CN102032233B - Multifunctional proportional multi-way valve - Google Patents
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- CN102032233B CN102032233B CN 201110003017 CN201110003017A CN102032233B CN 102032233 B CN102032233 B CN 102032233B CN 201110003017 CN201110003017 CN 201110003017 CN 201110003017 A CN201110003017 A CN 201110003017A CN 102032233 B CN102032233 B CN 102032233B
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Abstract
The invention discloses a multifunctional proportional multi-way valve. Multiple six-way valves controlled by proportional pilot valves are connected in parallel, and the parallel six-way valves, shuttle valves, a controller, a transport oil pipe and a connecting circuit form a system; a maximum load is selected for load sensitive control through the multi-stage shuttle valves; and the operations of the six-way valves are controlled by controlling the proportional pilot valves to form a closed loop for pressure compensation. The invention provides two proportional control methods. The multifunctional proportional multi-way valve simplifies the oil passage of a hydraulic system, reduces the number of hydraulic elements, is simple and convenient for operation of a main machine, improves the efficiency and work precision, and has significance for realizing automatic and intelligent operation of the hydraulic system.
Description
Technical field
The invention belongs to machinery valve and manufacture and design the field, relate in particular to a kind of multifunction multipath valve and manufacture and design the field.
Background technique
Maximize, intelligent, energy-efficient be the important directions of the industry main frames development such as engineering machinery and hoist, mainframe has proposed requirements at the higher level to the hydraulic element of its supporting high-pressure high-flow, multi-way valve is as the core parts of host hydraulic system, and its performance and control mode directly affect the performance of complete machine.But, the hydraulic element of these main frame key component-hydraulic systems, as the development such as multi-way valve, oil hydraulic pump and the main frame development is serious disconnects, especially high pressure, large flow, the contour performance hydraulic element of comprehensive function, its technology also needs further raising.
At present, the developing direction of big machinery hydraulic element and system is: (1) is developed to high pressure, large flow: specific power is high, makes complete machine compacter; (2) adopt and represent that the advanced person is handling, the technology of energy saving: as (3) such as load pressure compensation, load-sensitive, positive and negative flow control techniques in conjunction with microelectronic and Computer Control Technology, as electric-hydraulic proportion, electric liquid load compensation and electric liquid load-sensitive technology and the double spool control technique independently controlled based on load port.
For control accuracy and the energy saving that has further improved multi-way valve, and make the automation of main frame and intellectuality higher, each main frame and hydraulic element research and production field drop into strength one after another to multi-way valve, especially high performance multi-way valve product is developed, how to improve multi-way valve performance, particularly electric-hydraulic proportion, electric liquid load compensation and electric liquid load-sensitive technology and be to be badly in need of the problem that to solve based on the double spool control technique that load port is independently controlled.
Summary of the invention
The invention discloses a kind of multifunction multipath valve, the problem to be solved in the present invention is to provide a kind of multi-way valve system, coordinates control system to realize that load-sensitive is controlled, pressure compensation is controlled function and proportional control manual, electronic, that surge.
The present invention is achieved through the following technical solutions:
A kind of Multifunctional proportional multi-way valve comprises six logical multi-way valve, pilot valve, shuttle valve, controller, transmission oil pipe and connecting circuit, it is characterized in that: described system has at least two 6 logical multi-way valve to compose in parallel; The every six logical proportional pilot valves of multi-way valve carry out pilot control; Between actuator port of each connection, shuttle valve is installed respectively, is connected with multistage shuttle valve with each connection actuator port shuttle valve and selects maximum load and carry out load-sensitive control to the Ls mouth.
Further described every six logical multi-way valve are equipped with a displacement transducer, and displacement transducer is passed to displacement signal on the controller of proportional pilot valve; At each connection pressure hydraulic fluid port, a pressure transducer is installed, pressure transducer is passed to the pressure signal of pressure hydraulic fluid port on the controller of proportional pilot valve; After the controller received bit displacement sensor and pressure sensor signal of proportional pilot valve, respectively join six logical multi-way valve action formation closed loops by the control of control ratio pilot valve and carry out pressure compensation.
