CN103711737B - Large structure hydraulic pressure lifts shifting process and state control structure - Google Patents

Large structure hydraulic pressure lifts shifting process and state control structure Download PDF

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CN103711737B
CN103711737B CN201310718179.XA CN201310718179A CN103711737B CN 103711737 B CN103711737 B CN 103711737B CN 201310718179 A CN201310718179 A CN 201310718179A CN 103711737 B CN103711737 B CN 103711737B
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way valve
oil
connection mouth
valve
grease chamber
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CN103711737A (en
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章青
张育坤
吴楠
赵磊
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Tianjin University
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Tianjin University
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Abstract

The invention discloses large structure hydraulic pressure and lift shifting process and state control structure, each You Gan side grease chamber of lifting oil cylinder is connected with the first connection mouth of first three-position four-way valve, second connection mouth of each rodless side grease chamber and the first three-position four-way valve of lifting oil cylinder is connected by pipeline, 3rd connection mouth of the first three-position four-way valve is connected with fuel tank, and the 4th connection mouth of the first three-position four-way valve is connected with fuel tank; The You Gan side grease chamber of two traversing oil hydraulic cylinders is connected with the first connection mouth of the second three-position four-way valve respectively by the second return line, second connection mouth of the second three-position four-way valve is connected with oil return house steward by the 3rd return line, the rodless side grease chamber of two traversing oil hydraulic cylinders is connected with the 3rd connection mouth of the second three-position four-way valve by the second oil supply line of the second two-position three-way valve, and the 4th connection mouth of the second three-position four-way valve is connected with total oil feed line.This structure is adopted to reduce the possibility of accident generation.

