motors is realized; the hydraulic synchronous system radically eliminates negative influence of the unbalance load on synchronous precision and realizes coordination between speed synchronization and load balance; and relatively high synchronous precision is acquired.
Description
Technical field
The present invention relates to fluid pressure actuator, relate in particular to a kind of hydraulic synchronous system of realizing load equalization based on proportional pressure control valve.
Background technique
Hydraulic synchronous driving system is primarily aimed at high loading, powerful application, drives a load simultaneously by two or more oil hydraulic motors or oil hydraulic cylinder.The synchronous drive of this multi executors because the influence of factors such as accuracy of manufacturing, alignment error, frictional force, load, certainly exists the asynchronous problem of motion.In real work; The load that final controlling element bore changes often; Load between each final controlling element is also also unequal at one time, and this load is unbalanced to be the synchronized movement trueness error that unbalance loading causes synchronous final controlling element easily, and generally is difficult to avoid.Especially the high power hydraulic synchronous driving system of a few thing circumstance complication, such as the cutterhead synchronous driving system of shield excavation machine, load is unbalanced to be the principal element that influences its synchronization accuracy.
Existing hydraulic system closed loop synchronous control technique often adopts equivalent way and master-slave mode, but they can not regulate and control the load balancing in the driving process, can not fundamentally solve the stationary problem under the unbalanced situation of load.Among the Chinese invention patent CN101749294A that on June 23rd, 2010 was announced; A kind of hydraulic synchronous driving control system of realizing load balancing is disclosed; Thereby this system comes indirect adjustments and controls oil hydraulic motor inlet outlet pressure differential to realize load equalization through the flow of regulating the proportion directional valve; Can not realize real proper speed synchronization, between load balancing and speed synchronization driving, also need coordinate better and take into account.
Summary of the invention
The technical problem that the present invention will solve provides a kind of hydraulic synchronous system of realizing load equalization based on proportional pressure control valve; Under the unbalanced situation of load; The working pressure of direct regulation and control oil hydraulic motor, and adopt speed synchronization control, fundamentally eliminated the unbalanced adverse effect of load to synchronization accuracy; The coordination that realizes speed synchronization and load balancing takes into account, and reaches the higher synchronous precision.
The technical solution adopted for the present invention to solve the technical problems comprises: hydraulic drive circuit and electrohydraulic control system; Hydraulic drive circuit comprises fuel tank, two filters, two fine filters, two motors, two coupling, two variable displacement pumps, two proportional pressure control valves, series flow control valve, 3-position 4-way electro-hydraulic reversing valve, 3-position 4-way proportional reversing valve, nine one-way valves, two relief valves, two two-way hydraulic motors, two small gears, gearwheel; First motor is connected with first variable displacement pump through first coupling; The filler opening of first filter is communicated with fuel tank, and oil outlet connects the filler opening of first variable displacement pump; The oil outlet P7 of first variable displacement pump connects the oiler of first fine filter, the filler opening of first proportional pressure control valve respectively; The oil outlet of first proportional pressure control valve is communicated with fuel tank; The oil inlet P 1 of 3-position 4-way electro-hydraulic reversing valve links to each other with the oil outlet of first fine filter; Oil return inlet T 1 connects the filler opening of series flow control valve; The A1 mouth links to each other with the filler opening of the oil outlet of first one-way valve, second one-way valve, a side hydraulic fluid port P3 of first motor respectively, and the B1 mouth links to each other with the filler opening of the oil outlet of the 3rd one-way valve, the 4th one-way valve, the opposite side hydraulic fluid port P4 of first motor respectively; The oil outlet connected tank of series flow control valve; The filler opening of first relief valve is communicated with the oil outlet of second one-way valve and the 4th one-way valve, and oil outlet is communicated with the filler opening of first one-way valve and the 3rd one-way valve and connected tank; First small gear of first