CN103711751B - The electric controller of integrated electric electro-hydraulic proportional control system - Google Patents
The electric controller of integrated electric electro-hydraulic proportional control system Download PDFInfo
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- CN103711751B CN103711751B CN201410020690.7A CN201410020690A CN103711751B CN 103711751 B CN103711751 B CN 103711751B CN 201410020690 A CN201410020690 A CN 201410020690A CN 103711751 B CN103711751 B CN 103711751B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
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- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 5
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Abstract
The invention discloses a kind of electric controller of integrated electric electro-hydraulic proportional control system, comprise control circuit and hydraulic system.Control circuit comprises intelligent controller U1 and two motor-drive circuit; Hydraulic system comprises oil pump, multiple directional control valve, inclination series flow control valve, lifting series flow control valve, steering system relief valve, power steering servo valve, hydraulic tilt cylinder, lifting hydraulic cylinder and power steering oil hydraulic cylinder; Oil pump is connected with multiple directional control valve, and multiple directional control valve comprises four output ports.Multiple directional control valve by 4 output ports and inclination series flow control valve, be elevated series flow control valve, steering system relief valve, power steering servo valve be connected.The electric controller of integrated electric electro-hydraulic proportional control system of the present invention, has job requirement, the ambient temperature that can meet engineering machinery, special-purpose vehicle etc. and reaches 120 DEG C, reduces the labor intensity of operator, increases work efficiency and the advantage such as reliability.
Description
Technical field
The present invention relates to a kind of electric controller of integrated electric electro-hydraulic proportional control system, especially a kind of for engineering machinery, special-purpose vehicle as the electric controller of the integrated electric electro-hydraulic proportional control system of fork truck etc.
Background technique
Hydraulic fork lift hydraulic system multiple directional control valve adopts two-way Self-retaining electromagnet to adopt two coil configuration, and self-closing electromagnetic iron (also claiming magnetic padlock electromagnet), its similar is in frame type electromagnet, but inside is equipped with high-performance permanent magnet.When after coil electricity, axle core produces axial displacement, after power-off, under the magnetic confining field effect of permanent magnet, and the position (self-locking) of energy retainer shaft core after energising displacement, and no longer need the input of electric power to maintain.Attract to be driven by pulse power supply with reset.There is the advantages such as power-saving, temperature rise is little, power is large.This product divides unidirectional self-sustaining and two-way self-sustaining two kinds.Iron core only keeps (self-locking) in a position of stroke terminal by unidirectional self-sustaining.And two-way Self-retaining electromagnet adopts two coil configuration, iron core can be kept (self-locking) forming the position different from whole two of beginning, and two positions have equal output torque (having bistable state feature).Electromagnet is connected with multiple directional control valve should do heat insulation process, controls electromagnet temperature and is no more than 80 DEG C.Traditional electrical-liquid control multiple directional control valve due to ambient temperature can not more than 80 DEG C, and truck hydraulic oil temperature is often beyond 80 DEG C, due to the fluid heat transfer of the electrical-liquid control multiple directional control valve of integral type, liquid proportional controls the restriction of multiple directional control valve due to electromagnetic property, the defects such as rate of fault in actual use is high, poor reliability that this just causes.
Summary of the invention
The present invention is for avoiding the deficiency that exists in above-mentioned prior art, providing a kind of electric controller of integrated electric electro-hydraulic proportional control system, with reduce operator labor intensity, increase work efficiency and reliability.
The present invention be technical solution problem by the following technical solutions.
