CN102829034A - Variable hydraulic transformer controlled single-pole hydraulic cylinder system and control method - Google Patents
Variable hydraulic transformer controlled single-pole hydraulic cylinder system and control method Download PDFInfo
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- CN102829034A CN102829034A CN2012103363807A CN201210336380A CN102829034A CN 102829034 A CN102829034 A CN 102829034A CN 2012103363807 A CN2012103363807 A CN 2012103363807A CN 201210336380 A CN201210336380 A CN 201210336380A CN 102829034 A CN102829034 A CN 102829034A
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Abstract
A variable hydraulic transformer controlled single-pole hydraulic cylinder system and the control method belong to the hydraulic system energy-saving technical field. The invention aims to solve the problem of low efficiency of the current hydraulic transformer controlled hydraulic cylinder, comprising a first pressure sensor (1) and a hydraulic energy accumulator (2), an electromagnetic directional valve (3), a displacement sensor (4), a single-pole hydraulic cylinder (5), a second pressure sensor (6), a hydraulic control one-way valve (7), a variable hydraulic transformer (8) and a controller (9). The control quantity of the controller (9) mainly includes swash plate angle Beta1 of the variable hydraulic transformer (8), valve plate angle Beta 2 of the variable hydraulic transformer (8), and turning-on/off and direction of the electromagnetic directional valve (3). The controller (9) achieves the control to a target variable by coordinating the coupling relationship between Beta1 and Beta 2. The hydraulic cylinder system utilizes the variable displacement and transformation function of a variable hydraulic transformer, capable of achieving control to the speed of a single-pole hydraulic cylinder, thereby effectively improving the efficiency of a hydraulic transformer.
Description
Technical field
The present invention relates to a kind of variable hydraulic transformer control asymmetric servo cylinder system and controlling method thereof, belong to the hydraulic system field of energy-saving technology.
Background technique
Hydraulic system is applied to a lot of occasions owing to having the big characteristics of specific power, but hydraulic system also exists the not high shortcoming of efficient simultaneously.Under growing energy crisis, the energy-conservation research of hydraulic system is just becoming the focus that numerous scientific research personnel pay close attention to.
In numerous hydraulic system power-saving technologies, the hydraulic system that is total to rail (Common Pressure Rail is called for short CPR) based on pressure has obtained development fast in recent years.The pressure common rail hydraulic system is similar with electrical network, and whole system is divided into high pressure and two pipelines of low pressure, pressure duct generally by constant pressure variable displacement pump and hydraulic accumulator as power source, low pressure line generally is connected with fuel tank.Hydraulic actuator is connecting system in parallel; Because the pressure surge of pressure common rail system high pressure pipeline is less; Just can accomplish control so only need control the discharge capacity of hydraulic actuator to load; This technology has been eliminated the restriction loss of conventional valve control hydraulic system, and can recovered energy, thus efficient is higher and a plurality of executive components between disturb less.But; It must be variable-displacement that the pressure common rail system requires hydraulic actuator; Volume adjustable hydraulic pump/motor for the rotary driving load has had matured product; And the oil hydraulic cylinder that drives the straight line load usually can not variable, thereby has limited the application area of pressure common rail system, more especially possesses cycling character and has big potential energy to reclaim the operating mode of potentiality.To this problem; Hydraulic transformer arises at the historic moment; Can accomplish the adjustment to cylinder pressure through hydraulic transformer of serial connection before oil hydraulic cylinder, its maximum specialization is port plate structure (as shown in Figure 1), is made up of three hydraulic fluid ports; Respectively with the high voltage terminal of pressure common rail system; The low voltage terminal of load end and pressure common rail system is formed, and adjusts the pressure ratio between CPR high voltage terminal and the load end through the angle that changes thrust plate, thereby realizes the adaptation of the pressure of CPR high voltage terminal to different loads pressure.Existing hydraulic transformer generally forms through the transformation of axial plunger element, but up to now, hydraulic transformer is not still used widely, and main cause is that the efficient of hydraulic transformer is lower.And a reason that causes existing hydraulic transformer inefficiency is that the efficient difference of axial plunger element under different rotating speeds is bigger.In the course of the work, hydraulic transformer is owing to not causing frequently and often being in inefficient district for the demand that satisfies different flow makes rotation speed change by variable.Application number is 200810137522.0 the autograph patent of invention for " hydraulic cylinder-controlled oblique tray type plunger hydraulic transformer "; Be similar to inclined disc type axial plunger element on the structure; Can use for reference the variable method of inclined disc type axial plunger element, thereby make hydraulic transformer become possibility at high efficient area by variable control rotary speed working.
