CN101201069A - Variable frequency pump-control-motor closed circuit based on energy regulation - Google Patents
Variable frequency pump-control-motor closed circuit based on energy regulation Download PDFInfo
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- CN101201069A CN101201069A CNA200710160374XA CN200710160374A CN101201069A CN 101201069 A CN101201069 A CN 101201069A CN A200710160374X A CNA200710160374X A CN A200710160374XA CN 200710160374 A CN200710160374 A CN 200710160374A CN 101201069 A CN101201069 A CN 101201069A
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Abstract
The invention discloses a closed loop of a variable frequency pump-control motor, which is based on the energy regulating. The invention includes an inverter, a motor, a hydraulic pump, a safety valve group, an oil supplementing module and a hydraulic motor. The inverter drives the motor which drives the hydraulic pump. The safety valve group, the oil supplementing module and the hydraulic motor are connected astride in the closed circuit. An energy regulator is connected astride in the main circuit between the oil supplementing module and the hydraulic motor. A flow direction control valve is respectively arranged in the upper main circuit and the lower main circuit between the safety valve bank and the oil supplementing module. A flow control valve is respectively arranged in the upper main circuit and the lower main circuit between the energy regulator and the hydraulic motor. Based on the energy regulating, the energy regulator and throttle control are added to the traditional closed circuit of the pump-control motor, which speeds up the booster response of the system greatly. The invention has good energy saving effect.
Description
Technical field
The present invention relates to the pump-control-motor closed circuit, especially relate to a kind of variable frequency pump horse-controlling motor closed circuit based on energy adjustment.
Background technique
China is as developing power, and along with rapid growth of economy, energy-output ratio sharply increases, and our the present energy major part that consumes is the disposable energy such as coal, oil, rock gas, and along with the increase of consumption, natural resources is exhausted day by day.Carry out the energy-conservation mode of production, it is imperative to improve energy utilization rate and manufacturing efficiency, and energy-conservation is the fundamental way that solves China energy problem.Hydraulic transmission if can improve the energy-saving efficiency of Hydraulic Power Transmission System, then can improve the energy-saving efficiency in whole industrial production field as one of important kind of drive of industrial field to a certain extent.And the pump-control-motor control system is generally high-power system, and the energy conservation characteristic of studying this type systematic is more meaningful than general hydraulic system.
In addition, because the low-speed performance of motor and oil hydraulic pump is poor, rotary inertia is big, time for acceleration is slow, cause the slow and low-speed performance difference of the speed of response of traditional electrical liquid variable speed system drawbacks limit its application area, still be confined to often not regulate, in and the system that speed ratio is little not high to dynamic requirements.Especially for the pump-control-motor system of industrial widely used big inertia, speed of response and its low-speed performance of raising of accelerating it are of crucial importance, and this can widen the application area of pump-control-motor control system.
Summary of the invention
The purpose of this invention is to provide a kind of variable frequency pump horse-controlling motor closed circuit, improve the energy-saving efficiency of pump-control-motor system on the one hand, improve the problem of its speed of response and resolution system low-speed performance difference on the other hand, widen its application area based on energy adjustment.
The technical solution used in the present invention is as follows:
Comprise frequency variator, motor, oil hydraulic pump, safety valve group, repairing module and oil hydraulic motor; The frequency variator drive motor, the driven by motor oil hydraulic pump, cross-over connection safety valve group in the closed circuit, repairing module and oil hydraulic motor, oil hydraulic motor is connected with load; It is characterized in that: cross-over connection energy regulator between the major loop between repairing module and the oil hydraulic pump, insert directional-control valve respectively in the major loop up and down between safety valve group and the repairing module, difference access flow control valve in the major loop up and down between energy regulator and the oil hydraulic motor.
Described safety valve group: be that two electromagnetic relief valve serial connections form.
Described two directional-control valves: its structure is identical, comprise Pilot operated check valve respectively, liquid resistance and electromagnetism two-position three way directional control valve, the control valve port of Pilot operated check valve is connected with the P mouth of two-position three way directional control valve through the liquid resistance, and the T mouth of two-position three way directional control valve is connected with the P2 mouth of Pilot operated check valve.
Described energy regulator: comprise two capacity adjusting valves and energy-storage travelling wave tube, two capacity adjusting valves serial connection and cross-over connection are in closed circuit, and two capacity adjusting valves serial connection points connect energy-storage travelling wave tube.
