CN101571155A - Digital electric-hydraulic synchronous control system - Google Patents

Digital electric-hydraulic synchronous control system Download PDF

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Publication number
CN101571155A
CN101571155A CNA2009100226971A CN200910022697A CN101571155A CN 101571155 A CN101571155 A CN 101571155A CN A2009100226971 A CNA2009100226971 A CN A2009100226971A CN 200910022697 A CN200910022697 A CN 200910022697A CN 101571155 A CN101571155 A CN 101571155A
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hydraulic
valve
digital
boss
split
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薛国光
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薛国光
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Abstract

The invention discloses a digital electric-hydraulic synchronous control system, which comprises a hydraulic actuating mechanism, a digital synchronous control mechanism for performing synchronous control on the hydraulic actuating mechanism, an electric-hydraulic power source for providing power oil for the hydraulic actuating mechanism and the digital synchronous control mechanism, and an electric-hydraulic control system for controlling the power source and the synchronous control mechanism. The hydraulic actuating mechanism is a hydrocylinder; the electric-hydraulic power source comprises an oil storage tank, a double-acting hydraulic oil pump and a driving motor; the electric-hydraulic control system comprises a detector for detecting the oil pressure of the hydraulic oil pump and the rotating speed of the motor respectively and a variable frequency speed regulator and a controller for controlling the motor; and the digital synchronous control mechanism comprises a digital synchronization valve, a digital synchronization controller and a displacement transducer for detecting the displacement of an output shaft of the hydrocylinder. The digital electric-hydraulic synchronous control system has the advantages of simple structure, simple and convenient use and operation, good use effect, energy conservation and no oil leakage, and can achieve the aims of stepless speed regulation and high-precision synchronization according to operating characteristic requirements of different types of controlled objects.

Description

Digital electric-hydraulic synchronous control system
Technical field
The invention belongs to Hydraulic Synchronizing control technique field, especially relate to a kind of with the compound electrohydraulic control system control twin-tub of valve pump (multi-cylinder) synchronously and the digital electric-hydraulic synchronous control system of traffic direction, speed and the position of each oil cylinder.
Background technique
High loading, system high-power, long stroke require to use a plurality of actuators to finish its function and action usually, as lifting of the lifting of the lifting of reservoir strobe, van container and some large presses, testing machine or the like.In above-mentioned heavy load system, improve energy utilization efficiency, solve the hydraulic system stationary problem of a plurality of actuators, become the critical technology of Economy, Security and reliability that guarantees engineering construction.
Nowadays, hydraulic synchronous control system has servocontrol, volume control and throttling (valve control) three major types.Wherein, the synchronization accuracy height of servo synchronous control system, but servovalve is expensive especially; The volume synchronous control system is not owing to exist restriction loss and spill losses in the hydraulic system, realized flow and pressure coupling, effectively saved the energy, reduced the fluid heating, prolonged working life, but the stroke hydraulic cylinder of volume synchronization control speed of response make to(for) big capacity and farm labourer is slow, and control is difficult for.
For example, for hydraulic hoist, its gate opening/closing that has been widely used in hydraulic engineering drives the field, and stepless speed regulation and twin-tub (multi-cylinder) synchronous operation is the Essential Performance Requirements of hydraulic hoist.Hydraulic hoist can be divided into common plane gate, gates of segmental shape and miter gate hydraulic hoist according to controlling object.Dissimilar gates has different open and shut characteristic requirements, stress when requiring according to gate opening/closing as the ship lock miter gate hydraulic hoist of frequent keying, regulate push-and-pull speed, require to advance slowly and twin-tub must keep synchronously in the head and the tail trip segment, and requirement has very high energy utilization efficiency; The open frequency of arc door hydraulic hoist is not high, but then higher to reliability requirement, requires can open movingly at any time.In the gate hydraulic pressure opening/closing system of this type of high capacity, high-power, long stroke, solve the stationary problem of stepless speed regulation and two actuator's oil hydraulic cylinders, become critical technology to improve energy utilization efficiency.
Among invention disclosed patent application on the 14th December in 2005 CN1707033, disclose and a kind ofly adopted electrohydraulic proportional variable pump to combine with the integrated control structure of two-way plug-in valve to constitute the hydraulic hoist high-pressure high-flow stepless change control system of control oil cylinder motion speed, belong to the volume controlling schemes as infinite variable speed elementary cell.Owing to do not have restriction loss and spill losses in the hydraulic system, realized flow and pressure coupling, saved the energy effectively, reduced the fluid heating, prolonged working life, be difficult for but big capacity and farm labourer make the volume synchronization control of stroke hydraulic cylinder, and cost has been higher.
Among September in 2007 invention disclosed patent on the 12nd CN101033758, disclose and a kind ofly in the gate opening/closing process, can control twin-tub synchronous operation automatically while the high hydraulic hoist sync control device of synchronization accuracy, belong to throttling (valve control) controlling schemes, the deficiency of its maximum is to have bigger restriction loss and spill losses, and system capacity efficient is low and cause heating.
