CN102269157A - Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus - Google Patents
Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus Download PDFInfo
- Publication number
- CN102269157A CN102269157A CN2011101529930A CN201110152993A CN102269157A CN 102269157 A CN102269157 A CN 102269157A CN 2011101529930 A CN2011101529930 A CN 2011101529930A CN 201110152993 A CN201110152993 A CN 201110152993A CN 102269157 A CN102269157 A CN 102269157A
- Authority
- CN
- China
- Prior art keywords
- pressure
- membership
- degree
- pumping
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
- F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
Abstract
The invention discloses a pressure regulating method and system for a concrete pumping apparatus, and the concrete pumping apparatus, wherein the system comprises a constant pressure pump, a pressure sensor for acquiring a pumping pressure value and a pumping pressure change rate, a pressure regulating valve connected with the constant pressure pump and used for regulating distributed pressure output by the constant pressure pump, a controller connected between the pressure sensor and the pressure regulating valve and used for receiving the pumping pressure value and the pumping pressure change rate acquired by the pressure sensor and controlling the regulating valve opening of the pressure regulating valve according to the pumping pressure value and the pumping pressure change rate, and an oscillating oil cylinder connected with the constant pressure pump and used for obtaining the distributed pressure output by the constant pressure pump and pressure oil from an accumulator so as to obtain reversing pressure to push a distribution valve. According to the system disclosed by the invention, longitudinal impact on an entire vehicle is greatly reduced during distribution reversing by smartly regulating the distributed pressure output by the constant pressure pump, so that the service life of a hardware device is prolonged, and simultaneously, well energy saving is achieved.
Description
Technical field
The present invention relates to the concreting machinery field, in particular to a kind of pressure regulating method, system and concrete pumping equipment of concrete pumping equipment.
Background technique
Along with the fast development of China's infrastructure, the industry development of the concreting machinery of various places and growth also are beyond example.How to reduce the vibration in the pumping process, and how to improve the working life of device and the economic benefit that pumping efficiency is directly connected to the pump truck user.
Prior art often adopts the dispense pressure value of maximum flexibility to control distributing commutation at present, the distribution commutation of this moment can produce one to car load and impact longitudinally, and make this impact can remain on maximum, increased the wearing and tearing of system mechanics device, cause certain energy waste.
Fig. 1 is the pressure regulation and control system structural representation according to the concrete pumping equipment of prior art.
As shown in Figure 1, existing system by the pressure oil of accumulator 5 ' interior storage with the oil of constant pressure pump 1 ' pump enter together oscillating oil cylinder 6 ', realize promoting the swing of S pipe distributing valve.Prior art by pressure regulator valve 4 ' with constant pressure pump 1 ' constant pressure pump pressure be set at a fixed value, when promptly carrying out pumping operation, the commutation pressure of tilt cylinder is changeless at every turn.
By such scheme as can be known when adopting fixed allocation pressure to control, although can satisfy need of work, because tilt cylinder can move when guaranteeing the high pressure pumping, so common this fixed value is the dispense pressure value of maximum demand.Because distributing commutation can produce one to car load impacts longitudinally, when the dispense pressure value of employing maximum flexibility is controlled distributing commutation, obviously can make this impact remain on maximum, easily cause the car load vibration, cause reduce the working life of related hardware device, as accumulator, oscillating oil cylinder, S pipe etc., also cause the lot of energy waste simultaneously.
The dispense pressure of fixing owing to employing in the pumping machine working procedure at correlation technique is controlled at present, causes the problem that the loss of concrete pumping equipment hardware device is big, do not meet energy-conservation requirement, does not propose effective solution at present as yet.
Summary of the invention
Main purpose of the present invention is to provide a kind of pressure regulating method, system and concrete pumping equipment of concrete pumping equipment, owing in the pumping machine working procedure, adopt fixing dispense pressure to control, cause the problem that the loss of concrete pumping equipment hardware device is big, do not meet energy-conservation requirement to solve above-mentioned correlation technique.
To achieve these goals, according to an aspect of the present invention, provide a kind of pressure regulating system of concrete pumping equipment, the pressure regulating system of this concrete pumping equipment comprises: constant pressure pump; Pressure transducer is used to gather the variance ratio of pumping pressure value and pumping pressure; Pressure regulator valve is connected with constant pressure pump, is used to regulate the dispense pressure of constant pressure pump output; Controller is connected between pressure transducer and the pressure regulator valve, is used to receive the pumping pressure value that pressure transducer gets access to and the variance ratio of pumping pressure, and comes the control valve opening of pilot pressure modulating valve according to the variance ratio of pumping pressure value and pumping pressure; Oscillating oil cylinder is connected with constant pressure pump, is used to obtain the dispense pressure of constant pressure pump output and the pressure oil of accumulator, promotes distributing valve to obtain commutation pressure.
Further, controller comprises: reception unit is used to receive the variance ratio of pumping pressure value and pumping pressure; Treatment device, be used for obtaining the pumping pressure value in the first corresponding degree of membership of one or more pressure segments, and the variance ratio of pumping pressure corresponding second degree of membership in one or more variance ratio segments, and obtain the first fuzzy reasoning parameter θ according to first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
i,, wherein, determine the control valve opening of modulating valve by the control valve opening value with adjusted valve opening value.
