CN102225735A - Feedback compensation type brake control scheme with adaptive function - Google Patents
Feedback compensation type brake control scheme with adaptive function Download PDFInfo
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- CN102225735A CN102225735A CN2011101085499A CN201110108549A CN102225735A CN 102225735 A CN102225735 A CN 102225735A CN 2011101085499 A CN2011101085499 A CN 2011101085499A CN 201110108549 A CN201110108549 A CN 201110108549A CN 102225735 A CN102225735 A CN 102225735A
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Abstract
The invention discloses a feedback compensation type brake control scheme with an adaptive function. The scheme comprises: A, when brake is required, a hydraulic control system opens an electric control switch valve at a low-pressure oil-way end, and the current of an electric proportional overflow valve is controlled in a feedback mode, so that the system achieves set low pressure to brake, and an adaptive controller regulates the early brake point and brake pressure of next brake on the basis of a determination result of the previous ramming brake effect so as to realize adaptive control; and B, the hydraulic control system opens a general electric control valve of a brake hydraulic system when the brake is required to be released, the whole oil path achieves high pressure through an overflow valve which is set to be in a high-pressure state, and the brake is completely released. In the feedback compensation type brake control scheme, the hydraulic control system controls the electric proportional overflow valve in a closed loop control mode, the hydraulic system errors generated by temperature changes and component differences can be well compensated, the intelligent degree is high, the universality is achieved, and the operation is easy and convenient.
Description
Technical field
The present invention relates to a kind of brake controlling schemes, relate in particular to a kind of feedback compensation formula brake controlling schemes that is applied to the free off the hook elevator of dynamic compaction machinery with adaptation function.
Background technology
The mode that common in the market dynamic compaction machinery generally adopts in the hammer ram dropping process has two kinds of disconnecting type and free off the hook formulas, wherein disconnecting type is that hammer ram breaks away from whereabouts separately, hook back by trip mechanism in dropping process, this mode is simple relatively, tamping energy degree of utilization height, but owing to need repeat hook, need to be equipped with more operating personal, too much rely on manpower to cause the whole work efficiency of ramming operation to reduce.Comparatively advanced is a kind of mode of so-called free off the hook, be that hammer ram does not break away from hook but drives whole steel rope and hoisting mechanism moves in the dropping process, this mode can be mentioned next time in the short period of time after hammer ram lands and rams, improve the work efficiency of ramming operation greatly, reduced the outfit quantity of operating personal simultaneously.But for control system, particularly have relatively high expectations by the control system of elevator brake in practical operation for this mode: there is the major hidden danger that aerial braking, fatal crass are taken place in braking too early, and crosses the braking in evening and has then that steel rope is put, the problem of elevator disorder cable more.The normal at present mode that adopts has three kinds: (1) operating personal is manually controlled brake based on the hammer ram height; (2) fixing brake point of manufacturer and brake-pressure; (3) based on the electron controls technology of open loop approach.First kind of mode too relies on the operating personal individual and judges that the stability of control is not strong, and the repeatability of operation is not high; Second kind of scheme needs producer to demarcate separately at every equipment, and not only work capacity is big but also mode is not had a commonality, and usage is single; The third scheme is based on electron controls technology, in time send brake control signal by calculating the hammer ram height of drop, this scheme has high generality, can ram height at difference, different hammer ram weight adjusts, but can not provide indemnifying measure targetedly at the hydraulic pressure error that temperature traverse and components and parts difference are caused.
Summary of the invention
Problem at above-mentioned existence, the purpose of this invention is to provide a kind of feedback compensation formula brake controlling schemes with adaptation function, do not need too many manpower, control stiffness is good, operation is repeatable high, compensated effectively because the hydraulic efficiency pressure system error that temperature traverse and components and parts difference are caused has commonality.
The objective of the invention is to be achieved through the following technical solutions:
A kind of feedback compensation formula brake controlling schemes with adaptation function wherein, comprising:
A, when needs brake, hydraulic control system is opened low pressure oil terminal electric-controlled switch valve, simultaneously controls electric proportional pressure control valve size of current with feedback system, makes system reach the low pressure of setting to realize brake; Adaptive controller is realized adaptive control based on braking point and the brake-pressure size in advance of the preceding result of determination of once ramming braking effect being adjusted brake next time;
B, when needs discharge brake, hydraulic control system is opened the automatically controlled main valve of brake hydraulic system, makes whole oil circuit reach high pressure by being set at high-voltage by pass valve, brake discharges fully.
