CN102864808A - Excavator intelligent control hydraulic system and control method thereof - Google Patents

Excavator intelligent control hydraulic system and control method thereof Download PDF

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Publication number
CN102864808A
CN102864808A CN2012103741069A CN201210374106A CN102864808A CN 102864808 A CN102864808 A CN 102864808A CN 2012103741069 A CN2012103741069 A CN 2012103741069A CN 201210374106 A CN201210374106 A CN 201210374106A CN 102864808 A CN102864808 A CN 102864808A
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control
electric
controller
signal
banked
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CN102864808B (en
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俞备
杨莽
曾品宁
李登
李兴军
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PUSH DRIVE CO Ltd
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PUSH DRIVE CO Ltd
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Abstract

The invention discloses an excavator intelligent control hydraulic system which comprises an electric proportioning pump (1), an electric-control pilot element (2), an oil source valve (3), a controller (4) and an electrically proportional control multiway valve (5). The electric-control pilot element (2), the electrically proportional control multiway valve (5) and the electric proportioning pump (1) are all connected with the controller (4), the electric proportioning pump (1) is connected with the electrically proportional control multiway valve (5) through one oil guide pipe, and is also connected with the oil source valve (3) through one oil guide pipe, and the oil source valve (3) is connected with a pilot proportional release value of the electrically proportional control multiway valve (5) through one oil guide pipe. The invention further discloses a control method of the system. The excavator intelligent control hydraulic system has the advantages that flexible and quick response, accurate control of pressure and flow and cooperative and smooth action can be realized, an excavator with the system can complete various precise actions, and the system has good energy saving effect, and can realize remote control and automatic and even unattended operation to the excavator.