Summary of the invention
Technical problem to be solved by this invention is at above-mentioned deficiency of the prior art, a kind of digital electric-hydraulic synchronous control system is provided, it is simple in structure, use is easy and simple to handle and good, energy-conservation, the no oil liquid leakage of using effect, can realize the purpose of stepless speed regulation and high-precise synchronization according to the roadability requirement of dissimilar controlling object.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of digital electric-hydraulic synchronous control system, it is characterized in that: comprise hydraulic actuator, the direct digital synchronizing control that described hydraulic actuator is carried out synchronization control, with the electrohydraulic dynamic source that power fluid is provided for described hydraulic actuator and digital synchronizing control, and the electrohydraulic control system of described electrohydraulic dynamic source and digital synchronizing control being carried out Comprehensive Control;
Described hydraulic actuator is that hydraulic jack and its quantity are two or four;
Described electrohydraulic dynamic source comprises that fuel reserve tank, two advance double-action hydraulic-pressure pump that oil drain out links to each other with described fuel reserve tank by hydraulic pipe line respectively and the double-action hydraulic-pressure pump is carried out drive electric motor; All be serially connected with Pilot operated check valve on two hydraulic pipe lines between described fuel reserve tank and double-action hydraulic-pressure pump;
Described electrohydraulic control system comprises that two are advanced pressure transducer that the oil liquid pressure at oil drain out place detects in real time, speed detector that the rotating speed of motor is detected in real time, directly the rotating speed of motor controlled the variable-frequency governor of adjustment and according to described pressure transducer and speed detector institute's testing signal and the controller motor controlled by variable-frequency governor two of double-action hydraulic-pressure pumps respectively;
Described digital synchronizing control comprises digital synchronous valve, digital isochronous controller and is the displacement transducer that the displacement of piston rod detects in real time to the pto of described hydraulic jack; The quantity of described displacement transducer is identical with the quantity of hydraulic jack and all connect isochronous controller;
Described digital synchronous valve is made up of the spool of making horizontal rectilinear motion in valve body and the valve pocket in valve body; Described spool is directly driven by the Mechanical Driven axle by stepper motor, on the described Mechanical Driven axle null pick-up is installed; Have a fluid import and two split-flow openings that communicate with the fluid import respectively on the described valve body, the fluid import is confluxed-bleed off circuit with two two of split-flow openings compositions respectively, described two conflux-bleed off circuit is symmetrical distribution, the opening amount of two split-flow openings is regulated by the move left and right of spool; Described stepper motor is controlled by isochronous controller, and null pick-up connects isochronous controller;
Carry out both-way communication between described controller and isochronous controller; Described isochronous controller compares for described each displacement transducer institute testing signal being made difference, and tackles the digital isochronous controller that stepper motor is controlled mutually according to making the poor difference signal that relatively draws; Described controller for each displacement transducer institute testing signal is carried out the average computing and with set in advance parameter and be analyzed after, tackle the master controller that motor is controlled mutually;
When the quantity of described hydraulic jack is two, one that the quantity of described digital synchronous valve is one and its fluid import by hydraulic pipe line and double-action hydraulic-pressure pump is advanced oil drain out and joins, another of double-action hydraulic-pressure pump advances oil drain out and joins with the rodless cavity of two hydraulic jacks respectively by hydraulic pipe line, and two split-flow openings of described digital synchronous valve join by the rod chamber of hydraulic pipe line and two hydraulic jacks respectively; All be serially connected with the safe locking mechanism that hydraulic jack is carried out safety locking on the hydraulic pipe line between two split-flow openings and two hydraulic jacks;
When the quantity of described hydraulic jack was four, the quantity of described digital synchronous valve was three and is respectively an one-level digital synchronous valve and two two-stage digital synchronous valve; The fluid import of described one-level digital synchronous valve by hydraulic pipe line and double-action hydraulic-pressure pump advances oil drain out and joins, another of double-action hydraulic-pressure pump advances oil drain out and joins with the rodless cavity of four hydraulic jacks respectively by hydraulic pipe line, two split-flow openings of described one-level digital synchronous valve join by the fluid import of hydraulic pipe line and two two-stage digital synchronous valve respectively, and four split-flow openings of two two-stage digital synchronous valve join by the rod chamber of hydraulic pipe line and four hydraulic jacks respectively.
Described speed detector is a velocity transducer, or is installed in the encoder on the motor output shaft of motor.
Described displacement transducer is the digital speed displacement transducer.
Described double-action hydraulic-pressure pump is the fixing oil hydraulic pump of discharge capacity.
Described digital synchronous valve is guiding valve or rotary valve.
The fluid import of described guiding valve be arranged on valve body above or below, two split-flow opening correspondences are arranged on the opposite side of valve body, two symmetries confluxed-bleed off circuit about the fluid import was formed with two split-flow openings respectively;
The spool of described guiding valve is single boss structure, double polarizing keys structure or three boss structures;
When spool is single boss structure, its middle part is provided with the boss of a described valve pocket of the horizontal shutoff of energy and respectively the opening amount of two split-flow openings is regulated by two outer ends about described boss, described boss is provided with over against the fluid import, two confluxing-bleed off circuit about described boss symmetry about fluid import and two split-flow openings are formed;
When spool is the double polarizing keys structure, it is provided with the boss of two described valve pockets of the horizontal shutoff of energy, two boss lay respectively at the fluid import left and right sides and respectively the opening amount of two split-flow openings are regulated by the inner end of two boss, fluid import and two split-flow openings the confluxing-bleed off circuit of two symmetries about forming between described two boss;
When spool was three boss structures, its boss and three boss that are provided with three described valve pockets of the horizontal shutoff of energy were followed successively by left boss, middle boss and right boss from left to right; Boss is regulated the opening amount of two split-flow openings respectively over against fluid import setting and by the inner end of left boss and right boss in described, and fluid import and two split-flow openings be the confluxing-bleed off circuit of two symmetries about forming between left boss and convexity interstation, middle boss and right boss respectively.
The fluid import of described rotary valve be arranged on valve body above or below, two split-flow openings are separately positioned on the above and below of valve body and the two over against setting, the fluid import is formed confluxing-bleed off circuit of two symmetries up and down with two split-flow openings respectively.
Corresponding fluid import and split-flow opening are respectively arranged with two vertical passages on the spool of described rotary valve.
Described Mechanical Driven axle is screw rod or leading screw, and described Mechanical Driven axle is fixed on a side of spool, and the opposite side of spool is provided with guarantees that spool makes the guider of horizontal rectilinear motion in valve body.
Described safe locking mechanism is the safety locking valve.