Described two capacity adjusting valves are two electro-hydraulic proportional throttle valves; Described energy-storage travelling wave tube comprises two hand stop valves, electromagnetic relief valve, accumulator and pressure transducer; Three, the 4 two electro-hydraulic proportional throttle valve serial connection point is through first hand stop valve connection accumulator, the outlet of accumulator connects the electromagnetic relief valve and second hand stop valve, the another port of second hand stop valve connects fuel tank, and pressure transducer is connected in the outlet of accumulator.
Described two flow control valves: be first, second electro-hydraulic proportional throttle valve.
Compare with existing pump-control-motor closed circuit, the beneficial effect that the present invention has is:
1. in system, increase energy regulator.It comprises hardware and software.On the hardware, it can be made up of accumulator, electro-hydraulic proportional throttle valve and safety valve, and accumulator is as energy-storage travelling wave tube, and electro-hydraulic proportional throttle valve is controlled the energy interchange of major loop and energy regulator.Its software is control strategy, and from the allotment of whole system energy, when quickening in system, energy regulator is opened, and emits fluid to accelerate the booster response of system; During system slowdown, motor is kept a certain minimum speed, and the quick response regulation of the flow control valve in the dependence major loop enters the flow of oil hydraulic motor, and unnecessary flow is absorbed by energy regulator, reduced the overflow loss, and the speed of response when having accelerated system slowdown.
2. in system, adopt electric liquid throttling control.Its purpose is that at first, the problem of resolution system low-speed performance difference during low speed, makes pump keep a certain minimum speed, obtains pressure stable output, and is realized system is regulated by throttling control, and unnecessary energy is absorbed by energy regulator.Speed of response when secondly, improving system slowdown.Thereby can rely on the quick shutoff of throttling control during system slowdown even provide reverse power to slow down, this moment, unnecessary energy also can be absorbed by energy regulator.When common, it keeps maximum open, thereby reduces restriction loss as far as possible.
3. from the energy source, realize energy adjustment to entire system.Finish the control of variable speed control, energy regulator, major loop electro-hydraulic proportional throttle valve and directional-control valve piece to oil hydraulic pump by unified controller, regulate with the integral energy of realizing system, thereby obtain high response speed and high efficient simultaneously, widen the application area of pump-control-motor control system.
Description of drawings
Fig. 1 is a system architecture principle schematic of the present invention.
Fig. 2 is embodiment's a structure principle chart.
Among the figure: 1. frequency variator, 2. motor, 3. torque rotational speed meter, 4. two-way metering pump, 5. electromagnetic relief valve, 6. Pilot operated check valve, 7. electromagnetism two-position three way directional control valve, 8. pressure transducer, 9. one-way valve, 10. electricity liquid ratio relief valve, 11. electro-hydraulic proportional throttle valves, 12. accumulators, 13. hand stop valve, 14. electromagnetic relief valves, 15. fixed displacement motors, 16. fuel tanks, 17. oil purifier, 18. repairing motors, 19. slippage pumps, 20. the motor rotary speed detection device, the resistance of 21. liquid, 22. loads.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention includes frequency variator, motor, oil hydraulic pump, safety valve group, repairing module and oil hydraulic motor; The frequency variator drive motor, the driven by motor oil hydraulic pump, cross-over connection safety valve group in the closed circuit, repairing module and oil hydraulic motor, oil hydraulic motor is connected with load; It is characterized in that: cross-over connection energy regulator between the major loop between repairing module and the oil hydraulic pump, insert directional-control valve respectively in the major loop up and down between safety valve group and the repairing module, difference access flow control valve in the major loop up and down between energy regulator and the oil hydraulic motor.
As shown in Figure 1 and Figure 2, described safety valve group: be that two electromagnetic relief valves 5.1 and 5.2 serial connections form.Described two directional-control valves: its structure is identical, comprise Pilot operated check valve 6.1 and 6.2 respectively, liquid resistance 21.1 and 21.2 and electromagnetism two-position three way directional control valve 7.1 and 7.2, the control valve port of two Pilot operated check valves is connected with the P mouth of separately two-position three way directional control valve through liquid resistance respectively, and the T mouth of two two-position three way directional control valves is connected with the P2 of Pilot operated check valve separately respectively.Described energy regulator: comprise two capacity adjusting valves and energy-storage travelling wave tube, two capacity adjusting valves serial connection and cross-over connection are in closed circuit, and two capacity adjusting valves serial connection points connect energy-storage travelling wave tube.