motor driven; Second motor is connected with second variable displacement pump through second coupling; The filler opening of second filter is communicated with fuel tank, and oil outlet connects the filler opening of second variable displacement pump; The oil outlet P8 of second variable displacement pump connects the oiler of second fine filter, the filler opening of second proportional pressure control valve respectively; The oil outlet of second proportional pressure control valve is communicated with fuel tank; The oil inlet P 2 of 3-position 4-way proportional reversing valve links to each other with the oil outlet of second fine filter; Oil return inlet T 2 connects the filler opening of the 5th one-way valve; The A2 mouth links to each other with a side hydraulic fluid port P5 of the oil outlet of the 6th one-way valve, the filler opening of the 7th one-way valve, second motor respectively, and the B2 mouth links to each other with the opposite side hydraulic fluid port P6 of the oil outlet of the 8th one-way valve, the filler opening of the 9th one-way valve, second motor respectively; The oil outlet connected tank of the 5th one-way valve; The filler opening of second relief valve is communicated with the oil outlet of the 7th one-way valve and the 9th one-way valve, and oil outlet is communicated with the filler opening of the 6th one-way valve and the 8th one-way valve and connected tank; Second small gear of second motor driven; First small gear that is connected on first motor drives gearwheel simultaneously with second small gear that is connected on second motor;
Said electrohydraulic control system comprises based on the speed synchronization control loop of speed feedback with based on the load equalization of pressure feedback regulates and control the loop.Said load equalization regulation and control loop based on pressure feedback comprises four pressure transducers, first controller, first proportional amplifier; First pressure transducer detects the force value at a side hydraulic fluid port P3 place of first motor; Second pressure transducer detects the force value at the opposite side hydraulic fluid port P4 place of first motor; The 3rd pressure transducer detects the force value at a side hydraulic fluid port P5 place of second motor; The 4th pressure transducer detects the force value at the opposite side hydraulic fluid port P6 place of second motor; The difference of the inlet and outlet pressure difference of first motor and the inlet and outlet pressure difference of second motor is as the input signal of first controller, and the output signal of first controller is made the input signal of first proportional amplifier; The output signal of first proportional amplifier is made the input signal of two proportional pressure control valves; Said speed synchronization control loop based on speed feedback comprises two velocity transducers, second controller, second proportional amplifier; First velocity transducer detects the rotating speed of first small gear; Second velocity transducer detects the rotating speed of second small gear; The rotating speed difference of first velocity transducer and second velocity transducer is as the input signal of second controller, and the output signal of second controller is made the input signal of second proportional amplifier; The output signal of second proportional amplifier is made the input signal of 3-position 4-way proportional reversing valve.
The present invention compares with background technique, and the beneficial effect that has is:
1) adopted based on the load equalization of pressure feedback regulation and control loop; Under the unbalanced situation of load; The working pressure of direct regulation and control hydraulic system realizes the pressure at two ends difference uniformity of a plurality of drive motors, guarantees that the output torque of a plurality of motors is consistent; Realize the load equalization between the different oil hydraulic motors, fundamentally eliminated the unbalanced adverse effect of load synchronized movement.
When 2) employing is regulated and control based on the load equalization of pressure feedback; Adopted speed synchronization control simultaneously based on speed feedback; Can eliminate the synchronization error that comprises that the unbalanced factors of load cause, guarantee the speed synchronization of each drive motor, realize that speed synchronization and load coordination uniformly takes into account; Can reach the higher synchronous precision, be particularly suited for the large-power occasions that load variations is big, load is unbalanced seriously, synchronization accuracy is had relatively high expectations.
Through accompanying drawing and embodiment the present invention is described further below.
Description of drawings
Accompanying drawing is a structural principle schematic representation of the present invention.