Further, treatment device comprises: comparer, and the degree of membership combination that is used to obtain any two first degree of membership and second degree of membership, first degree of membership and second degree of membership during relatively degree of membership makes up, the minimum value that obtains is the first fuzzy reasoning parameter θ
iInquiry unit is used in the corresponding output value of fuzzy reasoning database inquiry degree of membership combination, and output value is the second fuzzy reasoning parameter Y
i
Further, treatment device also comprises: computing device, obtain control valve opening value u according to following formula:
Wherein, i and n are natural number, and 1≤i≤n.
To achieve these goals, according to a further aspect in the invention, a kind of pressure regulating method of concrete pumping equipment is provided, and the pressure regulating method of this concrete pumping equipment comprises: the variance ratio of gathering pumping pressure value and pumping pressure by pressure transducer; Controller receives the variance ratio of pumping pressure value and pumping pressure, and comes the control valve opening of pilot pressure modulating valve according to the variance ratio of pumping pressure value and pumping pressure; Pressure regulator valve is regulated the dispense pressure of constant pressure pump output according to control valve opening.
Further, the variance ratio according to pumping pressure value and pumping pressure comes the control valve opening of pilot pressure modulating valve to comprise: first degree of membership of obtaining pumping pressure value correspondence in one or more pressure segments; Obtain second degree of membership of variance ratio correspondence in one or more variance ratio segments of pumping pressure; Obtain the first fuzzy reasoning parameter θ according to first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
iAccording to the first fuzzy reasoning parameter θ
iWith the second fuzzy reasoning parameter Y
iObtain the control valve opening value; Determine the control valve opening of modulating valve by the control valve opening value.
Further, obtain the first fuzzy reasoning parameter θ according to first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
iComprise: obtain the degree of membership combination of any two first degree of membership and second degree of membership, and the minimum value in the combination of definite degree of membership is the first fuzzy reasoning parameter θ
iThe corresponding output value of inquiry degree of membership combination in the fuzzy reasoning database, output value is the second fuzzy reasoning parameter Y
i
Further, according to the first fuzzy reasoning parameter θ
iWith the second fuzzy reasoning parameter Y
iObtaining the control valve opening value comprises: obtain control valve opening value u according to following formula: the control valve opening value
Wherein, i and n are natural number, and 1≤i≤n.
Further, come at the variance ratio according to pumping pressure value and pumping pressure before the control valve opening of pilot pressure modulating valve, method also comprises: divide as required between the pressure area to obtain one or more pressure segments; Divide the variance ratio interval as required to obtain one or more variance ratio segments; Wherein, comprise superposed part between the adjacent pressure segment, comprise superposed part between the adjacent variance ratio segment.
To achieve these goals, according to another aspect of the invention, provide a kind of concrete pumping equipment, this concrete pumping equipment comprises the pressure regulating system of above-mentioned any one concrete pumping equipment.
By the present invention, adopt constant pressure pump; Pressure transducer is used to gather the variance ratio of pumping pressure value and pumping pressure; Pressure regulator valve is connected with constant pressure pump, is used to regulate the dispense pressure of constant pressure pump output; Controller is connected between pressure transducer and the pressure regulator valve, is used to receive the pumping pressure value that pressure transducer gets access to and the variance ratio of pumping pressure, and comes the control valve opening of pilot pressure modulating valve according to the variance ratio of pumping pressure value and pumping pressure; Oscillating oil cylinder, be connected with constant pressure pump, be used to obtain the dispense pressure of constant pressure pump output and the pressure oil of accumulator, promote distributing valve to obtain commutation pressure, solved existing correlation technique owing in the pumping machine working procedure, adopt fixing dispense pressure to control, cause the problem that the hardware device loss is big, do not meet energy-conservation requirement, and then the dispense pressure of intelligence adjusting constant pressure pump output is as required passed through in realization, significantly reduce when distributing commutation impact of collision to car load, thereby prolonged the life-span of hardware device, reached good energy-saving effect simultaneously.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the pressure regulation and control system structural representation according to the concrete pumping equipment of prior art;
Fig. 2 is the pressure regulation and control system structural representation according to the concrete pumping equipment of the embodiment of the invention;
Fig. 3 is the interval function schematic representation according to the pumping pressure of the embodiment of the invention;
Fig. 4 is the interval function schematic representation according to the pumping pressure variance ratio of the embodiment of the invention;
Fig. 5 is the function schematic representation that the fuzzy reasoning according to the embodiment of the invention obtains;
Fig. 6 is the flow chart according to the pressure regulating method of the concrete pumping equipment of the embodiment of the invention.
Embodiment
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 2 is the pressure regulation and control system structural representation according to the concrete pumping equipment of the embodiment of the invention.
As shown in Figure 2, this control system comprises: constant pressure pump 1; Pressure transducer 2 is used to gather the variance ratio of pumping pressure value and pumping pressure; Pressure regulator valve 4 is connected with described constant pressure pump 1, is used to regulate the dispense pressure of constant pressure pump 1 output; Controller 3, be connected between pressure transducer 2 and the pressure regulator valve 4, be used to receive the pumping pressure value that pressure transducer 2 gets access to and the variance ratio of pumping pressure, and come the control valve opening of pilot pressure modulating valve 4 according to the variance ratio of pumping pressure value and pumping pressure.
The above embodiment of the present invention comes pilot pressure modulating valve 4 to go to regulate the dispense pressure of constant pressure pump 1 by controller 3, the control output value is directly controlled dispense pressure with the form of size of current in the process of regulating, concrete, the foundation that can regulate as dispense pressure with pumping pressure and changing value thereof, adopt FUZZY ALGORITHMS FOR CONTROL to realize the intelligence adjusting of dispense pressure, realization is carried out mild control fully to dispense pressure, abandoned the mode that dispense pressure adopts fixed value to control, realized passing through the dispense pressure of intelligence adjusting constant pressure pump 1 output as required, significantly reduced when distributing commutation impact of collision to car load, thereby prolonged the life-span of hardware device, reached good energy-saving effect simultaneously.This regulating system is simple in structure and reliability is high.
