CN101451550B - Hydraulic synchronous driving system based on pressure feedback - Google Patents

Hydraulic synchronous driving system based on pressure feedback Download PDF

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Publication number
CN101451550B
CN101451550B CN2007101924863A CN200710192486A CN101451550B CN 101451550 B CN101451550 B CN 101451550B CN 2007101924863 A CN2007101924863 A CN 2007101924863A CN 200710192486 A CN200710192486 A CN 200710192486A CN 101451550 B CN101451550 B CN 101451550B
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valve
oil outlet
motor
oil
communicated
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CN101451550A (en
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邓华
夏毅敏
李群明
王艾伦
何竞飞
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Central South University
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Central South University
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Abstract

The present invention discloses a hydraulic pressure synchronous drive system based on pressure feedback control, which includes a filter, a variable capacity pump, a over-flow valve, a one way valve, a servo valve, a energy accumulator, a fine filter, a constant rate pump, a three-position four-way electrohydraulic reversal valve, a proportionality over-flow valve, a motor, a pressure sensor, a controller and a pinion wheel connected on the motor in combined action with a gearwheel (big load ). The pressure on two ends of the motor is detected by the pressure sensor at real time, and supplement oil to the system through the pressure feedback control servo valve of motor in and out oil port, realize quick expiation to tiny speed fluctuation in motor quick running process, hence control rotate speed of the motor, form the hydraulic pressure synchronous drive system that can control at real time according to pressure feedback. The pressure feedback control is adopted in the invention, hence manufacturing accuracy of big and small wheel gears and consistency requirement to drive the motor performance are reduced, meanwhile synchronism and stability of drive performance are improved.

Description

A kind of hydraulic synchronous driving system based on pressure feedback
Affiliated technical field
The present invention relates to fluid pressure actuator, relate in particular under a kind of polynary drive condition hydraulic synchronous driving system based on pressure feedback.
Technical background
Polynary driving is a kind of driving mode at heavy duty or large inertia load situation, promptly need adopt the acting in conjunction of two or more systems when single executive component can not be exported enough power or moment of torsion.When driving a load, just there is the synchronism problem by a plurality of (more than two) driving link.As gearwheel of the common driving of two or more small gears, synchronisation control means commonly used is a speed feedback control, wherein comprises dual mode again: wait cotype and master-slave mode.Be meant the speed of independent each small gear of control Deng cotype, make its infinitely near preset value to reach the purpose of synchronization control gearwheel speed; Master-slave mode is meant that the speed of other small gears is infinitely approached to reach the purpose of synchronization control gearwheel speed to this speed with reference to small gear with the speed of one of them small gear as a reference.The Hydraulic Synchronizing of speed feedback control drives the coherence request height of loop to element (as motor, gear), can't eliminate the caused asynchronous error of the machining error of mechanical transmission component.
Summary of the invention
The object of the present invention is to provide a kind of hydraulic synchronous driving system, can realize gearwheel of a plurality of small gear synchronous drive, and the system of assurance is steadily reliable based on pressure feedback.