Embodiment
Shown in accompanying drawing, the present invention includes hydraulic drive circuit and electrohydraulic control system.Said hydraulic drive circuit comprises 12,13, two motors 4,11 of 2,3, two fine filters of 1, two filter of fuel tank; 6,9, two proportional pressure control valves 7,8 of 5,10, two variable displacement pumps of two coupling, series flow control valve 14; 3-position 4-way electro- hydraulic reversing valve 16,15,18,19,20,21,24,25,26,27, two relief valves 22,23 of 17, nine one-way valves of 3-position 4-way proportional reversing valve; 28,29, two small gears 34,36 of two two-way hydraulic motors, gearwheel 35; First motor 4 is connected with first variable displacement pump 6 through first coupling 5; The filler opening of first filter 2 is communicated with fuel tank 1, and oil outlet connects the filler opening of first variable displacement pump 6; The oil outlet P7 of first variable displacement pump 6 connects the oiler of first fine filter 12, the filler opening of first proportional pressure control valve 7 respectively; The oil outlet of first proportional pressure control valve 7 is communicated with fuel tank; The oil inlet P 1 of 3-position 4-way electro-hydraulic reversing valve 16 links to each other with the oil outlet of first fine filter 12; Oil return inlet T 1 connects the filler opening of series flow control valve 14; The A1 mouth links to each other with the filler opening of the oil outlet of first one-way valve 18, second one-way valve 24, a side hydraulic fluid port P3 of first motor 28 respectively, and the B1 mouth links to each other with the filler opening of the oil outlet of the 3rd one-way valve 19, the 4th one-way valve 25, the opposite side hydraulic fluid port P4 of first motor 28 respectively; The oil outlet connected tank of series flow control valve 14; The filler opening of first relief valve 22 is communicated with the oil outlet of second one-way valve 24 and the 4th one-way valve 25, and oil outlet is communicated with the filler opening of first one-way valve 18 and the 3rd one-way valve 19 and connected tank; First motor 28 drives first small gear 34; Second motor 11 is connected with second variable displacement pump 9 through second coupling 10; The filler opening of second filter 3 is communicated with fuel tank 1, and oil outlet connects the filler opening of second variable displacement pump 9; The oil outlet P8 of second variable displacement pump 9 connects the oiler of second fine filter 13, the filler opening of second proportional pressure control valve 8 respectively; The oil outlet of second proportional pressure control valve 8 is communicated with fuel tank; The oil inlet P 2 of 3-position 4-way proportional reversing valve 17 links to each other with the oil outlet of second fine filter 13; Oil return inlet T 2 connects the filler opening of the 5th one-way valve 15; The A2 mouth links to each other with a side hydraulic fluid port P5 of the oil outlet of the 6th one-way valve 20, the filler opening of the 7th one-way valve 26, second motor 29 respectively, and the B2 mouth links to each other with the opposite side hydraulic fluid port P6 of the oil outlet of the 8th one-way valve 21, the filler opening of the 9th one-way valve 27, second motor 29 respectively; The oil outlet connected tank of the 5th one-way valve 15; The filler opening of second relief valve 23 is communicated with the oil outlet of the 7th one-way valve 26 and the 9th one-way valve 27, and oil outlet is communicated with the filler opening of the 6th one-way valve 20 and the 8th one-way valve 21 and connected tank; Second motor 29 drives second small gear 36; First small gear 34 that is connected on first motor 28 drives gearwheel 35 simultaneously with second small gear 36 that is connected on second motor 29.
Said electrohydraulic control system comprises based on the speed synchronization control loop of speed feedback with based on the load equalization of pressure feedback regulates and control the loop.Said load equalization regulation and control loop based on pressure feedback comprises four pressure transducers 30,31,32,33, first controller 39, first proportional amplifier 41; First pressure transducer 30 detects the force value at a side hydraulic fluid port P3 place of first motor 28; Second pressure transducer 31 detects the force value at the opposite side hydraulic fluid port P4 place of first motor 28; The 3rd pressure transducer 32 detects the force value at a side hydraulic fluid port P5 place of second motor 29; The 4th pressure transducer 33 detects the force value at the opposite side hydraulic fluid port P6 place of second motor 29; The difference of the inlet and outlet pressure difference of first motor 28 and the inlet and outlet pressure difference of second motor 29 is as the input signal of first controller 39, and the output signal of first controller 39 is made the input signal of first proportional amplifier 41; The output signal of first proportional amplifier 41 is made the input signal of two proportional pressure control valves 7,8; Said speed synchronization control loop based on speed feedback comprises 40, the second proportional amplifiers 42 of 37,38, the second controllers of two velocity transducers; First velocity transducer 38 detects the rotating speed of first small gear 34; Second velocity transducer 37 detects the rotating speed of second small gear 36; The rotating speed difference of first velocity transducer 38 and second velocity transducer 37 is as the input signal of second controller 40, and the output signal of second controller 40 is made the input signal of second proportional amplifier 42; The output signal of second proportional amplifier 42 is made the input signal of 3-position 4-way proportional reversing valve 17.