The electric controller of integrated electric electro-hydraulic proportional control system, its structural feature is, comprises control circuit and hydraulic system;
Described control circuit comprises intelligent controller U1 and motor-drive circuit; Described motor-drive circuit comprises the first motor-drive circuit and the second motor-drive circuit; Described first motor-drive circuit comprises the first stepping motor control chip U2 and the first stepper motor driver chip U3; Described second motor-drive circuit comprises the second stepping motor control chip U4 and the second stepper motor driver chip U5; Hall transducer is connected with described intelligent controller U1; Described first stepper motor driver chip U3 is connected with described intelligent controller U1 by described first stepping motor control chip U2, and described second stepper motor driver chip U5 is connected with described intelligent controller U1 by the second stepping motor control chip U4;
Electric capacity C1, resistance R1 and resistance R2 are all connected with described first stepping motor control chip U2, resistance R3 and resistance R4 are all connected with described first stepper motor driver chip U3, and resistance R3 and resistance R4 are all connected with described first stepping motor control chip U2 again simultaneously; Electric capacity C2, resistance R5 and resistance R6 are all connected with described second stepping motor control chip U4, resistance R7 and resistance R8 are all connected with described second stepper motor driver chip U5, and resistance R7 and resistance R8 are all connected with described second stepping motor control chip U4 again simultaneously;
Described hydraulic system comprises oil pump, multiple directional control valve, inclination series flow control valve, lifting series flow control valve, steering system relief valve, power steering servo valve, hydraulic tilt cylinder, lifting hydraulic cylinder and power steering oil hydraulic cylinder; Described oil pump is connected with described multiple directional control valve, and described multiple directional control valve comprises four output ports: A1 port, A2 port, B2 port and PF port; Described multiple directional control valve is connected with described inclination series flow control valve by described A2 port, and described inclination series flow control valve is connected with the rod chamber of described hydraulic tilt cylinder; Described multiple directional control valve is connected with the rodless cavity of described hydraulic tilt cylinder by described B2 port; Described multiple directional control valve is connected with described lifting series flow control valve by described A1 port, and described lifting series flow control valve is connected with the rodless cavity of lifting hydraulic cylinder; Described steering system relief valve and power steering servo valve are all connected with the PF port of described multiple directional control valve, and described steering system relief valve is connected with power steering servo valve; Described power steering servo valve is connected with the rodless cavity of described power steering oil hydraulic cylinder;
First stepper motor driver chip U3 is connected with the stepper motor of inclination series flow control valve, and the second stepper motor driver chip U5 is connected with the stepper motor of lifting series flow control valve.
The structural feature of the electric controller of integrated electric electro-hydraulic proportional control system of the present invention is also:
Described inclination series flow control valve and lifting series flow control valve are guide proportion and control series flow control valve, by driving stepper motor.
Described intelligent controller U1 is single-chip microcomputer STC12C5410AD.
Described multiple directional control valve adopts two-way self-closing electromagnetic iron and two coil configuration.
Compared with the prior art, beneficial effect of the present invention is embodied in:
The electric controller of integrated electric electro-hydraulic proportional control system of the present invention, when operator's mobile operating handle, Hall transducer detects the action of Joystick, operation signal is sent to intelligent controller U1, by intelligent controller U1, control signal is sent to two motor-drive circuits, the stepper motor owing to controlling inclination and the inclination series flow control valve be elevated and lifting series flow control valve is driven by two motor-drive circuits, thus control the turnover oil mass of two series flow control valves, tilt operation and elevating control are carried out to hydraulic tilt cylinder, lifting hydraulic cylinder.Inclination series flow control valve, lifting series flow control valve are all connected with described intelligent controller U1, are detected the action of inclination series flow control valve, lifting series flow control valve by intelligent controller U1.Multiple directional control valve is connected with power steering servo valve with described steering system relief valve by described PF port, realize power-steering function, obtain under the different speed of a motor vehicle can be met and different turn to requirement, make driver obtain larger power-assisted when automobile low speed driving, improve the travelling comfort and Security of driving.
Inclination series flow control valve and lifting series flow control valve all adopt guide controlled proportional series flow control valve, and by step motor control, Novel electric electro-hydraulic proportional control system is proposed a kind of system of valve characteristic formula of throttle valve of novel employing step motor control.Stepper valve has following features: the positional accuracy that improve valve; In working procedure, when the electric current to actuator's supply is interrupted, can not there is Rapid Variable Design because of the variation of valve position in hydraulic coupling, namely the situation stability inferior of system failure is good.Novel electric electro-hydraulic proportional control system has that structure is simple, stable performance, antijamming capability are strong, ambient temperature reaches 120 DEG C, can meet engineering machinery, the job requirement of special-purpose vehicle (fork truck) fork truck, and can realize closed loop control easily.
The electric controller of integrated electric electro-hydraulic proportional control system of the present invention, has job requirement, the ambient temperature that can meet engineering machinery, special-purpose vehicle etc. and reaches 120 DEG C, reduces the labor intensity of operator, increases work efficiency and reliability, make driver obtain the advantages such as larger power-assisted, the travelling comfort improving driving and Security when automobile low speed driving.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the hydraulic system of the electric controller of integrated electric electro-hydraulic proportional control system of the present invention.
Fig. 2 is the circuit diagram of the control circuit of the electric controller of integrated electric electro-hydraulic proportional control system of the present invention.
Fig. 3 is the plan view of the hand-operating device of the electric controller of integrated electric electro-hydraulic proportional control system of the present invention.
Fig. 4 is the A-A sectional drawing of Fig. 3.
Fig. 5 is the left view of the hand-operating device of the electric controller of integrated electric electro-hydraulic proportional control system of the present invention.