The technical solution adopted for the present invention to solve the technical problems comprises: four pressure transducers, two controllers, three filters, metering pump, accumulator, fine filter, three relief valves, two servovalves, two variable displacement pumps, six one-way valves, two 3-position 4-way electro-hydraulic reversing valves, four proportional pressure control valves, two motors, two small gears, gearwheel; The filler opening A of first filter 1Be communicated with fuel tank; The oil outlet B of first filter 1Filler opening A with first variable displacement pump 2Be communicated with; The oil outlet B of first variable displacement pump 2Respectively with the oil inlet P of first relief valve 3, first one-way valve filler opening A 4Be communicated with; The oil return inlet T of first relief valve 3Be communicated with fuel tank; The oil outlet B of first one-way valve 4Respectively with the oil outlet A of first servovalve 18, first 3-position 4-way electro-hydraulic reversing valve oil inlet P 5Be communicated with; The oil outlet A of first 3-position 4-way electro-hydraulic reversing valve 5Respectively with the oil outlet B of second one-way valve 6, first proportional pressure control valve oil inlet P 9, first motor filler opening A 10Be communicated with; First small gear of first motor driven; The oil outlet B of first motor 10Respectively with the oil inlet P of second proportional pressure control valve 8, the 3rd one-way valve oil outlet B 7, first 3-position 4-way electro-hydraulic reversing valve filler opening B 5Be communicated with; The oil outlet T of first 3-position 4-way electro-hydraulic reversing valve 5Connected tank; The oil return inlet T of first proportional pressure control valve 9Respectively with the oil return inlet T of second proportional pressure control valve 8, second one-way valve filler opening A 6, the 3rd one-way valve filler opening A 7Be communicated with and connected tank; The filler opening A of second filter 14Connected tank; The oil outlet B of second filter 14Filler opening A with first metering pump 15Be communicated with; The oil outlet B of first metering pump 15Respectively with the oil inlet P of second relief valve 17, accumulator filler opening A 16, fine filter filler opening A 36Be communicated with; The oil outlet B of fine filter 36Respectively with the oil inlet P of first servovalve 18, second servovalve oil inlet P 32Be communicated with; First pressure transducer is got the oil outlet B of first motor 10Pressure signal; Second pressure transducer got the filler opening A of first motor 10Pressure signal; The pressure signal of the pressure signal of first pressure transducer and second pressure transducer is done to import first controller after the difference; The output signal of first controller is made the input signal of first servovalve; The oil outlet B of the 3rd filter 19Filler opening A with second variable displacement pump 20Be communicated with; The oil outlet B of second variable displacement pump 20Respectively with the oil inlet P of the 3rd relief valve 21, the 4th one-way valve filler opening A 22Be communicated with; The oil return inlet T of the 3rd relief valve 21Be communicated with fuel tank; The oil outlet B of the 4th one-way valve 22Respectively with the oil outlet A of second servovalve 32, second 3-position 4-way electro-hydraulic reversing valve oil inlet P 23Be communicated with; The oil outlet A of second 3-position 4-way electro-hydraulic reversing valve 23Respectively with the oil outlet B of the 5th one-way valve 24, the 3rd proportional pressure control valve oil inlet P 27, second motor filler opening A 28Be communicated with; Second small gear of second motor driven; First small gear and second small gear drive gearwheel jointly; The oil outlet B of second motor 28Respectively with the oil inlet P of the 4th proportional pressure control valve 26, the 6th one-way valve oil outlet B 25, second 3-position 4-way electro-hydraulic reversing valve filler opening B 23Be communicated with; The oil outlet T of second 3-position 4-way electro-hydraulic reversing valve 5Connected tank; The oil return inlet T of the 3rd proportional pressure control valve 27Respectively with the oil return inlet T of the 4th proportional pressure control valve 26, the 5th one-way valve filler opening A 24, the 6th one-way valve filler opening A 25Be communicated with and connected tank; The 3rd pressure transducer got the oil outlet B of second motor 28Pressure signal; The 4th pressure transducer got the filler opening A of second motor 28Pressure signal; The pressure signal of the 3rd pressure transducer and the pressure signal of second pressure transducer are done to import second controller after the difference; The output signal of second controller is made the input signal of second servovalve.
The present invention compares with background technique, and the useful effect that has is:
1) adopts pressure feedback to control the technology of a plurality of small gear synchronous drive gearwheels, reduced coherence request, external disturbance such as vibrations and gear clearance are also had stronger antijamming capability elements such as big small gear and motors.
When 2) adopting pressure feedback control, increase the quantity (being the quantity of small gear) of driving link, the synchronization control difficulty does not obviously increase.In addition, the alternative velocity transducer of adopts pressure sensor has also reduced system cost.
The present invention is not only applicable to the situation that two and plural small gear drive a gearwheel, is applicable to other polynary driving mechanisms simultaneously yet, is the system of oil hydraulic cylinder as actuator.
Description of drawings
The invention will be further described below in conjunction with the drawings and specific embodiments.
Accompanying drawing is a structural principle schematic representation of the present invention.
