CN101749294A - Hydraulic synchronous driving control system for realizing load balancing - Google Patents

Hydraulic synchronous driving control system for realizing load balancing Download PDF

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Publication number
CN101749294A
CN101749294A CN 200810143791 CN200810143791A CN101749294A CN 101749294 A CN101749294 A CN 101749294A CN 200810143791 CN200810143791 CN 200810143791 CN 200810143791 A CN200810143791 A CN 200810143791A CN 101749294 A CN101749294 A CN 101749294A
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China
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communicated
valve
filler opening
oil outlet
motor
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CN 200810143791
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Chinese (zh)
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CN101749294B (en
Inventor
邓华
李群明
夏毅敏
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中南大学
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Publication of CN101749294A publication Critical patent/CN101749294A/en
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Publication of CN101749294B publication Critical patent/CN101749294B/en

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Abstract

The invention discloses a hydraulic synchronous driving control system for realizing load balancing, which comprises filters, fine filters, variable pumps, sequence valves, globe valves, one-way valves, accumulators, two-position three-way proportional valves, relief valves, motors, pressure sensors, an angular velocity sensor, controllers and a large gear (large load) acted together by pinions connected with the motors. The invention uses the angular velocity sensor to detect the angular velocity of the large gear so as to ensure that the angular velocity of the large gear can be controlled in real time and is consistent with the preset value, and uses the pressure sensors to detect the pressure of the inlets and outlets of the two motors, and the angular velocity of the large gear is taken as the feedback signal of one motor, and the differential pressure between the inlet and the outlet of the motor is taken as a benchmark to control the differential pressure of the inlet and the outlet of the other motor and track the differential pressure between the inlet and the outlet of the benchmark motor in real time, so that the output torques of two actuating mechanisms are consistent with each other, thereby not only achieving the purpose of synchronous driving, but also achieving load balancing.

Description

A kind of hydraulic synchronous driving control system of realizing load balancing
Affiliated technical field
The present invention relates to fluid pressure actuator, relate in particular to the hydraulic synchronous driving control system of realizing load balancing under a kind of polynary drive condition.
Technical background
Polynary driving is a kind of driving mode at heavy duty or large inertia load situation, promptly drives a load by the acting in conjunction of two or more systems.Just have problem of load balancing during by load of a plurality of (more than two) driving link synchronous drive, for the system of frequent start-stop, problem of load balancing is especially outstanding.Yet common synchronisation control means can not be realized the load balancing in the transmission process.Drive a gearwheel as two or more small gears are common, synchronisation control means commonly used is speed or position feedback control, wherein comprises two kinds of typical way again: etc. common mode and master slave mode.Be meant the speed of independent each small gear of control etc. common mode, make its near preset value to reach the purpose that drives gearwheel simultaneously; Master slave mode is meant that the speed of other small gear track reference small gears is to reach the purpose that drives gearwheel simultaneously with the speed of one of them small gear as a reference.The Hydraulic Power Transmission System of speed or position feedback control is not only to the coherence request height of element (as motor, gear), be subjected to caused asynchronous the influence greatly of mechanical transmission component processing and alignment error, more outstanding is the load balancing that can not guarantee in the transmission process.
Summary of the invention
The object of the present invention is to provide a kind of hydraulic synchronous driving control system of realizing load balancing, can realize gearwheel of a plurality of small gear synchronous drive, and the load balancing of the system of realization.