Summary of the invention
The present invention is in order to solve the problem of existing hydraulic transformer control cylinder device inefficiency, a kind of variable hydraulic transformer control asymmetric servo cylinder system and controlling method thereof to be provided.
The present invention solves the problems of the technologies described above the technological scheme of taking to be:
Variable hydraulic transformer according to the invention is controlled the asymmetric servo cylinder system and is comprised first pressure transducer and hydraulic accumulator, and it also comprises solenoid directional control valve, displacement transducer, asymmetric servo cylinder, second pressure transducer, Pilot operated check valve, variable hydraulic transformer and controller;
Hydraulic accumulator is communicated with the CPR high voltage terminal, and the A mouth of the P mouth of solenoid directional control valve, first pressure transducer and variable hydraulic transformer is communicated with the CPR high voltage terminal; The T mouth of solenoid directional control valve is communicated with the CPR low voltage terminal, and the T mouth of solenoid directional control valve also is communicated with the last hydraulic fluid port of asymmetric servo cylinder simultaneously, and the A mouth of solenoid directional control valve is communicated with the control port of Pilot operated check valve, and the B mouth of solenoid directional control valve blocks; The following hydraulic fluid port of asymmetric servo cylinder is communicated with the oil outlet of Pilot operated check valve, and the following hydraulic fluid port of asymmetric servo cylinder also is communicated with second pressure transducer; The filler opening of Pilot operated check valve is communicated with the B mouth of variable hydraulic transformer; The T mouth of hydraulic transformer is communicated with the CPR low voltage terminal;
The oil hydraulic cylinder target speed signal input end of controller receives the rate signal that is sent by handle; Two pressure signal input ends of controller connect the pressure signal output terminal of first pressure transducer and second pressure transducer respectively; The displacement signal input end of controller connects the displacement signal output terminal of displacement transducer; Two switching signal output terminals of controller connect two switch controlling signal input ends of solenoid directional control valve respectively; The swash plate angle signal input end β of the angle signal output terminal one link variable hydraulic transformer of controller
1, the thrust plate angle signal input end β of the angle signal output terminal two link variable hydraulic transformers of controller
2
Based on the controlling method of above-mentioned variable hydraulic transformer control asymmetric servo cylinder system, detailed process is:
Step 1, controller are gathered target speed signal, first pressure transducer, the pressure signal of second pressure transducer and the signal of displacement transducer of hydraulic cylinder speed Joystick;
Step 2, setting controller have two aim parameters: one is the pairing output flow of speed of oil hydraulic cylinder, and another is the hydraulic transformer rotating speed that is in high efficient area that reference axis is confirmed to the rotating speed and the relationship between efficiency table of piston element; The controlled quentity controlled variable of controller mainly comprises the swash plate angle beta of variable hydraulic transformer
1, the variable hydraulic transformer the thrust plate angle beta
2And the switch of solenoid directional control valve and direction, controller is through coordinating β
1And β
2Coupled relation accomplish control to aim parameter;
Step 3, wherein, when rate signal made progress, solenoid directional control valve was in right position, and the variable hydraulic transformer passes to asymmetric servo cylinder cavity of resorption through Pilot operated check valve with the pressure oil of CPR high voltage terminal after transformation; When rate signal was downward, solenoid directional control valve was in position, a left side, and the variable hydraulic transformer is recovered to the pressure oil of asymmetric servo cylinder cavity of resorption the CPR high voltage terminal and is stored in the hydraulic accumulator recovery of completion gravitational potential energy after transformation.
