CN102864808B - Excavator intelligent control hydraulic system and control method thereof - Google Patents
Excavator intelligent control hydraulic system and control method thereof Download PDFInfo
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- CN102864808B CN102864808B CN201210374106.9A CN201210374106A CN102864808B CN 102864808 B CN102864808 B CN 102864808B CN 201210374106 A CN201210374106 A CN 201210374106A CN 102864808 B CN102864808 B CN 102864808B
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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
Technical field
The present invention relates to a kind of excavator Based Intelligent Control hydraulic system and control method thereof.
Background technology
The control system that at present excavator uses mainly contains that load sensing controlled, minus flow are controlled, positive flow is controlled several control systems.
Minus flow is controlled: 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 producing at damping hole two ends is thus to pump controller, and pump controller regulates pump delivery according to this magnitude of pressure differential.During composite move, each executive component influences each other; During load change, executive component action is also influenced.Need driver's row adjusting again.Action is impacted large, usually can give illusion of driver, think by mistake complete machine energetically, operating efficiency is high.Tractor driver is required high, during composite move, need the continuous adjustment operation handle of tractor driver.This kind of control system has unnecessary flow (controlling use, minus flow) approximately 30～50 l/min all the time by happy system in addition.Special in system is when compared with high workload pressure, the loss that this part flow causes is just quite large, causes greatly energy loss.
Positive flow is controlled: logic valve filters out pilot control pressure maximum in executive component, and fed back to the variable control mechanism of pump, realizing pumpage regulates---and pilot pressure determines pump delivery under normal circumstances, once 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, executive component action is also influenced.Need driver's row adjusting again.Equally, this system acting impacts large, usually can give illusion of driver, think by mistake complete machine energetically, operating efficiency is high.Tractor driver is required high, during composite move, need the continuous adjustment operation handle of tractor driver.Maximum pilot pressure in executive component has determined the maximum pump discharge of pump, even actual flow demand less (can not accurately reflect system actual flow demand).
Load sensing controlled: this control mode principle is to select the operating pressure of the highest executive component, and is fed back to pump controller, regulates pump delivery, the setting value that primary valve two ends pressure reduction is kept.Respectively perform an action and load-independent.In other words, driver does not need frequent regulating handle to adapt to executive component load change.If 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 flow priority function.Generally believe it is a system that handling is good, can automatically adapt to load change, do not need tractor driver frequently to adjust.Compared with minus flow control/positive flow, control, more easily complete fine manipulation, 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 20～30bar left and right substantially, more energy-conservation.In load sensing controlled, the variation of load pressure is passed to pump by load-sensing valve loop by pressure signal, and this pressure control loop is subject to multifactor impact perhaps, control difficulty larger, and the pressure compensator of control valve and the pressure controller of pump are led to, both interference after may causing in load sensing loop simultaneously.Increase the tendency of hydraulic vibration.In addition, only at control stick, generate pilot pressure commands, spool moves with load signal and is sent to after pump control loop, and variable pump could produce response, response lag.
Contrast existing control system: 1) due to minus flow is controlled and the signal acquisition point of load sensing controlled in the exit of main excavation valve, while only having main control valve to have action, this pressure signal just can change, thereby pump delivery is changed, this just makes the control of hydraulic pump forever lag behind the control of main control valve, and in positive flow is controlled, because the control signal of pump is collected in secondary pilot pressure, this pressure signal sends hydraulic pump and main control valve simultaneously, and both action that Here it is makes can synchronously be carried out.So compare positive flow operation sensitiveness with minus flow good.2) in the hydraulic system that minus flow is controlled, the pressure of negative pressure signal be approximately 5MPa to 6MPa, this pressure is only for generation of negative pressure signal; And in the hydraulic system that positive flow is controlled, owing to there is no this device, its return pressure is only back pressure (generally in 0.5MPa left and right), this has just reduced by a unnecessary power loss, thereby the excavator that the excavator of the positive flow making is necessarily controlled than minus flow in the situation that completing same workload is fuel-efficient.
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.
Object 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, 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 is also 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, electricity proportioning pump is connected with electric proportional control banked direction control valves through oil guide pipe, electricity proportioning pump also connects oil sources valve by oil guide pipe, 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 foot rest.
The control method of excavator Based Intelligent Control hydraulic system, it comprises the following steps:
A, automatically controlled pilot element are converted to the signal of telecommunication by the variable of operating element and are delivered to controller;
After the signal of telecommunication via controller computing of B, the output of automatically controlled pilot element, the correspondence that corresponding electric control signal is delivered to respectively to electric proportional control banked direction control valves by controller joins, and controls the flow that electric proportional control banked direction control valves is respectively linked to each executive component; Meanwhile, controller is also delivered to electric proportioning pump by the electric control signal after computing, and the flow of controlling electric proportioning pump equals to be respectively linked to by electric proportional control banked direction control valves the flow sum of each executive component;
C, oil sources valve control the hydraulic oil of pump output for certain constant pressure after decompression, control the guide proportion reducing valve of 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 by the maximum pressure of executive component and is delivered to controller, after the computing of feedback signal of telecommunication via controller, by controller, corresponding electric control signal is delivered to electric proportioning pump, controls the pressure unloading of electric proportioning pump.
Described pressure unloading is than the high 2MPa of the maximum pressure of executive component.
The present invention has the following advantages: the present invention is on the basis of pluses and minuses of fully analyzing existing control mode, invent a kind of complete automatically controlled control mode, pressure flow in existing control system is all changed into the signal of telecommunication by the control of hydraulic oil and the mode of feedback and control and feed back, control rate and precision are improved greatly.