Description

Excavator Based Intelligent Control hydraulic system and control method thereof
Technical field
The present invention relates to a kind of excavator Based Intelligent Control hydraulic system and control method thereof.
Background technology
At present the control system used of excavator mainly contains load sensing controlled, minus flow control, positive flow and controls several control systems.
Minus flow control: the main pump output flow is except supplying with each with outdoor, and unnecessary flow is through a fixing damping hole, and the Pressure difference feedback that produces at the damping hole two ends thus is to pump controller, and pump controller is regulated pump delivery according to this magnitude of pressure differential.During composite move, each executive component influences each other; During load change, the executive component action is also influenced.Need again row adjusting of driver.Action is impacted large, usually can give illusion of driver, think by mistake complete machine energetically, the operating efficiency height.The tractor driver is required height, need the continuous Adjustment operation handle of tractor driver during composite move.This kind control system has about 30~50 l/min of unnecessary flow (control usefulness, minus flow) all the time by happy system in addition.Special when system is in than high workload pressure, the loss that this part flow causes is just quite large, causes greatly energy loss.
Positive flow control: logic valve filters out pilot control pressure maximum in the executive component, and it is fed back to the variable control mechanism of pump, the realization pumpage is regulated---and pilot pressure determines pump delivery under normal circumstances, in case power exceeds the power of prior setting, load limiter works.Identical with minus flow, during composite move, each executive component influences each other; During load change, the executive component action is also influenced.Need again row adjusting of driver.Equally, this system acting impacts large, usually can give illusion of driver, think by mistake complete machine energetically, the operating efficiency height.The tractor driver is required height, need the continuous Adjustment operation handle of tractor driver during composite move.Maximum pilot pressure in the executive component has determined the maximum pump discharge of pump, even actual flow demand less (namely can not accurately reflect system's actual flow demand).
Load sensing controlled: this control mode principle is to select the operating pressure of the highest executive component, and it is fed back to pump controller, regulates pump delivery, the setting value that primary valve two ends pressure reduction is kept.Each execution action and load-independent.In other words, the driver does not need frequent regulating handle to adapt to the executive component load change.If the executive component demand volume exceeds the maximum stream flow that pump can provide, the flow that flows into each executive component distributes by main valve opening amount size.Can realize easily the flow priority function.Generally believe it is a system that handling is good, can automatically adapt to load change, do not need the tractor driver frequently to adjust.Compared with minus flow control/positive flow control, the easier fine manipulation of finishing, and operating efficiency is high during heavy duty.Under idling mode, to make discharge of main pump be zero to the core structure that closes of load sensing main valve substantially, and pressure maintains about 20~30bar substantially, and is more energy-conservation.The variation of load pressure is passed to pump by the load-sensing valve loop with pressure signal in the load sensing controlled, and this pressure control loop is subjected to many factor affecting, the control difficulty is larger, and the pressure compensator of control valve and the pressure controller of pump are led to, both interference after may causing simultaneously in the load sensing loop.Increase the tendency of hydraulic vibration.In addition, only generate pilot pressure commands at control stick, after spool moved and is sent to the pump control loop with load signal, variable pump could produce response, response lag.
The existing control system of contrast: 1) because the signal acquisition point of minus flow control and load sensing controlled is excavated the exit of valve the master, this pressure signal just can change when only having main control valve that action is arranged, thereby pump delivery is changed, this is just so that the control of hydraulic pump lags behind the control of main control valve forever, and in positive flow control, because the control signal of pump is collected in the secondary pilot pressure, this pressure signal sends hydraulic pump and main control valve simultaneously, and both action that Here it is makes can be carried out synchronously.So compare positive flow operation sensitiveness with minus flow good.2) in the hydraulic system of minus flow control, the pressure of negative pressure signal approximately be 5MPa to 6MPa, this pressure is only for generation of negative pressure signal; And in the hydraulic system of positive flow control, owing to there is not this device, its return pressure only is back pressure (generally about 0.5MPa), this has just reduced by a unnecessary power loss, thus the excavator of the positive flow that makes finish in the situation of same workload necessarily fuel-efficient than the excavator of minus flow control.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art, a kind of excavator Based Intelligent Control hydraulic system and control method thereof that is quick on the draw rapidly, can realizes pressure, precise control of flew, good energy-conserving effect is provided.