In Fig. 1 ~ Fig. 5, label is; 1 Joystick, 2 bases, 3 handle pivoted housings, 4 permanent magnetism blooms, 5 Hall transducers, 6 oil pumps, 7 multiple directional control valves, 71 inclined valves, 72 poppet valves, 8 inclination series flow control valves, 9 lifting series flow control valves, 10 steering system relief valves, 11 power steering servo valves, 12 hydraulic tilt cylinders, 13 lifting hydraulic cylinders, 14 power steering oil hydraulic cylinders, 15 emergency stop buttons.
Below by way of embodiment, and the invention will be further described by reference to the accompanying drawings.
Embodiment
See accompanying drawing 1 ~ accompanying drawing 5, the electric controller of integrated electric electro-hydraulic proportional control system, comprises control circuit and hydraulic system;
Described control circuit comprises intelligent controller U1 and motor-drive circuit; Described motor-drive circuit comprises the first motor-drive circuit and the second motor-drive circuit; Described first motor-drive circuit comprises the first stepping motor control chip U2 and the first stepper motor driver chip U3; Described second motor-drive circuit comprises the second stepping motor control chip U4 and the second stepper motor driver chip U5; Described Hall transducer is connected with described intelligent controller U1; Described first stepper motor driver chip U3 is connected with described intelligent controller U1 by described first stepping motor control chip U2, and described second stepper motor driver chip U5 is connected with described intelligent controller U1 by the second stepping motor control chip U4;
Electric capacity C1, resistance R1 and resistance R2 are all connected with described first stepping motor control chip U2, resistance R3 and resistance R4 are all connected with described first stepper motor driver chip U3, and resistance R3 and resistance R4 are all connected with described first stepping motor control chip U2 again simultaneously; Electric capacity C2, resistance R5 and resistance R6 are all connected with described second stepping motor control chip U4, resistance R7 and resistance R8 are all connected with described second stepper motor driver chip U5, and resistance R7 and resistance R8 are all connected with described second stepping motor control chip U4 again simultaneously;
Described hydraulic system comprises oil pump 6, multiple directional control valve 7, inclination series flow control valve 8, lifting series flow control valve 9, steering system relief valve 10, power steering servo valve 11, hydraulic tilt cylinder 12, lifting hydraulic cylinder 13 and power steering oil hydraulic cylinder 14; Described oil pump 6 is connected with described multiple directional control valve 7, and described multiple directional control valve 7 comprises four output ports: A1 port, A2 port, B2 port and PF port; Described multiple directional control valve 7 is connected with described inclination series flow control valve 8 by described A2 port, and described inclination series flow control valve 8 is connected with the rod chamber of described hydraulic tilt cylinder 12; Described multiple directional control valve 7 is connected by the rodless cavity of described B2 port with described hydraulic tilt cylinder 12; Described multiple directional control valve 7 is connected with described lifting series flow control valve 9 by described A1 port, and described lifting series flow control valve 9 is connected with the rodless cavity of lifting hydraulic cylinder 13; Described steering system relief valve 10 and power steering servo valve 11 are all connected with the PF port of described multiple directional control valve 7, and described steering system relief valve 10 is connected with power steering servo valve 11; Described power steering servo valve 11 is connected with the rodless cavity of described power steering oil hydraulic cylinder 14;
First stepper motor driver chip U3 is connected with the stepper motor of inclination series flow control valve 8, and the second stepper motor driver chip U5 is connected with the stepper motor of lifting series flow control valve 9.
Be illustrated in figure 1 the schematic diagram of hydraulic system.Cavity in oil hydraulic cylinder is divided into rod chamber and rodless cavity by piston.Rod chamber refers to the cavity at the piston rod place of oil hydraulic cylinder, and described rodless cavity refers to the cavity away from the side of described piston rod in oil hydraulic cylinder.A1 port, A2 port, B2 port and PF port are the actuator port of multiple directional control valve, and P is filler opening, and O is return opening.P mouth is connected with oil pump, and O mouth is connected with oil-return groove.If Fig. 2 is the circuit diagram of control circuit.
As Fig. 3 ~ 5, hand-operating device comprises Joystick 1 and base 2, the lower end of described Joystick 1 is inserted within described base 2, and the top of described base 2 is provided with handle pivoted housing 3, is provided with permanent magnetism bloom 4 and Hall transducer 5 within described handle pivoted housing 3; Described permanent magnetism bloom 4 is arranged on described handle pivoted housing 3, and described Hall transducer 5 is arranged on described Joystick 1.Hall transducer 5 is connected with described intelligent controller U1.The top of described Joystick 1 is provided with emergency stop button 15.