Working procedure of the present invention is following:
The working procedure of driving pinion 36 is following: motor 11 gets electric startup, drives variable displacement pumps 9 through coupling 10 and rotates, and the inlet port of variable displacement pump 9 passes through filter 3 from fuel tank 1 oil suction.The fluid that variable displacement pump 9 is discharged divides two-way: the first via connects the filler opening of proportional pressure control valve 8, the oil outlet connected tank of proportional pressure control valve 8.Proportional pressure control valve 8 can be set different cracking pressures according to concrete operating mode, makes the hydraulic system at motor 29 places reach required force value.The second the tunnel connects the oiler of fine filter 13, gets into the oil inlet P 2 of 3-position 4-way proportional reversing valve 17 through the oil outlet of fine filter 13.When the left electromagnet of 3-position 4-way proportional reversing valve 17 gets when electric, its P2 mouth and A2 mouth are connected, T2 mouth and the connection of B2 mouth.High pressure oil connects the oil outlet of one-way valve 20, the filler opening of one-way valve 26 through the P2 mouth respectively after the A2 mouth flows out, get into the P5 hydraulic fluid port of oil hydraulic motor 29 simultaneously, and motor 29 rotates, and driving pinion 36 rotates.This moment, low pressure fluid was discharged through the P6 of motor 29 hydraulic fluid port.The P6 hydraulic fluid port of motor 29 connects the oil outlet of one-way valve 21, the filler opening of one-way valve 27, the B2 hydraulic fluid port of 3-position 4-way proportional reversing valve 17 respectively.Under the normal working, the low pressure oil flow that the P6 hydraulic fluid port of motor 29 is discharged flows back to fuel tank through one-way valve 15 again through the B2 of 3-position 4-way proportional reversing valve 17 hydraulic fluid port and T2 hydraulic fluid port.One-way valve 15 provides return oil pressure.When the right electromagnet of 3-position 4-way proportional reversing valve 17 gets when electric, its P2 mouth and B2 mouth are connected, T2 mouth and the connection of A2 mouth.High pressure oil flows out the P6 hydraulic fluid port that the back gets into oil hydraulic motor 29, motor 29 backward rotation, driving pinion 36 backward rotation through the P2 mouth from the B2 mouth.During backward rotation, the low pressure fluid that the P5 hydraulic fluid port of motor 29 is discharged under normal circumstances through the A2 of 3-position 4-way proportional reversing valve 17 hydraulic fluid port and T2 hydraulic fluid port, flows back to fuel tank through one-way valve 15 again.Repairing and overflow effect can both be played in the benefit that one- way valve 20,21,26,27 and relief valve 23 constitutes motors 29 road of draining the oil on both direction.When the P5 of motor 29 hydraulic fluid port one side oil pressure was higher than the setting pressure of relief valve 23, fluid overflowed back fuel tank through one-way valve 26 and relief valve 23; When the P6 of motor 29 hydraulic fluid port one side oil pressure was higher than the setting pressure of relief valve 23, fluid overflowed back fuel tank through one-way valve 27 and relief valve 23; When negative pressure appears in the P5 of motor 29 hydraulic fluid port one side, fuel tank fluid through one-way valve 20 to system's repairing; When negative pressure appears in the P6 of motor 29 hydraulic fluid port one side, fuel tank fluid through one-way valve 21 to system's repairing.
The working procedure of electrohydraulic control system is following:
In speed synchronization control loop based on speed feedback, adopt principal and subordinate's control mode, be benchmark with the state of motor 28.The rotating speed of motor 28 is set up by series flow control valve 14.Motor 28 driving pinions 34; Motor 29 driving pinions 36; Velocity transducer 37,38 detects the tachometer value of small gear 36,34 respectively in real time, obtains velocity error after these two tachometer values are compared, then velocity error input controller 40; Controller 40 produces control signals and the valve port opening of control ratio selector valve 17 after proportional amplifier 42 amplifies; Regulation and control get into the flow of motor 29, make the rotating speed of motor 29 regulate to the direction that velocity error reduces, and the speed of motor 28 and 29 is tended to synchronously.Particularly, when velocity error greater than zero, when promptly motor 29 rotating speeds are greater than motor 28 rotating speeds; Controller 40 diminishes the valve port opening of proportional reversing valve 17; The entering flow and the rotating speed of motor 29 diminish, and the tachometer value of small gear 36 also diminishes, and finally make the motion trend of motor 28 and 29 synchronous; When velocity error less than zero; Be motor 29 rotating speeds during less than motor 28 rotating speeds, controller 40 makes the valve port opening of proportional reversing valve 17 become big, and the entering flow of motor 29 becomes greatly with rotating speed; The tachometer value of small gear 36 also becomes greatly, finally makes the motion trend of motor 28 and 29 synchronous.
