CN103016467B - Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms - Google Patents
Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms Download PDFInfo
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- CN103016467B CN103016467B CN201210572181.6A CN201210572181A CN103016467B CN 103016467 B CN103016467 B CN 103016467B CN 201210572181 A CN201210572181 A CN 201210572181A CN 103016467 B CN103016467 B CN 103016467B
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Abstract
The invention discloses a method for flow saturation prevention control during the simultaneous action of a plurality of hydraulic execution mechanisms. The method comprises the following steps of: (1) reading an input signal of an electronic handle by using an electronic control unit (ECU); (2) converting the input of the handle into the speed of each executor; (3) calculating a theoretical flow demand Qi (i is 1, 2, ..., n) of each executor according to a speed direction and the area of the corresponding executor to obtain a total flow demand Qt=Q1+Q2+...+Qn; (4) calculating a maximum actual flow Qp which can be supplied by a hydraulic pump under such a working condition; (5) calculating a supply-demand ratio K=Qt/Qp; and (6) calculating a flow saturation prevention correction coefficient Ku, judging a value of K, determining that a flow is unsaturated and Ku=K, if K is less than or equal to 1, and determining the flow is saturated and Ku=1/K, if K is more than 1. The method has the beneficial effect that the problem of flow saturation during the simultaneous action of a plurality of executors can be effectively solved.
Description
Technical field
The present invention relates to a kind of anti-current amount Saturation Control method during many hydraulic actuators action simultaneously, belong to technical field of hydraulic.
Background technique
In engineering machinery, single pump drives, multi-way valve controls the hydraulic system applications of multiple actuator widely.These actuators also exist the operating mode of high speed motion simultaneously, when the flow summation that system needs exceedes the flow that pump can provide, fluid preferentially can ensure the flow supply of the load that pressure is low, and the high load of pressure now there will be underfed, even occur stopping, shaking or concuss, thus predetermined moving direction can not be ensured.This phenomenon is saturated flow.The saturated meeting of flow brings very large potential safety hazard to engineering machinery construction.
In the prior art, the method that process flow is saturated is nearly all improve in hydraulic system, the saturated multi-way valve of Introduced From Abroad novel anti-current amount, or adopt the distribution of load independent flow system (LUDV) of offshore company's research and development, these novel devices are expensive, belong to the patented technology of part company, domesticly do not grasp core technology completely, there is during application very large narrow limitation.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of anti-current amount Saturation Control method during many hydraulic actuators action simultaneously, the flow saturation problem occurred during multi executors action simultaneously can be avoided.
To achieve these goals, the technical solution used in the present invention is: a kind of anti-current amount Saturation Control method during many hydraulic actuators action simultaneously, and the concrete steps of the method are:
(1) controller ECU reads the input signal of electric handle;
(2) handle input is converted into each final controlling element speed V
hi(i=1,2 ..., n);
(3) according to velocity attitude and each final controlling element areal calculation each final controlling element theoretical delivery demand Q
i(i=1,2 ..., n), obtain aggregate demand flow Q
t=Q
1+ Q
2+ ... + Q
n;
(4) the maximum actual flow Q that oil hydraulic pump can be supplied under current working is calculated
p;
(5) calculate supply and demand and compare K=Q
t/ Q
p;
(6) the saturated adjusted coefficient K of anti-current amount is calculated
u, first, judge the value of K, if K≤1, illustrate that not reach flow saturated, then K
u=K, if K > 1, illustrates that to reach flow saturated, then K
u=1/K;
(7) the revised command speed V of each final controlling element is calculated
oi(i=1,2 ..., n), wherein, the revised command speed V of each final controlling element
oi=V
hi* K
u;
(8) according to the revised command speed V of each final controlling element
oi(i=1,2 ..., n), control the aperture of each Proportional valve.
Compared with prior art, this method is adopted to be easy to realize, reliability is high, the flow saturation problem usually occurred when effectively can avoid multi executors action simultaneously, when occurring that flow is saturated, ECU can the reduction command speed of automatic equal proportion, thus moving direction when maintaining multi executors action is simultaneously constant.
Accompanying drawing explanation
Fig. 1 is workflow diagram of the present invention;
Fig. 2 is hydraulic electric control system diagram of the present invention;
Fig. 3 is control principle block diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figures 1 and 3, a kind of anti-current amount Saturation Control method during many hydraulic actuators action simultaneously, the concrete steps of the method are:
(1) controller ECU reads the input signal of electric handle, and the manipulation amplitude of handle directly determines actuator motions speed;
(2) handle input is converted into each final controlling element speed V
hi(i=1,2 ..., n); Represent speed percentage value, controller ECU is converted into each final controlling element speed (V through calculating the voltage signal by electric handle inputs
h1, V
h2..., V
hn);
(3) according to velocity attitude and each final controlling element areal calculation each final controlling element theoretical delivery demand Q
i(i=1,2 ..., n), obtain aggregate demand flow Q
t=Q
1+ Q
2+ ... + Q
n;
(4) the maximum actual flow Q that oil hydraulic pump (needs during calculating to consider efficiency) to supply under current working is calculated
p;
(5) calculate supply and demand and compare K=Q
t/ Q
p;
(6) the saturated adjusted coefficient K of anti-current amount is calculated
u, first, judge the value of K, if K≤1, illustrate that not reach flow saturated, then K
u=K, if K > 1, illustrates that to reach flow saturated, then K
u=1/K;
(7) the revised command speed V of each final controlling element is calculated
oi(i=1,2 ..., n), wherein, the revised command speed V of each final controlling element
oi=V
hi* K
u;
(8) according to the revised command speed V of each final controlling element
oi(i=1,2 ..., n), control the aperture of each Proportional valve.