Embodiment
As shown in drawings, the present invention includes 11,12,29,30, two controllers 13,31 of four pressure transducers, three filters 1,14,19, metering pump 15, accumulator 16,3,17,21, two servovalves 18,32 of 36, three relief valves of fine filter, 4,6,7,22,24,25, two 3-position 4-way electro-hydraulic reversing valves 5,23 of 2,20, six one-way valves of two variable displacement pumps, four proportional pressure control valves 8,9,26,27,10,28, two small gears 33,34 of two motors, gearwheel 35; The filler opening A of first filter 1 1Be communicated with fuel tank; The oil outlet B of first filter 1 1Filler opening A with first variable displacement pump 2 2Be communicated with; The oil outlet B of first variable displacement pump 2 2Respectively with the oil inlet P of first relief valve 3 3, first one-way valve 4 filler opening A 4Be communicated with; The oil return inlet T of first relief valve 3 3Be communicated with fuel tank; The oil outlet B of first one-way valve 4 4Respectively with the oil outlet A of first servovalve 18 18, first 3-position 4-way electro-hydraulic reversing valve 5 oil inlet P 5Be communicated with; The oil outlet A of first 3-position 4-way electro-hydraulic reversing valve 5 5Respectively with the oil outlet B of second one-way valve 6 6, first proportional pressure control valve 9 oil inlet P 9, first motor 10 filler opening A 10Be communicated with; First motor 10 drives first small gear 33; The oil outlet B of first motor 10 10Respectively with the oil inlet P of second proportional pressure control valve 8 8, the 3rd one-way valve 7 oil outlet B 7, first 3-position 4-way electro-hydraulic reversing valve 5 filler opening B 5Be communicated with; The oil outlet T of first 3-position 4-way electro-hydraulic reversing valve 5 5Connected tank; The oil return inlet T of first proportional pressure control valve 9 9Respectively with the oil return inlet T of second proportional pressure control valve 8 8, second one-way valve 6 filler opening A 6, the 3rd one-way valve 7 filler opening A 7Be communicated with and connected tank; The filler opening A of second filter 14 14Connected tank; The oil outlet B of second filter 14 14Filler opening A with first metering pump 15 15Be communicated with; The oil outlet B of first metering pump 15 15Respectively with the oil inlet P of second relief valve 17 17, accumulator 16 filler opening A 16, fine filter 36 filler opening A 36Be communicated with; The oil outlet B of fine filter 36 36Respectively with the oil inlet P of first servovalve 18 18, second servovalve 32 oil inlet P 32Be communicated with; First pressure transducer 11 is got the oil outlet B of first motor 10 10Pressure signal; Second pressure transducer 12 got the filler opening A of first motor 10 10Pressure signal; The pressure signal of the pressure signal of first pressure transducer 11 and second pressure transducer 12 is done to import first controller 13 after the difference; The output signal of first controller 13 is made the input signal of first servovalve 18; The oil outlet B of the 3rd filter 19 19Filler opening A with second variable displacement pump 20 20Be communicated with; The oil outlet B of second variable displacement pump 20 20Respectively with the oil inlet P of the 3rd relief valve 21 21, the 4th one-way valve 22 filler opening A 22Be communicated with; The oil return inlet T of the 3rd relief valve 21 21Be communicated with fuel tank; The oil outlet B of the 4th one-way valve 22 22Respectively with the oil outlet A of second servovalve 32 32, second 3-position 4-way electro-hydraulic reversing valve 23 oil inlet P 23Be communicated with; The oil outlet A of second 3-position 4-way electro-hydraulic reversing valve 23 23Respectively with the oil outlet B of the 5th one-way valve 24 24, the 3rd proportional pressure control valve 27 oil inlet P 27, second motor 28 filler opening A 28Be communicated with; Second motor 28 drives second small gear 34; First small gear 33 and second small gear 34 common gearwheel 35 that drive; The oil outlet B of second motor 28 28Respectively with the oil inlet P of the 4th proportional pressure control valve 