The present invention compared with prior art has the following advantages: 1, simple in structure, reasonable in design and use easy and simple to handle.2, used electrohydraulic control system adopts electrical control and hydraulic transmission to organically combine and the compound electrohydraulic control system of valve pump of formation, has the fast and volume control energy-saving advantages of throttling control response speed, and can specific control law be set by the requirement of controlling object roadability, realize direction, speed and the displacement of the oil hydraulic cylinder control purpose by specific rule synchronous operation by electrical control, system has intelligent.3, used power source adopts the electrohydraulic dynamic source that oil hydraulic pump and adjustable speed motor constitute, the in use existing hydraulic pressure in above-mentioned electrohydraulic dynamic source is concentrated the characteristics of the energy, the low advantage of Electrified Transmission energy consumption is arranged again, and the advantage that in use has no unloaded energy loss, thereby can further cut down the consumption of energy, and noise is low, the energy efficiency height, and performance driving economy is good.4, digital synchronizing control is mainly the digital synchronous valve, used digital synchronous valve is that the displacement difference of hydraulic jack is the flow that feedback signal is regulated two restrictions with controlled device directly, thereby constantly eliminate dynamin error and accumulated error, make two or four position synchronous that hydraulic actuator is a hydraulic jack.Like this, influence factors such as the manufacturing of the leakage of hydraulic system, load effect, each constituent element and alignment error just can obtain good restraining and elimination, have formed the control of full cut-off ring, and system is operated steadily, and have improved Security and reliability.5, the pressure controlled valve in the oil hydraulic circuit, speed control valve and directional control valve have been removed, the hydraulic system that constitutes is a closed system simple in structure, do not have restriction loss and spill losses, reduce fluid heating and fluid leakage, avoided the pollution of environment aqueous vapor and dust, the adaptability of environment is good.In sum, the present invention organically combines electrical control and hydraulic transmission, the pressure controlled valve in the oil hydraulic circuit, speed control valve and directional control valve have been saved, and motor traffic direction and rotating speed are controlled the control of the direction, speed and the displacement that realize oil hydraulic cylinder by variable-frequency governor, thereby the restriction loss and the spill losses of pure hydraulic system have been eliminated, reduced the fluid heating, thereby the energy efficiency height; Simultaneously, the digital synchronous valve is realized the two-way Dynamic High-accuracy displacement synchronous of hydraulic jack, has improved the Security and the reliability of high loading, high-power, long stroke system; And the hydraulic system that is adopted is a closed system simple in structure, thereby when having reduced oil liquid leakage, also improved adaptability to abominable Environmental Conditions, generally speaking, the present invention is simple in structure, use is easy and simple to handle and good, energy-conservation, the no oil liquid leakage of using effect, can realize the purpose of stepless speed regulation and high-precise synchronization according to the roadability requirement of dissimilar controlling object.
Below by drawings and Examples, technological scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is the structural representation of first kind of embodiment of the present invention.
Fig. 2 is the structural representation of first kind of embodiment of digital synchronous valve of the present invention.
Fig. 3 is the structural representation of second kind of embodiment of digital synchronous valve of the present invention.
Fig. 4 is the structural representation of the third embodiment of digital synchronous valve of the present invention.
Fig. 5 is the structural representation of the another kind of embodiment of the present invention.
Description of reference numerals:
1-1-oil hydraulic cylinder one; 1-2-oil hydraulic cylinder two; 1-3-oil hydraulic cylinder three;
1-4-oil hydraulic cylinder four; 1-5-oil hydraulic cylinder five; 1-6-oil hydraulic cylinder six;
The displacement of 2-1-digital speed passes the displacement of 2-2-digital speed displacement 2-3-digital speed
Sensor one; Sensor two; Sensor three;
The displacement of 2-4-digital speed passes the displacement of 2-5-digital speed displacement 2-6-digital speed
Sensor four; Sensor five; Sensor six;
3-1-safety locking valve one; 3-2-safety locking valve two; 3-3-safety locking valve three;
3-4-safety locking valve four; 3-5-safety locking valve five; 3-6-safety locking valve six;
4-digital synchronous valve one; 5-digital synchronous valve two; 6-digital synchronous valve three;
7-digital synchronous valve four; The 8-low-pressure reservoir; The digital synchronization control of 9-
Device;
10-Pilot operated check valve one; 11-Pilot operated check valve two; 12-double-action hydraulic-pressure pump;
13-pressure transducer one; 14-pressure transducer two; The 15-motor;
The 16-controller; The 17-velocity transducer; The 18-variable-frequency governor;
The 19-valve body; The 20-spool; The import of 21-fluid;
The 22-split-flow opening; The 23-screw rod; The 24-null pick-up;
The 25-guider; The 26-stepper motor.
Embodiment
Embodiment 1
As shown in Figure 1, the present invention includes hydraulic actuator, the direct digital synchronizing control that described hydraulic actuator is carried out synchronization control, with the electrohydraulic dynamic source that power fluid is provided for described hydraulic actuator and digital synchronizing control, and the electrohydraulic control system of described electrohydraulic dynamic source and digital synchronizing control being carried out Comprehensive Control.
Described hydraulic actuator is that hydraulic jack and its quantity are two or four, and in the present embodiment, the quantity of described hydraulic actuator is two and is specially hydraulic jack one 1-1 and hydraulic jack two 1-2.
Described electrohydraulic dynamic source comprises that fuel reserve tank, two advance double-action hydraulic-pressure pump 12 that oil drain out links to each other with described fuel reserve tank by hydraulic pipe line respectively and double-action hydraulic-pressure pump 12 is carried out drive electric motor 15.All be serially connected with Pilot operated check valve on two hydraulic pipe lines that described fuel reserve tank and double-action hydraulic-pressure pump are 12, be specially Pilot operated check valve 1 and Pilot operated check valve 2 12.Described fuel reserve tank is a low-pressure reservoir 8.