Further described proportional pilot valve comprises guide's electric-hydraulic proportion directional flow valve and manual ratio-voltage control valve; Guide's electric-hydraulic proportion directional flow valve two ends fill respectively proportion electro-magnet, the proportion electro-magnet proportional control of surging that is connected with controller; Manually the ratio-voltage control valve has comprised handle, spring and potentiometer, and potentiometer is connected with controller and carries out manual proportional control.
Another proportional control control program is that proportional pilot valve comprises guide proportion reduction valve and manual ratio-voltage control valve; The guide proportion reduction valve fills respectively proportion electro-magnet, the proportion electro-magnet proportional control of surging that is connected with controller; Manually the ratio-voltage control valve has comprised handle, spring and potentiometer, and potentiometer is connected with controller and carries out manual proportional control.
Described system also has a meta drainback passage, and drainback passage is connected with the pump fuel tank with every six logical multi-way valve.
Described controller can be that each proportional pilot valve is independently used respectively or each proportional pilot valve shares one.
The realization of described load-sensitive function is that LS is transferred to variable displacement pump with this signal by the load sensing controlled mouth by multistage shuttle valve group acquisition system maximum load, is used for controlled variable pump delivery pressure or flow, realizes load-sensitive control.
Because the main frames such as engineering machinery or hoist have a plurality of actuators usually, these mechanisms need coordination, and these movement speedes namely should have pressure compensation in case setting is not affected by load should, and be independent of each other.This multi-way valve has been realized pressure compensation by the adoption rate closed loop control.Because electro-hydraulic proportional valve has lot of superiority, it can simple automatically controlled realization continuously, ratio ground controls power and the speed of hydraulic system.And can greatly simplify the oil circuit of hydraulic system and reduce the quantity of hydraulic element.To simplifying host service function, raising the efficiency with homework precision and realize that automation, intelligent operation have extremely important meaning.Along with the performance of electro-hydraulic proportional valve and PLC controller further improves and uses increasingly extensive, technical merit, the market competitiveness of main computer boxes are improved more, make main frame faster to high efficiency, energy-saving, automation, informationization, intelligentized future development.This multi-way valve is just by adopting pilot-actuated valve to realize manually, surged and proportional control.
Helpfulness of the present invention: the invention provides a kind of novel multi-way valve structure, Proportional valve combination by multi-joint pilot control, adopt closed loop control, not only have that load-sensitive is controlled, pressure compensation is controlled function, and realized manually, surged, proportional control.The present invention simplifies the oil circuit of hydraulic system, reduces the quantity of hydraulic element, easy host service function, has improved efficient and homework precision, to realizing hydraulic system automation, intelligent operation, extremely important meaning is arranged.
Description of drawings
The present invention is further described below in conjunction with embodiment and description of drawings.
Fig. 1 is multi-way valve principle schematic of the present invention;
Fig. 2 is the proportional pilot valve schematic diagram that is made of guide's electric-hydraulic proportion directional flow valve;
Fig. 3 is the proportional pilot valve schematic diagram that is made of the guide proportion reduction valve;
Fig. 4 is the shuttle valve group connection diagram of three multi-way valve.
in figure, 1, 9 and 21 be multi-way valve system respectively join multi-way valve, 2, 5, 6, 19 and 20 is shuttle valves, 3 and 8 is actuators, 4 and 7 is pressure transducers, the 10th, variable displacement pump, the 11st, guide's electric-hydraulic proportion directional flow valve, the 12nd, proportion electro-magnet, the 13rd, handle, the 14th, spring, the 15th, potentiometer, the 16th, controller, 17 and 18 is guide proportion reduction valve, A1, A2, A3, B1, B2 and B3 respectively join actuator port, P1, P2 and P3 are the load hydraulic fluid ports of each connection, P is the multi-way valve filler opening, a1, b1, a2, b2, a3 and b3 are secondary guide hydraulic fluid ports, T is the multi-way valve return opening, Ps is guide's oil feeding line, P1e is the electrical signal that P1 transforms through pressure transducer 4, P2e is the electrical signal that P2 transforms through pressure transducer 7, Ls is that the load-sensitive signal (is P1, the maximum value of P2 etc.).
Embodiment
The present invention is further described below in conjunction with embodiment.Embodiment is used for explanation the present invention, does not limit the present invention in any way.
In conjunction with Fig. 1 to Fig. 3.