Purpose of the present invention is achieved through the following technical solutions: excavator Based Intelligent Control hydraulic system, it comprises electric proportioning pump, automatically controlled pilot element, the oil sources valve, controller and electric proportional control banked direction control valves, the signal output part of described automatically controlled pilot element is connected with controller, controller is connected with the signal input part of each connection of electric proportional control banked direction control valves, controller also is connected with the signal input part of electric proportioning pump, the maximum pressure signal output part of electric proportional control banked direction control valves is connected with controller, the electricity proportioning pump is connected with the electric proportional control banked direction control valves through oil guide pipe, the electricity proportioning pump also connects the oil sources valve by oil guide pipe, and the oil sources valve connects the guide proportion reducing valve of electric proportional control banked direction control valves by oil guide pipe.
Described automatically controlled pilot element comprises handle and foot rest, and is separately installed with the sensor that the anglec of rotation of handle or foot rest is changed into automatically controlled signal on handle and the foot rest.
The control method of excavator Based Intelligent Control hydraulic system, it may further comprise the steps:
A, automatically controlled pilot element are converted to the signal of telecommunication with the variable of operating element and are delivered to controller;
After the signal of telecommunication via controller computing of B, automatically controlled pilot element output, by controller the electric control signal of correspondence is delivered to respectively the correspondence connection of electric proportional control banked direction control valves, control electric proportional control banked direction control valves respectively is linked to the flow of each executive component; Simultaneously, controller also is delivered to electric proportioning pump with the electric control signal after the computing, and the flow of controlling electric proportioning pump equals respectively to be linked to by the electric proportional control banked direction control valves flow sum of each executive component;
C, oil sources valve are controlled to be certain constant pressure with the hydraulic oil of pump output after decompression, the guide proportion reducing valve of control electric proportional control banked direction control valves;
The maximum pressure signal output part of D, electric proportional control banked direction control valves is converted to the feedback signal of telecommunication with the maximum pressure of executive component and is delivered to controller, after the computing of feedback signal of telecommunication via controller, by controller the electric control signal of correspondence is delivered to electric proportioning pump, controls the pressure unloading of electric proportioning pump.
Described pressure unloading is than the high 2MPa of maximum pressure of executive component.
The present invention has the following advantages: the present invention is on the basis of the pluses and minuses of fully analyzing existing control mode, invent a kind of complete automatically controlled control mode, pressure flow in the existing control system is all changed into signal of telecommunication control and feedback by the control of hydraulic oil and the mode of feedback, control rate and precision are improved greatly.
Give full play to the advantage of positive flow control and load sensing controlled, the control theory of two kinds of control modes has been combined, invented a kind of automatically controlled positive flow-load sensing controlled mode.
The flow-control of electricity proportioning pump is electric proportional flow control, in the enough situation of revolution speed, the flow of pump is proportional with the control size of current, even also can not cause flow to change because load variations causes the engine speed variation, this point is controlled the effect that reaches identical with load-sensitive.
Utilize the control theory of positive flow control, the flow of the direct control pump of the signal of telecommunication that the signal of telecommunication of automatically controlled pilot element output is exported after by the controller computing, reflection is quick rapidly, and operation sensitiveness is good.Solve the large problem of control difficulty in the load sensing controlled, avoided the tendency of hydraulic vibration.In addition, only solved in the load sensing controlled and generated pilot pressure commands at control stick, after spool moved and is sent to the pump control loop with load signal, variable pump could produce response, the problem of response lag.
Utilize the control theory of load sensing controlled, in the electric proportional control banked direction control valves, be provided with recuperation valve, it is identical to guarantee that banked direction control valves respectively joins primary valve two ends pressure difference, guarantee respectively to join the flow ratio output on demand of valve, the flow that flows into each executive component distributes by main valve opening amount size, each execution action and load-independent, the driver does not need frequent regulating handle to adapt to the executive component load change.If the executive component demand volume exceeds the maximum stream flow that pump can provide, the flow that flows into each executive component distributes by main valve opening amount size.When having solved composite move, each executive component influences each other; During load change, executive component moves affected problem.
Under idling mode, main valve is in meta, and executive component maximum pressure signal is zero, and controller is exported the pressure unloading of corresponding Current Control pump after computing, and this pressure is 20bar.To make discharge of main pump be 0 to the core structure that closes of main valve substantially, and pressure maintains about 20bar substantially, and energy-saving effect is better.