As shown in Figure 2, a kind of single pump drives the hydraulic system of multi executors, and original hydraulic system basis adds controller ECU and electric handle, and electric handle is connected with controller ECU, and controller ECU is connected with two electronically controlled proportional valves respectively.
The flow in the hydraulic system of single pump driving multi executors can be regulated timely by the present invention, thus the flow saturation problem occurred when avoiding multi executors action simultaneously.
Claims (1)
1. the anti-current amount Saturation Control method during action simultaneously of hydraulic actuator more than, it is characterized in that, the concrete steps of the method are:
(1) controller ECU reads the input signal of electric handle;
(2) handle input is converted into each final controlling element speed V
hi(i=1,2 ..., n);
(3) according to velocity attitude and each final controlling element areal calculation each final controlling element theoretical delivery demand Q
i(i=1,2 ..., n), obtain aggregate demand flow Q
t=Q
1+ Q
2+ ... + Q
n;
(4) the maximum actual flow Q that oil hydraulic pump can be supplied under current working is calculated
p;
(5) calculate supply and demand and compare K=Q
t/ Q
p;
(6) the saturated adjusted coefficient K of anti-current amount is calculated
u, first, judge the value of K, if K≤1, illustrate that not reach flow saturated, then K
u=K, if K > 1, illustrates that to reach flow saturated, then K
u=1/K;
(7) the revised command speed V of each final controlling element is calculated
oi(i=1,2 ..., n), wherein, the revised command speed V of each final controlling element
oi=V
hi* K
u;
(8) according to the revised command speed V of each final controlling element
oi(i=1,2 ..., n), control the aperture of each Proportional valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210572181.6A CN103016467B (en) | 2012-12-25 | 2012-12-25 | Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210572181.6A CN103016467B (en) | 2012-12-25 | 2012-12-25 | Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103016467A CN103016467A (en) | 2013-04-03 |
| CN103016467B true CN103016467B (en) | 2015-06-10 |
Family
ID=47965434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210572181.6A Expired - Fee Related CN103016467B (en) | 2012-12-25 | 2012-12-25 | Method for flow saturation prevention control during simultaneous action of plurality of hydraulic execution mechanisms |
Country Status (1)
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| CN (1) | CN103016467B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104214159B (en) * | 2014-09-02 | 2016-04-27 | 徐州徐工液压件有限公司 | A kind of saturated valve of anti-current amount with machine-liquid stroke restriction |
| CN106499680A (en) * | 2016-10-13 | 2017-03-15 | 长沙中联消防机械有限公司 | For the control device of assignment of traffic, method, hydraulic system and engineering machinery |
| CN114506799B (en) * | 2022-04-20 | 2022-07-08 | 杭叉集团股份有限公司 | Forklift gantry joint action control method and control system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0462589A2 (en) * | 1990-06-19 | 1991-12-27 | Hitachi Construction Machinery Co., Ltd. | Control system for load sensing hydraulic drive circuit |
| JPH08219106A (en) * | 1995-02-15 | 1996-08-27 | Hitachi Constr Mach Co Ltd | Hydraulic drive circuit |
| JP2579571B2 (en) * | 1992-01-07 | 1997-02-05 | 川崎重工業株式会社 | Hydraulic circuit with flow control of hydraulic machine |
| US6321152B1 (en) * | 1999-12-16 | 2001-11-20 | Caterpillar Inc. | System and method for inhibiting saturation of a hydraulic valve assembly |
| CN100441785C (en) * | 2004-03-17 | 2008-12-10 | 神钢建设机械株式会社 | Hydraulic control device for working machine |
| CN101922489A (en) * | 2009-06-15 | 2010-12-22 | 沃尔沃建造设备控股（瑞典）有限公司 | Construction equipment having electric control lever |
| CN102278334A (en) * | 2011-07-22 | 2011-12-14 | 中国人民解放军装甲兵工程学院 | Hydraulic power system for robot |
| CN202170902U (en) * | 2011-07-22 | 2012-03-21 | 中国人民解放军装甲兵工程学院 | Hydraulic power system of robot |
-
2012
- 2012-12-25 CN CN201210572181.6A patent/CN103016467B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0462589A2 (en) * | 1990-06-19 | 1991-12-27 | Hitachi Construction Machinery Co., Ltd. | Control system for load sensing hydraulic drive circuit |
| JP2828490B2 (en) * | 1990-06-19 | 1998-11-25 | 日立建機株式会社 | Load sensing hydraulic drive circuit controller |
| JP2579571B2 (en) * | 1992-01-07 | 1997-02-05 | 川崎重工業株式会社 | Hydraulic circuit with flow control of hydraulic machine |
| JPH08219106A (en) * | 1995-02-15 | 1996-08-27 | Hitachi Constr Mach Co Ltd | Hydraulic drive circuit |
| US6321152B1 (en) * | 1999-12-16 | 2001-11-20 | Caterpillar Inc. | System and method for inhibiting saturation of a hydraulic valve assembly |
| CN100441785C (en) * | 2004-03-17 | 2008-12-10 | 神钢建设机械株式会社 | Hydraulic control device for working machine |
| CN101922489A (en) * | 2009-06-15 | 2010-12-22 | 沃尔沃建造设备控股（瑞典）有限公司 | Construction equipment having electric control lever |
| CN102278334A (en) * | 2011-07-22 | 2011-12-14 | 中国人民解放军装甲兵工程学院 | Hydraulic power system for robot |
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| Title |
|---|
| 负载敏感系统抗流量饱和控制仿真研究;王欣等;《机床与液压》;20100415;第38卷(第7期);第103页左栏第末段至第104页右栏第1段，图1-2 * |
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|---|---|
| CN103016467A (en) | 2013-04-03 |
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Granted publication date: 20150610 Termination date: 20161225 |