Fig. 1 is the multi-way valve principle schematic, and Fig. 2 is the proportional pilot valve schematic diagram that guide's electric-hydraulic proportion directional flow valve consists of, and Fig. 3 is the proportional pilot valve schematic diagram that is made of the guide proportion reduction valve, and Fig. 4 is the shuttle valve group connection diagram of three multi-way valve.The element that two chain line comprise consists of multi-way valve of the present invention.
This multi-way valve is by six logical multi-way valve (main valve) formations in parallel more than two, and every multi-way valve (main valve) comprises again a proportional pilot valve, and it is carried out pilot control.This valve has increased a meta drainback passage than traditional selector valve, make when each connection guiding valve all is in meta, the flow of pump output can pass through the direct oil sump tank of this oil circuit and off-load, after any commutation, the capital cuts off this oil circuit, makes fluid enter corresponding executive component.One shuttle valve 2 and shuttle valve 6 are installed respectively between actuator port A1, the B1 of each executive component and A2, B2, load p 1 and P2 that can each executive component of perception, P1 and P2 select maximum load to the Ls mouth by shuttle valve 5 again, and each main valve plug is equipped with a bit shift displacement sensor.Displacement transducer converts displacement signal on the amplifier that electrical signal is passed to proportional pilot valve to.At P1, the P2 mouth is installed respectively a pressure transducer 4, pressure transducer 7, and pressure transducer is P1, and the pressure of P2 mouth converts on the controller that electrical signal P1e, P2e be passed to proportional pilot valve.
Proportional pilot valve has comprised guide's electric-hydraulic proportion directional flow valve, manual ratio-voltage control valve, controller etc.Guide's electric-hydraulic proportion directional flow valve two ends fill respectively proportion electro-magnet 12, and this guide's electric-hydraulic proportion directional flow valve also can be comprised of the independently proportional pressure-reducing valve of two identical functions, as shown in Figure 3.Proportion electro-magnet 12 is connected with controller.Manually the ratio-voltage control valve has comprised handle 13, spring 14 and potentiometer 15 etc.Potentiometer is connected with controller, and potentiometer becomes the signal of Joystick into electrical signal and is defeated by controller.
The multifunction multipath valve that this is routine comprises that the element in the two chain line of Fig. 1 consists of.Comprised six logical multi-way valve 1,9 more than two, and be connected in parallel, every multi-way valve 1 or 9 comprises again a proportional pilot valve, and six logical multi-way valve are carried out pilot control.Proportional pilot valve has comprised guide's electric-hydraulic proportion directional flow valve 11, this valve also can be comprised of the independently proportional pressure-reducing valve 17 and 18 of two identical functions, between the actuator port of relevant each connection, one shuttle valve 2,6 is installed respectively all, select maximum load by shuttle valve 5 and be used for load-sensitive control to the Ls mouth, Ls is the abbreviation of load sense, expression load-sensitive effect can adopt more shuttle valve quantity when multi-joint.
Every six logical multi-way valve 1 or 9 cores are equipped with a displacement transducer, and displacement transducer converts displacement signal on the controller 16 that electrical signal is passed to proportional pilot valve separately to.At six logical multi-way valve 1 pressure hydraulic fluid port P1, a pressure transducer 4 is installed, at six logical multi-way valve 9 pressure hydraulic fluid port P2, a pressure transducer 7 is installed, pressure transducer 4 and pressure transducer 7 convert the pressure of pressure hydraulic fluid port P1 and P2 to electrical signal P
1e, P
2eBe passed to separately respectively on the controller 16 of proportional pilot valve.After displacement transducer and pressure transducer are defeated by controller 16 with electrical signal, controller 16 will be exported the logical multi-way valve 1 of corresponding SC sigmal control six or 9 actions, form closed loop, realize pressure compensation.
Proportional pilot valve has comprised guide's electric-hydraulic proportion directional flow valve 11 or guide proportion reduction valve 17 and 18, manually ratio-voltage control valve, controller 16 etc.Guide's electric-hydraulic proportion directional flow valve 11 two ends fill respectively proportion electro-magnet 12, and this valve also can be comprised of the independently proportional pressure-reducing valve 17 and 18 of two identical functions, and each proportional pressure-reducing valve also is equipped with respectively a proportion electro-magnet 12.Proportion electro-magnet 12 is connected with controller 16.Manually the ratio-voltage control valve has comprised handle 13, spring 14 and potentiometer 15 etc.Potentiometer 15 is connected connection with controller, potentiometer 15 becomes the signal of Joystick 13 into electrical signal and is defeated by controller 16.Manual, electronic proportional control or the proportional control of surging have been realized.