Above-mentioned feedback compensation formula brake controlling schemes with adaptation function, wherein, described self adaptation feedback system specifically comprises:
By analyzing that time that elevator angular encoder numerical value searches out the hammer ram kiss the earth of expectation, whether the distance of judging braking in advance according to this moment brake system pressure is fit to: do not reach the brake pressure setting value and then strengthen lead, reach pressure set points too early and then reduce lead; And,
The length that has more rope according to elevator is judged the size of brake pressure setting value: the rope stretching amount is crossed and is reduced the brake pressure setting value at most to improve brake weight, and the rope stretching amount is crossed increases the brake pressure setting value at least to reduce brake weight.
Above-mentioned feedback compensation formula brake controlling schemes with adaptation function, wherein, in described self adaptation feedback system, described actual pressure is obtained after the digital filter feedback by pressure sensor, the difference of itself and described brake pressure setting value is exported through behind the pid algorithm, is used for control current to regulate electric proportional pressure control valve aperture.
Above-mentioned feedback compensation formula brake controlling schemes with adaptation function, wherein, described brake pressure setting value is provided by adaptive controller.
Above-mentioned feedback compensation formula brake controlling schemes with adaptation function, wherein, the equipment of realizing this scheme comprises a hydraulic control system, described hydraulic control system adopts high-pressure oil passage and low pressure oil circuit two-stage pressure oil circuit, described high-pressure oil passage pressure is controlled by by pass valve, described low pressure oil circuit pressure is controlled by electric proportional pressure control valve, being provided with the electric-controlled switch valve before the described electric proportional pressure control valve is used for control oil channel and switches, also be provided with automatically controlled main valve in the described hydraulic control system, be used for opening or close the water brake control system, described water brake control system also comprises the pressure sensor that is located in the water brake oil circuit, described electric-controlled switch valve with after described electric proportional pressure control valve is connected respectively with described automatically controlled main valve, described by pass valve parallel connection is connected with described pressure sensor afterwards again.
Compared with the prior art, beneficial effect of the present invention is:
(1) hydraulic control system is controlled electric proportional pressure control valve in the mode of closed loop control among the present invention, not only improved the response time of hydraulic efficiency pressure system, and to because the hydraulic efficiency pressure system error that temperature traverse and components and parts difference are produced also has good compensating action;
(2) the adaptive control mode that is proposed among the present invention can be made the self adaptation adjustment to the dynamic compaction machinery under the extreme environment in the short period of time, and intelligent degree height has commonality, and is easy and simple to handle comfortable.
Description of drawings
Fig. 1 is the self adaptation feedback system scheme drawing that the present invention has the feedback compensation formula brake controlling schemes of adaptation function;
Fig. 2 is the structural representation of the hydraulic control system of the feedback compensation formula brake controlling schemes of the present invention with adaptation function.
The specific embodiment
The invention will be further described below in conjunction with schematic diagram and concrete operations embodiment.
The feedback compensation formula brake controlling schemes that the present invention has adaptation function comprises: A, when needs brake, hydraulic control system is opened low pressure oil terminal electric-controlled switch valve, simultaneously control electric proportional pressure control valve size of current with feedback system, make system reach the low pressure of setting to realize brake, wherein, adaptive controller is realized adaptive control based on braking point and the brake-pressure size in advance of the preceding result of determination of once ramming braking effect being adjusted brake next time; B, when needs discharge brake, hydraulic control system is opened the automatically controlled main valve of brake hydraulic system, makes whole oil circuit reach high pressure by being set at high-voltage by pass valve, brake discharges fully.Please referring to shown in Figure 1, the self adaptation feedback system specifically comprises: by analyzing that time that elevator angular encoder numerical value searches out the hammer ram kiss the earth of expectation, whether the distance of judging braking in advance according to this moment brake system pressure is fit to: do not reach the brake pressure setting value and then strengthen lead, reach pressure set points too early and then reduce lead; The length that has more rope according to elevator is judged the size of brake pressure setting value: the rope stretching amount is crossed and is reduced the brake pressure setting value at most to improve brake weight, and the rope stretching amount is crossed increases the brake pressure setting value at least to reduce brake weight, and whole process is controlled by a controller.Actual pressure is obtained after digital filter (DF) feedback by pressure sensor, exports after its difference with the brake pressure setting value is passed through pid algorithm, is used for control current to regulate electric proportional pressure control valve aperture.