And adopt this excavator Based Intelligent Control hydraulic system can realize the operation of excavator Remote.Accurate control performance, proportional control performance based on this system reaches complete automatically controlled characteristics in addition, can directly control excavator by computer by computer programming and realize various specific actions, utilize like this this system just can realize the fool even Unmanned operation of excavator.
In sum, it is rapidly sensitive that the present invention has system response, can realize the accurate control of pressure, flow, coordination is smooth, excavator can be finished the advantage of the various actions that become more meticulous, this energy saving of system is effective, than minus flow energy saving of system 10~15%, than general Load sensing system energy-conservation 5~10%; And can realize Remote and the fool even Unmanned operation of excavator.
Description of drawings
Fig. 1 is structural representation of the present invention
Among the figure, 1-electricity proportioning pump, the automatically controlled pilot element of 2-, 3-oil sources valve, 4-controller, 5-electric proportional control banked direction control valves.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing, and protection scope of the present invention is not limited to the following stated:
As shown in Figure 1, excavator Based Intelligent Control hydraulic system, it comprises electric proportioning pump 1, automatically controlled pilot element 2, oil sources valve 3, controller 4 and electric proportional control banked direction control valves 5, the signal output part of described automatically controlled pilot element 2 is connected with controller 4, controller 4 is connected with the signal input part of each connection of electric proportional control banked direction control valves 5, controller 4 also is connected with the signal input part of electric proportioning pump 1, the maximum pressure signal output part of electric proportional control banked direction control valves 5 is connected with controller 4, electricity proportioning pump 1 is connected with electric proportional control banked direction control valves 5 through oil guide pipe, electricity proportioning pump 1 also connects oil sources valve 3 by oil guide pipe, and oil sources valve 3 connects the guide proportion reducing valve of electric proportional control banked direction control valves 5 by oil guide pipe.
The pump of electricity proportioning pump 1 is provided with control valve, and by the control valve on this pump, the size that changes the control electric current can be distinguished flow, the pressure of proportional control pump.
Described automatically controlled pilot element 2 comprises handle and foot rest, and be separately installed with the sensor that the anglec of rotation of handle or foot rest is changed into automatically controlled signal on handle and the foot rest, by changing automatically controlled pilot element 2 such as the electric control signal of the exportable different sizes of the angle of handle, foot rest.The signal of telecommunication of output is by controller 4, the corresponding Current Control electric proportional control banked direction control valves 5 corresponding connection of output after computing, it is proportional with corresponding electric current that electric proportional control banked direction control valves 5 respectively joins valve core opening size, and it is also proportional with corresponding electric current respectively to be linked to the flow of each executive component by electric proportional control banked direction control valves 5 like this.Also can export corresponding Current Control electricity proportioning pump 1 after the computing with Time Controller 4, the flow of controlling electric proportioning pump 1 equals respectively to be linked to by electric proportional control banked direction control valves 5 the flow sum of each executive component.
Oil sources valve 3 is controlled to be certain constant pressure with the hydraulic oil of pump output after decompression, the guide proportion reducing valve of control electric proportional control banked direction control valves 5.
The maximum pressure of executive component feeds back signal to controller 4, and controller 4 is exported the pressure unloading of corresponding Current Control pump after computing, standby pressure during the high 2MPa idling of this pressure ratio executive component maximum pressure.
The control method of excavator Based Intelligent Control hydraulic system, it may further comprise the steps:
A, automatically controlled pilot element 2 are converted to the signal of telecommunication with the variable of operating element and are delivered to controller 4;
After signal of telecommunication via controller 4 computings of B, automatically controlled pilot element 2 outputs, by controller 4 electric control signal of correspondence is delivered to respectively the correspondence connection of electric proportional control banked direction control valves 5, control electric proportional control banked direction control valves 5 respectively is linked to the flow of each executive component; Simultaneously, controller 4 also is delivered to the electric control signal after the computing electric proportioning pump 1, and the flow of controlling electric proportioning pump 1 equals respectively to be linked to by electric proportional control banked direction control valves 5 the flow sum of each executive component;
C, oil sources valve 3 are controlled to be certain constant pressure with the hydraulic oil of pump output after decompression, the guide proportion reducing valve of control electric proportional control banked direction control valves 5;
The maximum pressure signal output part of D, electric proportional control banked direction control valves 5 is converted to the feedback signal of telecommunication with the maximum pressure of executive component and is delivered to controller 4, after 4 computings of feedback signal of telecommunication via controller, by controller 4 electric control signal of correspondence is delivered to electric proportioning pump 1, control the pressure unloading of electric proportioning pump 1, pressure unloading is than the high 2MPa of maximum pressure of executive component.