Described electrohydraulic control system comprises that two are advanced pressure transducer (being specially pressure transducer 1 and pressure transducer 2 14) that the oil liquid pressure at oil drain out place detects in real time, speed detector that the rotating speed of motor 15 is detected in real time, directly the rotating speed of motor 15 controlled the variable-frequency governor 18 of adjustment and according to described pressure transducer and speed detector institute's testing signal and the controller 16 controlled by 18 pairs of motor 15 of variable-frequency governor 12 two of double-action hydraulic-pressure pumps respectively.Described speed detector is a velocity transducer 17, or is installed in the encoder on the motor output shaft of motor 15.In the present embodiment, described speed detector is a velocity transducer 17.Described double-action hydraulic-pressure pump 12 is specially axial piston pump or vane pump for the fixing oil hydraulic pump of discharge capacity.Practical operation is crossed in the horizontal stroke, can advance the oil liquid pressure CLV ceiling limit value at oil drain out place to 12 two of double-action hydraulic-pressure pumps by controller 16, and parameters such as the motion speed of two hydraulic cylinder piston rods, running position (being the aperture of gate or the height of lifting) and traffic direction are provided with.
Described digital synchronizing control comprises digital synchronous valve, digital isochronous controller 9 and is the displacement transducer that the displacement of piston rod detects in real time to the pto of described hydraulic jack.The quantity of described displacement transducer is identical with the quantity of hydraulic jack and all connect isochronous controller 9.Described displacement transducer is installed on the take-off lever of described hydraulic cylinder piston rod.In the present embodiment, described displacement transducer is that digital speed displacement transducer and its quantity are two, two displacement transducers are specially digital speed displacement transducer one 2-1 and digital speed displacement transducer two 2-2, and digital speed displacement transducer one 2-1 and digital speed displacement transducer two 2-2 detect and synchronously testing signal is reached isochronous controller 9 in real time to the displacement of described two hydraulic jack ptos respectively.Described digital synchronous valve is guiding valve or rotary valve.
Described digital synchronous valve is made up of the spool 20 of making horizontal rectilinear motion in valve body 19 and the valve pocket in valve body 19.Described spool 20 is directly driven by the Mechanical Driven axle by stepper motor 26, on the described Mechanical Driven axle null pick-up 24 is installed.Have a fluid import 21 (being the P mouth) and two split-flow openings 22 that communicate with fluid import 21 respectively (being A, B mouth) on the described valve body 19, fluid import 21 is confluxed-bleed off circuit (being P-A and P-B) with two split-flow openings, 22 two of compositions respectively.Described two conflux-bleed off circuit is symmetrical distribution, the opening amount of two split-flow openings 22 is regulated by the move left and right of spool 20.Described stepper motor 26 is controlled by isochronous controller 9, and null pick-up 24 connects isochronous controller 9.In the present embodiment, described Mechanical Driven axle is a screw rod 23, and described Mechanical Driven axle is fixed on a side of spool 20, and the opposite side of spool 20 is provided with guarantees that spool 20 makes the guider 25 of horizontal rectilinear motion in valve body 19.In the practice, the Mechanical Driven axle also can be leading screw.During actual processing and fabricating, described stepper motor 26 also can be the linear type stepper motor, at this moment, directly is connected by connecting rod between the motor output shaft of described linear type stepper motor and the spool 20.
During actual processing and fabricating, the fluid import 21 of described guiding valve be arranged on valve body 19 above or below, two split-flow opening 22 correspondences are arranged on the opposite side of valve body 19, two symmetries confluxed-bleed off circuit about fluid import 21 was formed with two split-flow openings 22 respectively.The spool 20 that described digital synchronous valve is a guiding valve is single boss structure, double polarizing keys structure or three boss structures.
In the present embodiment, described digital synchronous valve is a guiding valve, and its fluid import 21 is arranged on the below of valve body 19, and the opposite side that described two split-flow opening 22 correspondences are arranged on valve body 19 is the top, and two symmetries confluxed-bleed off circuit about fluid import 21 was formed with two split-flow openings 22 respectively.In the practice, also the position of fluid import 21 and two split-flow openings 22 can be exchanged, be about to the top that fluid import 21 is arranged on valve body 19, described two split-flow opening 22 correspondences are arranged on the below of valve body 19.In addition, in the present embodiment, when the spool 20 that described digital synchronous valve is a guiding valve is the double polarizing keys structure, it is provided with the boss of two described valve pockets of the horizontal shutoff of energy, two boss lay respectively at fluid import 21 left and right sides and respectively the opening amount of two split-flow openings 22 are regulated by the inner end of two boss, fluid import 21 and two split-flow openings 22 the confluxing-bleed off circuit of two symmetries about forming between described two boss.
9 of described controller 16 and isochronous controllers carry out both-way communication; Described isochronous controller 9 compares for described each displacement transducer institute testing signal being made difference, and tackles the digital isochronous controller that stepper motor 26 is controlled mutually according to making the poor difference signal that relatively draws; Described controller 16 for each displacement transducer institute testing signal is carried out the average computing and with set in advance parameter and be analyzed after, tackle the master controller that motor 15 is controlled mutually.In the present embodiment, described isochronous controller 9 is for making difference relatively to two digital speed displacement sensor institute testing signals, and tackles the digital isochronous controller that stepper motor 26 is controlled mutually according to making the difference signal that difference relatively draws.Controller 16 is for carrying out the average computing and relatively draw difference signal through making difference two digital speed displacement sensor institute testing signals, again with described difference signal with set in advance parameter and be analyzed after, the master controller that motor 15 is controlled.In the actual application, described isochronous controller 9 also can to each displacement transducer institute testing signal carry out the average computing and with set in advance parameter and be analyzed after, tackle the master controller that motor 15 is controlled mutually.
In the present embodiment, the quantity of described digital synchronous valve is one and is specially digital synchronous valve 1, and the fluid import 21 of digital synchronous valve 1 by hydraulic pipe line and double-action hydraulic-pressure pump 12 advances oil drain out and joins, it is that the rodless cavity of hydraulic jack one 1-1 and hydraulic jack two 1-2 joins with two hydraulic jacks respectively by hydraulic pipe line that another of double-action hydraulic-pressure pump 12 advances oil drain out, and two split-flow openings 22 of digital synchronous valve 1 join by the rod chamber of hydraulic pipe line and described two hydraulic jacks respectively.Simultaneously, on two split-flow openings 22 and the hydraulic pipe line between described two hydraulic jacks of described digital synchronous valve 1, all be serially connected with the safe locking mechanism that hydraulic jack is carried out safety locking, described safe locking mechanism is specially the safety locking valve.In the present embodiment, be serially connected in two safety locking valves on the hydraulic tube road between one 4 two split-flow openings 22 of digital synchronous valve and described two hydraulic jacks respectively, be respectively safety locking valve one 3-1 and safety locking valve two 3-2.