The above-mentioned controller 3 of the present invention can comprise: reception unit is used to receive the variance ratio of pumping pressure value and pumping pressure; Treatment device, be used for obtaining the pumping pressure value in the first corresponding degree of membership of one or more pressure segments, and the variance ratio of pumping pressure corresponding second degree of membership in one or more variance ratio segments, and obtain the first fuzzy reasoning parameter θ according to first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
i,, wherein, determine the control valve opening of modulating valve by the control valve opening value with adjusted valve opening value.
Preferably, treatment device in the foregoing description can comprise: comparer, be used to obtain the degree of membership combination of any two first degree of membership and second degree of membership, first degree of membership and second degree of membership during relatively degree of membership makes up, the minimum value that obtains is the first fuzzy reasoning parameter θ
iInquiry unit is used in the corresponding output value of fuzzy reasoning database inquiry degree of membership combination, and output value is the second fuzzy reasoning parameter Y
i
Preferably, the treatment device of the foregoing description clock also comprises: computing device, obtain control valve opening value u according to following formula:
Wherein, i and n are natural number, and 1≤i≤n.
Concrete, as shown in Figure 2, the pressure regulator valve 4 among the application can adopt electromagnetic proportional valve, regulates the Proportional valve aperture by changing electric current.
1) this embodiment realizes The Fuzzy Design in controller 3.
At first, when the reception unit of processor receives pumping pressure value and variance ratio thereof, it is inputed to treatment device as two input variables.
As shown in Figure 3, this functional arrangement is represented the degree of membership of different pumping pressure values correspondence on the different pressures segment, controller 3 obtains corresponding degree of membership according to the pumping pressure that receives in this functional arrangement, owing between the segmentation in different pressures interval superposed part is arranged, therefore same pumping pressure can correspondingly obtain one or two degree of membership in Fig. 3.
As shown in Figure 4, this functional arrangement is represented the degree of membership of variance ratio correspondence on different variance ratio segments of different pumping pressures, controller 3 obtains corresponding degree of membership according to the variance ratio of the pumping pressure that receives in the lid functional arrangement, owing between the segmentation of different variance ratio segments superposed part is arranged, therefore the variance ratio of same pumping pressure can correspondingly obtain one or two degree of membership in Fig. 4.
As from the foregoing, any one input variable may belong to two different segments at most simultaneously, can obtain simultaneously the degree of membership size of respectively corresponding each segment,, be used for fuzzy reasoning so 4 kinds of assembled state can be arranged at most according to the pumping pressure of input and the variance ratio of pumping pressure.
Concrete, for example: the pumping pressure maximum value is 40 MPas, the pumping pressure value that certain collects constantly is 10 MPas, the geometric ratio parameter that then can define this pumping is 0.25MaxPumpPress, as shown in Figure 3,0.25 pumping pressure value can belong to two segments respectively: low section LOW and stage casing Mediu, wherein, this pumping pressure value corresponding degree of membership in the function of LOW segment is 0.75, and pumping pressure value corresponding degree of membership in the function of Mediu segment is 0.25.
Same, as shown in Figure 4, pumping pressure duty pressure variance ratio adopts with the division and the degree of membership of the similar method of the pumping pressure section of carrying out and calculates, and it may belong to two different sections, respectively corresponding two degree of membership values at most simultaneously equally as can be known.
So these two input variables of variance ratio at said pump pressurization pressure value and pumping pressure can have 4 kinds of combinations at most.
2) controller 3 begins to carry out the design of fuzzy reasoning after obtaining the degree of membership of two input variable correspondences by The Fuzzy Design.
Define 5 kinds of inference rule output values at first, as shown in Figure 5.Segment under two input variables obtaining during according to obfuscation (totally four kinds of combinations) is carried out fuzzy reasoning, and is concrete, the degree of membership of two input variable correspondences that can be obtained according to Fig. 3 and 4, obtain 4 fuzzy reasoning output values, i.e. Yi (i=1,2,3,4), each group input variable is obtained the minimum value in every group to 4 groups of degree of membership combinations (because corresponding each segment all has a degree of membership value) should be arranged simultaneously, be θ i (i=1,2,3,4) value.
Shown in Fig. 3-5, for example: when pumping pressure was 0.25MaxPumpPress, this pumping pressure belonged to two segments simultaneously in function shown in Figure 3.Comprise: low section LOW and stage casing Mediu, can obtain this pumping pressure corresponding degree of membership on the LOW segment simultaneously is 0.75, degree of membership corresponding on Mediu segment function is 0.25; When the pumping pressure variance ratio is 0.25MaxChangRate, this pumping pressure variance ratio belongs to two segments simultaneously in function shown in Figure 4, comprise: negative segment Negative and zero segment Zero, can obtain simultaneously this pumping pressure variance ratio 0.25 corresponding degree of membership on the Negative segment is 0.5, corresponding degree of membership is 0.5 on zero segment Zero, and its combining form has following four groups:
(1) " LOW, Negative ", corresponding degree of membership is combined as " 0.75,0.5 ", and minimum value is 0.5, and promptly θ 1.Can draw an output value Y1 according to rule;
(2) " Mediu, Negative ", corresponding degree of membership is combined as " 0.25,0.5 ", and minimum value is 0.25, and promptly θ 2.Can draw an output value Y2 according to rule;
(3) " LOW, Zero ", corresponding degree of membership is combined as " 0.75,0.5 ", and minimum value is 0.5, and promptly θ 3.Can draw an output value Y3 according to rule;
(4) " Mediu, Zero ", corresponding degree of membership is combined as " 0.25,0.5 ", and minimum value is 0.25, and promptly θ 4.Can draw an output value Y4 according to rule.
