CN102269157B - 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
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- CN102269157B CN102269157B CN 201110152993 CN201110152993A CN102269157B CN 102269157 B CN102269157 B CN 102269157B CN 201110152993 CN201110152993 CN 201110152993 CN 201110152993 A CN201110152993 A CN 201110152993A CN 102269157 B CN102269157 B CN 102269157B
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- 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 procedure, 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 maximum fixing dispense pressure value to distributing commutation to control 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 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 S pipe distributing valve and swing.Prior art by pressure regulator valve 4 ' with constant pressure pump 1 ' the constant pressure pump pressure setting be a fixed value, when namely 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 this fixed value is the dispense pressure value of maximum demand usually.Because distributing commutation can produce one to car load impacts longitudinally, when adopting maximum fixing dispense pressure value that the distribution commutation is controlled, obviously can make this impact remain on maximum, easily cause the car load vibration, cause reduce the working life of related hardware device, such as accumulator, oscillating oil cylinder, S pipe etc., also cause a large amount of energy dissipations simultaneously.
The dispense pressure of fixing owing to employing in the pumping machine working procedure for correlation technique is at present controlled, and causes the problem that the loss of concrete pumping equipment hardware device is large, do not meet energy-conservation requirement, not yet proposes at present effective solution.
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 large, 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 for the variance ratio that gathers pumping pressure value and pumping pressure; Pressure regulator valve is connected with constant pressure pump, is used for the dispense pressure of regulating constant press pump output; Controller is connected between pressure transducer and the pressure regulator valve, be used for to receive 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 for obtaining 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, for the variance ratio that receives pumping pressure value and pumping pressure; Treatment device, be used for obtaining the pumping pressure value in the first degree of membership corresponding to one or more pressure range sections, 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 the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
i, with adjusted valve opening value, wherein, determine the control valve opening of modulating valve by the control valve opening value.
Further, treatment device comprises: comparer, and the degree of membership combination that is used for obtaining any two the first degree of membership and the second degree of membership, the first degree of membership and the 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 output value corresponding to 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 that gathers 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 comes the dispense pressure of regulating constant press 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: the first degree of membership of obtaining pumping pressure value correspondence in one or more pressure range sections; Obtain the 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 the first degree of membership and the 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 the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
iComprise: obtain the degree of membership combination of any two the first degree of membership and the second degree of membership, and the minimum value in the combination of definite degree of membership is the first fuzzy reasoning parameter θ
iOutput value corresponding to 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 pressure range to obtain one or more pressure range sections; Divide as required the variance ratio interval to obtain one or more variance ratio segments; Wherein, comprise the part of coincidence between the adjacent pressure range section, comprise the part of coincidence 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 for the variance ratio that gathers pumping pressure value and pumping pressure; Pressure regulator valve is connected with constant pressure pump, is used for the dispense pressure of regulating constant press pump output; Controller is connected between pressure transducer and the pressure regulator valve, be used for to receive 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 for obtaining 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 large, do not meet energy-conservation requirement, and then the as required dispense pressure of intelligent regulating constant press pump output is passed through in realization, greatly reduce when distributing commutation the impact of collision to car load, thereby prolonged the life-span of hardware device, reached simultaneously good energy-saving effect.
Description of drawings
Accompanying drawing described herein is used to provide a further understanding of the present invention, consists of the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the pressure regulation control system structural representation according to the concrete pumping equipment of prior art;
Fig. 2 is the pressure regulation 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 in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Fig. 2 is the pressure regulation 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 for the variance ratio that gathers pumping pressure value and pumping pressure; Pressure regulator valve 4 is connected with described constant pressure pump 1, is used for the dispense pressure of regulating constant press pump 1 output; Controller 3, be connected between pressure transducer 2 and the pressure regulator valve 4, be used for to receive 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 the dispense pressure of regulating constant press pump 1 by controller 3, the control output value is directly with the form control dispense pressure 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 fully mild control to dispense pressure, abandoned the mode that dispense pressure adopts fixed value to control, realized passing through the as required dispense pressure of intelligent regulating constant press pump 1 output, greatly reduced when distributing commutation the impact of collision to car load, thereby prolonged the life-span of hardware device, reached simultaneously good energy-saving effect.This regulating system is simple in structure and reliability is high.
The above-mentioned controller 3 of the present invention can comprise: reception unit, for the variance ratio that receives pumping pressure value and pumping pressure; Treatment device, be used for obtaining the pumping pressure value in the first degree of membership corresponding to one or more pressure range sections, 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 the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
i, with adjusted valve opening value, wherein, determine the control valve opening of modulating valve by the control valve opening value.
Preferably, treatment device in above-described embodiment can comprise: comparer, be used for obtaining the degree of membership combination of any two the first degree of membership and the second degree of membership, the first degree of membership and the 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 output value corresponding to fuzzy reasoning database inquiry degree of membership combination, and output value is the second fuzzy reasoning parameter Y
i
Preferably, the treatment device of above-described embodiment 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 represents 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, because the part of coincidence is arranged between the segmentation in different pressures interval, therefore same pumping pressure can correspondingly obtain one or two degree of membership in Fig. 3.