Particularly, first of described double-action hydraulic-pressure pump 12 advances oil drain out PA and links to each other by the oil inlet P of hydraulic pipe line with digital synchronous valve 1, two split-flow openings 22 of digital synchronous valve 1 be split-flow opening A with B respectively by hydraulic pipe line link to each other with the P1 mouth of safety locking valve 3-1 and safety locking valve 3-2, the P2 mouth of safety locking valve 3-1 and safety locking valve 3-2 links to each other with the rod chamber of hydraulic jack two 1-2 with hydraulic jack one 1-1 by hydraulic pipe line; Second of described double-action hydraulic-pressure pump 12 advances oil drain out PB and links to each other with the rodless cavity of hydraulic jack two 1-2 with hydraulic jack one 1-1 by hydraulic pipe line; Digital speed displacement transducer 2-1 and digital speed displacement transducer 2-2 are housed respectively on the take-off lever of described hydraulic jack one 1-1 and hydraulic jack two 1-2, and the output signal of digital speed displacement transducer 2-1 and digital speed displacement transducer 2-2 all is sent to isochronous controller 9; Described isochronous controller 9 and 16 two-way connections of controller; First of described double-action hydraulic-pressure pump 12 advances oil drain out PA and second and advances the output signal that oil drain out PB is equipped with pressure transducer (being specially pressure transducer 1 and pressure transducer 2 14), pressure transducer 1 and pressure transducer 2 14 respectively and all be sent to controller 16; Described low-pressure reservoir 8 links to each other with the import P1 of Pilot operated check valve 1 and Pilot operated check valve 2 11 respectively by hydraulic pipe line, the outlet P2 of Pilot operated check valve 1 advances oil drain out PA with first of double-action hydraulic-pressure pump 12 and links to each other by hydraulic pipe line, and the outlet P2 of Pilot operated check valve 2 11 advances oil drain out PB by hydraulic pipe line with second of double-action hydraulic-pressure pump 12 and links to each other.To sum up, because rod chamber and the rodless cavity of hydraulic jack one 1-1 and hydraulic jack two 1-2, advance oil drain out PA and second with first of double-action hydraulic-pressure pump 12 respectively by hydraulic pipe line and advance oil drain out PB and communicate, thereby constitute complete hydraulic work loop.
In the present embodiment, the present invention can effectively be applied in the hydraulic hoist synchronization control process.Below be example with the synchronization control process of hydraulic hoist, two cylinder synchronization control processes of the present invention are elaborated, specific as follows: for the gate opening process: controller 16 powers on after the start, at first the running state that controlled hydraulic pressure hoist is set by controller 16 is for opening, and the parameters such as oil liquid pressure CLV ceiling limit value of entering the oil drain out place of motion speed, running position (being the aperture of gate) and 12 two of the double-action hydraulic-pressure pumps by 16 pairs of two hydraulic cylinder piston rods of controller are provided with simultaneously.Receive the start signal of hydraulic hoist when controller 16 after, corresponding control variable-frequency governor 18 starts, and corresponding control motor 15 is by the gate opening direction rotation that is provided with.In the actual moving process, the digital speed displacement transducer 2-1 and the digital speed displacement transducer 2-2 that are installed on described two hydraulic cylinder piston rods detect the motion speed and the displacement of two hydraulic jacks in real time, and the motion speed of two hydraulic jacks being detected and displacement signal are sent to after isochronous controller 9 carries out respective handling, and by the corresponding again controller 16 that is passed to of isochronous controller 9, after above-mentioned two the digital speed displacement sensor institute testing signals of 16 pairs of controllers carry out the average computing respectively, and do subtraction with the motion speed parameter of controller setting and running position parameter and draw a difference (comprising speed difference and displacement difference) signal, controller 16 corresponding with above-mentioned difference signal as control signal, tackle the motion speed and the running position of motor 15 by variable-frequency governor 18 mutually and control adjustment, move by setting requirement by motor 15 respective drive double-action hydraulic-pressure pumps 12 again, reach motion speed two hydraulic cylinder piston rods, the purpose that running position (being the aperture of gate) is controlled.When speed difference that controller 16 drew when just being the hydraulic jack motion speed less than the motion speed that is provided with, improve the motion speed of motor 15 by variable-frequency governor 18 by controller 16, increase pump delivery by motor 15 respective drive double-action hydraulic-pressure pumps 12 again, to accelerate the operation of oil hydraulic cylinder, reach the motion speed of setting; When the speed difference for negative be that the motion speed of hydraulic jack is during greater than the motion speed that is provided with, reduce the motion speed of motor 15 by variable-frequency governor 18 by controller 16, reduce pump delivery by motor 15 respective drive double-action hydraulic-pressure pumps 12 again, with the operation of the oil hydraulic cylinder that slows down, reach the motion speed of setting; When the speed difference be zero be the motion speed of hydraulic jack equal to be provided with motion speed the time, the motion speed that keeps motor 15 by controller 16 by variable-frequency governor 18, keep pump delivery by motor 15 respective drive double-action hydraulic-pressure pumps 12 again, to keep the motion speed of oil hydraulic cylinder.When the position difference for just be the aperture of gate be provided with less than system gatage the time, continue operation and make the gatage gatage that is provided with of convergence system gradually; When the position difference equalled zero, gate reached the position of setting, stopped the operation of motor 15 by controller 16 by variable-frequency governor 18, kept the aperture of gate by safety locking valve one 3-1 and safety locking valve two 3-2 locking.In addition, the present invention can also be provided with the keying of speed time curve regulating gate by the open and shut characteristic requirement of controller 16 by gate, and for example when opening and closing, control hydraulic jack low cruise is to alleviate hydraulic shock.