The foregoing description, by each degree of membership combination of inquiry in the fuzzy reasoning database, thereby obtain corresponding output value Y1-Y4, the fuzzy reasoning database among the application comprises the combination in any and the corresponding fuzzy reasoning parameter Y thereof of the degree of membership that two input variables (variance ratio of pumping pressure value and pumping pressure) are corresponding
iWherein, first input variable (pumping pressure value) can comprise 4 segments, second input variable can (variance ratio of pumping pressure) comprise 3 segments, two input variables can obtain 12 groups of degree of membership combinations altogether, and the fuzzy reasoning database is predefined this 12 groups of degree of membership combinations and corresponding output value Y thereof that comprise
i, the one or more degree of membership in each group can rule of thumb be worth to be obtained, and it is accurate more that the degree of membership in the segment is divided the careful more fuzzy reasoning result who obtains.
The foregoing description adopts and can carry out the pumping machine that constant pressure pump 1 that ratio regulates is controlled dispense pressure by electromagnetic proportional valve, by the testing pump pressurization pressure, and the most rational dispense pressure of coupling automatically.
3) controller 3 begins to carry out de-fuzzy after finishing fuzzy reasoning.
De-fuzzy has adopted gravity model appoach, and among the embodiment shown in Fig. 3-5, this formula is as follows: the control valve opening value of output is u=(Y1* θ 1+Y2* θ 2+Y3* θ 3+Y4* θ 4)/(Y1+Y2+Y3+Y4).
The above embodiments of the present application will be through the output calculated value of de-fuzzy, be converted to the form of electric current, in order to regulate the control valve opening of pressure body modulating valve, thereby the dispense pressure of control constant pressure pump 1 output, i.e. control distributes commutation pressure, realizes that dispense pressure follows automatically that pumping pressure changes and the intelligence that changes is regulated.
The above embodiments of the present application clock can also comprise accumulator 5; Oscillating oil cylinder 6 is used to obtain the dispense pressure of constant pressure pump 1 output and the pressure oil of accumulator 5, promotes distributing valve to obtain commutation pressure.
The present application can also adopt the mode of segment design that the pumping pressure value is carried out segmentation, makes the corresponding dispense pressure value of each section pumping pressure.The FUZZY ALGORITHMS FOR CONTROL of this segment design mode comparison diagram 3-5 illustrated embodiment, programming is simple, when segmentation more for a long time, can reach good regulating effect, but there is a shortcoming, the process of a dispense pressure saltus step can be occurred at the intersection of two segmentations, certain impact force can be produced.
Concrete, when adopting the segment design mode, there is not superposed part between the different pressures interval of the functional arrangement among Fig. 3, therefore, when receiving a pumping pressure value, only can on an interval, obtain a degree of membership, in like manner, among Fig. 4.Owing to do not have superposed part between the segmentation of different variance ratio segments, therefore the variance ratio of same pumping pressure only can correspondingly obtain a degree of membership in Fig. 4.Therefore, only obtain a degree of membership combination, therefore saved the process of de-fuzzy, can directly obtain this dispense pressure at same pumping pressure and variance ratio thereof.The FUZZY ALGORITHMS FOR CONTROL complexity, but can optimize the problem of point of interface pressure saltus step when adopting the segmentation form that distribution is debugged.
Preferably, damage when pumping pressure continues to occur the excessive or pressure transducer of pressure 2, causing pumping pressure is zero, and dispense pressure will be adjusted into a fixed value automatically this moment.。
Fig. 6 is the flow chart according to the pressure regulating method of the concrete pumping equipment of the embodiment of the invention, and this method comprises the steps: as shown in Figure 6
Step S102 gathers the variance ratio of pumping pressure value and pumping pressure by the pressure transducer among Fig. 22.
Step S104 receives the variance ratio of pumping pressure value and pumping pressure by the controller among Fig. 23, realizes coming according to the variance ratio of pumping pressure value and pumping pressure the control valve opening of pilot pressure modulating valve 4.
Step S106, the dispense pressure of regulating constant pressure pump 1 output by the pressure regulator valve among Fig. 24 according to control valve opening.
The above embodiment of the present invention comes pilot pressure modulating valve 4 to go to regulate the dispense pressure of constant pressure pump 1 by controller 3, the foundation that can regulate as dispense pressure with pumping pressure and changing value thereof, adopt FUZZY ALGORITHMS FOR CONTROL to realize the intelligence adjusting of dispense pressure, realization is carried out mild control fully to dispense pressure, abandoned the mode that dispense pressure adopts fixed value to control, realized passing through the dispense pressure of intelligence adjusting constant pressure pump 1 output as required, significantly reduced when distributing commutation impact of collision to car load, thereby prolonged the life-span of hardware device, reached good energy-saving effect simultaneously.This regulating system is simple in structure and reliability is high.
