CN101463848A - Engineering machinery control system, engineering machinery and engineering machinery control method - Google Patents
Engineering machinery control system, engineering machinery and engineering machinery control method Download PDFInfo
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Abstract
The invention discloses an engineering mechanical control system, comprising a manipulator, a signal generation pickup device and a proportional flow valve, wherein, the signal generation pickup device can generate control signals according to the adjustment range of the manipulator, and controls the flow rate of hydraulic oil passing through the proportional flow valve by the control signals; and the proportional flow valve can be connected in series between a hydraulic pump and a hydraulic actuating mechanism. The engineering mechanical control system also comprises a signal processing device and a controller, wherein, the signal processing device can generate rotating speed control signals; and the controller can control the output rotating speed of a power source according to the rotating speed control signals. Besides the control system, the invention also discloses engineering machinery and a control method thereof, wherein, the engineering mechanical control system and the engineering machinery with the control system can cause the output rotating speed of a power source driving a hydraulic pump to run to be matched with the required amount of high-pressure oil of the hydraulic system, and the energy consumption is reduced while the requirement of the driving force of the engineering machinery is satisfied.
Description
Technical field
The present invention relates to a kind of control technique, particularly a kind of engineering machinery control system also relates to a kind of engineering machinery that has this project Machinery Control System, in addition, also relates to a kind of engineering machinery controlling method.
Background technique
Current, being provided with power system and the oil hydraulic pump that motor is a power source in many engineering machinery is the hydraulic system of power source, the engine power system provides power for whole engineering machinery, drives the oil hydraulic pump running of hydraulic system, makes oil hydraulic pump provide enough high pressure oils for hydraulic system.In actual use, hydraulic system roughly has two states: the one, and operating condition; The 2nd, idling conditions.When hydraulic system was in operating condition, the high pressure oil that oil hydraulic pump is discharged was transported to corresponding hydraulic actuator by hydrovalve, drove hydraulic actuator and carried out corresponding actions, finished corresponding operation; When hydraulic system was in idling conditions, the corresponding oil circuit between oil hydraulic pump and the corresponding hydraulic actuator cut off, and hydraulic actuator is by locking, or stopped action, or the work that resets accordingly, and the high pressure oil that oil hydraulic pump is discharged flows back to hydraulic oil container by relief valve.Under two states, hydraulic system if under idling conditions, keeps the bigger flow of oil hydraulic pump to the very big difference that needs of high pressure oil oil mass, and then high pressure oil can reflux by relief valve, in vain the power of consumption of engine output.In order to reduce the power consumpiton of motor, generally when hydraulic system is in idling conditions, reduce engine speed, the oil hydraulic pump flow is reduced; When hydraulic system is in operating condition, improve engine speed, increase the flow of oil hydraulic pump, satisfy needs to the hydraulic system fuel feeding.Though this mode can reduce the energy consumption of motor to a certain extent, but in some engineering machinery, its operating condition can be divided into various states again, and under various states, hydraulic system is also very big to the demand difference of high pressure oil, still has the problem of motor energy consumption waste.
Such as: in work progress, concrete mixer need be according to the change of pumping target and the position of frequent change jib discharge port, and the Driven by Hydraulic Cylinder corresponding armed lever of the change of jib discharge port position by hydraulic system carries out corresponding actions to be realized.Be communicated with corresponding oil circuit operator, when making the armed lever action, control system can improve engine speed automatically, increases the fuel delivery of hydraulic system oil hydraulic pump, to guarantee jib accuracy of action and rapid property.Under this state, motor is a constant rotational speed, if this rotating speed is with the movement range of jib maximum, the fastest job requirement is set, to satisfy various requirements of one's work, very little at the jib movement range, when operation is very slow, the high pressure oil mass that oil hydraulic pump is discharged just is far longer than the demand of hydraulic system to high pressure oil, and high pressure oil greatly is back to hydraulic oil container by relief valve; If this rotating speed is with the less movement range of jib, slower action request is set, and the high pressure oil that oil hydraulic pump is discharged just can not satisfy in emergency circumstances, and hydraulic system is to the demand of high pressure oil.In order to guarantee the reliability of operation, current, this rotating speed of motor is set in first kind of mode, so just causes a large amount of high pressure oils by being back to hydraulic oil container.