Simultaneously, be noted that: before double-action hydraulic-pressure pump 12 action, isochronous controller 9 needs to detect the initial state of null pick-up 24 and spool 20 recurrence zero-bits that corresponding control step motor 26 directly drives synchronization motion.After double-action hydraulic-pressure pump 12 is started working, first to advance oil drain out PA be the filler opening 21 of PA mouth output high-voltage oil liquid to digital synchronous valve 1 from it, behind the valve pocket of digital synchronous valve 1, be divided into two oil circuits of P-A and P-B and corresponding two split-flow openings, 22 outflows afterwards from digital synchronous valve 1, the fluid that flows out from two split-flow openings 22 flow to the rod chamber of hydraulic jack one 1-1 and hydraulic jack two 1-2 respectively through safety locking valve one 3-1 and safety locking valve two 3-2, drive the upwards operation of hydraulic jack one 1-1 and hydraulic jack two 1-2 inner piston rods.
Drive hydraulic jack one 1-1 and hydraulic jack two 1-2 promptly two oil cylinder inner piston rods make progress in the running, digital speed displacement transducer 2-1 and digital speed displacement transducer 2-2 detect in real time to the displacement of two hydraulic cylinder piston rods in real time, and institute's testing signal is sent to isochronous controller 9, programmable counter (the PC1 of isochronous controller 9, PC2) count respectively and corresponding subtraction E=PC1-PC2, dynamically compare the difference of PC1 and PC2, thereby reach the purpose of the sync state of described two hydraulic jacks being carried out real-time monitoring.
When spool 20 was in zero-bit, two of digital synchronous valve 1 confluxed-the opening amount of bleed off circuit (being P-A and P-B) equates that pressure oil equivalent behind digital synchronous valve 1 is diverted to two hydraulic jacks, and made two hydraulic jack synchronous operations.If owing to the load of two hydraulic jacks does not wait or other reason when making the running position of two hydraulic cylinder piston rods error occur, isochronous controller 9 in time detects error by digital speed displacement transducer 2-1 and digital speed displacement transducer 2-2.When the running position of supposing hydraulic jack one 1-1 is ahead of hydraulic jack two 1-2 a little, it is difference E>0 o'clock, isochronous controller 9 is according to difference E and through the PID computing, control step motor 26 directly drives spool 20 minute movement to the right, regulate the opening amount of two split-flow openings 22, the flow that makes pressure oil Ps enter hydraulic jack one 1-1 reduces and the flow that enters hydraulic jack two 1-2 increases, thereby the motion speed of hydraulic jack one 1-1 is slightly reduced, the motion speed of hydraulic jack two 1-2 slightly increases accordingly, makes that finally running state (comprising motion speed and the running position) trend of two hydraulic jacks is synchronous.Otherwise, when hydraulic jack two 1-2 are ahead of hydraulic jack one 1-1 a little, it is difference E<0 o'clock, isochronous controller 9 is according to difference E and through the PID computing, control step motor 26 directly drives spool 20 minute movement left, regulate the opening amount of two split-flow openings 22, the flow that enters hydraulic jack one 1-1 thereby the flow that makes pressure oil Ps enter hydraulic jack two 1-2 reduces increases, the motion speed of hydraulic jack two 1-2 is slightly reduced, and the motion speed of hydraulic jack one 1-1 slightly increases, and makes that finally running state (comprising motion speed and the running position) trend of two hydraulic jacks is synchronous.That is to say, two of valve body 19 and spool 20 formation couplings and symmetry conflux-bleed off circuit (being P-A and P-B), the fluid power of surging of two oil circuits of flowing through is subdued mutually, stepper motor 26 directly drives spool 20 by screw rod 23, and under the constraint of guider 25, move axially about making spool 20 to do, change the opening amount size of two split-flow openings 22 by this, then change the fluid flow of two paths (being P-A, P-B) of flowing through, the digital synchronizing control that final formation is directly driven by digital stepper motor 26.Specifically: isochronous controller 9 is the synchronization error signal of two hydraulic jacks according to two hydraulic actuators of two digital speed displacement sensor feedback, transmission that the spool 20 of corresponding control step motor 26 drive screws 23 and band nut is formed and the size of adjusting two split-flow opening 22 opening amounts, the flow through fluid flow of two paths (P-A, P-B) of corresponding change, eliminate the synchronization error of two hydraulic jacks, thereby form direct digital closed loop control system.
In like manner, can realize also that by the present invention the downward running of above-mentioned two hydraulic jacks is the closing gate process, its synchronous control mode is identical with above-mentioned control mode.
To sum up, in the present embodiment, the present invention can realize the i.e. high-precise synchronization of two cylinders of hydraulic jack one 1-1 and hydraulic jack two 1-2.In like manner, identical with the hydraulic hoist principle, the present invention can effectively be applicable in the control procedure of load lifting.
Embodiment 2
Present embodiment and embodiment's 1 difference part is: the spool 20 that described digital synchronous valve is a guiding valve is single boss structure, its middle part is provided with the boss of a described valve pocket of the horizontal shutoff of energy and respectively the opening amount of two split-flow openings 22 is regulated by two outer ends about described boss, described boss is provided with over against fluid import 21, two confluxing-bleed off circuit about described boss symmetry about fluid import 21 and two split-flow openings 22 are formed.In the present embodiment, the structure of other parts, control mode and function are all identical with embodiment 1.
Embodiment 3
Present embodiment and embodiment's 1 difference part is: the spool 20 that described digital synchronous valve is a guiding valve is three boss structures, and its boss and three boss that are provided with three described valve pockets of the horizontal shutoff of energy are followed successively by left boss, middle boss and right boss from left to right.Boss is provided with and respectively the opening amount of two split-flow openings 22 is regulated by the inner end of left boss and right boss over against fluid import 21 in described, and fluid import 21 and two split-flow openings 22 be the confluxing-bleed off circuit of two symmetries about forming between left boss and convexity interstation, middle boss and right boss respectively.In the present embodiment, the structure of other parts, control mode and function are all identical with embodiment 1.