Further, the equipment of realizing this scheme specifically comprises a hydraulic control system, structural representation as shown in Figure 2, hydraulic control system adopts high-pressure oil passage and low pressure oil circuit two-stage pressure oil circuit, high-pressure oil passage is mainly used in the release brake process, its pressure is by by pass valve 2 controls, the low pressure oil circuit is mainly used in brake process, its pressure is by electric proportional pressure control valve 4 controls, electricity is provided with electric-controlled switch valve 3 before the proportional pressure control valve 4 and is used for control oil channel and switches, also be provided with automatically controlled main valve 1 in the hydraulic control system, be used for opening or close the water brake control system, the water brake control system also comprises the pressure sensor 5 that is located in the water brake oil circuit, electric-controlled switch valve 3 with after electric proportional pressure control valve 4 is connected respectively with automatically controlled main valve 1, by pass valve 2 parallel connections are connected with pressure sensor 5 afterwards again.
In sum, the present invention has the feedback compensation formula brake controlling schemes of adaptation function and in the mode of closed loop control system pressure is regulated, compensated effectively because the hydraulic efficiency pressure system error that temperature traverse and components and parts difference are caused, control stiffness is good, operation is repeatable high, has commonality.
More than specific embodiments of the invention are described in detail, but the present invention is not restricted to specific embodiment described above, it is just as example.To those skilled in the art, any equivalent modifications that this feedback compensation formula brake controlling schemes with adaptation function is carried out and substituting also all among category of the present invention.Therefore, not breaking away from impartial conversion and the modification of having done under the spirit and scope of the present invention, all should contain within the scope of the invention.
Claims (5)
1. the feedback compensation formula brake controlling schemes with adaptation function is characterized in that, comprising:
A, when needs brake, hydraulic control system is opened low pressure oil terminal electric-controlled switch valve, simultaneously controls electric proportional pressure control valve size of current with feedback system, makes system reach the low pressure of setting to realize brake; Adaptive controller is realized adaptive control based on braking point and the brake-pressure size in advance of the preceding result of determination of once ramming braking effect being adjusted brake next time;
B, when needs discharge brake, hydraulic control system is opened the automatically controlled main valve of brake hydraulic system, makes whole oil circuit reach high pressure by being set at high-voltage by pass valve, brake discharges fully.
2. the feedback compensation formula brake controlling schemes with adaptation function according to claim 1 is characterized in that described self adaptation feedback system specifically comprises:
By analyzing that time that elevator angular encoder numerical value searches out the hammer ram kiss the earth of expectation, whether the distance of judging braking in advance according to this moment brake system pressure is fit to: do not reach the brake pressure setting value and then strengthen lead, reach pressure set points too early and then reduce lead; And,
The length that has more rope according to elevator is judged the size of brake pressure setting value: the rope stretching amount is crossed and is reduced the brake pressure setting value at most to improve brake weight, and the rope stretching amount is crossed increases the brake pressure setting value at least to reduce brake weight.
3. the feedback compensation formula brake controlling schemes with adaptation function according to claim 2, it is characterized in that, in described self adaptation feedback system, described actual pressure is obtained after the digital filter feedback by pressure sensor, the difference of itself and described brake pressure setting value is exported through behind the pid algorithm, is used for control current to regulate electric proportional pressure control valve aperture.
4. the feedback compensation formula brake controlling schemes with adaptation function according to claim 2 is characterized in that described brake pressure setting value is provided by adaptive controller.