The technical solution adopted for the present invention to solve the technical problems comprises: two filters, two variable displacement pumps, two sequence valves, ten one-way valves, two accumulators, two fine filters, four two-bit triplet Proportional valves, two relief valves, two motors, two small gears, gearwheel, two stop valves, an angular-rate sensor, four pressure transducers, two controllers; The filler opening A of first filter 1Be communicated with fuel tank; The oil outlet B of first filter 1Filler opening A with first variable displacement pump 2Be communicated with; The oil outlet B of first variable displacement pump 2Respectively with the oil inlet P of first sequence valve 3, first one-way valve filler opening A 4Be communicated with; The oil return inlet T of first sequence valve 3Be communicated with fuel tank; The oil outlet B of first one-way valve 4Respectively with the filler opening A of first stop valve 31, first fine filter filler opening A 30Be communicated with; The oil outlet B of first stop valve 31Filler opening A with first accumulator 5Be communicated with; The oil outlet B of first fine filter 30Respectively with the oil inlet P of first two-bit triplet Proportional valve 6, second two-bit triplet Proportional valve oil inlet P 7Be communicated with; The oil return inlet T of first two-bit triplet Proportional valve 6Connected tank; The oil outlet A of first two-bit triplet Proportional valve 6Respectively with the oil outlet B of second one-way valve 8, the 3rd one-way valve filler opening A 11, first motor filler opening A 13Be communicated with; The filler opening A of second one-way valve 8Be communicated with fuel tank; The oil outlet B of the 3rd one-way valve 11Filler opening A with first relief valve 10Be communicated with; The return opening B of first relief valve 10Be communicated with fuel tank; First small gear of first motor driven; The oil outlet B of first motor 13Respectively with the filler opening A of the 4th one-way valve 12, the 5th one-way valve oil outlet B 9, second two-bit triplet Proportional valve filler opening A 7Be communicated with; The oil outlet B of the 4th one-way valve 12Filler opening A with first relief valve 10Be communicated with; The filler opening A of the 5th one-way valve 9Be communicated with fuel tank; The oil return inlet T of second two-bit triplet Proportional valve 7Be communicated with fuel tank; The filler opening A of second filter 29Be communicated with fuel tank; The oil outlet B of second filter 29Filler opening A with second variable displacement pump 28Be communicated with; The oil outlet B of second variable displacement pump 28Respectively with the oil inlet P of second sequence valve 27, the 6th one-way valve filler opening A 26Be communicated with; The oil return inlet T of second sequence valve 27Be communicated with fuel tank; The oil outlet B of the 6th one-way valve 26Respectively with the filler opening A of second stop valve 32, second fine filter filler opening A 33Be communicated with; The oil outlet B of second stop valve 32Filler opening A with second accumulator 25Be communicated with; The oil outlet B of second fine filter 33Respectively with the oil inlet P of the 3rd two-bit triplet Proportional valve 23, the 4th two-bit triplet Proportional valve oil inlet P 24Be communicated with; The oil return inlet T of the 3rd two-bit triplet Proportional valve 23Connected tank; The oil outlet A of the 3rd two-bit triplet Proportional valve 23Respectively with the oil outlet B of the 7th one-way valve 21, the 8th one-way valve filler opening A 18, second motor filler opening A 17Be communicated with; The filler opening A of the 7th one-way valve 21Be communicated with fuel tank; The oil outlet B of the 8th one-way valve 18Filler opening A with second relief valve 20Be communicated with; The return opening B of second relief valve 20Be communicated with fuel tank; Second small gear of second motor driven; The oil outlet B of second motor 17Respectively with the filler opening A of the 9th one-way valve 19, the tenth one-way valve oil outlet B 22, the 4th two-bit triplet Proportional valve filler opening A 24Be communicated with; The oil outlet B of the 9th one-way valve 19Filler opening A with second relief valve 20Be communicated with; The filler opening A of the tenth one-way valve 22Be communicated with fuel tank; The oil return inlet T of the 4th two-bit triplet Proportional valve 24Be communicated with fuel tank; First small gear and second small gear drive gearwheel simultaneously.
Angular-rate sensor detects the angular velocity of gearwheel in real time; First pressure transducer detects the filler opening A of first motor in real time 13The force value at place; Second pressure transducer detects the oil outlet B of first motor in real time 13The force value at place; The 3rd pressure transducer detects the filler opening A of second motor in real time 17The force value at place; The 4th pressure transducer detects the oil outlet B of second motor in real time 17The force value at place; The testing signal of angular-rate sensor is as the input signal of first controller, and first controller is controlled the valve port opening degree of first and second two-bit triplet Proportional valve; The difference of the inlet and outlet pressure difference of first motor and the inlet and outlet pressure difference of second motor is as the input signal of second controller, and second controller controlled the valve port opening degree of the 3rd and the 4th two-bit triplet Proportional valve.
The present invention compares with background technique, and the useful effect that has is:
1) with the angular velocity of gearwheel feedback signal as one of them motor, and with the inlet outlet pressure differential of this motor tracking signal as other motor inlet outlet pressure differentials, make each drive system have only a feedback control signal, simplified control system and control algorithm.