This routine multifunction multipath valve has a meta drainback passage, make when each connection guiding valve all is in meta, the flow of pump output can pass through the direct oil sump tank of this oil circuit and off-load, after any commutation, the capital cuts off this oil circuit, makes fluid enter corresponding executive component.
Each proportional pilot valve is supporting by corresponding controller 16.Also can share a controller 16.
System is not only limited to two six logical parallel connection types based on this multi-way valve control principle.As three when in parallel, the function of shuttle valve 5 just needs to adopt the shuttle valve group that is made of a plurality of shuttle valves select more afterwards in twos the pressure of maximum load.Take three as example: the Placement of multistage shuttle valve group such as Fig. 4, first and second working pressure is selected maximum value MAX (P1, P2) through after shuttle valve 5, and the 3rd multi-way valve 21 is selected the 3rd load p 3 by shuttle valve 20; MAX (P1, P2) and P3 select MAX (P1, P2, P3) by shuttle valve 19 after relatively again---and this signal is by the output of LS mouth, and six more multi-joint logical parallel systems are by that analogy.
Engineering machinery or hoist usually by one or more oil hydraulic pumps respectively to a plurality of actuator element motor or oil hydraulic cylinder fuel feeding, need to adopt by multi-joint multi-way valve.Multi-way valve is comprised of the directional flow valve of a plurality of proportional control, this example describes take two as example, this routine multi-way valve is that six logical multi-way valve are connected in parallel, this valve has increased a meta drainback passage than traditional selector valve, make when each connection guiding valve all is in meta, the flow of pump output can pass through the direct oil sump tank of this oil circuit and off-load, after any commutation, the capital cuts off this oil circuit, makes fluid enter corresponding executive component.This class valve has flow and pressure fine setting characteristic, and can carry out combination with minus flow, positive flow control etc., can be in the engineering extensive use.Multi-way valve is controlled respectively moving direction and the speed of executive component by every six logical multi-way valve.The action of six logical multi-way valve is controlled by the pilot control fluid of proportional pilot valve output.In order to improve control accuracy, six logical multi-way valve consist of closed loop control with displacement transducer and the proportional pilot valve of reflection valve core opening degree.in addition, each work (as A1 or B1 mouth) that joins six logical multi-way valve shares a pressure sensing mouth by shuttle valve, this pressure sensing mouth has been installed pressure transducer, the pressure signal that pressure transducer will react load converts electrical signal to, by the controller of closed loop feedback to proportional pilot valve, after relatively, controller will be exported corresponding electrical signal control ratio pilot valve, proportional pilot valve (a1, b1) the corresponding hydraulic oil of output is controlled the main valve plug opening, be used for multistage inter-stage feedback, even load variations, can not cause the variation by the main valve flow yet, be often all can realize pressure compensation, and each executive component is independent mutually, be independent of each other, independent manipulation several actuators simultaneously, based on this principle, as long as the precision of this valve is enough, just can be easy to realize high-precise synchronization control.Because this multi-way valve respectively joins by the perception of shuttle valve group the actuator pressure that valve is controlled, and select more afterwards in twos maximum pressure through shuttle valve, by load-sensitive mouth Ls, be used for pressure or the flow of control pump output fluid, realize the load-sensitive Energy Saving Control.
At present, the hydraulic system of the mainframes such as Domestic Construction Machinery or truck crane adopts hand-operated direction valve mostly, during commutation, moves the selector valve handle and will overcome selector valve interior spring force, hydraulic power, friction.In particular for guaranteeing that selector valve resets smoothly, the spring force of selector valve designs very greatly, even the lever ratio of reversing valve operation rod is done very greatly, works long hours, and it is uncomfortable that the operator still feels.Particularly all the more so during high-pressure high-flow.Therefore this routine control section has adopted proportional pilot valve control, integrated manually, surge, electric proportional control various control function, laborsaving, good operability.As Fig. 2, this proportional pilot valve mainly is comprised of guide's electric-hydraulic proportion directional flow valve, manual ratio-voltage control valve and controller.