Cause the key of this problem to be: the engine-driving rotating speed is difficult to hydraulic system the high pressure oil demand is complementary, and produces following technological deficiency thus:
The first, in the hydraulic system load hour, motor drives oil hydraulic pump with constant rotational speed, and unnecessary high pressure oil refluxes by relief valve, has reduced the efficient of engineering machinery, increases engine fuel consumption.
The second, keep the bigger flow of oil hydraulic pump, the hydraulic oil circulation is accelerated, hydraulic system hydraulic oil quick heating causes the oil temperature too high easily, influences the reliability and the operability of hydraulic system.
The 3rd, when idling conditions is transformed into operating condition,, can cause hydraulic shock in hydraulic system to hydraulic actuator because the oil hydraulic pump fuel delivery increases suddenly, influence the operating characteristics of engineering machinery.
In order to address the above problem, in actual use, can also be by operator's manual tune engine speed repeatedly, this method can influence operator's the control to the lever arm action on the one hand; On the other hand, can not fundamentally solve Engine driven Hydraulic Pump rotation rotating speed and hydraulic system matching problem to the high pressure oil demand.
Above-mentioned technical problem not only exists in the concrete mixer, in Other Engineering machinery, also has identical problem.
Summary of the invention
At above-mentioned technological deficiency, the objective of the invention is to, a kind of engineering machinery control system is provided, so that drive the output speed of oil hydraulic pump power source and hydraulic system the demand of high pressure oil is complementary.
On the basis that above-mentioned engineering machinery control system is provided, also provide a kind of engineering machinery that has above-mentioned engineering machinery control system.
The present invention also provides a kind of engineering machinery controlling method.
Engineering machinery control system provided by the invention comprises manipulator, signal generation collecting device and proportional flow control valve; Described signal generation collecting device can produce control signal according to the adjusting range of manipulator, and controls the hydraulic fluid flow rate of passing ratio Flow valve by control signal; Described proportional flow control valve can be connected between oil hydraulic pump and the hydraulic actuator; Described hydraulic actuator is used to drive corresponding part, also comprises signal processing apparatus and controller; Described signal processing apparatus can generate speed controling signal according to the adjusting range of manipulator, and speed controling signal is input to controller; Described controller can be controlled the output speed of power source according to speed controling signal, and described power source can drive the oil hydraulic pump running.
Preferably, described control system also comprises speed detector, and described speed detector can detection of engine or the actual speed of oil hydraulic pump; Described controller can be obtained the actual speed of speed detector output, and can compare actual speed and desired speed, and adjusts the output speed of power source according to comparative result; Described desired speed is that described controller is determined according to speed controling signal.
Preferably, described control system also comprises flow detector, and described flow detector can detect the actual flow of oil hydraulic pump; Described controller can be obtained the actual flow of flow detection dress output, and can compare actual flow and predetermined amount of flow, and adjusts the output speed of power source according to comparative result; Described predetermined amount of flow is that described controller is determined according to speed controling signal.
Preferably, described signal generation collecting device comprises transmitter and receiver, and described transmitter can produce signal according to manipulator adjusting range size, and the signal that produces is sent to receiver; Described receiver can become control signal with the signal conversion that receives.
Preferably, described signal processing apparatus can generate speed controling signal according to the signal that transmitter produces.
Preferably, described control signal is a pulse-width signal.
Preferably, described signal processing apparatus can generate speed controling signal according to control signal.
Preferably, this control system comprises a plurality of manipulators and a plurality of proportional flow control valve; Described signal generation collecting device can produce a plurality of control signals according to the adjusting range of a plurality of manipulators, and controls hydraulic fluid flow rate by the corresponding proportion Flow valve respectively by a plurality of control signals; Described control signal is a pulse-width signal; Described speed controling signal is the control signal of a plurality of control signal medium frequency maximums.
Preferably, described signal processing apparatus comprises the frequency-selecting unit, and described frequency-selecting unit can be selected the control signal of a frequency maximum in a plurality of control signals.
Engineering machinery provided by the invention comprises motor, oil hydraulic pump, hydraulic actuator, also comprise control system, described control system is above-mentioned engineering machinery control system, described oil hydraulic pump passing ratio Flow valve is to the hydraulic actuator fuel feeding, and described motor is for driving the power source of oil hydraulic pump running.
Alternatively, described engineering machinery is a concrete mixer, described concrete mixer also comprises chassis and jib, described jib comprises the more piece armed lever, described hydraulic actuator comprises oil hydraulic motor and a plurality of oil hydraulic cylinder, described oil hydraulic motor can drive jib and rotate on the chassis, and described oil hydraulic cylinder is used to drive armed lever and carries out corresponding actions.