2) this control system has realized that the inlet outlet pressure differential of a plurality of drive motors is consistent in real time, it is the output torque unanimity of a plurality of motors, thereby in the synchronously driven load balancing that guarantees each drive system simultaneously, anti-external interference ability is strong, requires also relatively low to the symmetry properties of actuator and the processing and the installation precision of element.
The present invention is not only applicable to the situation that two and plural small gear drive a gearwheel, is applicable to other polynary driving mechanisms simultaneously yet, is the system of oil hydraulic cylinder as actuator.
Description of drawings
The invention will be further described below in conjunction with the drawings and specific embodiments.
Accompanying drawing 1 is that system principle schematic representation of the present invention, accompanying drawing 2 are control principle schematic representation.
Embodiment
As shown in Figure 1, the present invention includes 1,29, two variable displacement pumps 2,28 of two filters, two sequence valves 3,27,5,25, two fine filters 30,33 of 4,8,9,11,12,18,19,21,22,26, two accumulators of ten one-way valves, four two-bit triplet Proportional valves 6,7,23,24,13,17, two small gears 14,16 of 10,20, two motors of two relief valves, 15, two stop valves of gearwheel 31,32; The filler opening A of first filter 1 1Be communicated with fuel tank; The oil outlet B of first filter 1 1Filler opening A with first variable displacement pump 2 2Be communicated with; The oil outlet B of first variable displacement pump 2 2Respectively with the oil inlet P of first sequence valve 3 3, first one-way valve 4 filler opening A 4Be communicated with; The oil return inlet T of first sequence valve 3 3Be communicated with fuel tank; The oil outlet B of first one-way valve 4 4Respectively with the filler opening A of first stop valve 31 31, first fine filter 30 filler opening A 30Be communicated with; The oil outlet B of first stop valve 31 31Filler opening A with first accumulator 5 5Be communicated with; The oil outlet B of first fine filter 30 30Respectively with the oil inlet P of first two-bit triplet Proportional valve 6 6, second two-bit triplet Proportional valve 7 oil inlet P 7Be communicated with; The oil return inlet T of first two-bit triplet Proportional valve 6 6Connected tank; The oil outlet A of first two-bit triplet Proportional valve 6 6Respectively with the oil outlet B of second one-way valve 8 8, the 3rd one-way valve 11 filler opening A 11, first motor 13 filler opening A 13Be communicated with; The filler opening A of second one-way valve 8 8Be communicated with fuel tank; The oil outlet B of the 3rd one-way valve 11 11Filler opening A with first relief valve 10 10Be communicated with; The return opening B of first relief valve 10 10Be communicated with fuel tank; First motor 13 drives first small gear 14; The oil outlet B of first motor 13 13Respectively with the filler opening A of the 4th one-way valve 12 12, the 5th one-way valve 9 oil outlet B 9, second two-bit triplet Proportional valve 7 filler opening A 7Be communicated with; The oil outlet B of the 4th one-way valve 12 12Filler opening A with first relief valve 10 10Be communicated with; The filler opening A of the 5th one-way valve 9 9Be communicated with fuel tank; The oil return inlet T of second two-bit triplet Proportional valve 7 7Be communicated with fuel tank; The filler opening A of second filter 29 29Be communicated with fuel tank; The oil outlet B of second filter 29 29Filler opening A with second variable displacement pump 28 28Be communicated with; The oil outlet B of second variable displacement pump 28 28Respectively with the oil inlet P of second sequence valve 27 27, the 6th one-way valve 26 filler opening A 26Be communicated with; The oil return inlet T of second sequence valve 27 27Be communicated with fuel tank; The oil outlet B of the 6th one-way valve 28 26Respectively with the filler opening A of second stop valve 32 32, second fine filter 33 filler opening A 33Be communicated with; The oil outlet B of second stop valve 32 32Filler opening A with second accumulator 25 25Be communicated with; The oil outlet B of second fine filter 33 33Respectively with the oil inlet P of the 3rd two-bit triplet Proportional valve 23 23, the 4th two-bit triplet Proportional valve 24 oil inlet P 24Be communicated with; The oil return inlet T of the 3rd two-bit triplet Proportional valve 23 23Connected tank; The oil outlet A of the 3rd two-bit triplet Proportional valve 23 23Respectively with the oil outlet B of the 7th one-way valve 21 21, the 8th one-way valve 18 filler opening A 18, second motor 17 filler opening A 17Be communicated with; The filler opening A of the 7th one-way valve 21 21Be communicated with fuel tank; The oil outlet B of the 8th one-way valve 18 18Filler opening A with second relief valve 20 20Be communicated with; The return opening B of second relief valve 20 20Be communicated with fuel tank; Second motor 17 drives second small gear 16; The oil outlet B of second motor 17 17Respectively with the filler opening A of the 9th one-way valve 19 19, the tenth one-way valve 22 oil outlet B 22, the 4th two-bit triplet Proportional valve 24 filler opening A 24Be communicated with; The oil outlet B of the 9th one-way valve 19 19Filler opening A with second relief valve 20 20Be communicated with; The filler opening A of the tenth one-way valve 22 22Be communicated with fuel tank; The oil return inlet T of the 4th two-bit triplet Proportional valve 24 24Be communicated with fuel tank; First small gear 14 and second small gear 16 drive gearwheel 15 simultaneously.