In load equalization regulation and control loop based on pressure feedback; Pressure transducer 30,31 is measured motor 28 two ends oil liquid pressure values respectively; Pressure transducer 32,33 is measured motor 29 two ends oil liquid pressure values respectively, obtains the pressure difference error after comparing the pressure difference at the pressure difference at motor 28 two ends and motor 29 two ends then, pressure difference error input controller 39; Controller 39 produces control signal and control ratio relief valve 7 and 8 after proportional amplifier 41 amplifies; Regulation and control get into the fluid working pressure of oil hydraulic motor 28,29, and system is regulated to the direction that the pressure difference error reduces, and the pressure at two ends difference of motor 28 and 29 is tended to synchronously.When motor displacement one timing, the pressure difference at its two ends is directly proportional with its output torque.Therefore when motor 28 when 29 pressure at two ends difference reaches consistent, motor 28 also reaches consistent with 29 output torque, i.e. motor 28 and 29 load equalization.Particularly; When the pressure difference error greater than zero, when promptly the pressure difference at motor 29 two ends was greater than the pressure difference at motor 28 two ends, controller 39 reduced the setting pressure of proportional pressure control valve 8; Reduce to get into the fluid working pressure of motor 29; The pressure difference at motor 29 two ends is reduced, and the pressure difference error reduces, and finally makes the pressure difference error concealment; When the pressure difference error less than zero; Be that the pressure difference at motor 29 two ends is during less than the pressure difference at motor 28 two ends; Controller 39 reduces the setting pressure of proportional pressure control valve 7, reduces to get into the fluid working pressure of motor 28, and the pressure difference at motor 28 two ends is reduced; The pressure difference error also reduces, and finally makes the pressure difference error concealment.
The present invention is not limited to above-mentioned two and the synchronously driven situation of plural oil hydraulic motor, also is applicable to two and plural hydraulic cylinder synchronous driving mechanism simultaneously.In addition; Said hydraulic drive circuit and electrohydraulic control system; Also can adopt proportional throttle valve to combine electro-hydraulic reversing valve; Or proportional velocity regulating valve combines electro-hydraulic reversing valve to come turning to of regulator solution pressure motor and rotating speed, is particularly suited for that power is big, load variations is big, unbalanced serious, the occasion that synchronization accuracy is had relatively high expectations of load.Suchlike conversion only otherwise exceed the protection domain of spirit of the present invention and claim, all drops within protection scope of the present invention.