5. the feedback compensation formula brake controlling schemes with adaptation function according to claim 1, it is characterized in that, the equipment of realizing this scheme comprises a hydraulic control system, described hydraulic control system adopts high-pressure oil passage and low pressure oil circuit two-stage pressure oil circuit, described high-pressure oil passage pressure is controlled by by pass valve, described low pressure oil circuit pressure is controlled by electric proportional pressure control valve, being provided with the electric-controlled switch valve before the described electric proportional pressure control valve is used for control oil channel and switches, also be provided with automatically controlled main valve in the described hydraulic control system, be used for opening or close the water brake control system, described water brake control system also comprises the pressure sensor that is located in the water brake oil circuit, described electric-controlled switch valve with after described electric proportional pressure control valve is connected respectively with described automatically controlled main valve, described by pass valve parallel connection is connected with described pressure sensor afterwards again.
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| CN201110108549.9A CN102225735B (en) | 2011-04-28 | 2011-04-28 | Feedback compensation type brake control scheme with adaptive function |
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| CN201110108549.9A CN102225735B (en) | 2011-04-28 | 2011-04-28 | Feedback compensation type brake control scheme with adaptive function |
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| CN102225735B CN102225735B (en) | 2014-07-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103423222A (en) * | 2012-05-17 | 2013-12-04 | 徐工集团工程机械股份有限公司 | Proportional pressure combination control valve, hydraulic system and system pressure switching method |
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| DE3204695A1 (en) * | 1982-02-11 | 1983-08-18 | Siemens AG, 1000 Berlin und 8000 München | Device for the safety braking of hoists, in particular drum-type hoists |
| CN87209876U (en) * | 1987-07-08 | 1988-06-01 | 马炳林 | Hydraulic tamping machine |
| CN2576797Y (en) * | 2002-10-23 | 2003-10-01 | 山东省泰安市装载机厂 | Impact-rammer boosted hydraulic device |
| CN1587644A (en) * | 2004-07-09 | 2005-03-02 | 浙江大学 | Full power self adaptive shield cutter disc driving electrohydraulic control system |
| CN201228693Y (en) * | 2008-05-30 | 2009-04-29 | 浙江大学 | Adaptation type hydraulic system of closed-loop control load for computer |
| CN102030280A (en) * | 2010-11-08 | 2011-04-27 | 中信重工机械股份有限公司 | Mine-hoist constant deceleration safety braking system and braking method thereof |
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2011
- 2011-04-28 CN CN201110108549.9A patent/CN102225735B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3204695A1 (en) * | 1982-02-11 | 1983-08-18 | Siemens AG, 1000 Berlin und 8000 München | Device for the safety braking of hoists, in particular drum-type hoists |
| CN87209876U (en) * | 1987-07-08 | 1988-06-01 | 马炳林 | Hydraulic tamping machine |
| CN2576797Y (en) * | 2002-10-23 | 2003-10-01 | 山东省泰安市装载机厂 | Impact-rammer boosted hydraulic device |
| CN1587644A (en) * | 2004-07-09 | 2005-03-02 | 浙江大学 | Full power self adaptive shield cutter disc driving electrohydraulic control system |
| CN201228693Y (en) * | 2008-05-30 | 2009-04-29 | 浙江大学 | Adaptation type hydraulic system of closed-loop control load for computer |
| CN102030280A (en) * | 2010-11-08 | 2011-04-27 | 中信重工机械股份有限公司 | Mine-hoist constant deceleration safety braking system and braking method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103423222A (en) * | 2012-05-17 | 2013-12-04 | 徐工集团工程机械股份有限公司 | Proportional pressure combination control valve, hydraulic system and system pressure switching method |
| CN103423222B (en) * | 2012-05-17 | 2015-12-16 | 徐工集团工程机械股份有限公司 | Ratio pressure combined control valve, hydraulic system and system pressure switching method |
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Effective date of registration: 20160219 Address after: Eight in the 313028 Zhejiang city of Huzhou province Cao Zhen Village daily standard factory Auxiliary Building No. 2 Patentee after: Zhejiang Sany Equipment Co., Ltd. Address before: 201202, room 6999, 205 Chuansha Road, Shanghai, Pudong New Area Patentee before: Shanghai Sany Technology Co., Ltd. |
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Granted publication date: 20140723 Termination date: 20160428 |