Claims (4)

1. excavator Based Intelligent Control hydraulic system, it is characterized in that: it comprises electric proportioning pump (1), automatically controlled pilot element (2), oil sources valve (3), controller (4) and electric proportional control banked direction control valves (5), the signal output part of described automatically controlled pilot element (2) is connected with controller (4), controller (4) is connected with the signal input part of each connection of electric proportional control banked direction control valves (5), controller (4) also is connected with the signal input part of electric proportioning pump (1), the maximum pressure signal output part of electric proportional control banked direction control valves (5) is connected with controller (4), electricity proportioning pump (1) is connected with electric proportional control banked direction control valves (5) through oil guide pipe, electricity proportioning pump (1) also connects oil sources valve (3) by oil guide pipe, and oil sources valve (3) connects the guide proportion reducing valve of electric proportional control banked direction control valves (5) by oil guide pipe.
2. excavator Based Intelligent Control hydraulic system according to claim 1, it is characterized in that: described automatically controlled pilot element (2) comprises handle and foot rest, and is separately installed with the sensor that the anglec of rotation of handle or foot rest is changed into automatically controlled signal on handle and the foot rest.
3. the control method of excavator Based Intelligent Control hydraulic system as claimed in claim 1, it is characterized in that: it may further comprise the steps:
A, automatically controlled pilot element (2) are converted to the signal of telecommunication with the variable of operating element and are delivered to controller (4);
After signal of telecommunication via controller (4) computing of B, automatically controlled pilot element (2) output, by controller (4) electric control signal of correspondence is delivered to respectively the correspondence connection of electric proportional control banked direction control valves (5), control electric proportional control banked direction control valves (5) respectively is linked to the flow of each executive component; Simultaneously, controller (4) also is delivered to the electric control signal after the computing electric proportioning pump (1), and the flow of controlling electric proportioning pump (1) equals respectively to be linked to by electric proportional control banked direction control valves (5) the flow sum of each executive component;
C, oil sources valve (3) are controlled to be certain constant pressure with the hydraulic oil of pump output, the guide proportion reducing valve of control electric proportional control banked direction control valves (5) after decompression;
The maximum pressure signal output part of D, electric proportional control banked direction control valves (5) is converted to the feedback signal of telecommunication with the maximum pressure of executive component and is delivered to controller (4), after the computing of feedback signal of telecommunication via controller (4), by controller (4) electric control signal of correspondence is delivered to electric proportioning pump (1), controls the pressure unloading of electric proportioning pump (1).
4. the control method of excavator Based Intelligent Control hydraulic system according to claim 3, it is characterized in that: described pressure unloading is than the high 2MPa of maximum pressure of executive component.
CN201210374106.9A 2012-10-07 2012-10-07 Excavator intelligent control hydraulic system and control method thereof Active CN102864808B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103205992A (en) * 2013-03-13 2013-07-17 上海华兴数字科技有限公司 Component and method for controlling power of excavator
CN103697002A (en) * 2013-12-30 2014-04-02 厦门理工学院 Proportional hydraulic control system of beach cleaning vehicle and control method for proportional hydraulic control system
CN107477160A (en) * 2017-08-25 2017-12-15 潍柴动力股份有限公司 Hydraulic speed regulation system and engineering machinery

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JP2011196439A (en) * 2010-03-18 2011-10-06 Yanmar Co Ltd Hydraulic circuit of turning working vehicle
JP2012072636A (en) * 2010-09-30 2012-04-12 Hitachi Constr Mach Co Ltd Operation system of hydraulic shovel
CN102588359A (en) * 2012-02-28 2012-07-18 上海中联重科桩工机械有限公司 Hydraulic system, excavator and control method of hydraulic system
CN202787371U (en) * 2012-10-07 2013-03-13 四川省宜宾普什驱动有限责任公司 Intelligent control hydraulic system of excavator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011196439A (en) * 2010-03-18 2011-10-06 Yanmar Co Ltd Hydraulic circuit of turning working vehicle
CN201687214U (en) * 2010-03-26 2010-12-29 长沙中联重工科技发展股份有限公司 Concrete distributor with boom emergency driving function and hydraulic system thereof
JP2012072636A (en) * 2010-09-30 2012-04-12 Hitachi Constr Mach Co Ltd Operation system of hydraulic shovel
CN102588359A (en) * 2012-02-28 2012-07-18 上海中联重科桩工机械有限公司 Hydraulic system, excavator and control method of hydraulic system
CN202787371U (en) * 2012-10-07 2013-03-13 四川省宜宾普什驱动有限责任公司 Intelligent control hydraulic system of excavator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103205992A (en) * 2013-03-13 2013-07-17 上海华兴数字科技有限公司 Component and method for controlling power of excavator
CN103205992B (en) * 2013-03-13 2015-11-25 上海华兴数字科技有限公司 A kind of excavator Power control component and method
CN103697002A (en) * 2013-12-30 2014-04-02 厦门理工学院 Proportional hydraulic control system of beach cleaning vehicle and control method for proportional hydraulic control system
CN103697002B (en) * 2013-12-30 2015-11-25 厦门理工学院 Sandy beach cleaning cart proportional hydraulic control system and controlling method thereof
CN107477160A (en) * 2017-08-25 2017-12-15 潍柴动力股份有限公司 Hydraulic speed regulation system and engineering machinery
CN107477160B (en) * 2017-08-25 2019-07-30 潍柴动力股份有限公司 Hydraulic speed regulation system and engineering machinery

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