26 26, the 6th one-way valve 25 oil outlet B 25, second 3-position 4-way electro-hydraulic reversing valve 23 filler opening B 23Be communicated with; The oil outlet T of second 3-position 4-way electro-hydraulic reversing valve 23 5Connected tank; The oil return inlet T of the 3rd proportional pressure control valve 27 27Respectively with the oil return inlet T of the 4th proportional pressure control valve 26 26, the 5th one-way valve 24 filler opening A 24, the 6th one-way valve 25 filler opening A 25Be communicated with and connected tank; The 3rd pressure transducer 29 got the oil outlet B of second motor 28 28Pressure signal; The 4th pressure transducer 30 got the filler opening A of second motor 28 28Pressure signal; The pressure signal of the 3rd pressure transducer 29 and the pressure signal of second pressure transducer 30 are done to import second controller 31 after the difference; The output signal of second controller 31 is made the input signal of second servovalve 32;
Working procedure of the present invention is as follows: two hydraulic systems of driving pinion 33 and small gear 34 are worked simultaneously.Wherein, the hydraulic work system process of driving pinion 33 is: variable displacement pump 2 starting back hydraulic oil enter the filler opening A of filter 1 1, the oil outlet B of filter 1Be communicated with A with the filler opening of variable displacement pump 2 2, fluid becomes high pressure oil from oil outlet B through variable displacement pump 2 2Discharge.The oil outlet B of variable displacement pump 2 2Oil inlet P with relief valve 3 3, one-way valve 4 filler opening A 4Be communicated with.Relief valve 3 plays the safety valve effect, does not open under the normal working.One-way valve 4 prevents that pressure oil from refluxing.The oil outlet of one-way valve 4 respectively with the oil outlet A of servovalve 18 18, 3-position 4-way electro-hydraulic reversing valve 5 oil inlet P 5Be communicated with, 3-position 4-way electro-hydraulic reversing valve 5 is in left position, the oil inlet P in the 3-position 4-way electro-hydraulic reversing valve 5 at this moment 5With oil outlet A 5Be communicated with, pressure oil is through the oil outlet A of 3-position 4-way electro-hydraulic reversing valve 5 5Discharge.The oil outlet A of 3-position 4-way electro-hydraulic reversing valve 5 5Respectively with the oil outlet B of one-way valve 6 6, proportional pressure control valve 9 oil inlet P 9, motor 10 filler opening A 10Be communicated with, when system's fuel cut-off, motor 10 is because inertia is rotated further the filler opening A of motor 10 10Can be when producing negative pressure by one-way valve 6 from the fuel tank repairing.9 setting motors of proportional pressure control valve, 10 filler opening A 10The pressure effect at place, after motor 10 startings, fluid is through motor 10 oil outlet B 10Discharge.The oil outlet B of motor 10 10Respectively with the oil inlet P of proportional pressure control valve 8 8, one-way valve 7 oil outlet B 7, 3-position 4-way electro-hydraulic reversing valve 5 filler opening B 5Be communicated with.Under the normal working, fluid is from motor 10 oil outlet B 10Discharge enters the filler opening B of 3-position 4-way electro-hydraulic reversing valve 5 5, this moment 3-position 4-way electro-hydraulic reversing valve 5 filler opening B 5With oil return inlet T 5Be communicated with.At last, fluid is through the oil outlet T of 3-position 4-way electro-hydraulic reversing valve 5 5Flow back to fuel tank.