Description

Large structure hydraulic pressure lifts shifting process and state control structure
Technical field
The present invention relates to a kind of control structure, particularly relate to large structure hydraulic pressure and lift shifting process and state control structure.
Background technique
Since reform and opening-up, the economic fast development of China, the oil exploration equipment of marine industries is as ocean platform, jacket, rig and coastal waters modularization factory etc., more and more obvious towards high, large, heavy development trend, and after building up, need to be transported to offshore oil exploitation marine site or other place assemble.Therefore, for above situation, can these have the building of conservation value and large structure etc. and realize displacement smoothly serve key effect in whole process.
For some large structure, there is structure large, rigidity is soft, there is no the features such as the strong point of large rigidity, because build the side exists Pingdu scarcely, directly carry out shifting process to structure by traditional shifting technique, local often produces the stressed excessive or nonuniform effect power situation such as not stress.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, there is provided a kind of and ensure that large structure hydraulic pressure lifts Security in shifting process and stationarity, the large structure hydraulic pressure reducing the possibility that accident occurs greatly lifts shifting process and state control structure.
Large structure hydraulic pressure of the present invention lifts shifting process and state control structure, it comprises at least two groups and lifts oil cylinder and at least two traversing oil hydraulic cylinders, often group is lifted oil cylinder and is comprised two and lift oil cylinder, each You Gan side grease chamber of lifting oil cylinder is connected with the first connection mouth of first three-position four-way valve respectively by the first oil supply line, each lifts the rodless side grease chamber of oil cylinder respectively by pressure transducer is housed, Pilot operated check valve, first return line of the first two-position three-way valve and electro-hydraulic proportional reducing valve is connected by pipeline with the second connection mouth of the first described three-position four-way valve, 3rd connection mouth of the first described three-position four-way valve is by being equipped with filter screen successively, fuel path switch, oil pump is connected with fuel tank with total oil feed line of oil circuit one-way valve, Pilot operated check valve is connected with total oil feed line by two position two-way valve, 4th connection mouth of the first described three-position four-way valve is connected with the oil return house steward that filter screen is housed by the second connecting line, the import of described oil return house steward is connected with fuel tank, the You Gan side grease chamber of two described traversing oil hydraulic cylinders is connected with the first connection mouth of the second three-position four-way valve respectively by the second return line, second connection mouth of the second described three-position four-way valve is connected with oil return house steward by the 3rd return line, the rodless side grease chamber of two described traversing oil hydraulic cylinders is connected by the 3rd connection mouth of the second oil supply line with the second three-position four-way valve that the second two-position three-way valve is housed, 4th connection mouth of the second described three-position four-way valve is connected with total oil feed line, two described pressure transducers are connected with programmable controller, described programmable controller is connected with electro-hydraulic proportional reducing valve with the first two-position three-way valve with process control machine, programmable controller is used for sensor signal being converted to pressure data and carrying out analysing and processing to pressure data, then control signal is exported to electro-hydraulic proportional reducing valve to control its aperture, make pressure increase or reduce control signal to be transferred to reading and the display that process control machine carries out data simultaneously.
This structure is adopted to be lift in shifting process at hydraulic pressure, thereof using PID regulation technology, pressure sensing is used to detect the instantaneous pressurized situation of each oil cylinder fulcrum, by the fuel-displaced object controlling the stressed adjustment reached fulcrum to oil cylinder, each top pressurized situation is changed in design permission range, thus ensure that large structure hydraulic pressure lifts Security in shifting process and stationarity, reduce the possibility that accident occurs greatly.
Accompanying drawing explanation
Accompanying drawing is that the hydraulic pressure that large structure hydraulic pressure of the present invention lifts shifting process and state control structure lifts displacement hydraulic schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail:
Large structure hydraulic pressure of the present invention lifts shifting process and state control structure as shown in drawings, it comprises at least two groups and lifts oil cylinder 1 and at least two traversing oil hydraulic cylinders 15, often group is lifted oil cylinder 1 and is comprised two and lift oil cylinder, each You Gan side grease chamber of lifting oil cylinder is connected respectively by first connection mouth of the first oil supply line with first three-position four-way valve 7, each lifts the rodless side grease chamber of oil cylinder respectively by pressure transducer 2 is housed, Pilot operated check valve 3, first return line of the first two-position three-way valve 4 and electro-hydraulic proportional reducing valve 16 is connected by pipeline with the second connection mouth of the first described three-position four-way valve 7, 3rd connection mouth of the first described three-position four-way valve 7 is by being equipped with filter screen 9 successively, fuel path switch 10, oil pump 11 is connected with fuel tank 6 with total oil feed line of oil circuit one-way valve 13, Pilot operated check valve is connected with total oil feed line by two position two-way valve 5, 4th connection mouth of the first described three-position four-way valve 7 is connected with the oil return house steward that filter screen 9 is housed by the second connecting line, the import of described oil return house steward is connected with fuel tank 6, the You Gan side grease chamber of described two traversing oil hydraulic cylinders 15 is connected respectively by first connection mouth of the second