As shown in Figure 1 and Figure 2, described two capacity adjusting valves are two electro-hydraulic proportional throttle valves 11.3 and 11.4; Described energy-storage travelling wave tube comprises two hand stop valves 13.1 and 13.2, electromagnetic relief valve 14, accumulator 12 and pressure transducer 8.3; Three, the 4 two electro-hydraulic proportional throttle valve 11.3 and 11.4 serial connections o'clock are connected accumulator 12 through first hand stop valve 13.1, the outlet of accumulator 12 connects the electromagnetic relief valve 14 and second hand stop valve 13.2, the another port of second hand stop valve 13.2 connects fuel tank, and pressure transducer 8.3 is connected in the outlet of accumulator 12.Described two flow control valves: be first, second electro-hydraulic proportional throttle valve 11.1 and 11.2.
Frequency variator among the present invention is a universal frequency converter, and motor is threephase asynchronous machine or variable-frequency motor, and oil hydraulic pump can be a metering pump for the bidirectional hydraulic pump, also can be variable displacement pump.
As shown in Figure 2, because the epicoele and the cavity of resorption symmetry of closed circuit, so need be the annexation that example illustrates each element with the epicoele only, cavity of resorption be analogized.The outlet of two-way metering pump 4 is connected to the inlet of electromagnetic relief valve 5.1 and the P1 mouth of Pilot operated check valve 6.1, the P2 mouth of Pilot operated check valve 6.1 is connected to the inlet of electro-hydraulic proportional throttle valve 11.1 in electro-hydraulic proportional throttle valve 11.3 outlets of P2 mouth, energy regulator of feed circuit one-way valve 9.1 and the major loop, and the outlet of major loop electro-hydraulic proportional throttle valve 11.1 is connected to the inlet of hydraulic actuator fixed displacement motor 15.
The repairing module is by fuel tank 16, oil purifier 17, and repairing motor 18, slippage pump 19, one-way valve 9.1,9.2,9.3, electricity liquid ratio relief valve 10 is formed.The low-pressure cavity pressure that act as the setting closed circuit of electricity liquid ratio relief valve 10.
When system quickened, energy regulator can be emitted fluid accelerating the booster response of system, but the fluid of emitting may enter the oil extraction cavity volume of two-way metering pump 4, stoped the acceleration of two-way metering pump 4 even impacted.For this reason, added the directional-control valve piece in system's major loop, it is made up of Pilot operated check valve and electromagnetism two-position three way directional control valve.Epicoele with closed circuit is the effect that example illustrates it.When epicoele is hyperbaric chamber, the epicoele that is two-way metering pump 4 is discharged fluid, electromagnetism two-position three way directional control valve 7.1 must not the electricity (nature), the directional-control valve piece plays common one-way valve, fluid can only flow to the P2 mouth from the P1 mouth of Pilot operated check valve, so the energy regulator fluid of emitting can not enter the oil-discharging cavity of two-way metering pump 4; When epicoele is low-pressure cavity, the epicoele that is two-way metering pump 4 is an oil sucting cavity, electromagnetism two-position three way directional control valve 7.1, switch to upper, the control chamber pressure and the P2 mouth pressure of Pilot operated check valve 6.1 are equal substantially, Pilot operated check valve 6.1 is opened, and this moment, fluid can be realized two-way flow, and fluid enters the oil sucting cavity of two-way metering pump 4.
As shown in Figure 2.Pressure transducer 8.1,8.2,8.3 detect major loop pressure and energy regulator internal pressure up and down respectively, torque rotational speed meter 3, motor rotary speed detection device 20 detect the rotating speed of two-way metering pump 4 and fixed displacement motor 15 respectively, SC system controller receives these signals, and by certain control algorithm Comprehensive Control frequency variator 1, major loop electro-hydraulic proportional throttle valve 11.1,11.2, the electro-hydraulic proportional throttle valve 11.3,11.4 in the energy regulator, major loop directional-control valve piece.