(this moment 3-position 4-way electro-hydraulic reversing valve 5 be in meta) oil outlet braking back pressure when proportional pressure control valve 8 plays setting motor 10 braking, when motor 10 oil outlet pressure during greater than the set pressure of proportional pressure control valve 8, fluid is through the oil outlet T of proportional pressure control valve 8 8Flow back to fuel tank.Motor 10 counter-rotatings, the oil inlet P in the 3-position 4-way electro-hydraulic reversing valve 5 at this moment when 3-position 4-way electro-hydraulic reversing valve 5 is in right position 5With oil outlet B 5Be communicated with, fluid is through the oil outlet B of 3-position 4-way electro-hydraulic reversing valve 5 5Discharge, enter the filler opening B of motor 10 10, fluid is through the oil outlet A of motor 10 10Discharge, through the filler opening A of 3-position 4-way electro-hydraulic reversing valve 5 5, the oil return inlet T by 3-position 4-way electro-hydraulic reversing valve 5 at last 5Flow back to fuel tank.Proportional pressure control valve 8 is set up motor 10 inlet pressure values in the Umklapp process, (3-position 4-way electro-hydraulic reversing valve 5 is in meta at this moment) oil outlet back pressure when proportional pressure control valve 9 is set up motor 10 brakings.In motor 10 Umklapp processes, if cut off oil circuit, motor 10 is because inertia continues counter-rotating, then the filler opening B of motor 10 10The place produces negative pressure, and this moment, system can be by one-way valve 7 from the fuel tank repairing.When motor 10 was just changeing, pressure transducer 11 was got motor 10 outlet B 10Place's pressure, pressure transducer 12 is got motor 10 import A 10Place's pressure.The pressure signal of the pressure signal of pressure transducer 11 and pressure transducer 12 is made difference input controller 13 afterwards; The output signal of controller 13 is made the input signal of servovalve 18.After metering pump 15 startings, fluid is through the oil outlet B of filter 14 14Enter the filler opening A of metering pump 15 15, the oil outlet B of metering pump 15 15Respectively with the oil inlet P of relief valve 17 17, accumulator 16 filler opening A 16, fine filter 36 filler opening A 36Be communicated with; The oil outlet B of fine filter 36 36Respectively with the oil inlet P of servovalve 18 18, servovalve 32 oil inlet P 32Be communicated with.Because the pressure at motor 10 two ends is determined by load, therefore when small gear 33 and gearwheel 35 mesh undesirable or break away from engagement, the load of motor 10 sharply diminishes or becomes 0, therefore motor pressure at two ends difference also sharply diminishes or becomes 0, should increase flow system flow this moment, make small gear 33 rotating speeds become big, touch gearwheel again, provide power to gearwheel.Therefore can control servovalve 18 to system's repairing according to pressure feedback.Fluid is by the oil outlet B of metering pump 15 at this moment 15Discharge the oil inlet P that process fine filter 36 enters servovalve 18 18. in the servovalve 18, oil inlet P 18With oil outlet A 18Be communicated with, fluid is through the oil outlet A of servovalve 18 18Enter the oil inlet P of 3-position 4-way electro-hydraulic reversing valve 5 5, by the oil outlet A of 3-position 4-way electro-hydraulic reversing valve 5 5Discharge, enter motor 10, increase the flow of motor 10, thereby the rotating speed that has increased motor 10 makes small gear 33 be close to gearwheel 35, arrives synchronously driven purpose.Because the characteristic that the servovalve response is fast, so native system can be used in the polynary synchronous drive control of high speed.
The hydraulic work system process of driving pinion 34 is: variable displacement pump 20 starting back hydraulic oil enter the filler opening A of filter 19 19, the oil outlet B of filter 19Be communicated with A with the filler opening of variable displacement pump 20 20, fluid becomes high pressure oil from oil outlet B through variable displacement pump 20 20Discharge.The oil outlet B of metering pump 20 20Oil inlet P with relief valve 21 21, one-way valve 22 filler opening A 22Be communicated with.Relief valve 21 plays the safety valve effect, does not open under the normal working.One-way valve 22 prevents that pressure oil from refluxing.The oil outlet of one-way valve 22 respectively with the oil outlet A of servovalve 32 32, 3-position 4-way electro-hydraulic reversing valve 23 oil inlet P 23Be communicated with, 3-position 4-way electro-hydraulic reversing valve 23 is in left position, the oil inlet P in the 3-position 4-way electro-hydraulic reversing valve 23 at this moment 23With oil outlet A 23Be communicated with, pressure