As shown in Figure 4, this functional arrangement represents 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, because the part of coincidence is arranged between the segmentation of different variance ratio segments, 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, so according to the pumping pressure of input and the variance ratio of pumping pressure 4 kinds of assembled state can be arranged at most, be used for fuzzy reasoning.
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 respectively two segments: 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 division and the degree of membership of the similar method of the pumping pressure section of carrying out and calculates, and it may belong at most two different sections, respectively corresponding two degree of membership values simultaneously equally as can be known.
So these two input variables of variance ratio for said pump pressurization pressure value and pumping pressure can have at most 4 kinds of combinations.
2) controller 3 begins to carry out the design of fuzzy reasoning obtain degree of membership corresponding to two input variables by the Fuzzy Design after.
Define at first, as shown in Figure 55 kinds of inference rule output values.Segment under two input variables obtaining during according to obfuscation (totally four kinds of combinations) is carried out fuzzy reasoning, and is concrete, two degree of membership that input variable is corresponding that can obtain 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 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 namely 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 namely 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 namely 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 namely θ 4.Can draw an output value Y4 according to rule.
Above-described embodiment, 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 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 altogether 12 groups of degree of membership combinations, 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 more accurate that the degree of membership in the segment is divided the more careful fuzzy reasoning result who obtains.
Above-described embodiment 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 Auto-matching.
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 for obtaining 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 is more, 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 the part of coincidence between the different pressures interval of the functional arrangement among Fig. 3, therefore, when receiving a pumping pressure value, only can obtain a degree of membership in an interval, in like manner, among Fig. 4.Owing to there is not the part of coincidence 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 for same pumping pressure and variance ratio thereof, therefore saved the process of de-fuzzy, can directly obtain this dispense pressure.FUZZY ALGORITHMS FOR CONTROL is complicated, 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 that the method comprises the steps: as shown in Figure 6 according to the flow chart of the pressure regulating method of the concrete pumping equipment of the embodiment of the invention
Step S102 gathers the variance ratio of pumping pressure value and pumping pressure by the pressure transducer 2 among Fig. 2.
Step S104 receives the variance ratio of pumping pressure value and pumping pressure by the controller 3 among Fig. 2, 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 comes the dispense pressure of regulating constant press pump 1 output according to control valve opening by the pressure regulator valve 4 among Fig. 2.
The above embodiment of the present invention comes pilot pressure modulating valve 4 to go the dispense pressure of regulating constant press 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 fully mild control to dispense pressure, abandoned the mode that dispense pressure adopts fixed value to control, realized passing through the as required dispense pressure of intelligent regulating constant press pump 1 output, greatly reduced when distributing commutation the impact of collision to car load, thereby prolonged the life-span of hardware device, reached simultaneously good energy-saving effect.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 according to the variance ratio of pumping pressure value and pumping pressure: to obtain pumping pressure value corresponding first degree of membership in one or more pressure range sections; Obtain the 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 the first degree of membership and the 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 the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
iComprise: obtain the degree of membership combination of any two the first degree of membership and the second degree of membership, and the minimum value in the combination of definite degree of membership is the first fuzzy reasoning parameter θ
iOutput value corresponding to 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 specifically adopts the ZER-ORDER method to realize the Fuzzy Design, fuzzy reasoning and district's obfuscation by come the dispensed pressure output value with FUZZY ALGORITHMS FOR CONTROL in controller 3.
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, because the part of coincidence is arranged between the segmentation in different pressures interval, 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, so according to the pumping pressure of input and the variance ratio of pumping pressure 4 kinds of assembled state can be arranged at most, be used for fuzzy reasoning.
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 respectively two segments: 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 as shown in Figure 55 kinds of inference rule output values.Segment under two input variables obtaining during according to obfuscation (totally four kinds of combinations) is carried out fuzzy reasoning, and is concrete, two degree of membership that input variable is corresponding that can obtain 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 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 namely 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 namely 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 namely 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 namely θ 4.Can draw an output value Y4 according to rule.
Above-described embodiment 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 Auto-matching.
After finishing the processing procedure of fuzzy reasoning, begin to carry out de-fuzzy.Namely 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 is more, 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 pressure range to obtain one or more pressure range sections; Divide as required the variance ratio interval to obtain one or more variance ratio segments; Wherein, comprise the part of coincidence between the adjacent pressure range section, comprise the part of coincidence between the adjacent variance ratio segment.Above-described embodiment, because can rule of thumb being worth, the research staff divides pressure section and variance ratio segment, therefore the according to actual needs division of certain range section, it is more accurate that segment is divided the more careful fuzzy reasoning result who obtains, and the corresponding dispense pressure value that obtains is more accurate.
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 the computer system such as one group of computer executable instructions, carry out in the step shown in the flow chart of accompanying drawing, and, although 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 dispense pressure take pumping pressure as foundation, by actual demand adjusting pressure.
The pumping machine dispense pressure is changed into a changing value of can intelligence regulating by a fixed value, greatly reduced when distributing commutation the impact of collision of car load, prolong the working life of related device.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 as the input variable of fuzzy control, well realized the tracking adjusting of dispense pressure to pumping pressure.