The present invention also provides a kind of engineering machinery controlling method, and described engineering machinery comprises power source, oil hydraulic pump, hydraulic actuator and control system, and described control system comprises manipulator, signal generation collecting device and proportional flow control valve; Described signal generation collecting device can produce control signal according to the adjusting range of manipulator, and controls the hydraulic fluid flow rate of passing ratio Flow valve by control signal; Described proportional flow control valve is connected between oil hydraulic pump and the hydraulic actuator; Described hydraulic actuator is used to drive corresponding part, and described power source can drive the oil hydraulic pump running, and this project mechanical control method may further comprise the steps:
Adjusting range according to manipulator obtains speed controling signal;
Output speed according to speed controling signal control power source.
Preferably, described adjusting range according to manipulator obtains speed controling signal, specifically is to obtain speed controling signal according to control signal.
Compared with prior art, comprise signal processing apparatus in the engineering machinery control system provided by the invention, described signal processing apparatus can generate according to predetermined strategy, with the relevant speed controling signal of adjusting range of manipulator, and send speed controling signal to controller; Then, controller is according to the output speed of speed controling signal control power source.Because the relevant parameter of speed controling signal and the proportional variation of adjusting range of manipulator, and the adjusting range of manipulator and hydraulic actuator are to the proportional variation of the demand of high pressure oil, therefore, power source speed can be adjusted according to the adjusting range of manipulator, and the output speed of power source and hydraulic system are complementary to the demand of high pressure oil.Because the output speed of power source and hydraulic system are complementary to the demand of high pressure oil, thereby can solve the problems of the prior art, carry out than little trick in hydraulic system, the high pressure oil demand hour, the drive power source oil hydraulic pump when guaranteeing to provide the required high pressure oil mass of hydraulic actuator, reduces the high pressure oil that refluxes by relief valve with lower rotating speed rotation as much as possible, improve the efficient of engineering machinery, reduce the energy consumption of power source; Carry out relevant action in hydraulic system, when needing relatively large high pressure oil, power source can drive oil hydraulic pump and rotate with higher rotation speed, increases the high pressure oil oil mass that oil hydraulic pump is discharged, and satisfies the hydraulic system needs.In hydraulic system to the demand of high pressure oil hour, can reduce the hydraulic oil cycle frequency, it is too fast to prevent that hydraulic system hydraulic oil from heating up, and keeps the suitable temperature of hydraulic oil, guarantees the reliability of hydraulic system.In addition, owing to the rotating speed of the oil hydraulic pump adjusting range along with manipulator changes, power source speed-raising process is mild, and smoothness that can the Guarantee Status transfer process alleviates the impact of high pressure oil to hydraulic mechanism.
In further technological scheme, increase the feedback function of control system, and the output speed of power source is adjusted according to practical situation, can guarantee better that power source output speed and hydraulic system are complementary to the high pressure oil demand.
In further technological scheme, signal generation collecting device is divided into transmitter and receiver, it is more convenient that signal generation collecting device is arranged; Such as: receiver can be located at operator cabin, also can be located at the proportional flow control valve of hydraulic system, to make things convenient for the control of Comparative Examples Flow valve aperture, operator can pass through the aperture of transmitter control ratio Flow valve a long way off, thereby realize the telecontrol to the corresponding hydraulic actuator of engineering machinery.
In further technological scheme, because control signal can be controlled the output speed of power source, signal processing apparatus generates speed controling signal according to control signal, can guarantee the reliability of speed controling signal, avoids medium tache to make the corresponding signal decay.
In further technological scheme, be control signal with pulse-width signal, because pulse-width signal in transport process, need not to carry out digital-to-analog conversion, can improve the reliability and the anti-interference of control system, guarantee that signal transmits.
On the basis that above-mentioned engineering machinery control system is provided, the engineering machinery that has above-mentioned control system that provides also can produce the corresponding techniques effect.
Engineering machinery control technology provided by the invention is applicable to the engineering machinery of hydraulic system as the operation power source, is specially adapted to the control to concrete mixer.
Description of drawings
Fig. 1 is the engineering machinery control system theory diagram that the embodiment of the invention one provides;
Fig. 2 is another embodiment's engineering machinery control system control principle signal;
Fig. 3 is an engineering machinery controlling method flow chart provided by the invention.