Embodiment 4
Present embodiment and embodiment's 1 difference part is: described digital synchronous valve is the rotary valve door, and the fluid import 21 of described rotary valve be arranged on valve body 19 above or below, two split-flow openings 22 are separately positioned on the above and below of valve body 19 and the two over against setting, and fluid import 21 is formed confluxing-bleed off circuit of two symmetries up and down with two split-flow openings 22 respectively.Corresponding fluid import 21 and split-flow opening 22 are respectively arranged with two vertical passages on the spool 20 of described rotary valve.The fluid import 21 that described digital synchronous valve is a rotary valve specifically is arranged on the below of valve body 19, directly drive spool 20 move left and right by stepper motor 26, thereby the vertical passage of opening on feasible corresponding two split-flow openings 22 is continuous and two dislocation that split-flow openings 22 produce in various degree, further changes the opening amount of two split-flow openings 22 then.In the present embodiment, the structure of other parts, control mode and function are all identical with embodiment 1.
Embodiment 5
Present embodiment and embodiment's 1 difference part is: the quantity of described hydraulic jack is four, is specially hydraulic jack three 1-3, hydraulic jack four 1-4 and hydraulic jack five 1-5 and hydraulic jack six 1-6.The quantity of described digital synchronous valve is three and is respectively an one-level digital synchronous valve and two two-stage digital synchronous valve, wherein one-level digital synchronous valve is specially 47, two two-stage digital synchronous valve of digital synchronous valve and is specially digital synchronous valve 25 and digital synchronous valve 36.The fluid import 21 that described one-level digital synchronous valve is a digital synchronous valve 47 by hydraulic pipe line and double-action hydraulic-pressure pump 12 advances oil drain out and joins, another of double-action hydraulic-pressure pump 12 advances oil drain out and joins with the rodless cavity of four hydraulic jacks respectively by hydraulic pipe line, the fluid import 21 that two split-flow openings 22 of described one-level digital synchronous valve are digital synchronous valve 25 and digital synchronous valve 36 by hydraulic pipe line and two two-stage digital synchronous valve is respectively joined, and four split-flow openings 22 of two two-stage digital synchronous valve join by the rod chamber of hydraulic pipe line and four hydraulic jacks respectively.
In addition, the quantity of described displacement transducer is four, be specially digital speed displacement transducer three 2-3, digital speed displacement transducer four 2-4, digital speed displacement transducer five 2-5 and digital speed displacement transducer six 2-6, and four displacement transducers all connect isochronous controller 9 and concrete corresponding respectively being installed on the take-off lever of four hydraulic cylinder piston rods.Described four displacement transducers detect and synchronously testing signal are reached isochronous controller 9 in real time to the displacement of described four hydraulic jack ptos respectively.
Accordingly, in the present embodiment, be serially connected in four safety locking valves on the hydraulic tube road between four split-flow openings 22 of digital synchronous valve 25 and digital synchronous valve 36 and four hydraulic jacks respectively, be respectively safety locking valve three 3-3 and safety locking valve four 3-4, safety locking valve five 3-5 and safety locking valve six 3-6.
To sum up, in the present embodiment, the present invention can realize the i.e. high-precise synchronization of four cylinders of four hydraulic jacks.
In the present embodiment, the structure of other parts, control mode and function are all identical with embodiment 1.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.

Claims (10)

1. digital electric-hydraulic synchronous control system, it is characterized in that: comprise hydraulic actuator, the direct digital synchronizing control that described hydraulic actuator is carried out synchronization control, with the electrohydraulic dynamic source that power fluid is provided for described hydraulic actuator and digital synchronizing control, and the electrohydraulic control system of described electrohydraulic dynamic source and digital synchronizing control being carried out Comprehensive Control;
Described hydraulic actuator is that hydraulic jack and its quantity are two or four;
Described electrohydraulic dynamic source comprises that fuel reserve tank, two advance double-action hydraulic-pressure pump (12) that oil drain out links to each other with described fuel reserve tank by hydraulic pipe line respectively and double-action hydraulic-pressure pump (12) is carried out drive electric motor (15); All be serially connected with Pilot operated check valve on two hydraulic pipe lines between described fuel reserve tank and double-action hydraulic-pressure pump (12);
Described electrohydraulic control system comprises that two are advanced pressure transducer that the oil liquid pressure at oil drain out place detects in real time, speed detector that the rotating speed of motor (15) is detected in real time, directly the rotating speed of motor (15) controlled the variable-frequency governor (18) of adjustment and according to described pressure transducer and speed detector institute's testing signal and the controller (16) motor (15) controlled by variable-frequency governor (18) (12) two of double-action hydraulic-pressure pumps respectively;
Described digital synchronizing control comprises digital synchronous valve, digital isochronous controller (9) and is the displacement transducer that the displacement of piston rod detects in real time to the pto of described hydraulic jack; The quantity of described displacement transducer is identical with the quantity of hydraulic jack and all connect isochronous controller (9);
Described digital synchronous valve is made up of the spool (20) of making horizontal rectilinear motion in valve body (19) and the valve pocket in valve body (19); Described spool (20) is directly driven by the Mechanical Driven axle by stepper motor (26), and null pick-up (24) is installed on the described Mechanical Driven axle; Have a fluid import (21) and two split-flow openings (22) that communicate with fluid import (21) respectively on the described valve body (19), fluid import (21) is confluxed-bleed off circuit with two of two split-flow openings (22) compositions respectively, described two conflux-bleed off circuit is symmetrical distribution, the opening amount of two split-flow openings (22) is regulated by the move left and right of spool (20); Described stepper motor (26) is controlled by isochronous controller (9), and null pick-up (24) connects isochronous controller (9);
Carry out both-way communication between described controller (16) and isochronous controller (9); Described isochronous controller (9) compares for described each displacement transducer institute testing signal being made difference, and tackles the digital isochronous controller that stepper motor (26) is controlled mutually according to making the poor difference signal that relatively draws; Described controller (16) for each displacement transducer institute testing signal is carried out the average computing and with set in advance parameter and be analyzed after, tackle the master controller that motor (15) is controlled mutually;
When the quantity of described hydraulic jack is two, one that the quantity of described digital synchronous valve is one and its fluid import (21) by hydraulic pipe line and double-action hydraulic-pressure pump (12) is advanced oil drain out and joins, another of double-action hydraulic-pressure pump (12) advances oil drain out and joins with the rodless cavity of two hydraulic jacks respectively by hydraulic pipe line, and two split-flow openings (22) of described digital synchronous valve join by the rod chamber of hydraulic pipe line and two hydraulic jacks respectively; All be serially connected with the safe locking mechanism that hydraulic jack is carried out safety locking on the hydraulic pipe line between two split-flow openings (22) and two hydraulic jacks;
When the quantity of described hydraulic jack was four, the quantity of described digital synchronous valve was three and is respectively an one-level digital synchronous valve and two two-stage digital synchronous valve; The fluid import (21) of described one-level digital synchronous valve by hydraulic pipe line and double-action hydraulic-pressure pump (12) advances oil drain out and joins, another of double-action hydraulic-pressure pump (12) advances oil drain out and joins with the rodless cavity of four hydraulic jacks respectively by hydraulic pipe line, two split-flow openings (22) of described one-level digital synchronous valve join by the fluid import (21) of hydraulic pipe line and two two-stage digital synchronous valve respectively, and four split-flow openings (22) of two two-stage digital synchronous valve join by the rod chamber of hydraulic pipe line and four hydraulic jacks respectively.