The invention has the beneficial effects as follows: advantage of the present invention is to utilize the change discharge capacity and the transformation function of variable hydraulic transformer; Not only can accomplish speed controlling to asymmetric servo cylinder; And can hydraulic transformer be in the high rotating speed interval of efficient through the coupled relation of adjustment swash plate angle and thrust plate angle, can effectively improve the efficient of hydraulic transformer.Can guarantee that through installing Pilot operated check valve additional operating mode as shown in the figure holding position under outage state is stable, can effectively alleviate simultaneously asymmetric servo cylinder under the original state that moves upward owing to pressure is set up the oscillation problem that needed time causes.In addition, utilize hydraulic transformer can accomplish gravitational potential energy and reclaim and be stored in the hydraulic accumulator, so more help improving hydraulic system efficient.
Description of drawings
Fig. 1 is hydraulic transformer port plate structure figure, and Fig. 2 is a structural representation of the present invention.
Embodiment
Embodiment one: this mode of execution is described below in conjunction with Fig. 1; The said variable hydraulic transformer control of this mode of execution asymmetric servo cylinder system; It comprises first pressure transducer 1 and hydraulic accumulator 2, and it also comprises solenoid directional control valve 3, displacement transducer 4, asymmetric servo cylinder 5, second pressure transducer 6, Pilot operated check valve 7, variable hydraulic transformer 8 and controller 9;
Hydraulic accumulator 2 is communicated with the CPR high voltage terminal, and simultaneously, the A mouth of the P mouth of solenoid directional control valve 3, first pressure transducer 1 and variable hydraulic transformer 8 is communicated with the CPR high voltage terminal;
The T mouth of solenoid directional control valve 3 is communicated with the CPR low voltage terminal, and the T mouth of solenoid directional control valve 3 also is communicated with the last hydraulic fluid port of asymmetric servo cylinder 5 simultaneously, and the A mouth of solenoid directional control valve 3 is communicated with the control port of Pilot operated check valve 7, and the B mouth of solenoid directional control valve 3 blocks;
The following hydraulic fluid port of asymmetric servo cylinder 5 is communicated with the oil outlet of Pilot operated check valve 7, and simultaneously, the following hydraulic fluid port of asymmetric servo cylinder 5 is communicated with second pressure transducer 6.The filler opening of Pilot operated check valve 7 is communicated with the B mouth of variable hydraulic transformer 8.The T mouth of hydraulic transformer 8 is communicated with the CPR low voltage terminal;
The oil hydraulic cylinder target speed signal input end of controller 9 receives the rate signal that is sent by handle;
Two pressure signal input ends of controller 9 connect the pressure signal output terminal of first pressure transducer 1 and second pressure transducer 6 respectively;
The displacement signal input end of controller 9 connects the displacement signal output terminal of displacement transducer 4;
Two switching signal output terminals of controller 9 connect two switch controlling signal input ends of solenoid directional control valve 3 respectively;
The swash plate angle signal input end β of the angle signal output terminal one link variable hydraulic transformer 8 of controller 9
1, the thrust plate angle signal input end β of the angle signal output terminal two link variable hydraulic transformers 8 of controller 9
2
Embodiment two: this mode of execution is described below in conjunction with Fig. 1; This mode of execution is a controlling method of controlling the asymmetric servo cylinder system based on mode of execution one said variable hydraulic transformer; Realize the speed controlling to asymmetric servo cylinder, detailed process is:
Controller 9 is formed the closed-loop speed control system according to the target speed signal of the hydraulic cylinder speed Joystick that gather to obtain, first pressure transducer 1, the pressure signal of second pressure transducer 6 and the signal of displacement transducer 4.Setting controller 9 has two aim parameters; One is the pairing output flow of speed of oil hydraulic cylinder; Another is the hydraulic transformer rotating speed that is in high efficient area that reference axis is confirmed to the rotating speed and the relationship between efficiency table of piston element, and the controlled quentity controlled variable of controller 9 mainly comprises the swash plate angle beta of variable hydraulic transformer 8
1, variable hydraulic transformer 8 the thrust plate angle beta
2And the switch of solenoid directional control valve 3 and direction, controller 9 is through coordinating β
1And β
2Coupled relation accomplish control to aim parameter, be specially and at first adjust β
1Be in maximum value, again through adjustment β
2Accomplish the adaptation of hydraulic transformer, adjust β according to the efficiency by inputoutput test table of hydraulic transformer then load
1Make hydraulic transformer be in high efficient area;