Embodiment
Describe the present invention below in conjunction with accompanying drawing, the description of this part only is exemplary and explanatory, should any restriction not arranged to protection scope of the present invention.
Embodiment one provides a kind of concrete pump vehicle control, and concrete mixer comprises jib and chassis, the armed lever that jib is hinged and connected by five orders, and the relative action between the armed lever is by corresponding Driven by Hydraulic Cylinder.Jib is installed on the chassis, and can rotate on the chassis around a vertical pivot by the driving of an oil hydraulic motor, realizes the circumferential adjustment of jib angle.
As shown in Figure 1, control system comprises manoeuvring platform, receiver 200, proportional flow control valve unit 300, signal processing apparatus 500 and controller 600, described proportional flow control valve unit 300 comprises proportional flow control valve 9-20, and described hydraulic pressure performance element 400 comprises the oil hydraulic motor of above-mentioned driving jib rotation and drives five oil hydraulic cylinders of armed lever action; In addition, for the convenience of describing, also show motor 600 and oil hydraulic pump 700 among the figure.
In this example, with the aperture of ratio rocking bar as concrete manipulator control ratio Flow valve.Have six ratio rocking bar 1-6 and transmitter 100 on the manoeuvring platform, ratio rocking bar 1-6 can back and forth adjust along a main regulation direction respectively; Described transmitter 100 produces corresponding wireless signal according to the adjustment direction and the adjusting range of ratio rocking bar, and wireless signal transmission is gone out.Described receiver 200 is fixed on the place of approaching hydraulic circuit, and links to each other with the control circuit of proportional flow control valve unit 300; Receiver 200 can convert wireless signal to a plurality of pulse-width signal PWM after can receiving the wireless signal that transmitter 100 sends, and corresponding PWM is sent to respectively among the proportional flow control valve 9-20, by the hydraulic fluid flow rate of PWM control by the corresponding proportion Flow valve, transmitter 100 forms the signal generation collecting device that produces control signal with receiver 200.Proportional flow control valve 9-20 is connected in respectively between oil hydraulic pump and the corresponding hydraulic actuator, and among Fig. 1, proportional flow control valve 9 and 10 is used to control the rotational speed of oil hydraulic motor, and then the control jib is with respect to the rotation speed on chassis; Proportional flow control valve 11-20 is used for controlling respectively the movement speed of corresponding oil hydraulic cylinder, and then controls the speed of corresponding armed lever action.The adjusting range of the frequency of PWM and corresponding proportion rocking bar relation in direct ratio, the adjusting range of ratio rocking bar is big more, the frequency of corresponding PWM is big more, the aperture of corresponding proportion Flow valve also can be big more, the hydraulic fluid flow rate of passing ratio Flow valve also can be bigger, thereby oil hydraulic motor or oil hydraulic cylinder action are accelerated; Under opposite situation, can make the action of oil hydraulic motor or oil hydraulic cylinder slow, so that accurately control the position of concrete discharge port.
Its concrete control procedure can be: when ratio rocking bar 6 adjusting ranges were maximum, proportional flow control valve 9 and 10 apertures kept maximum rating, and oil hydraulic motor will be rotated with prestissimo, and this moment, oil hydraulic motor increased the demand of high pressure oil.At this moment, signal processing apparatus 500 also can generate speed controling signal according to a plurality of PWM, and controller 600 is adjusted motor 700 rotating speeds according to speed controling signal, makes motor 700 drive oil hydraulic pump 800 runnings with bigger rotating speed; According to the relation of oil hydraulic pump 800 flows and rotating speed, oil hydraulic pump 800 flows can increase, and for hydraulic system provides more high pressure oil, satisfy the demand of oil hydraulic motor to high pressure oil; Under opposite situation, oil hydraulic motor reduces the demand of high pressure oil, and motor 700 reduces output speed according to PWM, and oil hydraulic pump 800 provides the high pressure oil than small flow, when satisfying the oil hydraulic motor needs, reduce the high pressure oil oil mass that refluxes by relief valve.At the hydraulic system idling conditions, the high pressure oil of hydraulic system all is back to hydraulic oil container by relief valve, can make motor 700 keep the minimum speed running under the situation that guarantees output torque, make oil hydraulic pump 800 with the minimum speed rotation, guarantee to discharge the high pressure oil of minimum discharge.Like this, the high pressure oil flow that motor 700 driving rotating speeds and hydraulic system are needed keeps changing synchronously, the coupling that keeps the two, the high pressure oil that oil hydraulic pump 800 is discharged is applied to drive hydraulic actuator as much as possible, reduce the high pressure oil that refluxes by relief valve as much as possible, improve the efficient of engineering machinery; Oil hydraulic pump 800 rotating speeds can reduce the hydraulic oil cycle frequency along with hydraulic system changes the demand of high pressure oil, and it is too fast to prevent that hydraulic system hydraulic oil from heating up, and keeps the suitable temperature of hydraulic oil, guarantees the reliability of hydraulic system.In addition, owing to the rotating speed of oil hydraulic pump 800 adjusting range along with the ratio rocking bar changes, smoothness that can the Guarantee Status transfer process prevents that hydraulic actuator from producing action and impacting.