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 large 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 general computing device, they can concentrate on the single computing device, perhaps be distributed on the network that a plurality of computing devices form, alternatively, they can be realized with the executable program-code of computing device, thereby, they can be stored in the storage device and be carried out by computing device, perhaps they are made into respectively each integrated circuit module, 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 modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the pressure regulating system of a concrete pumping equipment is characterized in that, comprising:
Constant pressure pump;
Pressure transducer is for the variance ratio that gathers pumping pressure value and pumping pressure;
Pressure regulator valve is connected with described constant pressure pump, is used for regulating the dispense pressure of described constant pressure pump output;
Controller, be connected between described pressure transducer and the described pressure regulator valve, be used for receiving 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 for obtaining the described dispense pressure of described constant pressure pump output and the pressure oil of accumulator, promotes distributing valve to obtain commutation pressure;
Wherein, described controller comprises: reception unit, for the variance ratio that receives described pumping pressure value and described pumping pressure; Treatment device, be used for obtaining described pumping pressure value in the first degree of membership corresponding to one or more pressure range sections, 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 the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
i, to obtain described control valve opening value, wherein, determine the described control valve opening of described modulating valve by described control valve opening value.
2. system according to claim 1 is characterized in that, described treatment device comprises:
Comparer, the degree of membership combination that is used for obtaining any two described the first degree of membership and described the second degree of membership, described the first degree of membership and described the second degree of membership in the more described degree of membership combination, the minimum value that obtains is described the first fuzzy reasoning parameter θ
i
Inquiry unit is used in output value corresponding to the described degree of membership combination of fuzzy reasoning database inquiry, and described output value is described the second fuzzy reasoning parameter Y
i
3. system according to claim 2 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.
4. 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 comes the dispense pressure of regulating constant press pump output according to described control valve opening;
Wherein, the variance ratio according to described pumping pressure value and described pumping pressure comes the control valve opening of pilot pressure modulating valve to comprise: the first degree of membership of obtaining described pumping pressure value correspondence in one or more pressure range sections; Obtain the 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 the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
iAccording to described the first fuzzy reasoning parameter θ
iWith described the 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.
5. method according to claim 4 is characterized in that, obtains the first fuzzy reasoning parameter θ according to described the first degree of membership and the second degree of membership
iWith the second fuzzy reasoning parameter Y
iComprise:
Obtain the degree of membership combination of any two described the first degree of membership and described the second degree of membership, and determine that the minimum value in the described degree of membership combination is described the first fuzzy reasoning parameter θ
i
Output value corresponding to the described degree of membership combination of inquiry in the fuzzy reasoning database, described output value is described the second fuzzy reasoning parameter Y
i
6. method according to claim 5 is characterized in that, according to described the first fuzzy reasoning parameter θ
iWith described the 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.
7. method according to claim 6 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 pressure range to obtain one or more described pressure range sections;
Divide as required the variance ratio interval to obtain one or more described variance ratio segments;
Wherein, comprise the part of coincidence between the adjacent described pressure range section, comprise the part of coincidence between the adjacent described variance ratio segment.
8. a concrete pumping equipment is characterized in that, comprising: the pressure regulating system of each described concrete pumping equipment among the claim 1-3.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| CN 201110152993 CN102269157B (en) | 2011-06-08 | 2011-06-08 | Pressure regulating method and system for concrete pumping apparatus, and concrete pumping apparatus |
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| CN102269157B true CN102269157B (en) | 2013-03-20 |
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| CN102979710B (en) * | 2012-04-01 | 2014-03-19 | 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 |
| 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 |
| 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 |
| CN103671315B (en) * | 2013-12-05 | 2016-03-30 | 中联重科股份有限公司 | Concrete pumping system and concrete pumping machinery |
| 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 |
| JP6706028B2 (en) * | 2014-06-30 | 2020-06-03 | 株式会社山田製作所 | Relief device for engine oil circuit |
| 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 |
| DE102018109789A1 (en) * | 2018-04-24 | 2019-10-24 | Putzmeister Engineering Gmbh | Method and system for the hydraulic control of a concrete distributor mast |
| CN111852973B (en) * | 2019-07-22 | 2022-07-01 | 深圳东风汽车有限公司 | Control method of hydraulic system of compression mechanism of rear-mounted compression type garbage truck |
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| JPH05172111A (en) * | 1991-12-24 | 1993-07-09 | Komatsu Ltd | Variable hydraulic pump capacity control device for pressure-compensating hydraulic circuit |
| CN2275239Y (en) * | 1996-11-08 | 1998-02-25 | 冯金益 | Automatic equivalent speed rate load pressure tester |
| JP4744205B2 (en) * | 2005-06-22 | 2011-08-10 | Ｉｈｉ建機株式会社 | Concrete pump blockage prevention device |
| US8403649B2 (en) * | 2008-01-17 | 2013-03-26 | Multiquip, Inc. | Digital control device |
| 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 |
| 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 |
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| CN102269157A (en) | 2011-12-07 |
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