return line with the second three-position four-way valve 14, second connection mouth of the second described three-position four-way valve 14 is connected with oil return house steward by the 3rd return line, the rodless side grease chamber of described two traversing oil hydraulic cylinders 15 is connected by the 3rd connection mouth of the second oil supply line with the second three-position four-way valve 14 that the second two-position three-way valve 12 is housed, 4th connection mouth of the second described three-position four-way valve 14 is connected with total oil feed line, two pressure transducers are connected with programmable controller, described programmable controller is connected with electro-hydraulic proportional reducing valve 16 with the first two-position three-way valve 4 with process control machine, programmable controller is used for sensor signal being converted to pressure data and carrying out analysing and processing to pressure data, then control signal is exported to electro-hydraulic proportional reducing valve 16 to control its aperture, make pressure increase or reduce control signal to be transferred to reading and the display that process control machine carries out data simultaneously.Oil pump can be driven by motor M.
Preferably on total oil feed line, be connected with relief valve 8.
The working procedure of this device is as follows:
(1) process is lifted: when the first three-position four-way valve 7 left end electromagnet obtains electric, two position two-way valve 5 right-hand member is made to obtain electric, open Pilot operated check valve, then hydraulic oil is through electro-hydraulic proportional reducing valve 16, first two-position three-way valve 4, Pilot operated check valve 3 enters lifts oil cylinder, promotes piston upwards, realizes the uphill process of large structure.When the first three-position four-way valve 7 be placed in right-hand member electromagnet obtain electric time, hydraulic oil enters lifts oil cylinder You Gan side grease chamber, promotion piston moves downward, two position two-way valve 5 right-hand member is made to obtain electric, start Pilot operated check valve 3, hydraulic oil flows back to from rodless side grease chamber through Pilot operated check valve 3, first two-position three-way valve 4 and bidirectional speed governing valve 5, realizes the decline process of large structure.When not lifting, two position two-way valve 5 left end obtains electric, is in off state.Pilot operated check valve 3 is opened in the effect of two position two-way valve 5, and the data that pressure transducer is recorded are real pressure data, but not the data after the pressure loss.
(2) shifting process: lift after oil cylinder rises to setting height, need to carry out lifting displacement, now, when the second three position four-way directional control valve 14 right-hand member electromagnet obtains electric, hydraulic oil enters oil pocket on the right side of traversing oil hydraulic cylinder, the second two-position three-way valve 12, arrives traversing oil hydraulic cylinder 15 and promotes piston rod and move to the left, under the effect of haulage cable, realize the shifting process of large structure; When the second three position four-way directional control valve 14 left end electromagnet obtains electric, hydraulic oil enters traversing oil hydraulic cylinder left end side oil pocket, and now piston rod moves to the right, realizes opposite direction displacement.Wherein the effect of the second three-position four-way valve is the conformity controlling oil return direction.
2. process control
This experiment porch is the use of two group oil cylinders and carries out lifting and displacement as can be seen, for realizing the technical requirements of multi-hydraulic-cylinder synchronization of jacking up and displacement, often organizing Jacking point and being furnished with a pressure transducer.The force-bearing situation exporting instantaneous each oil hydraulic cylinder is detected by pressure transducer, using the pressure value P 1 of a wherein group oil cylinder as benchmark, then the pressure value P 2 of another group oil cylinder is detected, both compare, use PID regulation technology, hydraulic control cylinder oil-feed flow, makes another group pressure value P 2 remain within P1 (1+5%), can keep the steady and Security in shifting process like this.Realize hydraulic pressure and lift programmable controller automatic monitoring to large structure synchronization of jacking up, decline and displacement in shifting process.
PID regulates:
PID controller is by carrying out ratio, integration and differentiation computing to error signal, the weighting of its result, obtaining the output of controller.PID model is by setting value and the behavior and the process that are controlled object by the deviation of control value of being returned by sensor feedback.
u ( t ) = K P [ e ( t ) + 1 T i ∫ 0 1 e ( t ) d t + T d d e ( t ) d t ] - - - ( 1 )
e(t)＝r(t)-c(t)(2)
U (t)-control inputs signal; E (t)-error signal; R (t)-input quantity; C (t)-output quantity
But lift in shift system at large structure hydraulic pressure, need to be controlled electro-hydraulic proportional reducing valve valve opening by computer controlled system, realize PID to regulate, like this, the differential equation describing continuous system should be rewritten as the difference equation describing discrete system.
u ( k ) = K P { e ( k ) + T T j Σ j = 0 k e ( j ) + T d T [ e ( k ) - e ( k - 1 ) ] } - - - ( 3 )
Make integral coefficient respectively differential coefficient then model is written as following incremental form:
Δu(k)＝K p[e(k)-e(k-1)]+K je(k)+K d[e(k)-2e(k-1)+e(k-2)](4)
Can find out, only relate to the numerical value of the different time points of output point and control inputs point in model, do not need state function accurately.Because hydraulic pressure lifts shift experiments control system sampling period T necessarily, therefore, regulate K p, K j, K dthree coefficients, and deviate measurement is carried out to (k-2), (k-1) and k tri-continuous sampling points, get final product passing through type (4) and show that each hydraulic pressure lifts the increment of valve opening in shifting process, valve opening is controlled according to obtained data by programmable controller, namely can the flow of hydraulic control oil and speed, make pressure increase or reduction.Then process control machine carries out adjustment compensation by regulating to the force value in current jacking or displacement, large structure is lifted in shifting process at hydraulic pressure respectively lift the change of a some jacking hydraulic cylinder force and keep a relative equilibrium, (1+5%) that error remains on the pressure of benchmark doubly within.