In this example, described signal processing apparatus 500 comprises frequency-selecting unit and converting unit, and described frequency-selecting unit can receive a plurality of PWM, and selects the control signal of pulse frequency maximum, and this control signal characterizes the maximum adjusting range of a plurality of ratio rocking bars; Described converting unit can convert the control signal of this frequency maximum to one voltage, and this voltage is exported to controller 600 as speed controling signal.Controller 600 is determined to motor 700 output control commands according to the relation of predetermined voltage and motor 700 rotating speeds, to adjust the output speed of motor 700, motor 700 driving rotating speeds are changed according to a maximum adjusting range of a plurality of ratio rocking bars, adjust in predetermined ratio, can simplify the structure of signal pickup assembly 500; Simultaneously, because concrete mixer has two hydraulic actuators to move simultaneously at most, adjust motor 700 output speeds according to the maximum adjusting range of ratio rocking bar and can satisfy the demand of hydraulic system fully high pressure oil.
In this example, PWM according to the frequency maximum determines speed controling signal, when determining the proportionate relationship of motor 700 rotating speeds and maximum adjusting range, make motor 700 output speeds keep certain surplus, when moving simultaneously to satisfy two or more hydraulic actuators to the demand of high pressure oil mass.It will be appreciated by those skilled in the art that, relation for accurate matching fluid pressing system high pressure oil demand and motor 700 rotating speeds, also can be with a plurality of PWM stacks, frequency addition with a plurality of PWM, summation according to frequency is defined as speed controling signal again, motor 700 rotating speeds are controlled, so that the output speed of motor 700 becomes corresponding proportionate relationship with a plurality of ratio rocking bar adjusting range total amounts, can more accurate matching fluid pressing system high pressure oil demand and engine speed, realize purpose of the present invention.
It will be appreciated by those skilled in the art that, control signal is not limited to above-mentioned PWM, can be pulse amplitude modulated signal PAM or phase modulation PPM, in addition, speed controling signal also is not limited to generate according to the PWM frequency, also can generate, can also directly obtain according to the adjusting range of ratio rocking bar according to the signal of transmitter output; Because the signal of control signal, transmitter output all is the adjusting range generation according to the ratio rocking bar, can both guarantee the relevant parameter and the proportionate relationship that the adjusting range of ratio rocking bar becomes to be scheduled to of speed controling signal, can realize purpose of the present invention.Certainly, speed controling signal can be a magnitude of current signal, also can be a pulse signal.Those skilled in the art can realize above-mentioned Communication Control purpose with other habitual concrete technological means of this field.
In general, the concrete grammar of controller 600 control motors 700 rotating speeds is: the predetermined amount of flow of at first determining oil hydraulic pump 800 according to speed controling signal, determine motor 700 desired speeds according to the relation of oil hydraulic pump flow and motor 700 output speeds again, and according to desired speed to motor 700 sending controling instructions, make motor 700 adjust its output speed, so that motor 700 output speeds and hydraulic system are complementary to the demand of high pressure oil according to control command.It will be understood by those skilled in the art that in the working control process because various factors changes and the existence of uncertain factor, motor 700 actual speed often differ greatly with desired speed.In order to guarantee motor 700 output speeds and hydraulic system high pressure oil demand volume matched accuracy, embodiment two provides another kind of control system.