Angular-rate sensor 34 detects the angular velocity of gearwheel 15 in real time; First pressure transducer 35 detects the filler opening A of first motor 13 in real time 13The force value at place; Second pressure transducer 36 detects the oil outlet B of first motor 13 in real time 13The force value at place; The 3rd pressure transducer 37 detects the filler opening A of second motor 17 in real time 17The force value at place; The 4th pressure transducer 38 detects the oil outlet B of second motor 17 in real time 17The force value at place; The testing signal of angular-rate sensor 34 is as the input signal of first controller 39, the valve port opening degree of first controller 39 controls first and second two-bit triplet Proportional valve 6,7; The difference of the inlet and outlet pressure difference of first motor 13 and the inlet and outlet pressure difference of second motor 17 is as the input signal of second controller 40, and second controller 40 controlled the valve port opening degree of the 3rd and the 4th two-bit triplet Proportional valve 23,24.
Working procedure of the present invention is as follows:
The start up period, small gear 14 and small gear 16 drive gearwheel 15 simultaneously.Filler opening with motor 13 is A 13And the filler opening of motor 17 is A 17Be example, the hydraulic work system process of driving pinion 14 is: variable displacement pump 2 starting back hydraulic oil enter the filler opening A of filter 1 from fuel tank 1, the oil outlet B of filter 1Filler opening A with variable displacement pump 2 2Be communicated with.Variable displacement pump 2 oil outlet B 2The high pressure oil of discharging enters the filler opening A of one-way valve 4 4, as variable displacement pump 2 oil outlet B 2When overpressure occurring, high pressure oil flows into the oil inlet P of sequence valve 3 3, from the oil return inlet T of sequence valve 3 3Flow back to fuel tank, realize unloading, the filler opening A of stop valve 31 31The force value at place is as the pilot pressure of sequence valve 3.The high pressure oil that variable displacement pump 2 is discharged is through the oil outlet B of one-way valve 4 4Flow out, a part enters accumulator 5 through stop valve 31, the oil inlet P that a part enters two-bit triplet Proportional valve 6 through fine filter 30 6, the b termination of two-bit triplet Proportional valve 6 is gone into oil circuit at this moment, and fluid is through the oil outlet A of two-bit triplet Proportional valve 6 6Flow into the filler opening A of motor 13 13When the valve port opening degree of two-bit triplet Proportional valve 6 reduces, the flow that flows into motor 13 diminishes, if this moment, motor 13 turned round owing to effect of inertia still keeps original speed, then can produce the suction phenomenon at the import oil circuit of motor 13, this moment, hydraulic oil entered the filler opening A of one-way valve 8 from fuel tank 8, again from the oil outlet B of one-way valve 8 8Flow into the filler opening A of motor 13 13, to system's repairing.Because fault or external interference when stuck, the in-line pressure of motor 13 raises when motor 13, and this moment, one-way valve 11 and relief valve 10 played the effect of overload protection, and high pressure oil flows into the filler opening A of one-way valve 11 11, through the oil outlet B of one-way valve 11 11Flow into the filler opening A of relief valve 10 10, through the oil outlet B of relief valve 10 10Flow back to fuel tank.Fluid is through the oil outlet B of motor 13 13Flow into the filler opening A of two-bit triplet Proportional valve 7 7, a termination of two-bit triplet Proportional valve 7 is gone into oil circuit at this moment, and fluid is through the oil return inlet T of two-bit triplet Proportional valve 7 7Flow back to fuel tank.