Claims (2)

1. large structure hydraulic pressure lifts shifting process and state control structure, it is characterized in that: it comprises at least two groups and lifts oil cylinder and at least two traversing oil hydraulic cylinders, often group is lifted oil cylinder and is comprised two and lift oil cylinder, each You Gan side grease chamber of lifting oil cylinder is connected with the first connection mouth of first three-position four-way valve respectively by the first oil supply line, each lifts the rodless side grease chamber of oil cylinder respectively by pressure transducer is housed, Pilot operated check valve, first return line of the first two-position three-way valve and electro-hydraulic proportional reducing valve is connected by pipeline with the second connection mouth of the first described three-position four-way valve, 3rd connection mouth of the first described three-position four-way valve is by being equipped with filter screen successively, fuel path switch, oil pump is connected with fuel tank with total oil feed line of oil circuit one-way valve, Pilot operated check valve is connected with total oil feed line by two position two-way valve, 4th connection mouth of the first described three-position four-way valve is connected with the oil return house steward that filter screen is housed by the second connecting line, the import of described oil return house steward is connected with fuel tank, the You Gan side grease chamber of two described traversing oil hydraulic cylinders is connected with the first connection mouth of the second three-position four-way valve respectively by the second return line, second connection mouth of the second described three-position four-way valve is connected with oil return house steward by the 3rd return line, the rodless side grease chamber of two described traversing oil hydraulic cylinders is connected by the 3rd connection mouth of the second oil supply line with the second three-position four-way valve that the second two-position three-way valve is housed, 4th connection mouth of the second described three-position four-way valve is connected with total oil feed line, two described pressure transducers are connected with programmable controller, described programmable controller is connected with electro-hydraulic proportional reducing valve with the first two-position three-way valve with process control machine, programmable controller is used for sensor signal being converted to pressure data and carrying out analysing and processing to pressure data, then control signal is exported to electro-hydraulic proportional reducing valve to control its aperture, make pressure increase or reduce control signal to be transferred to reading and the display that process control machine carries out data simultaneously.
2. large structure hydraulic pressure according to claim 1 lifts shifting process and state control structure, it is characterized in that: on total oil feed line, be connected with relief valve.
CN201310718179.XA 2013-12-17 2013-12-17 Large structure hydraulic pressure lifts shifting process and state control structure Active CN103711737B (en)

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CN108488121B (en) * 2018-02-12 2020-11-10 宝鸡石油机械有限责任公司 Hydraulic self-walking control method and control system for moving device
CN110329955A (en) * 2019-07-04 2019-10-15 天津大学 Stress Active Control Method in petroleum module shifting process
CN113003467A (en) * 2021-04-10 2021-06-22 南京工程学院 Hydraulic control device and method for mounting rubber-plastic spring damping device of large coal mill
CN113062946A (en) * 2021-04-10 2021-07-02 南京工程学院 Single-bag gas-liquid linkage intelligent damping device for base of large coal mill and control method of single-bag gas-liquid linkage intelligent damping device
CN113847297A (en) * 2021-10-19 2021-12-28 徐工消防安全装备有限公司 Electric load sensing system and control method thereof

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JPS5831484B2 (en) * 1978-03-29 1983-07-06 日立建機株式会社 hydraulic circuit
CN102114517B (en) * 2010-11-30 2012-11-07 浙江大学 Displacement-force compound control lifting system for forging manipulator
CN202194873U (en) * 2011-08-18 2012-04-18 湖南联智桥隧技术有限公司 Servo pressure maintaining and speed regulation hydraulic circuit
CN202646213U (en) * 2012-07-03 2013-01-02 湖南联智桥隧技术有限公司 Differential pressure circuit hydraulic system
CN103112804B (en) * 2013-02-05 2015-10-28 浙江诺力机械股份有限公司 A kind of control setup of industrial vehicle lifting mechanism and control method

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