Manually control basic principle: handle converts manual ringing to electrical signal by the potentiometer of manual ratio-voltage control valve, after amplifying by controller, output current signal is to the proportion electro-magnet of guide's electric-hydraulic proportion directional flow valve, proportion electro-magnet ouput force and displacement, control the corresponding fluid of controlling of guide's electric-hydraulic proportion directional flow valve output to main valve, the action of promotion main valve plug realizes fluid power control multi-way valve main valve events, the corresponding work of output fluid.
Concrete enforcement thinking is as follows: manual ratio-voltage control valve left and right four direction is forwards, backwards moved.The angle of moving is different, manually ratio-voltage control valve lower end potentiometer is issued the strong and weak difference of the voltage signal of proportion electro-magnet, controller accept and amplify after be defeated by the proportion electro-magnet of guide's electric-hydraulic proportion directional flow valve, produce the displacement-force characteristic of respective horizontal.It is proportional that this opening amount that just makes guide's electric-hydraulic proportion directional flow valve and the manual handle of ratio-voltage control valve are moved angle, makes the corresponding fluid fluid power of proportional pilot valve output promote main valve, and main valve is exported the work fluid of certain flow in proportion.Be potentiometer below manual ratio-voltage control valve handle, moving handle is compression reseting spring, so very light.Due to through electricity, the multistage power amplification of liquid, can overcome preferably the hydraulic power interference on main valve plug, have higher stability margin when load variations.Directly affect stagnant ring, control accuracy, dead band and the dynamic response performance of control characteristic due to the friction on proportional pilot valve and main valve, thereby hoist performance such as control accuracy, stability, fine motion, net synchronization capability etc. are exerted an influence, this programme is intended adopting between pilot stage and main and is improved precision with the height response highi degree of accuracy proportional direction valve of inter-stage feedback, the sensor of high response, and apply the chatter signal by controller and convert static friction power to dyanainic friction power and can effectively address this problem, realize dynamically good and static properties.
In addition, this scheme multi-way valve can be connected with SC system controller by the controller of self, the control program coordination is pressed in each action of assurance engineering machinery and hoist, realize digitizing, at a distance, automatically control even intelligent control, SC system controller is made of existing control system such as the PLC of control system or computers.
The proportional pilot valve of this multi-way valve can also adopt the guide proportion reduction valve as Fig. 3 to form, control thinking and form all fours with guide's electric-hydraulic proportion directional flow valve, be structurally guide's electric-hydraulic proportion directional flow 11 formed by the independently proportional pressure-reducing valve 17,18 of two identical functions.
Claims (4)
1. a Multifunctional proportional multi-way valve system, comprise six logical multi-way valve, proportional pilot valve, shuttle valve, controller, transmission oil pipe and connecting circuit, it is characterized in that: described Multifunctional proportional multi-way valve system is composed in parallel by two 6 logical multi-way valve at least; The every six logical proportional pilot valves of multi-way valve carry out pilot control, described proportional pilot valve comprises guide's electric-hydraulic proportion directional flow valve and manual ratio-voltage control valve or guide proportion reduction valve and manual ratio-voltage control valve, the equal proportion of installation electromagnet of guide's electric-hydraulic proportion directional flow valve two ends or guide proportion reduction valve, the proportion electro-magnet proportional control of surging that is connected with controller, manually the ratio-voltage control valve has comprised handle, spring and potentiometer, and potentiometer is connected with controller and carries out manual proportional control; Between the actuator port of each connection, shuttle valve is installed respectively, is connected with multistage shuttle valve with each connection actuator port shuttle valve, multistage shuttle valve is selected maximum load and is carried out load-sensitive control to variable displacement pump Ls mouth.
2. Multifunctional proportional multi-way valve according to claim 1 system, it is characterized in that: described every six logical multi-way valve are equipped with a displacement transducer, and displacement transducer is passed to displacement signal on the controller of proportional pilot valve; At each connection pressure hydraulic fluid port, a pressure transducer is installed, pressure transducer is passed to the pressure signal of pressure hydraulic fluid port on the controller of proportional pilot valve; After the controller received bit displacement sensor and pressure sensor signal of proportional pilot valve, control six logical multi-way valve action formation closed loops by the control ratio pilot valve and carry out pressure compensation.