The hydraulic work system process of driving pinion 16 is: variable displacement pump 28 starting back hydraulic oil enter the filler opening A of filter 29 from fuel tank 29, the oil outlet B of filter 29Filler opening A with variable displacement pump 28 28Be communicated with.Variable displacement pump 28 oil outlet B 28The high pressure oil of discharging enters the filler opening A of one-way valve 26 26, as variable displacement pump 28 oil outlet B 28When overpressure occurring, high pressure oil flows into the oil inlet P of sequence valve 27 27, from the oil return inlet T of sequence valve 27 27Flow back to fuel tank, realize unloading, the filler opening A of stop valve 32 32The force value at place is as the pilot pressure of sequence valve 27.The high pressure oil that variable displacement pump 28 is discharged is through the oil outlet B of one-way valve 26 26Flow out, a part enters accumulator 25 through stop valve 32, the oil inlet P that a part enters two-bit triplet Proportional valve 23 through fine filter 33 23, the b termination of two-bit triplet Proportional valve 23 is gone into oil circuit at this moment, and fluid is through the oil outlet A of two-bit triplet Proportional valve 23 23Flow into the filler opening A of motor 17 17When the valve port opening degree of two-bit triplet Proportional valve 23 reduces, the flow that flows into motor 17 diminishes, if this moment, motor 17 turned round owing to effect of inertia still keeps original speed, then can produce the suction phenomenon at the import oil circuit of motor 17, this moment, hydraulic oil entered the filler opening A of one-way valve 21 from fuel tank 21, again from the oil outlet B of one-way valve 21 21Flow into the filler opening A of motor 17 17, to system's repairing.Because fault or external interference when stuck, the in-line pressure of motor 17 raises when motor 17, and this moment, one-way valve 18 and relief valve 20 played the effect of overload protection, and high pressure oil flows into the filler opening A of one-way valve 18 18, through the oil outlet B of one-way valve 18 18Flow into the filler opening A of relief valve 20 20, through the oil outlet B of relief valve 20 20Flow back to fuel tank.Fluid is through the oil outlet B of motor 17 17Flow into the filler opening A of two-bit triplet Proportional valve 24 24, a termination of two-bit triplet Proportional valve 24 is gone into oil circuit at this moment, and fluid is through the oil return inlet T of two-bit triplet Proportional valve 24 24Flow back to fuel tank.
When the start up period motor 13 filler opening be A 13And the filler opening of motor 17 is A 17The time, the deboost phase working procedure is as follows:
The hydraulic system braking process of driving pinion 14 is: controller 39 control two-bit triplet Proportional valves 6, and its valve port is closed, controller 39 control two-bit triplet Proportional valves 7 make its valve port opening degree reduce simultaneously, motor 13 oil outlet B 13Oil drain quantity reduce motor 13 oil outlet B then 13The back pressure at place increases, make motor 13 outputs with the start up period direction opposite moment of torsion, 14 pairs of gearwheels of driving pinion 15 are braked.
The hydraulic system braking process of driving pinion 16 is: controller 40 control two-bit triplet Proportional valves 23, and its valve port is closed, controller 40 control two-bit triplet Proportional valves 24 make its valve port opening degree reduce simultaneously, motor 17 oil outlet B 17Oil drain quantity reduce motor 17 oil outlet B then 17The back pressure at place increases, make motor 17 outputs with the start up period direction opposite moment of torsion, 16 pairs of gearwheels of driving pinion 15 are braked.