oil is through the oil outlet A of 3-position 4-way electro-hydraulic reversing valve 23 23Discharge.The oil outlet A of 3-position 4-way electro-hydraulic reversing valve 23 23Respectively with the oil outlet B of one-way valve 24 24, proportional pressure control valve 27 oil inlet P 27, motor 28 filler opening A 28Be communicated with, when system's fuel cut-off, motor 28 is because inertia is rotated further the filler opening A of motor 28 28Can be when producing negative pressure by one-way valve 24 from the fuel tank repairing.27 setting motors of proportional pressure control valve, 28 filler opening A 28The pressure effect at place, after motor 28 startings, fluid is through motor 28 oil outlet B 28Discharge.The oil outlet B of motor 28 28Respectively with the oil inlet P of proportional pressure control valve 26 26, one-way valve 25 oil outlet B 25, 3-position 4-way electro-hydraulic reversing valve 23 filler opening B 23Be communicated with.Under the normal working, fluid is from motor 28 oil outlet B 28Discharge enters the filler opening B of 3-position 4-way electro-hydraulic reversing valve 23 23, this moment 3-position 4-way electro-hydraulic reversing valve 23 filler opening B 23With oil return inlet T 23Be communicated with.At last, fluid is through the oil outlet T of 3-position 4-way electro-hydraulic reversing valve 23 23Flow back to fuel tank.(this moment 3-position 4-way electro-hydraulic reversing valve 23 be in meta) oil outlet back pressure when proportional pressure control valve 26 plays setting motor 28 braking, when motor 28 oil outlet pressure during greater than the set pressure of proportional pressure control valve 26, fluid is through the oil outlet T of proportional pressure control valve 26 26Flow back to fuel tank.Motor 28 counter-rotatings, the oil inlet P in the 3-position 4-way electro-hydraulic reversing valve 23 at this moment when 3-position 4-way electro-hydraulic reversing valve 23 is in right position 23With oil outlet B 23Be communicated with, fluid is through the oil outlet B of 3-position 4-way electro-hydraulic reversing valve 23 23Discharge, enter the filler opening B of motor 28 28, fluid is through the oil outlet A of motor 28 28Discharge, through the filler opening A of 3-position 4-way electro-hydraulic reversing valve 23 23, the oil return inlet T by 3-position 4-way electro-hydraulic reversing valve 23 at last 23Flow back to fuel tank.Proportional pressure control valve 26 is set up motor 28 inlet pressure values in the Umklapp process, (3-position 4-way electro-hydraulic reversing valve 23 is in meta at this moment) oil outlet back pressure when proportional pressure control valve 27 is set up motor 28 brakings.In motor 28 Umklapp processes, if cut off oil circuit, motor 28 is because inertia continues counter-rotating, then the filler opening B of motor 28 28The place produces negative pressure, and this moment, system can be by one-way valve 25 from the fuel tank repairing.When motor 28 was just changeing, pressure transducer 29 was got motor 28 outlet B 28Place's pressure, pressure transducer 30 is got motor 28 import A 28Place's pressure.The pressure signal of the pressure signal of pressure transducer 29 and pressure transducer 30 is made difference input controller 31 afterwards; The output signal of controller 31 is made the input signal of servovalve 32.Can control servovalve 32 to system's repairing when pressure transducer 29 and pressure transducer 30 record by controller when motor 28 two ends pressure reduction diminish, this moment, fluid was by the oil outlet B of metering pump 15 15Discharge the oil inlet P that process fine filter 36 enters servovalve 32 32, in the servovalve 32, oil inlet P 32With oil outlet A 32Be communicated with, fluid is through the oil outlet A of servovalve 32 32Enter the oil inlet P of 3-position 4-way electro-hydraulic reversing valve 23 23, by the oil outlet A of 3-position 4-way electro-hydraulic reversing valve 23 23Discharge, enter motor 28, increase the flow of motor 28, thereby the rotating speed that has increased motor 28 makes small gear 34 be close to gearwheel 35, realize synchronous drive.