Claims (3)
1. realize the hydraulic synchronous system of load equalization based on proportional pressure control valve, comprise hydraulic drive circuit and electrohydraulic control system, it is characterized in that:
1) said hydraulic drive circuit comprises fuel tank (1); Two filters (2; 3); Two fine filters (12; 13); Two motors (4; 11); Two coupling (5; 10); Two variable displacement pumps (6; 9); Two proportional pressure control valves (7; 8); Series flow control valve (14); 3-position 4-way electro-hydraulic reversing valve (16); 3-position 4-way proportional reversing valve (17); Nine one-way valves (15; 18; 19; 20; 21; 24; 25; 26; 27); Two relief valves (22; 23); Two two-way hydraulic motors (28; 29); Two small gears (34; 36); Gearwheel (35); First motor (4) is connected with first variable displacement pump (6) through first coupling (5); The filler opening of first filter (2) is communicated with fuel tank (1), and oil outlet connects the filler opening of first variable displacement pump (6); The oil outlet P7 of first variable displacement pump (6) connects the oiler of first fine filter (12), the filler opening of first proportional pressure control valve (7) respectively; The oil outlet of first proportional pressure control valve (7) is communicated with fuel tank; The oil inlet P 1 of 3-position 4-way electro-hydraulic reversing valve (16) links to each other with the oil outlet of first fine filter (12); Oil return inlet T 1 connects the filler opening of series flow control valve (14); The A1 mouth links to each other with the oil outlet of first one-way valve (18), the filler opening of second one-way valve (24), a side hydraulic fluid port P3 of first motor (28) respectively, and the B1 mouth links to each other with the oil outlet of the 3rd one-way valve (19), the filler opening of the 4th one-way valve (25), the opposite side hydraulic fluid port P4 of first motor (28) respectively; The oil outlet connected tank of series flow control valve (14); The filler opening of first relief valve (22) is communicated with the oil outlet of second one-way valve (24) and the 4th one-way valve (25), and oil outlet is communicated with the filler opening of first one-way valve (18) and the 3rd one-way valve (19) and connected tank; First motor (28) drives first small gear (34); Second motor (11) is connected with second variable displacement pump (9) through second coupling (10); The filler opening of second filter (3) is communicated with fuel tank (1), and oil outlet connects the filler opening of second variable displacement pump (9); The oil outlet P8 of second variable displacement pump (9) connects the oiler of second fine filter (13), the filler opening of second proportional pressure control valve (8) respectively; The oil outlet of second proportional pressure control valve (8) is communicated with fuel tank; The oil inlet P 2 of 3-position 4-way proportional reversing valve (17) links to each other with the oil outlet of second fine filter (13); Oil return inlet T 2 connects the filler opening of the 5th one-way valve (15); The A2 mouth links to each other with the oil outlet of the 6th one-way valve (20), the filler opening of the 7th one-way valve (26), a side hydraulic fluid port P5 of second motor (29) respectively, and the B2 mouth links to each other with the oil outlet of the 8th one-way valve (21), the filler opening of the 9th one-way valve (27), the opposite side hydraulic fluid port P6 of second motor (29) respectively; The oil outlet connected tank of the 5th one-way valve (15); The filler opening of second relief valve (23) is communicated with the oil outlet of the 7th one-way valve (26) and the 9th one-way valve (27), and oil outlet is communicated with the filler opening of the 6th one-way valve (20) and the 8th one-way valve (21) and connected tank; Second motor (29) drives second small gear (36); First small gear (34) that is connected on first motor (28) drives gearwheel (35) simultaneously with second small gear (36) that is connected on second motor (29);
2) said electrohydraulic control system comprises based on the speed synchronization control loop of speed feedback with based on the load equalization regulation and control loop of pressure feedback.
2. the hydraulic synchronous system of realizing load equalization based on proportional pressure control valve according to claim 1; It is characterized in that said load equalization regulation and control loop based on pressure feedback comprises four pressure transducers (30,31,32,33), first controller (39), first proportional amplifier (41); First pressure transducer (30) detects the force value at a side hydraulic fluid port P3 place of first motor (28); Second pressure transducer (31) detects the force value at the opposite side hydraulic fluid port P4 place of first motor (28); The 3rd pressure transducer (32) detects the force value at a side hydraulic fluid port P5 place of second motor (29); The 4th pressure transducer (33) detects the force value at the opposite side hydraulic fluid port P6 place of second motor (29); The difference of the inlet and outlet pressure difference of the inlet and outlet pressure difference of first motor (28) and second motor (29) is as the input signal of first controller (39), and the output signal of first controller (39) is made the input signal of first proportional amplifier (41); The output signal of first proportional amplifier (41) is made the input signal of two proportional pressure control valves (7,8).
3. the hydraulic synchronous system of realizing load equalization based on proportional pressure control valve according to claim 1; It is characterized in that said speed synchronization control loop based on speed feedback comprises two velocity transducers (37,38), second controller (40), second proportional amplifier (42); First velocity transducer (38) detects the rotating speed of first small gear (34); Second velocity transducer (37) detects the rotating speed of second small gear (36); The rotating speed difference of first velocity transducer (38) and second velocity transducer (37) is as the input signal of second controller (40), and the output signal of second controller (40) is made the input signal of second proportional amplifier (42); The output signal of second proportional amplifier (42) is made the input signal of 3-position 4-way proportional reversing valve (17).
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