In the embodiment of the present application, come the control valve opening of pilot pressure modulating valve 4 to comprise: to obtain pumping pressure value corresponding first degree of membership in one or more pressure segments according to the variance ratio of pumping pressure value and pumping pressure; Obtain second degree of membership of variance ratio correspondence in one or more variance ratio segments of pumping pressure; Obtain the first fuzzy reasoning parameter θ according to first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
iAccording to the first fuzzy reasoning parameter θ
iWith the second fuzzy reasoning parameter Y
iObtain the control valve opening value; Determine the control valve opening of modulating valve by the control valve opening value.
Preferably, obtain the first fuzzy reasoning parameter θ according to first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
iComprise: obtain the degree of membership combination of any two first degree of membership and second degree of membership, and the minimum value in the combination of definite degree of membership is the first fuzzy reasoning parameter θ
iThe corresponding output value of inquiry degree of membership combination in the fuzzy reasoning database, output value is the second fuzzy reasoning parameter Y
i
Preferably, according to the first fuzzy reasoning parameter θ
iWith the second fuzzy reasoning parameter Y
iObtaining the control valve opening value comprises: obtain control valve opening value u according to following formula: the control valve opening value
Wherein, i and n are natural number, and 1≤i≤n.
Said method embodiment comes the dispensed pressure output value by use FUZZY ALGORITHMS FOR CONTROL in controller 3, specifically is to adopt the ZER-ORDER method to realize The Fuzzy Design, fuzzy reasoning and district's obfuscation.
Concrete, in the process that realizes The Fuzzy Design, shown in Fig. 3 and 4, controller 3 obtains corresponding degree of membership according to the pumping pressure that receives in functional arrangement shown in Figure 3, variance ratio at pumping pressure shown in Figure 4 obtains corresponding degree of membership in the lid functional arrangement, owing between the segmentation in different pressures interval superposed part is arranged, therefore same pumping pressure can correspondingly obtain one or two degree of membership in Fig. 3, in like manner, the variance ratio of same pumping pressure can correspondingly obtain one or two degree of membership in Fig. 4.
As from the foregoing, any one input variable may belong to two different segments at most simultaneously, can obtain simultaneously the degree of membership size of respectively corresponding each segment,, be used for fuzzy reasoning so 4 kinds of assembled state can be arranged at most according to the pumping pressure of input and the variance ratio of pumping pressure.
Concrete, for example: the pumping pressure maximum value is 40 MPas, the pumping pressure value that certain collects constantly is 10 MPas, the geometric ratio parameter that then can define this pumping is 0.25MaxPumpPress, as shown in Figure 3,0.25 pumping pressure value can belong to two segments respectively: low section LOW and stage casing Mediu, wherein, this pumping pressure value corresponding degree of membership in the function of LOW segment is 0.75, and pumping pressure value corresponding degree of membership in the function of Mediu segment is 0.25.
In the process of the design that realizes fuzzy reasoning, at first, define 5 kinds of inference rule output values as shown in Figure 5.Segment under two input variables obtaining during according to obfuscation (totally four kinds of combinations) is carried out fuzzy reasoning, and is concrete, the degree of membership of two input variable correspondences that can be obtained according to Fig. 3 and 4, obtain 4 fuzzy reasoning output values, i.e. Yi (i=1,2,3,4), each group input variable is obtained the minimum value in every group to 4 groups of degree of membership combinations (because corresponding each segment all has a degree of membership value) should be arranged simultaneously, be θ i (i=1,2,3,4) value.
Concrete, when pumping pressure was 0.25MaxPumpPress, this pumping pressure belonged to two segments simultaneously in function shown in Figure 3.Comprise: low section LOW and stage casing Mediu, can obtain this pumping pressure corresponding degree of membership on the LOW segment simultaneously is 0.75, degree of membership corresponding on Mediu segment function is 0.25; When the pumping pressure variance ratio is 0.25MaxChangRate, this pumping pressure variance ratio belongs to two segments simultaneously in function shown in Figure 4, comprise: negative segment Negative and zero segment Zero, can obtain simultaneously this pumping pressure variance ratio 0.25 corresponding degree of membership on the Negative segment is 0.5, corresponding degree of membership is 0.5 on zero segment Zero, and its combining form has following four groups:
(1) " LOW, Negative ", corresponding degree of membership is combined as " 0.75,0.5 ", and minimum value is 0.5, and promptly θ 1.Can draw an output value Y1 according to rule;
(2) " Mediu, Negative ", corresponding degree of membership is combined as " 0.25,0.5 ", and minimum value is 0.25, and promptly θ 2.Can draw an output value Y2 according to rule;
(3) " LOW, Zero ", corresponding degree of membership is combined as " 0.75,0.5 ", and minimum value is 0.5, and promptly θ 3.Can draw an output value Y3 according to rule;
(4) " Mediu, Zero ", corresponding degree of membership is combined as " 0.25,0.5 ", and minimum value is 0.25, and promptly θ 4.Can draw an output value Y4 according to rule.
The foregoing description adopts and can carry out the pumping machine that constant pressure pump that ratio regulates is controlled dispense pressure by electromagnetic proportional valve, by the testing pump pressurization pressure, and the most rational dispense pressure of coupling automatically.
After finishing the processing procedure of fuzzy reasoning, begin to carry out de-fuzzy.Promptly can pass through formula
Obtain the control valve opening value of output, among the embodiment shown in the application Fig. 3-6, the control valve opening value of output is u=(Y1* θ 1+Y2* θ 2+Y3* θ 3+Y4* θ 4)/(Y1+Y2+Y3+Y4).
The above embodiments of the present application will be converted to the form of electric current through the output calculated value of de-fuzzy, and control distributes commutation pressure, realize that dispense pressure follows automatically that pumping pressure changes and the intelligence that changes is regulated.