2. according to the described digital electric-hydraulic synchronous control system of claim 1, it is characterized in that: described speed detector is velocity transducer (17), or is installed in the encoder on the motor output shaft of motor (15).
3. according to claim 1 or 2 described digital electric-hydraulic synchronous control systems, it is characterized in that: described displacement transducer is the digital speed displacement transducer.
4. according to claim 1 or 2 described digital electric-hydraulic synchronous control systems, it is characterized in that: described double-action hydraulic-pressure pump (12) is the fixing oil hydraulic pump of discharge capacity.
5. according to claim 1 or 2 described digital electric-hydraulic synchronous control systems, it is characterized in that: described digital synchronous valve is guiding valve or rotary valve.
6. according to the described digital electric-hydraulic synchronous control system of claim 5, it is characterized in that: the fluid import (21) of described guiding valve be arranged on valve body (19) above or below, two split-flow openings (22) correspondence is arranged on the opposite side of valve body (19), and two symmetries confluxed-bleed off circuit about fluid import (21) was formed with two split-flow openings (22) respectively;
The spool of described guiding valve (20) is single boss structure, double polarizing keys structure or three boss structures;
When spool (20) is single boss structure, its middle part is provided with the boss of a described valve pocket of the horizontal shutoff of energy and respectively the opening amount of two split-flow openings (22) is regulated by two outer ends about described boss, described boss is provided with over against fluid import (21), two confluxing-bleed off circuit about described boss symmetry about fluid import (21) and two split-flow openings (22) are formed;
When spool (20) is the double polarizing keys structure, it is provided with the boss of two described valve pockets of the horizontal shutoff of energy, two boss lay respectively at fluid import (21) left and right sides and respectively the opening amount of two split-flow openings (22) are regulated by the inner end of two boss, fluid import (21) and two split-flow openings (22) the confluxing-bleed off circuit of two symmetries about forming between described two boss;
When spool (20) was three boss structures, its boss and three boss that are provided with three described valve pockets of the horizontal shutoff of energy were followed successively by left boss, middle boss and right boss from left to right; Boss is provided with and respectively the opening amount of two split-flow openings (22) is regulated by the inner end of left boss and right boss over against fluid import (21) in described, and fluid import (21) and two split-flow openings (22) are respectively in the confluxing-bleed off circuit of two symmetries about composition between left boss and convexity interstation, middle boss and right boss.
7. according to the described digital electric-hydraulic synchronous control system of claim 5, it is characterized in that: the fluid import (21) of described rotary valve be arranged on valve body (19) above or below, two split-flow openings (22) are separately positioned on the above and below of valve body (19) and the two over against setting, and fluid import (21) is formed confluxing-bleed off circuit of two symmetries up and down with two split-flow openings (22) respectively.
8. according to the described digital electric-hydraulic synchronous control system of claim 7, it is characterized in that: the spool of described rotary valve (20) is gone up corresponding fluid import (21) and split-flow opening (22) is respectively arranged with two vertical passages.
9. according to claim 1 or 2 described digital electric-hydraulic synchronous control systems, it is characterized in that: described Mechanical Driven axle is screw rod (23) or leading screw, described Mechanical Driven axle is fixed on a side of spool (20), and the opposite side of spool (20) is provided with guarantees that spool (20) makes the guider (25) of horizontal rectilinear motion in valve body (19).
10. according to claim 1 or 2 described digital electric-hydraulic synchronous control systems, it is characterized in that: described safe locking mechanism is the safety locking valve.
CNA2009100226971A 2009-05-26 2009-05-26 Digital electric-hydraulic synchronous control system Pending CN101571155A (en)

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CN102108962B (en) * 2009-12-29 2014-09-10 黑旋风工程机械开发有限公司 Variable frequency control single-cylinder double-acting double-liquid grouting pump
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CN102500735B (en) * 2011-09-20 2015-05-13 天津市天锻压力机有限公司 Strain rate control and multi-point leveling control method for multi-cylinder hydraulic system
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CN102817885A (en) * 2012-08-09 2012-12-12 恒天九五重工有限公司 Power system
CN103047206A (en) * 2013-01-09 2013-04-17 浙江大学 Fast synchronization hydraulic system for segment assembling lifting motion
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