Epicoele with closed circuit is an example explanation embodiment, and the rest may be inferred for cavity of resorption.When system quickens (epicoele is a hyperbaric chamber), electromagnetism two-position three way directional control valve 7.1 must not be electric, electromagnetism two-position three way directional control valve 7.2.If the energy regulator internal pressure is greater than hyperbaric chamber pressure, the electro-hydraulic proportional throttle valve 11.3 in the energy regulator is opened, and emits fluid to accelerate the booster response of system; Electro-hydraulic proportional throttle valve 11.1 in the major loop keeps maximum open, reduces restriction loss as far as possible.When system slowdown (epicoele still is a hyperbaric chamber), motor is kept a certain minimum speed, the output of acquisition pressure stable, the quick response regulation of the electro-hydraulic proportional throttle valve 11.1 in the dependence major loop enters the flow of oil hydraulic motor, the speed of response when having solved the problem of system's low-speed performance difference and having improved system slowdown.If this moment, the energy regulator internal pressure was less than system pressure, then open electro-hydraulic proportional throttle valve 11.3 in the energy regulator to absorb unnecessary fluid, reduced the overflow loss, and the speed of response when having accelerated system slowdown.
When epicoele was hyperbaric chamber, the electro-hydraulic proportional throttle valve 11.4 in the energy regulator was closed all the time, and the electro-hydraulic proportional throttle valve 11.2 in the major loop remains maximum open, with the restriction loss that reduces to reflux as far as possible.
Controlling method:
In frequency conversion pump-control-motor control system based on energy adjustment, related control problem is mainly following four aspects, promptly to the control of frequency variator, to the control of directional-control valve, to the control of flow control valve in the major loop, to the control of energy regulator.
Because the epicoele and the cavity of resorption symmetry of this closed circuit, so only need be example explanation controlling method with the epicoele, cavity of resorption be similar.Suppose that epicoele is hyperbaric chamber (being the oil-discharging cavity of bidirectional hydraulic pump), the effect of directional-control valve 1 is only to allow fluid mobile (as Fig. 1) from left to right, the effect of directional-control valve 2 is to allow the fluid two-way flow, suppose that directional-control valve is made up of Pilot operated check valve and two-position three way magnetic valve, two-position three way magnetic valve is the control valve of Pilot operated check valve, and then control signal can be determined by the meta function of two-position three way magnetic valve.
The incoming frequency of frequency variator is determined by the absolute value of frequency conversion PID output; The judgement system quickens or deceleration, and when system need quicken, the opening of flow control valve 1 reached maximum in the major loop; Detect major loop hyperbaric chamber pressure and energy regulator internal pressure, judge whether energy regulator is opened, emit fluid to accelerate the speed of response of system; When system need slow down, motor is kept a certain minimum speed, the output of acquisition pressure stable, the quick response regulation of the flow control valve 1 in the dependence major loop enters the flow of oil hydraulic motor, solved the problem of system's low-speed performance difference and the speed of response when having improved system slowdown, and judged according to major loop hyperbaric chamber pressure and energy regulator internal pressure situation whether energy regulator opens the unnecessary flow of storage.
When epicoele was hyperbaric chamber (being the oil-discharging cavity of bidirectional hydraulic pump), flow control valve 2 reached maximum all the time in the major loop, with the restriction loss that reduces to reflux; Capacity adjusting valve 2 in the energy regulator is closed all the time.
Judge system's acceleration and deceleration situation according to the system capacity supply-demand relationship.Judge the size of supplying energy and energy demand, if supply greater than demand, then system is in deceleration regime; Reciprocal system then is in acceleration mode.In hydraulic system, the transmission of energy mainly shows as flowing of fluid, so only need the supply flow Q of computing system
sWith loading demand flow Q
lGet final product.
Make error (k)=u
In(k)-u
m(k), u wherein
In(k) the oil hydraulic motor rotating speed of importing for instruction, u
m(k) be the oil hydraulic motor actual speed.The output Y (k) of frequency conversion PID is
In the formula, k
Pt, k
It, k
DtBe the pid parameter of Frequency Converter Control, T is the sampling time, and β is the switch parameter of integral, and ε is the threshold value that integration separates.
Receive the corresponding output frequency 0～Y of voltage signal 0～5V owing to set frequency variator
MaxHz, and motor is set with minimum speed n
MinSo, the frequency variator input voltage signal
M wherein
pBe the motor number of pole-pairs.