As shown in Figure 2, the control system of implementing in two has increased speed detector 710 on embodiment one basis, be used for the actual speed of detection of engine 700; Controller 600 can be obtained the actual speed of speed detector 710 outputs, and actual speed value and desired speed value can be compared, adjust the output speed of motor 700 again according to predetermined strategy, optimized technical scheme is to send the rotating speed compensating instruction according to comparative result to motor 700, and motor 700 is adjusted output speed according to the rotating speed compensating instruction.Because motor 700 actual output speeds are undulating values, in this example, controller 600 is obtained the difference of actual speed and desired speed earlier, judge again whether its difference surpasses the predetermined difference value scope, if difference is excessive, and surpass the predetermined difference value scope, then send the corresponding rotating speeds compensating instruction to motor 700, when improving motor 700 output speeds and hydraulic system high pressure oil demand volume coupling accuracy, avoid controller 600 frequent motor 700 output speeds of adjusting.Speed detector 710 can be a speed probe, also can be by the electrical signal detection engine speed of motor 700 itself, such as, can detect according to motor 700 control system output orders, also can obtain the actual speed of motor 700 according to the fire signal of motor.Because motor 700 can drive oil hydraulic pump 800, the actual speed that detects oil hydraulic pump 800 also can achieve the above object.
It will be appreciated by those skilled in the art that, also can establish flowmeter and detect its actual flow at oil hydraulic pump 800 oil drain out places, and actual flow fed back to controller 600, controller 600 compares actual flow and predetermined amount of flow, determine whether needs adjustment motor 700 rotating speeds according to comparative result again, can realize improving the purpose of accurate coupling equally.
The foregoing description is to be that example is described operation system with the concrete mixer, it will be appreciated by those skilled in the art that, above-mentioned control system also can be applied in the Other Engineering machinery, such as, can be applied on the truck crane, stretching of the shear leg of truck crane, shear leg are faced upward the action of bowing and are driven realization by hydraulic system.Adopt above-mentioned control system, can realize the coupling of motor output speed and hydraulic system high pressure oil demand equally, reduce engine consumption, realize purpose of the present invention.Can certainly be applied in other engineering machinery that have motor and hydraulic system.The art technology philtrum is appreciated that it is in the machinery of power source that above-mentioned control system also can be applied in electric power, changes the motor output speed equally, can reduce electric quantity consumption.In addition, signal generation collecting device can have multiple concrete form, such as; Transmitter and receiver can be as a whole, are installed in the operator cabin, and directly the aperture of control ratio Flow valve is controlled the hydraulic fluid flow rate that passes through.For the hydraulic system in the corresponding engineering machinery, the high pressure oil that can as much as possible oil hydraulic pump be discharged is applied to drive hydraulic actuator, reduces the high pressure oil that refluxes by relief valve as much as possible; The oil hydraulic pump rotating speed can reduce the hydraulic oil cycle frequency along with hydraulic system changes the demand of high pressure oil, and it is too fast to prevent that hydraulic system hydraulic oil from heating up, and keeps the suitable temperature of hydraulic oil, guarantees the reliability of hydraulic system.In addition, owing to the rotating speed of the oil hydraulic pump adjusting range along with the ratio rocking bar changes, smoothness that can the Guarantee Status transfer process prevents that the hydraulic actuator action from impacting.
Because control system possesses above-mentioned technique effect, the engineering machine machinery that has above-mentioned control system also possesses the corresponding techniques effect.In concrete mixer, adopt above-mentioned control system to possess outstanding more technique effect.
On the basis that above-mentioned engineering machinery control system is provided, a kind of engineering machinery controlling method also is provided, use the engineering machinery of this method can comprise power source, oil hydraulic pump, hydraulic actuator and control system, described control system comprises ratio rocking bar, signal generation collecting device and proportional flow control valve; Described signal generation collecting device can produce control signal according to the adjusting range of ratio rocking bar, and controls the hydraulic fluid flow rate of passing ratio Flow valve by control signal; Described proportional flow control valve is connected between oil hydraulic pump and the hydraulic actuator; Described hydraulic actuator is used to drive corresponding part; The adjusting range of ratio rocking bar changes the flow that can change the passing ratio Flow valve, thereby changes the action speed of hydraulic actuator.As shown in Figure 3, this project mechanical control method can may further comprise the steps:
S101 obtains speed controling signal according to the adjusting range of ratio rocking bar, the proportionate relationship that the relevant parameter of described speed controling signal and the adjusting range of ratio rocking bar become to be scheduled to.The step that obtains speed controling signal can also can directly obtain according to the adjusting range of ratio rocking bar by the control signal of signal generation collecting device generation.