3. Multifunctional proportional multi-way valve according to claim 1 and 2 system is characterized in that: described Multifunctional proportional multi-way valve system also has a meta drainback passage, and drainback passage and every six logical multi-way valve are connected with fuel tank.
4. Multifunctional proportional multi-way valve according to claim 1 and 2 system is characterized in that: described controller be each proportional pilot valve respectively independent that use or each proportional pilot valve share one.
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| CN 201110003017 CN102032233B (en) | 2011-01-08 | 2011-01-08 | Multifunctional proportional multi-way valve |
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| CN 201110003017 CN102032233B (en) | 2011-01-08 | 2011-01-08 | Multifunctional proportional multi-way valve |
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| CN102032233B true CN102032233B (en) | 2013-05-15 |
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| CN102312806A (en) * | 2011-08-19 | 2012-01-11 | 陈海波 | Pressure cut-off device of load sensing hydraulic pump of concrete pump truck |
| CN103047208B (en) * | 2012-12-27 | 2015-02-18 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Load-sensitive electro-hydraulic proportional multi-way valve |
| CN105402180B (en) * | 2014-08-12 | 2018-05-01 | 徐工集团工程机械股份有限公司 | Proportional multi-way valve, arm support hydraulic control system and concrete mixer |
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| CN105179383A (en) * | 2015-09-28 | 2015-12-23 | 北汽福田汽车股份有限公司 | Engineering machinery, hydraulic system for constant displacement pump of engineering machinery and controlling method of hydraulic system |
| CN107477160B (en) * | 2017-08-25 | 2019-07-30 | 潍柴动力股份有限公司 | Hydraulic speed regulation system and engineering machinery |
| CN109973453A (en) * | 2019-04-01 | 2019-07-05 | 广西柳工机械股份有限公司 | Knife plate automatically controls valve group, hydraulic system and Work machine |
| CN110194422A (en) * | 2019-06-25 | 2019-09-03 | 浙江诺和机电股份有限公司 | A kind of electrichydraulic control perseverance pulling force capstan winch of band storage rope device |
| CN110502041B (en) * | 2019-07-22 | 2022-10-21 | 北京控制工程研究所 | Micro-flow control system and method based on piezoelectric proportional valve |
| CN111734698B (en) * | 2020-07-03 | 2022-04-08 | 中国矿业大学 | Shunt motor speed change synchronization system capable of resisting time-varying large unbalance load and working method |
| CN113090603B (en) * | 2021-03-29 | 2022-04-05 | 徐州徐工挖掘机械有限公司 | Pilot proportional control valve device, automatic calibration method, and medium |
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| US5896890A (en) * | 1994-11-06 | 1999-04-27 | Hydrolux S.A R.L. | Pilot-operated servo-valve |
| CN1405458A (en) * | 2002-10-29 | 2003-03-26 | 浙江大学 | Load sensing hydraulic system for controlling six-way multiple unit valve |
| DE20307245U1 (en) * | 2003-05-08 | 2003-08-07 | Dbt Gmbh | Return valve for a hydraulic cylinder has a connector (5-9) which attached to the valve housing (3) in the hydraulic cylinder (2) in a fixed position parallel to the axis (16) of the cylinder |
| CN1556287A (en) * | 2004-01-07 | 2004-12-22 | 集美大学 | Electrohydraulic ratio control device |
| CN101429959A (en) * | 2008-12-05 | 2009-05-13 | 太原理工大学 | Electric closed-loop control flow control valve |
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2011
- 2011-01-08 CN CN 201110003017 patent/CN102032233B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5896890A (en) * | 1994-11-06 | 1999-04-27 | Hydrolux S.A R.L. | Pilot-operated servo-valve |
| CN1405458A (en) * | 2002-10-29 | 2003-03-26 | 浙江大学 | Load sensing hydraulic system for controlling six-way multiple unit valve |
| DE20307245U1 (en) * | 2003-05-08 | 2003-08-07 | Dbt Gmbh | Return valve for a hydraulic cylinder has a connector (5-9) which attached to the valve housing (3) in the hydraulic cylinder (2) in a fixed position parallel to the axis (16) of the cylinder |
| CN1556287A (en) * | 2004-01-07 | 2004-12-22 | 集美大学 | Electrohydraulic ratio control device |
| CN101429959A (en) * | 2008-12-05 | 2009-05-13 | 太原理工大学 | Electric closed-loop control flow control valve |
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