Because the energy that compressibility consumed of oil hydraulic pump leakage, oil hydraulic motor leakage, system leak and fluid is compared much smaller with system supply energy, energy demand mutually, so when computing system supplying energy, energy demand, these factors can be ignored.
The system supply energy is (not considering the compressibility of oil hydraulic pump leakage, system leak and fluid)
Actuator's oil hydraulic motor energy demand is (not considering the compressibility of oil hydraulic motor leakage and fluid)
Wherein, n
m-motor speed, D
m-hydraulic pump discharge, D
l-oil hydraulic motor discharge capacity.
When system need quicken, flow control valve 1 reached maximum in the major loop; Detect major loop hyperbaric chamber pressure and energy regulator internal pressure, judge whether the capacity adjusting valve 1 in the energy regulator is opened, emit fluid to accelerate the speed of response of system; When system need slow down, flow control valve 1 was started working in the major loop, and judged whether to open to store unnecessary flow according to major loop hyperbaric chamber pressure and energy regulator internal pressure situation.
The input current signal I of flow control valve 1 in the major loop
dFor changing into:
Wherein, I
d(k) can try to achieve I through the PID computing by error
DmaxMaximum input signal for flow control valve in the major loop.
The input current signal of the capacity adjusting valve 1 in the energy regulator is
P
oBe oil hydraulic pump outlet pressure, P
aBe energy regulator internal pressure, I
TmaxMaximum input signal for capacity adjusting valve.
Claims (6)
1. the variable frequency pump horse-controlling motor closed circuit based on energy adjustment comprises frequency variator, motor, oil hydraulic pump, safety valve group, repairing module and oil hydraulic motor; The frequency variator drive motor, the driven by motor oil hydraulic pump, cross-over connection safety valve group in the closed circuit, repairing module and oil hydraulic motor, oil hydraulic motor is connected with load; It is characterized in that: cross-over connection energy regulator between the major loop between repairing module and the oil hydraulic pump, insert directional-control valve respectively in the major loop up and down between safety valve group and the repairing module, difference access flow control valve in the major loop up and down between energy regulator and the oil hydraulic motor.
2. a kind of variable frequency pump horse-controlling motor closed circuit based on energy adjustment according to claim 1 is characterized in that described safety valve group: be that two electromagnetic relief valve serial connections form.
3. a kind of variable frequency pump horse-controlling motor closed circuit according to claim 1 based on energy adjustment, it is characterized in that described two directional-control valves: its structure is identical, comprise Pilot operated check valve respectively, liquid resistance and electromagnetism two-position three way directional control valve, the control valve port of Pilot operated check valve is connected with the P mouth of two-position three way directional control valve through the liquid resistance, and the T mouth of two-position three way directional control valve is connected with the P2 mouth of Pilot operated check valve.
4. a kind of variable frequency pump horse-controlling motor closed circuit according to claim 1 based on energy adjustment, it is characterized in that described energy regulator: comprise two capacity adjusting valves and energy-storage travelling wave tube, two capacity adjusting valves serial connection and cross-over connection are in closed circuit, and two capacity adjusting valves serial connection points connect energy-storage travelling wave tube.
5. a kind of variable frequency pump horse-controlling motor closed circuit based on energy adjustment according to claim 5 is characterized in that described two capacity adjusting valves are two electro-hydraulic proportional throttle valves; Described energy-storage travelling wave tube comprises two hand stop valves, electromagnetic relief valve, accumulator and pressure transducer; Three, the 4 two electro-hydraulic proportional throttle valve serial connection point is through first hand stop valve connection accumulator, the outlet of accumulator connects the electromagnetic relief valve and second hand stop valve, the another port of second hand stop valve connects fuel tank, and pressure transducer is connected in the outlet of accumulator.
6. a kind of variable frequency pump horse-controlling motor closed circuit based on energy adjustment according to claim 5 is characterized in that described two flow control valves: be first, second electro-hydraulic proportional throttle valve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710160374A CN100595440C (en) | 2007-12-18 | 2007-12-18 | Variable frequency pump-control-motor closed circuit based on energy regulation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710160374A CN100595440C (en) | 2007-12-18 | 2007-12-18 | Variable frequency pump-control-motor closed circuit based on energy regulation |
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| CN100595440C CN100595440C (en) | 2010-03-24 |
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