When rate signal made progress, solenoid directional control valve 3 was in right position, and variable hydraulic transformer 8 passes to asymmetric servo cylinder 5 cavity of resorptions through Pilot operated check valve 7 with the pressure oil of CPR high voltage terminal after transformation, realize the promotion that oil hydraulic cylinder is made progress; Pilot operated check valve 7 can guarantee operating mode as shown in Figure 1, and under static state the holding position is stable, can effectively alleviate simultaneously asymmetric servo cylinder under the original state that moves upward owing to pressure is set up the oscillation problem that needed time causes;
When rate signal is downward; Solenoid directional control valve 3 is in position, a left side; Thereby the control port of Pilot operated check valve 7 is connected control Pilot operated check valve 7 with pressure oil and oppositely is communicated with; Variable hydraulic transformer 8 is recovered to the pressure oil of asymmetric servo cylinder 5 cavity of resorptions the CPR high voltage terminal and is stored in the hydraulic accumulator recovery of completion gravitational potential energy after transformation;
In above two processes, the rotating speed of variable hydraulic transformer 8 is all passed through adjustment β by controller 9
1And β
2Size be set in the high efficiency rotating speed district, thereby avoided the low problem of the existing hydraulic transformer overall efficiency that inefficient district causes owing to rotating speed often is in.
Claims (2)
1. a variable hydraulic transformer is controlled the asymmetric servo cylinder system; It comprises first pressure transducer (1) and hydraulic accumulator (2), it is characterized in that: it also comprises solenoid directional control valve (3), displacement transducer (4), asymmetric servo cylinder (5), second pressure transducer (6), Pilot operated check valve (7), variable hydraulic transformer (8) and controller (9);
Hydraulic accumulator (2) is communicated with the CPR high voltage terminal, and the A mouth of the P mouth of solenoid directional control valve (3), first pressure transducer (1) and variable hydraulic transformer (8) is communicated with the CPR high voltage terminal; The T mouth of solenoid directional control valve (3) is communicated with the CPR low voltage terminal, and the T mouth of solenoid directional control valve (3) also is communicated with the last hydraulic fluid port of asymmetric servo cylinder (5) simultaneously, and the A mouth of solenoid directional control valve (3) is communicated with the control port of Pilot operated check valve (7), and the B mouth of solenoid directional control valve (3) blocks; The following hydraulic fluid port of asymmetric servo cylinder (5) is communicated with the oil outlet of Pilot operated check valve (7), and the following hydraulic fluid port of asymmetric servo cylinder (5) also is communicated with second pressure transducer (6); The filler opening of Pilot operated check valve (7) is communicated with the B mouth of variable hydraulic transformer (8); The T mouth of hydraulic transformer (8) is communicated with the CPR low voltage terminal;
The oil hydraulic cylinder target speed signal input end of controller (9) receives the rate signal that is sent by handle; Two pressure signal input ends of controller (9) connect the pressure signal output terminal of first pressure transducer (1) and second pressure transducer (6) respectively; The displacement signal input end of controller (9) connects the displacement signal output terminal of displacement transducer (4); Two switching signal output terminals of controller (9) connect two switch controlling signal input ends of solenoid directional control valve (3) respectively; The swash plate angle signal input end β of the angle signal output terminal one link variable hydraulic transformer (8) of controller (9)
1, the thrust plate angle signal input end β of the angle signal output terminal two link variable hydraulic transformers (8) of controller (9)
2
2. controlling method based on the said variable hydraulic transformer of claim 1 control asymmetric servo cylinder system, it is characterized in that: the detailed process of said method is:
Step 1, controller (9) are gathered target speed signal, first pressure transducer (1), the pressure signal of second pressure transducer (6) and the signal of displacement transducer (4) of hydraulic cylinder speed Joystick;
Step 2, setting controller (9) have two aim parameters: one is the pairing output flow of speed of oil hydraulic cylinder, and another is the hydraulic transformer rotating speed that is in high efficient area that reference axis is confirmed to the rotating speed and the relationship between efficiency table of piston element; The controlled quentity controlled variable of controller (9) mainly comprises the swash plate angle beta of variable hydraulic transformer (8)
1, variable hydraulic transformer (8) the thrust plate angle beta
2And the switch and the direction of solenoid directional control valve (3), controller (9) is through coordinating β
1And β
2Coupled relation accomplish control to aim parameter;
Step 3, wherein, when rate signal made progress, solenoid directional control valve (3) was in right position, and variable hydraulic transformer (8) passes to asymmetric servo cylinder (5) cavity of resorption through Pilot operated check valve (7) with the pressure oil of CPR high voltage terminal after transformation; When rate signal was downward, solenoid directional control valve (3) was in position, a left side, and variable hydraulic transformer (8) is recovered to the pressure oil of asymmetric servo cylinder (5) cavity of resorption the CPR high voltage terminal and is stored in the hydraulic accumulator recovery of completion gravitational potential energy after transformation.