The present application can also adopt the mode of segment design that the pumping pressure value is carried out segmentation, makes the corresponding dispense pressure value of each section pumping pressure.The FUZZY ALGORITHMS FOR CONTROL of this segment design mode comparison diagram 3-5 illustrated embodiment, programming is simple, when segmentation more for a long time, can reach good regulating effect, but there is a shortcoming, the process of a dispense pressure saltus step can be occurred at the intersection of two segmentations, certain impact force can be produced.
Preferably, come at the variance ratio according to pumping pressure value and pumping pressure before the control valve opening of pilot pressure modulating valve 4, method also comprises: divide as required between the pressure area to obtain one or more pressure segments; Divide the variance ratio interval as required to obtain one or more variance ratio segments; Wherein, comprise superposed part between the adjacent pressure segment, comprise superposed part between the adjacent variance ratio segment.The foregoing description, because can rule of thumb being worth, the research staff divides pressure section and variance ratio segment, therefore can determine the division of segment according to actual needs, it is accurate more that segment is divided the careful more fuzzy reasoning result who obtains, and the corresponding dispense pressure value that obtains is accurate more.
The application can also provide a kind of concrete pumping equipment, and this concrete pumping equipment can comprise the mode of execution of the pressure regulating system of above-mentioned any one concrete pumping equipment.
Need to prove, can in computer system, carry out in the step shown in the flow chart of accompanying drawing such as a set of computer-executable instructions, and, though there is shown logical order in flow process, but in some cases, can carry out step shown or that describe with the order that is different from herein.
As can be seen from the above description, the present invention has realized following technique effect:
1: realize that dispense pressure is foundation with the pumping pressure, regulate pressure by actual demand.
The pumping machine dispense pressure is changed into a changing value of can intelligence regulating by a fixed value, significantly reduced when distributing commutation, prolong the working life of related device the impact of collision of car load.Reach good energy-saving effect.
2: adopt FUZZY ALGORITHMS FOR CONTROL to realize the intelligence adjusting of dispense pressure.
Get pumping pressure value and pumping pressure changing value input variable, well realized the tracking adjusting of dispense pressure pumping pressure as fuzzy control.
3: but the constant pressure pump that adopts the delivery pressure ratio to regulate by the current value adjustment force value, has been realized the related of fuzzy control output value (current value) and dispense pressure.The hardware controls pattern is simple, need not to increase too big cost.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with the general calculation device, they can concentrate on the single computing device, perhaps be distributed on the network that a plurality of computing device forms, alternatively, they can be realized with the executable program-code of computing device, thereby, they can be stored in the storage device and carry out by computing device, perhaps they are made into each integrated circuit module respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the pressure regulating system of a concrete pumping equipment is characterized in that, comprising:
Constant pressure pump;
Pressure transducer is used to gather the variance ratio of pumping pressure value and pumping pressure;
Pressure regulator valve is connected with described constant pressure pump, is used to regulate the dispense pressure of described constant pressure pump output;
Controller, be connected between described pressure transducer and the described pressure regulator valve, be used to receive the described pumping pressure value that described pressure transducer gets access to and the variance ratio of described pumping pressure, and control the control valve opening of described pressure regulator valve according to the variance ratio of described pumping pressure value and described pumping pressure;
Oscillating oil cylinder is connected with described constant pressure pump, is used to obtain the described dispense pressure of described constant pressure pump output and the pressure oil of accumulator, promotes distributing valve to obtain commutation pressure.
2. system according to claim 1 is characterized in that, described controller comprises:
Reception unit is used to receive the variance ratio of described pumping pressure value and described pumping pressure;
Treatment device, be used for obtaining described pumping pressure value in the first corresponding degree of membership of one or more pressure segments, and the variance ratio of described pumping pressure corresponding second degree of membership in one or more variance ratio segments, and obtain the first fuzzy reasoning parameter θ according to described first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
i,, wherein, determine the described control valve opening of described modulating valve by described control valve opening value to obtain described control valve opening value.
3. system according to claim 2 is characterized in that, described treatment device comprises:
Comparer, the degree of membership combination that is used to obtain any two described first degree of membership and described second degree of membership, described first degree of membership and described second degree of membership in the more described degree of membership combination, the minimum value that obtains is the described first fuzzy reasoning parameter θ
i
Inquiry unit is used in the corresponding output value of the described degree of membership combination of fuzzy reasoning database inquiry, and described output value is the described second fuzzy reasoning parameter Y
i
4. system according to claim 3 is characterized in that, described treatment device also comprises:
Computing device, obtain described control valve opening value u according to following formula:
Wherein, i and n are natural number, and 1≤i≤n.
5. the pressure regulating method of a concrete pumping equipment is characterized in that, comprising:
Gather the variance ratio of pumping pressure value and pumping pressure by pressure transducer;
Controller receives the variance ratio of described pumping pressure value and described pumping pressure, and comes the control valve opening of pilot pressure modulating valve according to the variance ratio of described pumping pressure value and described pumping pressure;
Pressure regulator valve is regulated the dispense pressure of constant pressure pump output according to described control valve opening.
6. method according to claim 5 is characterized in that, comes the control valve opening of pilot pressure modulating valve to comprise according to the variance ratio of described pumping pressure value and described pumping pressure:
Obtain first degree of membership of described pumping pressure value correspondence in one or more pressure segments;
Obtain second degree of membership of variance ratio correspondence in one or more variance ratio segments of described pumping pressure;
Obtain the first fuzzy reasoning parameter θ according to described first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
i
According to the described first fuzzy reasoning parameter θ
iWith the described second fuzzy reasoning parameter Y
iObtain described control valve opening value;
Determine the described control valve opening of described modulating valve by described control valve opening value.