The advantage of having given full play to positive flow control and load sensing controlled, combines the control theory of two kinds of control modes, invents a kind of automatically controlled positive flow-load sensing controlled mode.
The flow-control of electricity proportioning pump is that electric proportional flow is controlled, in the situation that revolution speed is enough, the flow of pump is proportional with control size of current, even also can not cause flow to change because load variations causes engine speed variation, this point controls with load-sensitive the effect that reaches identical.
The control theory of utilizing positive flow to 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 controller computing, reflection is quick rapidly, and operation sensitiveness is good.Solved and in load sensing controlled, controlled the problem that difficulty is large, avoided the tendency of hydraulic vibration.In addition, solved in load sensing controlled and only at control stick, generated pilot pressure commands, spool moves with load signal and is sent to after pump control loop, and variable pump could produce response, the problem of response lag.
Utilize the control theory of load sensing controlled, in electric proportional control banked direction control valves, be provided with recuperation valve, guarantee that banked direction control valves respectively joins primary valve two ends pressure difference identical, the flow that guarantees respectively to join valve ratio output on demand, the flow that flows into each executive component distributes by main valve opening amount size, respectively perform an action and load-independent, driver does not need frequent regulating handle to adapt to executive component load change.If 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.While 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 20bar left and right 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 based on this system, proportional control performance and complete automatically controlled feature in addition, by computer programming, can directly control excavator by computer and realize various specific actions, utilize like this this system just can realize the fool even Unmanned operation of excavator.
In sum, it is sensitive rapidly that the present invention has system response, can realize the accurate control of pressure, flow, coordination is smooth, excavator can complete 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.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention
In 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
Below in conjunction with accompanying drawing, the present invention will be further described, 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 is also 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, 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 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 on handle and foot rest, be separately installed with the sensor that the anglec of rotation of handle or foot rest is changed into automatically controlled signal, by changing the electric control signal of automatically controlled pilot element 2 different sizes as exportable in the angle of handle, foot rest.The signal of telecommunication of output is by controller 4, after computing, export the corresponding connection of corresponding Current Control electric proportional control banked direction control valves 5, it is proportional with corresponding electric current that electric proportional control banked direction control valves 5 respectively joins valve core opening size, is respectively linked to the flow of each executive component so also proportional with corresponding electric current by electric proportional control banked direction control valves 5.With Time Controller 4, also can after computing, export corresponding Current Control electricity proportioning pump 1, the flow of controlling electric proportioning pump 1 equals to be respectively linked to by electric proportional control banked direction control valves 5 the flow sum of each executive component.
Oil sources valve 3 controls the hydraulic oil of pump output for certain constant pressure after decompression, controls the guide proportion reducing valve of 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 comprises the following steps:
A, automatically controlled pilot element 2 are converted to the signal of telecommunication by the variable of operating element and are delivered to controller 4;
After signal of telecommunication via controller 4 computings of B, 2 outputs of automatically controlled pilot element, the correspondence that corresponding electric control signal is delivered to respectively to electric proportional control banked direction control valves 5 by controller 4 joins, and controls the flow that electric proportional control banked direction control valves 5 is respectively linked to each executive component; Meanwhile, controller 4 is also delivered to the electric control signal after computing electric proportioning pump 1, and the flow of controlling electric proportioning pump 1 equals to be respectively linked to by electric proportional control banked direction control valves 5 the flow sum of each executive component;
C, oil sources valve 3 control the hydraulic oil of pump output for certain constant pressure after decompression, control the guide proportion reducing valve of 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 by 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, corresponding electric control signal is delivered to electric proportioning pump 1, control the pressure unloading of electric proportioning pump 1, pressure unloading is than the high 2MPa of the 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) is also 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, 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, by this control valve, change the size of controlling electric current, the flow of the difference electric proportioning pump of proportional control (1), pressure.
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 foot rest.
3. the control method of excavator Based Intelligent Control hydraulic system as claimed in claim 1, is characterized in that: it comprises the following steps:
A, automatically controlled pilot element (2) are converted to the signal of telecommunication by 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), corresponding electric control signal is delivered to respectively to the correspondence connection of electric proportional control banked direction control valves (5), controls the flow that electric proportional control banked direction control valves (5) is respectively linked to each executive component; Meanwhile, controller (4) is also delivered to the electric control signal after computing electric proportioning pump (1), and the flow of controlling electric proportioning pump (1) equals to be respectively linked to by electric proportional control banked direction control valves (5) the flow sum of each executive component;
C, oil sources valve (3) control the hydraulic oil of pump output for certain constant pressure after decompression, control the guide proportion reducing valve of 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 by 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), corresponding electric control signal 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, is characterized in that: described pressure unloading is than the high 2MPa of the maximum pressure of executive component.
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| CN201210374106.9A CN102864808B (en) | 2012-10-07 | 2012-10-07 | Excavator intelligent control hydraulic system and control method thereof |
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| CN201210374106.9A CN102864808B (en) | 2012-10-07 | 2012-10-07 | Excavator intelligent control hydraulic system and control method thereof |
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| CN102864808B true CN102864808B (en) | 2014-11-26 |
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| 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 |
| 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 |
| 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 |
| CN113833050B (en) * | 2021-09-24 | 2023-03-24 | 徐工集团工程机械股份有限公司 | Electrically controlled load sensitive hydraulic system of small excavator |
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| 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 |
| 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 |
Family Cites Families (2)
| 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 |
| JP2012072636A (en) * | 2010-09-30 | 2012-04-12 | Hitachi Constr Mach Co Ltd | Operation system of hydraulic shovel |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Non-Patent Citations (2)
| Title |
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| JP特开2011-196439A 2011.10.06 * |
| JP特开2012-72636A 2012.04.12 * |
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