As shown in Figure 2, control system of the present invention comprises an angular-rate sensor, four pressure transducers, two controllers; Angular-rate sensor 34 detects the angular velocity of gearwheel 15 in real time; Pressure transducer 35 is measured the filler opening A of motor 13 in real time 13The force value at place; Pressure transducer 36 is measured the oil outlet B of motor 13 in real time 13The force value at place; Pressure transducer 37 is measured the filler opening A of motor 17 in real time 17The force value at place; Pressure transducer 38 is measured the oil outlet B of motor 17 in real time 17The force value at place;
The control system working procedure is as follows:
The difference of the gearwheel angular velocity omega 0 that setting value ω 1 and angular-rate sensor 34 record is as the input of controller 39, when difference bigger than normal, be that ω 1 is during greater than ω 0, controller 39 makes the valve port opening degree of two-bit triplet Proportional valve 6 become big by adjusting, the flow that then flows through motor 13 becomes big, and the angular velocity omega 0 that the angular velocity of motor 13 becomes ambassador's gearwheel becomes big.When the difference of input controller 39 is less than normal, be that ω 1 is during less than ω 0, controller 39 diminishes the valve port opening degree of two-bit triplet Proportional valve 6 by adjusting, the oil inlet quantity of motor 13 is diminished, controller 39 diminishes the valve port opening degree of two-bit triplet Proportional valve 7 by adjusting simultaneously, the oil drain quantity of motor 13 is diminished, then at the oil outlet B of motor 13 13The place forms back pressure, and the angular velocity of motor 13 is diminished, and then the angular velocity omega 0 of gearwheel 15 diminishes, to reach the angular velocity and the approaching purpose of predefined value of control gearwheel 15.When motor displacement one timing, the pressure reduction at its two ends and its output torque are proportional, and the difference of inlet outlet pressure differential was as the input of controller 40 when inlet outlet pressure differential and motor 17 were worked during with motor 13 work.Less than normal when the difference of input controller 40, promptly the inlet outlet pressure differential of motor 13 is less than the inlet outlet pressure differential of motor 17, and controller 40 control ratio valves 23 reduce its valve port opening degree, then can reduce to flow into the flow of motor 17, reduces the pressure difference that motor 17 is imported and exported.When the difference of input controller 40 bigger than normal, be the inlet outlet pressure differential of the inlet outlet pressure differential of motor 13 greater than motor 17, controller 40 control ratio valves 23 increase its valve port opening degree, then can increase the flow that flows into motor 17, thereby increase the pressure difference that motor 17 is imported and exported, make the inlet outlet pressure differential of inlet outlet pressure differential real-time tracking motor 13 of motor 17, therefore the output torque of two motors reaches consistent, i.e. the load balancing of motor 13 and motor 17.This synchronization control scheme is equally applicable to plural actuator and realizes load balancing.

Claims (2)

1. hydraulic synchronous driving control system of realizing load balancing, it is characterized in that comprising: two filters (1,29), two variable displacement pumps (2,28), two sequence valves (3,27), ten one-way valves (4,8,9,11,12,18,19,21,22,26), two accumulators (5,25), two fine filters (30,33), four two-bit triplet Proportional valves (6,7,23,24), two relief valves (10,20), two motors (13,17), two small gears (14,16), gearwheel (15), two stop valves (31,32), an angular-rate sensor (34), four pressure transducers (35,36,37,38), two controllers (39,40); The filler opening A of first filter (1) 1Be communicated with fuel tank; The oil outlet B of first filter (1) 1Filler opening A with first variable displacement pump (2) 2Be communicated with; The oil outlet B of first variable displacement pump (2) 2Respectively with the oil inlet P of first sequence valve (3) 3, first one-way valve (4) filler opening A 4Be communicated with; The oil return inlet T of first sequence valve (3) 3Be communicated with fuel tank; The oil outlet B of first one-way valve (4) 4Respectively with the filler opening A of first stop valve (31) 31, first fine filter (30) filler opening A 30Be communicated with; The oil outlet B of first stop valve (31) 31Filler opening A with first accumulator (5) 5Be communicated with; The oil outlet B of first fine filter (30) 30Respectively with the oil inlet P of first two-bit triplet Proportional valve (6) 6, second two-bit triplet Proportional valve (7) oil inlet P 7Be communicated with; The oil return inlet T of first two-bit triplet Proportional valve (6) 6Connected tank; The oil outlet A of first two-bit triplet Proportional valve (6) 6Respectively with the oil outlet B of second one-way valve (8) 8, the 3rd one-way valve (11) filler opening A 11, first motor (13) filler opening A 13Be communicated with; The filler opening A of