7. method according to claim 6 is characterized in that, obtains the first fuzzy reasoning parameter θ according to described first degree of membership and second degree of membership
iWith the second fuzzy reasoning parameter Y
iComprise:
Obtain the degree of membership combination of any two described first degree of membership and described second degree of membership, and determine that the minimum value in the described degree of membership combination is the described first fuzzy reasoning parameter θ
i
The corresponding output value of the described degree of membership combination of inquiry in the fuzzy reasoning database, described output value is the described second fuzzy reasoning parameter Y
i
8. method according to claim 7 is characterized in that, according to the described first fuzzy reasoning parameter θ
iWith the described second fuzzy reasoning parameter Y
iObtaining described control valve opening value comprises:
Obtain described control valve opening value u according to following formula:
The control valve opening value
Wherein, i and n are natural number, and 1≤i≤n.
9. method according to claim 8 is characterized in that, comes at the variance ratio according to described pumping pressure value and described pumping pressure before the control valve opening of pilot pressure modulating valve, and described method also comprises:
Divide as required between the pressure area to obtain one or more described pressure segments;
Divide the variance ratio interval as required to obtain one or more described variance ratio segments;
Wherein, comprise superposed part between the adjacent described pressure segment, comprise superposed part between the adjacent described variance ratio segment.
10. a concrete pumping equipment is characterized in that, comprising: the pressure regulating system of each described concrete pumping equipment among the claim 1-4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110152993 CN102269157B (en) | 2011-06-08 | 2011-06-08 | Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus |
| PCT/CN2011/078027 WO2012167499A1 (en) | 2011-06-08 | 2011-08-04 | Pressure regulating method and system for a concrete pumping device and the concrete pumping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110152993 CN102269157B (en) | 2011-06-08 | 2011-06-08 | Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102269157A true CN102269157A (en) | 2011-12-07 |
| CN102269157B CN102269157B (en) | 2013-03-20 |
Family
ID=45051554
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110152993 Active CN102269157B (en) | 2011-06-08 | 2011-06-08 | Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102269157B (en) |
| WO (1) | WO2012167499A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979710A (en) * | 2012-04-01 | 2013-03-20 | 北汽福田汽车股份有限公司 | Pump truck and valve swinging system used for power machinery and control method thereof |
| CN103032421A (en) * | 2012-12-26 | 2013-04-10 | 中联重科股份有限公司 | Reversing hydraulic system, method for controlling same and concrete pumping equipment |
| CN103557146A (en) * | 2013-11-15 | 2014-02-05 | 中联重科股份有限公司 | Flexible start control method and device of pumping system and pumping device |
| CN103671315A (en) * | 2013-12-05 | 2014-03-26 | 中联重科股份有限公司 | Concrete pumping system and concrete pumping machine |
| CN103821734A (en) * | 2014-02-27 | 2014-05-28 | 徐工集团工程机械股份有限公司 | Method, device and system for adjusting centrifugal water pump inlet flow field |
| CN106460838A (en) * | 2014-06-30 | 2017-02-22 | 株式会社山田制作所 | Relief device for oil circuit of engine |
| CN107313928A (en) * | 2017-08-17 | 2017-11-03 | 长沙科达智能装备股份有限公司 | A kind of mobile concrete jet robot accelerator Auto-matching control device and method |
| CN110388342A (en) * | 2019-07-22 | 2019-10-29 | 深圳东风汽车有限公司 | A kind of control method reducing overflow guard time for hydraulic system |
| CN112272725A (en) * | 2018-04-24 | 2021-01-26 | 普茨迈斯特工程有限公司 | Method and system for hydraulically controlling a cement dispensing boom |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05172111A (en) * | 1991-12-24 | 1993-07-09 | Komatsu Ltd | Variable hydraulic pump capacity control device for pressure-compensating hydraulic circuit |
| JP2007002704A (en) * | 2005-06-22 | 2007-01-11 | Ishikawajima Constr Mach Co | Concrete pump blocking prevention device |
| US20090185915A1 (en) * | 2008-01-17 | 2009-07-23 | Multiquip, Inc. | Digital Control Device |
| CN201486789U (en) * | 2009-05-31 | 2010-05-26 | 长沙中联重工科技发展股份有限公司 | Concrete pumping equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2275239Y (en) * | 1996-11-08 | 1998-02-25 | 冯金益 | Automatic equivalent speed rate load pressure tester |
| CN101649829A (en) * | 2009-04-30 | 2010-02-17 | 扬州柳工建设机械有限公司 | Automatic pumping control technology of concrete pump |
-
2011
- 2011-06-08 CN CN 201110152993 patent/CN102269157B/en active Active
- 2011-08-04 WO PCT/CN2011/078027 patent/WO2012167499A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05172111A (en) * | 1991-12-24 | 1993-07-09 | Komatsu Ltd | Variable hydraulic pump capacity control device for pressure-compensating hydraulic circuit |
| JP2007002704A (en) * | 2005-06-22 | 2007-01-11 | Ishikawajima Constr Mach Co | Concrete pump blocking prevention device |
| US20090185915A1 (en) * | 2008-01-17 | 2009-07-23 | Multiquip, Inc. | Digital Control Device |
| CN201486789U (en) * | 2009-05-31 | 2010-05-26 | 长沙中联重工科技发展股份有限公司 | Concrete pumping equipment |
Non-Patent Citations (2)
| Title |
|---|
| 李笑: "基于FNN的恒压力调节泵专家智能协调控制", 《机床与液压》, 31 May 2001 (2001-05-31) * |