S201, according to the output speed of speed controling signal control power source, described power source can drive the oil hydraulic pump rotation, and the output speed of described power source changes with predetermined proportionate relationship according to the relevant parameter of speed controling signal; It is rapid to return previous step.Because speed controling signal is relevant with the adjusting range of ratio rocking bar, the adjusting range of ratio rocking bar is relevant to the demand of high pressure oil with hydraulic system again; The power source output speed relevant with speed controling signal can make oil hydraulic pump flow and hydraulic system that the demand of high pressure oil is complementary; In order to realize output speed and the demand of high pressure oil mated in real time that it is rapid to return previous step again, obtains speed controling signal, the output speed of power source is adjusted, to realize purpose of the present invention again.When engineering machinery shut down, this method flow also stopped to carry out.
The above only is a preferred implementation of the present invention; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications; such as: manipulator is not limited to the ratio rocking bar, can be touch, abrading-ball formula or other concrete forms, and these improvements and modifications also should be considered as protection scope of the present invention.
Claims (13)
1, a kind of engineering machinery control system comprises manipulator, signal generation collecting device and proportional flow control valve; Described signal generation collecting device can produce control signal according to the adjusting range of manipulator, and controls the hydraulic fluid flow rate of passing ratio Flow valve by control signal; Described proportional flow control valve can be connected between oil hydraulic pump and the hydraulic actuator; Described hydraulic actuator is used to drive corresponding part, it is characterized in that, also comprises signal processing apparatus and controller; Described signal processing apparatus can generate speed controling signal according to the adjusting range of manipulator, and speed controling signal is input to controller; Described controller can be controlled the output speed of power source according to speed controling signal, and described power source can drive the oil hydraulic pump running.
2, engineering machinery control system according to claim 1 is characterized in that, described control system also comprises speed detector, and described speed detector can detection of engine or the actual speed of oil hydraulic pump;
Described controller can be obtained the actual speed of speed detector output, and can compare actual speed and desired speed, and adjusts the output speed of power source according to comparative result; Described desired speed is that described controller is determined according to speed controling signal.
3, engineering machinery control system according to claim 1 is characterized in that, described control system also comprises flow detector, and described flow detector can detect the actual flow of oil hydraulic pump;
Described controller can be obtained the actual flow of flow detection dress output, and can compare actual flow and predetermined amount of flow, and adjusts the output speed of power source according to comparative result; Described predetermined amount of flow is that described controller is determined according to speed controling signal.
4, according to each described engineering machinery control system of claim 1-3, it is characterized in that, described signal generation collecting device comprises transmitter and receiver, and described transmitter can produce signal according to manipulator adjusting range size, and the signal that produces is sent to receiver; Described receiver can become control signal with the signal conversion that receives.
5, engineering machinery control system according to claim 4 is characterized in that, described signal processing apparatus can generate speed controling signal according to the signal that transmitter produces.
6, according to each described engineering machinery control system of claim 1-3, it is characterized in that described control signal is a pulse-width signal.
7, according to each described engineering machinery control system of claim 1-3, it is characterized in that described signal processing apparatus
CanGenerate speed controling signal according to control signal.
8, engineering machinery control system according to claim 7 is characterized in that,
This control system comprises a plurality of manipulators and a plurality of proportional flow control valve; Described signal generation collecting device can produce a plurality of control signals according to the adjusting range of a plurality of manipulators, and controls hydraulic fluid flow rate by the corresponding proportion Flow valve respectively by a plurality of control signals;
Described control signal is a pulse-width signal; Described speed controling signal is the control signal of a plurality of control signal medium frequency maximums.
9, engineering machinery control system according to claim 8 is characterized in that, described signal processing apparatus comprises the frequency-selecting unit, and described frequency-selecting unit can be selected the control signal of a frequency maximum in a plurality of control signals.
10, a kind of engineering machinery, comprise motor, oil hydraulic pump, hydraulic actuator, also comprise control system, it is characterized in that, described control system is each described engineering machinery control system of claim 1-9, and described oil hydraulic pump passing ratio Flow valve is to the hydraulic actuator fuel feeding, and described motor is for driving the power source of oil hydraulic pump running.