second one-way valve (8) 8Be communicated with fuel tank; The oil outlet B of the 3rd one-way valve (11) 11Filler opening A with first relief valve (10) 10Be communicated with; The return opening B of first relief valve (10) 10Be communicated with fuel tank; First motor (13) drives first small gear (14); The oil outlet B of first motor (13) 13Respectively with the filler opening A of the 4th one-way valve (12) 12, the 5th one-way valve (9) oil outlet B 9, second two-bit triplet Proportional valve (7) filler opening A 7Be communicated with; The oil outlet B of the 4th one-way valve (12) 12Filler opening A with first relief valve (10) 10Be communicated with; The filler opening A of the 5th one-way valve (9) 9Be communicated with fuel tank; The oil return inlet T of second two-bit triplet Proportional valve (7) 7Be communicated with fuel tank; The filler opening A of second filter (29) 29Be communicated with fuel tank; The oil outlet B of second filter (29) 29Filler opening A with second variable displacement pump (28) 28Be communicated with; The oil outlet B of second variable displacement pump (28) 28Respectively with the oil inlet P of second sequence valve (27) 27, the 6th one-way valve (26) filler opening A 26Be communicated with; The oil return inlet T of second sequence valve (27) 27Be communicated with fuel tank; The oil outlet B of the 6th one-way valve (26) 26Respectively with the filler opening A of second stop valve (32) 32, second fine filter (33) filler opening A 33Be communicated with; The oil outlet B of second stop valve (32) 32Filler opening A with second accumulator (25) 25Be communicated with; The oil outlet B of second fine filter (33) 33Respectively with the oil inlet P of the 3rd two-bit triplet Proportional valve (23) 23, the 4th two-bit triplet Proportional valve (24) oil inlet P 24Be communicated with; The oil return inlet T of the 3rd two-bit triplet Proportional valve (23) 23Connected tank; The oil outlet A of the 3rd two-bit triplet Proportional valve (23) 23Respectively with the oil outlet B of the 7th one-way valve (21) 21, the 8th one-way valve (18) filler opening A 18, second motor (17) filler opening A 17Be communicated with; The filler opening A of the 7th one-way valve (21) 21Be communicated with fuel tank; The oil outlet B of the 8th one-way valve (18) 18Filler opening A with second relief valve (20) 20Be communicated with; The return opening B of second relief valve (20) 20Be communicated with fuel tank; Second motor (17) drives second small gear (16); The oil outlet B of second motor (17) 17Respectively with the filler opening A of the 9th one-way valve (19) 19, the tenth one-way valve (22) oil outlet B 22, the 4th two-bit triplet Proportional valve (24) filler opening A 24Be communicated with; The oil outlet B of the 9th one-way valve (19) 19Filler opening A with second relief valve (20) 20Be communicated with; The filler opening A of the tenth one-way valve (22) 22Be communicated with fuel tank; The oil return inlet T of the 4th two-bit triplet Proportional valve (24) 24Be communicated with fuel tank; First small gear (14) that is connected on first motor (13) drives gearwheel (15) simultaneously with second small gear (16) that is connected on second motor (17).
2. angular-rate sensor (34) detects the angular velocity of gearwheel (15) in real time; First pressure transducer (35) detects the filler opening A of first motor (13) in real time 13The force value at place; Second pressure transducer (36) detects the oil outlet B of first motor (13) in real time 13The force value at place; The 3rd pressure transducer (37) detects the filler opening A of second motor (17) in real time 17The force value at place; The 4th pressure transducer (38) detects the oil outlet B of second motor (17) in real time 17The force value at place; The testing signal of angular-rate sensor (34) is as the input signal of first controller (39), and first controller (39) is controlled the valve port opening degree of first and second two-bit triplet Proportional valve (6,7); The difference of the inlet and outlet pressure difference of the inlet and outlet pressure difference of first motor (13) and second motor (17) is as the input signal of second controller (40), the valve port opening degree of the 3rd of second controller (40) control and the 4th two-bit triplet Proportional valve (23,24).
CN 200810143791 2008-12-02 2008-12-02 Hydraulic synchronous driving control system for realizing load balancing CN101749294B (en)

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CN102705283A (en) * 2012-05-29 2012-10-03 中南大学 Hydraulic synchronous system for realizing load balance based on proportional relief valve
CN103133441A (en) * 2013-03-19 2013-06-05 中联重科股份有限公司 Double hydraulic devices and speed control method, equipment and system thereof
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CN104405705A (en) * 2014-09-18 2015-03-11 芜湖高昌液压机电技术有限公司 Automatic correction hydraulic motor synchronizing circuit of two-column gantry lifting machine
CN104314897A (en) * 2014-10-16 2015-01-28 山东科技大学 Control device for automatically laying offshore spilled oil containment booms and control method
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