| 武四辈: "混凝土泵车节能用油门模糊PID控制器的研究", 《工程机械》, vol. 40, no. 1, 31 January 2009 (2009-01-31) * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979710A (en) * | 2012-04-01 | 2013-03-20 | 北汽福田汽车股份有限公司 | Pump truck and valve swinging system used for power machinery and control method thereof |
| CN103032421A (en) * | 2012-12-26 | 2013-04-10 | 中联重科股份有限公司 | Reversing hydraulic system, method for controlling same and concrete pumping equipment |
| CN103032421B (en) * | 2012-12-26 | 2015-04-22 | 中联重科股份有限公司 | Reversing hydraulic system, method for controlling same and concrete pumping equipment |
| CN103557146A (en) * | 2013-11-15 | 2014-02-05 | 中联重科股份有限公司 | Flexible start control method and device of pumping system and pumping device |
| CN103557146B (en) * | 2013-11-15 | 2016-02-10 | 中联重科股份有限公司 | The flexible start control method of pumping system, device and pumping equipment |
| CN103671315A (en) * | 2013-12-05 | 2014-03-26 | 中联重科股份有限公司 | Concrete pumping system and concrete pumping machine |
| CN103821734B (en) * | 2014-02-27 | 2015-11-25 | 徐工集团工程机械股份有限公司 | The regulating method of centrifugal water pump inlet flow field, device and system |
| CN103821734A (en) * | 2014-02-27 | 2014-05-28 | 徐工集团工程机械股份有限公司 | Method, device and system for adjusting centrifugal water pump inlet flow field |
| CN106460838A (en) * | 2014-06-30 | 2017-02-22 | 株式会社山田制作所 | Relief device for oil circuit of engine |
| CN107313928A (en) * | 2017-08-17 | 2017-11-03 | 长沙科达智能装备股份有限公司 | A kind of mobile concrete jet robot accelerator Auto-matching control device and method |
| CN107313928B (en) * | 2017-08-17 | 2018-07-24 | 长沙科达智能装备股份有限公司 | A kind of mobile concrete jet robot accelerator Auto-matching control device and method |
| CN112272725A (en) * | 2018-04-24 | 2021-01-26 | 普茨迈斯特工程有限公司 | Method and system for hydraulically controlling a cement dispensing boom |
| CN112272725B (en) * | 2018-04-24 | 2022-04-19 | 普茨迈斯特工程有限公司 | Method and system for hydraulically controlling a cement dispensing boom |
| CN110388342A (en) * | 2019-07-22 | 2019-10-29 | 深圳东风汽车有限公司 | A kind of control method reducing overflow guard time for hydraulic system |
| CN110388342B (en) * | 2019-07-22 | 2020-09-04 | 深圳东风汽车有限公司 | Control method for reducing overflow protection time of hydraulic system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012167499A1 (en) | 2012-12-13 |
| CN102269157B (en) | 2013-03-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102269157B (en) | Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus | |
| WO2021114661A1 (en) | Plant electric energy management and control system and method based on edge-cloud cooperation | |
| KR101928576B1 (en) | Information servicing system for fuel efficiency of construction machinery | |
| CN104538986B (en) | Parallel inverter control method, host, slave machines and system | |
| CN202694092U (en) | Constant-pressure water supply group control system based on CAN bus | |
| CN101625543B (en) | Construction machinery, control system and control method thereof | |
| CN102913332B (en) | Hydraulic system and power distribution method thereof and power distribution unit | |
| CN105939017B (en) | The practical application method for solving of the idle work optimization of intersegmental coupling during consideration | |
| CN109183568A (en) | A kind of novel energy-conserving road roller power matching system | |
| CN101225668A (en) | Control method of multiple system hybrid-power hydraulic shovel | |
| CN106869223B (en) | The control method of excavator positive-flow hydraulic system | |
| CN104832301A (en) | Pumping control method and device | |
| CN103696453A (en) | Control method and system used for excavator electric control pump | |
| CN104895136B (en) | A kind of method and device of automatic recognition of load and Optimized Matching | |
| CN104047328B (en) | Excavator positive flow control method | |
| CN206581340U (en) | Many frequency-changing control systems | |
| CN109507506A (en) | DC electric apparatus control method and DC electric apparatus | |
| CN103047028A (en) | Multiengine engineering vehicle and control method thereof | |
| CN107016497A (en) | Water power generation schedule optimization method | |
| CN103490421A (en) | Regional power grid direct regulating pumped storage power station group short period multi-power-grid load distribution method | |
| CN103452825B (en) | A kind of flow control method of pressure control pump | |
| CN104775472A (en) | Hydraulic excavator and control method thereof | |
| CN104467031B (en) | The reactive power distribution method of battery energy storage power station | |
| CN106602571A (en) | Automatic voltage control method based on computer monitoring system | |
| CN107272695A (en) | A kind of robot autocontrol method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Applicant after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Address before: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Applicant before: Chang Sha Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20111207 Assignee: Hunan Xi Fa engineering machinery Co., Ltd Assignor: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Contract record no.: 2014430000081 Denomination of invention: Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus Granted publication date: 20130320 License type: Exclusive License Record date: 20140521 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160725 Address after: 677 No. 410000 Hunan province Changsha high-tech zones Lugu Avenue Patentee after: Hunan Xi Fa engineering machinery Co., Ltd Address before: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Patentee before: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |