CN102829034B - 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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- CN102829034B CN102829034B CN201210336380.7A CN201210336380A CN102829034B CN 102829034 B CN102829034 B CN 102829034B CN 201210336380 A CN201210336380 A CN 201210336380A CN 102829034 B CN102829034 B CN 102829034B
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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 and control asymmetric servo cylinder system and controlling method thereof, belong to hydraulic system field of energy-saving technology.
Background technique
Hydraulic system is applied to a lot of occasions owing to having the feature that specific power is large, but hydraulic system also exists the shortcoming that efficiency is not high 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.Pressure common rail hydraulic system is similar to 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 is generally 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, so only need control the discharge capacity of hydraulic actuator, just can complete the control to load, this technology has been eliminated the restriction loss of conventional valve control hydraulic system, and can recovered energy, so efficiency is higher and a plurality of executive components between disturb less.But, it must be variable-displacement that pressure common rail system requires hydraulic actuator, for driving the volume adjustable hydraulic pump/motor of rotary load to have matured product, and the oil hydraulic cylinder that drives straight line load conventionally can not variable, thereby limited the application area of pressure common rail system, more especially possessed cycling character and have larger potential energy to reclaim the operating mode of potentiality.For this problem, hydraulic transformer arises at the historic moment, by be connected in series a hydraulic transformer before oil hydraulic cylinder, can complete the adjustment to cylinder pressure, its maximum specialization is port plate structure (as shown in Figure 1), by three hydraulic fluid ports, formed, respectively with the high voltage terminal of pressure common rail system, the low voltage terminal of load end and pressure common rail system forms, by changing the angle of thrust plate, adjust the pressure ratio between CPR high voltage terminal and load end, thus the adaptation of the pressure of realizing CPR high voltage terminal to different loads pressure.Existing hydraulic transformer generally forms by the transformation of axial plunger element, but up to now, hydraulic transformer is not still widely used, and main cause is that the efficiency of hydraulic transformer is lower.And a reason that causes existing hydraulic transformer inefficiency is that the efficiency difference of axial plunger element under different rotating speeds is larger.In the course of the work, hydraulic transformer is owing to not causing making rotation speed change frequently and being often in inefficient district in order to meet the demand of different flow by variable.Application number is the patent of invention that 200810137522.0 autograph is " hydraulic cylinder-controlled oblique tray type plunger hydraulic transformer ", in structure, be similar to inclined disc type axial plunger element, can use for reference the variable method of inclined disc type axial plunger element, thereby make hydraulic transformer in high efficient area, become possibility by variable control rotary speed working.
Summary of the invention
The present invention is the problem of cylinder device inefficiency of controlling in order to solve existing hydraulic transformer, provides a kind of variable hydraulic transformer to control asymmetric servo cylinder system and controlling method thereof.
The present invention solves the problems of the technologies described above the technological scheme of taking to be:
Variable hydraulic transformer of the present invention is controlled asymmetric servo cylinder system and is comprised the first pressure transducer and hydraulic accumulator, and it also comprises solenoid directional control valve, displacement transducer, asymmetric servo cylinder, the second pressure transducer, Pilot operated check valve, variable hydraulic transformer and controller;
Hydraulic accumulator is communicated with CPR high voltage terminal, and the A mouth of the P mouth of solenoid directional control valve, the first pressure transducer and variable hydraulic transformer is communicated with CPR high voltage terminal; The T mouth of solenoid directional control valve is communicated with CPR low voltage terminal, and the T mouth of solenoid directional control valve is also communicated with the upper 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 lower hydraulic fluid port of asymmetric servo cylinder is communicated with the oil outlet of Pilot operated check valve, and the lower hydraulic fluid port of asymmetric servo cylinder is also communicated with the 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 CPR low voltage terminal;
The oil hydraulic cylinder target speed signal input end of controller receives the rate signal being sent by handle; Two pressure signal input ends of controller connect respectively the pressure signal output terminal of the first pressure transducer and the second pressure transducer; The displacement signal output terminal of the displacement signal input end connection bit displacement sensor of controller; Two switching signal output terminals of controller connect respectively two switch controlling signal input ends of solenoid directional control valve; 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.
The controlling method of controlling asymmetric servo cylinder system based on above-mentioned variable hydraulic transformer, detailed process is:
Step 1, controller gather target speed signal, the first pressure transducer, the pressure signal of the 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 corresponding 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 determined to 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, variable hydraulic transformer thrust plate angle beta
2and the switch of solenoid directional control valve and direction, controller is by coordinating β
1and β
2coupled relation complete the control to aim parameter;
Step 3, wherein, when rate signal makes progress, solenoid directional control valve is in right position, and variable hydraulic transformer passes to asymmetric servo cylinder cavity of resorption by Pilot operated check valve by the pressure oil of CPR high voltage terminal after transformation; When rate signal is downward, solenoid directional control valve is in left position, and variable hydraulic transformer is recovered to the pressure oil of asymmetric servo cylinder cavity of resorption CPR high voltage terminal and is stored in hydraulic accumulator after transformation, completes the recovery of gravitational potential energy.
The invention has the beneficial effects as follows: advantage of the present invention is to utilize change discharge capacity and the transformation function of variable hydraulic transformer, not only can complete the speed of asymmetric servo cylinder is controlled, and can make hydraulic transformer in the high rotating speed interval of efficiency by adjusting the coupled relation of swash plate angle and thrust plate angle, can effectively improve the efficiency of hydraulic transformer.By installing Pilot operated check valve additional, can guarantee that 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 moving upward because pressure is set up the oscillation problem that needed time causes.In addition, utilize hydraulic transformer can complete gravitational potential energy and reclaim and be stored in hydraulic accumulator, so be more conducive to improve hydraulic system efficiency.
Accompanying drawing explanation
Fig. 1 is hydraulic transformer port plate structure figure, and Fig. 2 is structural representation of the present invention.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1, described in present embodiment, variable hydraulic transformer is controlled asymmetric servo cylinder system, it comprises the first pressure transducer 1 and hydraulic accumulator 2, and it also comprises solenoid directional control valve 3, displacement transducer 4, asymmetric servo cylinder 5, the second pressure transducer 6, Pilot operated check valve 7, variable hydraulic transformer 8 and controller 9;
Hydraulic accumulator 2 is communicated with CPR high voltage terminal, and meanwhile, the A mouth of the P mouth of solenoid directional control valve 3, the first pressure transducer 1 and variable hydraulic transformer 8 is communicated with CPR high voltage terminal;
The T mouth of solenoid directional control valve 3 is communicated with CPR low voltage terminal, and the T mouth of solenoid directional control valve 3 is also communicated with the upper 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 lower hydraulic fluid port of asymmetric servo cylinder 5 is communicated with the oil outlet of Pilot operated check valve 7, and meanwhile, the lower hydraulic fluid port of asymmetric servo cylinder 5 is communicated with the 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 CPR low voltage terminal;
The oil hydraulic cylinder target speed signal input end of controller 9 receives the rate signal being sent by handle;
Two pressure signal input ends of controller 9 connect respectively the pressure signal output terminal of the first pressure transducer 1 and the second pressure transducer 6;
The displacement signal output terminal of the displacement signal input end connection bit displacement sensor 4 of controller 9;
Two switching signal output terminals of controller 9 connect respectively two switch controlling signal input ends of solenoid directional control valve 3;
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: present embodiment is described below in conjunction with Fig. 1, present embodiment is based on variable hydraulic transformer described in mode of execution one, to control the controlling method of asymmetric servo cylinder system, realize the speed of asymmetric servo cylinder is controlled, detailed process is:
Controller 9 forms closed-loop speed control system according to the target speed signal, the first pressure transducer 1, the pressure signal of the second pressure transducer 6 and the signal of displacement transducer 4 that gather the hydraulic cylinder speed Joystick obtaining.Setting controller 9 has two aim parameters, one is the corresponding 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 determined to 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 thrust plate angle beta
2and the switch of solenoid directional control valve 3 and direction, controller 9 is by coordinating β
1and β
2coupled relation complete the control to aim parameter, be specially and first adjust β
1in maximum value, then by adjusting β
2complete the adaptation of hydraulic transformer to load, then according to the efficiency by inputoutput test table of hydraulic transformer, adjust β
1make hydraulic transformer in high efficient area;
When rate signal makes progress, solenoid directional control valve 3 is in right position, and variable hydraulic transformer 8 passes to asymmetric servo cylinder 5 cavity of resorptions by Pilot operated check valve 7 by the pressure oil of CPR high voltage terminal after transformation, realizes 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 holding position is stable, can effectively alleviate simultaneously asymmetric servo cylinder under the original state moving upward because pressure is set up the oscillation problem that needed time causes;
When rate signal is downward, solenoid directional control valve 3 is in left position, thereby the control port of Pilot operated check valve 7 is connected control Pilot operated check valve 7 with pressure oil and is oppositely communicated with, variable hydraulic transformer 8 is recovered to the pressure oil of asymmetric servo cylinder 5 cavity of resorptions CPR high voltage terminal and is stored in hydraulic accumulator after transformation, completes the recovery of gravitational potential energy;
In above two processes, the rotating speed of variable hydraulic transformer 8 is all passed through to adjust β by controller 9
1and β
2size be set in high efficiency rotating speed district, thereby the lower problem of overall efficiency of having avoided existing hydraulic transformer often to cause in inefficient district due to rotating speed.
Claims (2)
1. a variable hydraulic transformer is controlled asymmetric servo cylinder system, it comprises the 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), the second pressure transducer (6), Pilot operated check valve (7), variable hydraulic transformer (8) and controller (9);
Hydraulic accumulator (2) is communicated with the pressure high voltage terminal of rail altogether, and the A mouth of the P mouth of solenoid directional control valve (3), the first pressure transducer (1) and variable hydraulic transformer (8) is communicated with the pressure high voltage terminal of rail altogether; The T mouth of solenoid directional control valve (3) is communicated with the pressure low voltage terminal of rail altogether, the T mouth of solenoid directional control valve (3) is also communicated with the upper hydraulic fluid port of asymmetric servo cylinder (5) simultaneously, 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 lower hydraulic fluid port of asymmetric servo cylinder (5) is communicated with the oil outlet of Pilot operated check valve (7), and the lower hydraulic fluid port of asymmetric servo cylinder (5) is also communicated with the 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 variable hydraulic transformer (8) is communicated with the pressure low voltage terminal of rail altogether;
The oil hydraulic cylinder target speed signal input end of controller (9) receives the rate signal being sent by handle; Two pressure signal input ends of controller (9) connect respectively the pressure signal output terminal of the first pressure transducer (1) and the second pressure transducer (6); The displacement signal output terminal of the displacement signal input end connection bit displacement sensor (4) of controller (9); Two switching signal output terminals of controller (9) connect respectively two switch controlling signal input ends of solenoid directional control valve (3); The swash plate angle signal input end β 1 of the angle signal output terminal one link variable hydraulic transformer (8) of controller (9), the thrust plate angle signal input end β 2 of the angle signal output terminal two link variable hydraulic transformers (8) of controller (9).
2. based on variable hydraulic transformer described in claim 1, control a controlling method for asymmetric servo cylinder system, it is characterized in that: the detailed process of described method is:
Step 1, controller (9) gather target speed signal, the first pressure transducer (1), the pressure signal of the 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 corresponding 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 determined to rotating speed and the relationship between efficiency table of piston element; The controlled quentity controlled variable of controller (9) mainly comprises switch and the direction of the swash plate angle beta 1 of variable hydraulic transformer (8), the thrust plate angle beta 2 of variable hydraulic transformer (8) and solenoid directional control valve (3), and controller (9) completes the control to aim parameter by coordinating the coupled relation of β 1 and β 2;
Step 3, when rate signal makes progress, solenoid directional control valve (3) is in right position, and the pressure oil that variable hydraulic transformer (8) is total to the high voltage terminal of rail by pressure passes to asymmetric servo cylinder (5) cavity of resorption by Pilot operated check valve (7) after transformation; When rate signal is downward, solenoid directional control valve (3) is in left position, variable hydraulic transformer (8) is recovered to pressure by the pressure oil of asymmetric servo cylinder (5) cavity of resorption and is total to the high voltage terminal of rail and is stored in hydraulic accumulator after transformation, completes the recovery of gravitational potential energy.
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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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| CN102829034A CN102829034A (en) | 2012-12-19 |
| CN102829034B true CN102829034B (en) | 2014-12-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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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|---|---|---|---|---|
| DE19719938A1 (en) * | 1997-05-13 | 1998-11-19 | Mannesmann Rexroth Ag | Engine brake system for especially diesel multicylinder engine |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10214225C1 (en) * | 2002-03-22 | 2003-08-14 | Komatsu Mining Germany Gmbh | Hydraulic operating unit control method uses characteristic fields for hydrotransformers incorporated in hydraulic circuit as input values for movement control unit for hydraulic cylinder |
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Patent Citations (4)
| 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 |
| 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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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 |