11, engineering machinery according to claim 10, it is characterized in that, described engineering machinery is a concrete mixer, described concrete mixer also comprises chassis and jib, described jib comprises the more piece armed lever, described hydraulic actuator comprises oil hydraulic motor and a plurality of oil hydraulic cylinder, and described oil hydraulic motor can drive jib and rotate on the chassis, and described oil hydraulic cylinder is used to drive armed lever and carries out corresponding actions.
12, a kind of engineering machinery controlling method, described engineering machinery comprises power source, oil hydraulic pump, hydraulic actuator and control system, described control system comprises manipulator, signal generation collecting device and proportional flow control valve; Described signal generation collecting device can produce control signal according to the adjusting range of manipulator, and controls the hydraulic fluid flow rate of passing ratio Flow valve by control signal; Described proportional flow control valve is connected between oil hydraulic pump and the hydraulic actuator; Described hydraulic actuator is used to drive corresponding part, and described power source can drive the oil hydraulic pump running, it is characterized in that this project mechanical control method may further comprise the steps:
Adjusting range according to manipulator obtains speed controling signal;
Output speed according to speed controling signal control power source.
13, engineering machinery controlling method according to claim 12 is characterized in that,
Described adjusting range according to manipulator obtains speed controling signal, specifically is to obtain speed controling signal according to control signal.
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| CN101992688A (en) * | 2010-11-01 | 2011-03-30 | 浙江洪裕重工机械有限公司 | Intelligent mechanical walking device |
| WO2011116700A1 (en) * | 2010-03-26 | 2011-09-29 | 长沙中联重工科技发展股份有限公司 | Concrete distributing device and control method, control system and electrical control system for composite motion of boom thereof |
| CN102493976A (en) * | 2011-12-01 | 2012-06-13 | 三一重工股份有限公司 | Power control system and control method for engineering machinery |
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| CN110307096A (en) * | 2019-06-28 | 2019-10-08 | 三一汽车制造有限公司 | The control method of dynamical system, the control system of dynamical system and engineering machinery |
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| EP2520739A4 (en) * | 2010-03-26 | 2014-09-17 | Zoomlion Heavy Ind Sci & Tech | Concrete distributing device and control method, control system and electrical control system for composite motion of boom thereof |
| WO2011116700A1 (en) * | 2010-03-26 | 2011-09-29 | 长沙中联重工科技发展股份有限公司 | Concrete distributing device and control method, control system and electrical control system for composite motion of boom thereof |
| EP2520739A1 (en) * | 2010-03-26 | 2012-11-07 | Changsha Zoomlion Heavy Industry Science & Technology Development Co., Ltd. | Concrete distributing device and control method, control system and electrical control system for composite motion of boom thereof |
| CN101992688A (en) * | 2010-11-01 | 2011-03-30 | 浙江洪裕重工机械有限公司 | Intelligent mechanical walking device |
| CN102493976A (en) * | 2011-12-01 | 2012-06-13 | 三一重工股份有限公司 | Power control system and control method for engineering machinery |
| CN103723646A (en) * | 2014-01-16 | 2014-04-16 | 安徽理工大学 | Control method for endless rope winch |
| CN103723646B (en) * | 2014-01-16 | 2015-12-30 | 安徽理工大学 | Endless rope winch control method |
| CN103771279A (en) * | 2014-01-22 | 2014-05-07 | 安徽理工大学 | Control method for centralized control integrated device of hydraulic pump station and electrodeless rope continuous motor tractor |
| CN103771279B (en) * | 2014-01-22 | 2015-12-30 | 安徽理工大学 | Hydraulic power unit and SQ-1200 endless rope series tractor collection control integration unit control method |
| CN110307096A (en) * | 2019-06-28 | 2019-10-08 | 三一汽车制造有限公司 | The control method of dynamical system, the control system of dynamical system and engineering machinery |
| CN112879368A (en) * | 2021-01-08 | 2021-06-01 | 长沙九方湾流智能科技有限公司 | Electro-hydraulic driving method, driving device and engineering vehicle |
| CN112879368B (en) * | 2021-01-08 | 2023-03-14 | 长沙九方湾流智能科技有限公司 | Electro-hydraulic driving method, driving device and engineering vehicle |
| CN112938473A (en) * | 2021-01-29 | 2021-06-11 | 三一海洋重工有限公司 | Control method of material grabbing machine, controller, storage medium and electronic equipment |
| CN112938473B (en) * | 2021-01-29 | 2022-12-20 | 三一海洋重工有限公司 | Control method of material grabbing machine, controller, storage medium and electronic equipment |
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