Claims (1)

1. hydraulic synchronous driving system based on pressure feedback, it is characterized in that comprising: four pressure transducers (11,12,29,30), two controllers (13,31), three filters (1,14,19), fine filter (36), metering pump (15), accumulator (16), three relief valves (3,17,21), two servovalves (18,32), two variable displacement pumps (2,20), six one-way valves (4,6,7,22,24,25), two 3-position 4-way electro-hydraulic reversing valves (5,23), four proportional pressure control valves (8,9,26,27), two motors (10,28), two small gears (33,34), gearwheel (35); The filler opening A of first filter (1) 1Be communicated with fuel tank; The oil outlet B of first filter (1) 1Filler opening A with first variable displacement pump (2) 2Be communicated with; The oil outlet B of first variable displacement pump (2) 2Respectively with the oil inlet P of first relief valve (3) 3, first one-way valve (4) filler opening A 4Be communicated with; The oil return inlet T of first relief valve (3) 3Be communicated with fuel tank; The oil outlet B of first one-way valve (4) 4Respectively with the oil outlet A of first servovalve (18) 18, first 3-position 4-way electro-hydraulic reversing valve (5) oil inlet P 5Be communicated with; The oil outlet A of first 3-position 4-way electro-hydraulic reversing valve (5) 5Respectively with the oil outlet B of second one-way valve (6) 6, first proportional pressure control valve (9) oil inlet P 9, first motor (10) filler opening A 10Be communicated with; First motor (10) drives first small gear (33); The oil outlet B of first motor (10) 10Respectively with the oil inlet P of second proportional pressure control valve (8) 8, the 3rd one-way valve (7) oil outlet B 7, first 3-position 4-way electro-hydraulic reversing valve (5) filler opening B 5Be communicated with; The oil outlet T of first 3-position 4-way electro-hydraulic reversing valve (5) 5Connected tank; The oil return inlet T of first proportional pressure control valve (9) 9Respectively with the oil return inlet T of second proportional pressure control valve (8) 8, second one-way valve (6) filler opening A 6, the 3rd one-way valve (7) filler opening A 7Be communicated with and connected tank; The filler opening A of second filter (14) 14Connected tank; The oil outlet B of second filter (14) 14Filler opening A with first metering pump (15) 15Be communicated with; The oil outlet B of first metering pump (15) 15Respectively with the oil inlet P of second relief valve (17) 17, accumulator (16) filler opening A 16, fine filter (36) filler opening A 36Be communicated with; The oil outlet B of fine filter (36) 36Respectively with the oil inlet P of first servovalve (18) 18, second servovalve (32) oil inlet P 32Be communicated with: first pressure transducer (11) is got the oil outlet B of first motor (10) 10Pressure signal; Second pressure transducer (12) got the filler opening A of first motor (10) 10Pressure signal; The pressure signal of the pressure signal of first pressure transducer (11) and second pressure transducer (12) is done to import first controller (13) after the difference; The output signal of first controller (13) is made the input signal of first servovalve (18); The oil outlet B of the 3rd filter (19) 19Filler opening A with second variable displacement pump (20) 20Be communicated with; The oil outlet B of second variable displacement pump (20) 20Respectively with the oil inlet P of the 3rd relief valve (21) 21, the 4th one-way valve (22) filler opening A 22Be communicated with; The oil return inlet T of the 3rd relief valve (21) 21Be communicated with fuel tank; The oil outlet B of the 4th one-way valve (22) 22Respectively with the oil outlet A of second servovalve (32) 32, second 3-position 4-way electro-hydraulic reversing valve (23) oil inlet P 23Be communicated with; The oil outlet A of second 3-position 4-way electro-hydraulic reversing valve (23) 23Respectively with the oil outlet B of the 5th one-way valve (24) 24, the 3rd proportional pressure control valve (27) oil inlet P 27, second motor (28) filler opening A 28Be communicated with; Second motor (28) drives second small gear (34); First small gear (33) and second small gear (34) drive gearwheel (35) jointly; The oil outlet B of second motor (28) 28Respectively with the oil inlet P of the 4th proportional pressure control valve (26) 26, the 6th one-way valve (25) oil outlet B 25, second 3-position 4-way electro-hydraulic reversing valve (23) filler opening B 23Be communicated with; The oil outlet T of second 3-position 4-way electro-hydraulic reversing valve (23) 23Connected tank; The oil return inlet T of the 3rd proportional pressure control valve (27) 27Respectively with the oil return inlet T of the 4th proportional pressure control valve (26) 26, the 5th one-way valve (24) filler opening A 24, the 6th one-way valve (25) filler opening A 25Be communicated with and connected tank; The 3rd pressure transducer (29) got the oil outlet B of second motor (28) 28Pressure signal; The 4th pressure transducer (30) got the filler opening A of second motor (28) 28Pressure signal; The pressure signal of the pressure signal of the 3rd pressure transducer (29) and second pressure transducer (30) is done to import second controller (31) after the difference; The output signal of second controller (31) is made the input signal of second servovalve (32).
CN2007101924863A 2007-12-04 2007-12-04 Hydraulic synchronous driving system based on pressure feedback Active CN101451550B (en)

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CN108869690B (en) * 2018-06-13 2019-12-24 杭州电子科技大学 Multi-motor synchronous rotation driving system and driving method thereof

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