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| CN201210336380.7A CN102829034B (en) | 2012-09-12 | 2012-09-12 | Variable hydraulic transformer controlled single-pole hydraulic cylinder system and control method |
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|---|---|---|---|
| CN201210336380.7A CN102829034B (en) | 2012-09-12 | 2012-09-12 | Variable hydraulic transformer controlled single-pole hydraulic cylinder system and control method |
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| CN102829034B CN102829034B (en) | 2014-12-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635490A (en) * | 2014-12-15 | 2015-05-20 | 南京理工大学 | Output feedback control method for asymmetric servo cylinder positional servo system |
| CN112253579A (en) * | 2020-10-21 | 2021-01-22 | 科大讯飞股份有限公司 | Electro-hydraulic drive system control method and device, electronic equipment and storage medium |
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| DE19719938A1 (en) * | 1997-05-13 | 1998-11-19 | Mannesmann Rexroth Ag | Engine brake system for especially diesel multicylinder engine |
| US20030196433A1 (en) * | 2002-03-22 | 2003-10-23 | Komatsu Mining Germany Gmbh | Method for controlling a hydraulic activation unit |
| CN101354051A (en) * | 2008-09-08 | 2009-01-28 | 哈尔滨工业大学 | Electric control inclined shaft plunger type hydraulic transformer |
| CN101408154A (en) * | 2008-11-13 | 2009-04-15 | 哈尔滨工业大学 | Hydraulic cylinder-controlled oblique tray type plunger hydraulic transformer |
| CN101718107A (en) * | 2009-11-24 | 2010-06-02 | 哈尔滨工业大学 | Hydraulic system of hybrid power full-hydraulic excavator based on CPR network |
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2012
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19719938A1 (en) * | 1997-05-13 | 1998-11-19 | Mannesmann Rexroth Ag | Engine brake system for especially diesel multicylinder engine |
| US20030196433A1 (en) * | 2002-03-22 | 2003-10-23 | Komatsu Mining Germany Gmbh | Method for controlling a hydraulic activation unit |
| CN101354051A (en) * | 2008-09-08 | 2009-01-28 | 哈尔滨工业大学 | Electric control inclined shaft plunger type hydraulic transformer |
| CN101408154A (en) * | 2008-11-13 | 2009-04-15 | 哈尔滨工业大学 | Hydraulic cylinder-controlled oblique tray type plunger hydraulic transformer |
| CN101718107A (en) * | 2009-11-24 | 2010-06-02 | 哈尔滨工业大学 | Hydraulic system of hybrid power full-hydraulic excavator based on CPR network |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635490A (en) * | 2014-12-15 | 2015-05-20 | 南京理工大学 | Output feedback control method for asymmetric servo cylinder positional servo system |
| CN104635490B (en) * | 2014-12-15 | 2017-06-27 | 南京理工大学 | A kind of output feedback ontrol method of asymmetric servo cylinder positional servosystem |
| CN112253579A (en) * | 2020-10-21 | 2021-01-22 | 科大讯飞股份有限公司 | Electro-hydraulic drive system control method and device, electronic equipment and storage medium |
| CN112253579B (en) * | 2020-10-21 | 2023-07-25 | 科大讯飞股份有限公司 | Electrohydraulic driving system control method and device, electronic equipment and storage medium |
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Effective date of registration: 20190313 Address after: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Co-patentee after: Liaoning Gil Electronics Co., Ltd. Patentee after: Harbin Institute of Technology Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: Harbin Institute of Technology |