During specific works, when operator's mobile operating handle, Hall transducer detects the action of Joystick, operation signal is sent to intelligent controller U1, by intelligent controller U1, control signal is sent to two motor-drive circuits, drive the inclination series flow control valve for controlling and be elevated by two motor-drive circuits and be elevated the stepper motor of series flow control valve, thus controlling the turnover oil mass of two series flow control valves, tilt operation and elevating control are carried out to hydraulic tilt cylinder, lifting hydraulic cylinder.Inclination series flow control valve, lifting series flow control valve are all connected with described intelligent controller U1, are detected the action of inclination series flow control valve, lifting series flow control valve by intelligent controller U1.Multiple directional control valve is connected with power steering servo valve with described steering system relief valve by described PF port, realize power-steering function, obtain under the different speed of a motor vehicle can be met and different turn to requirement, make driver obtain larger power-assisted when automobile low speed driving, improve the travelling comfort and Security of driving.Multiple directional control valve comprises inclined valve 71 and poppet valve 72.A2 port, B2 port are the output port of inclined valve 71, and A1 port is the output port of poppet valve 72.
Multiple directional control valve, is made up of oil-feed valve block, Reversing valve plate and oil return valve block, for adapting to the requirement of different situations, can increase and decrease combination arbitrarily.Oil circuit adopts oil circuit in parallel.Valve block inside arranges one-way valve, flows backwards for preventing fluid.Oil-feed valve block with pilot operated compound relief valve, to control whole system pressure.The effect of diverter valve is that stable, constant fluid are supplied to steering system diverter valve with a relief valve, ensures that steering system normally works.According to user's needs, Reversing valve plate can be equipped with overload valve with satisfied different actuator load needs.
Multiple directional control valve adopts two-way self-closing electromagnetic iron, adopts two coil configuration.Attract to be driven by pulse power supply with reset, there is the advantages such as power-saving, temperature rise is little, power is large.Electromagnet is connected with multiple directional control valve does heat insulation process, controls electromagnet temperature and is no more than 80 DEG C.Traditional electrical-liquid control multi-way valve due to ambient temperature can not more than 80 DEG C, and truck hydraulic axle temperature is often beyond 80 DEG C, due to the fluid heat transfer of the electrical-liquid control multi-way valve of integral type, electrical-liquid control multi-way valve due to the restriction of electromagnetic property, the defects such as rate of fault in actual use is high, poor reliability that this just causes.
For the defect that hydraulic fork lift uses guide controlled proportional series flow control valve system to exist at present, electro-hydraulic proportional control system of the present invention is proposed a kind of system of valve characteristic formula of throttle valve of novel employing step motor control.
Compared with conventional solenoid valve, stepper valve has following several feature.
1) improve the positional accuracy of valve; In working procedure, when the electric current to actuator's supply is interrupted, can not there is Rapid Variable Design because of the variation of valve position in hydraulic coupling, namely the situation stability inferior of system failure is good;
2) solenoid valve of traditional electronically controlled hydraulic system is due to the restriction of electromagnetic property, ambient temperature can not more than 80 DEG C, and the ambient temperature of forklift engine room is through being everlasting between 80 DEG C ~ 100 DEG C, this just causes the defects such as rate of fault in actual use is high, poor reliability, and stepping throttle valve normally can work in the ambient temperature below 120 DEG C, the position stopped is rotated, the on state of each valve port of definition stepper valve by stepper motor;
3) electro-hydraulic proportional control system of the present invention has that structure is simple, stable performance, antijamming capability are strong, ambient temperature reaches 120 DEG C, fork truck job requirement can be met, and closed loop control can be realized easily, replace electro-hydraulic regulating valve device poor reliability, high in cost of production defect.
Integrated manipulation is exactly all control actions completing fork truck with a Joystick: forklift door frame rise/fall, fork of forklift truck lean forward/hypsokinesis.The labor intensity of operator can be reduced, thus raise labour efficiency.Also solve the difficult problem that forklift steering room space is arranged simultaneously.
The signal that Joystick position transducer sends changes with the change of its actuated position, when handle is positioned at meta or flip operation, its output signal is between 0.6 ~ 2.8V, ECU controls corresponding proportion valve electric current and is about about 90mA, this Proportional valve is in closed condition, and corresponding pilot control oil pressure is zero (being failure to actuate); When operating this manipulation position, its output signal is between 3.0 ~ 4.4V, increase with operation amplitude and increase, ECU controls corresponding proportion valve electric current to be changed thereupon in proportion between 300 ~ 1000mA, corresponding pilot control oil pressure changes between 0.5 ~ 2.9MPa, thus controls corresponding action selector valve aperture.
For guaranteeing safety; at opening power and prestart; control gear ECU need confirm each actuated position to be positioned at meta, and (4 position sensor signal voltages all should be 2.5 ± 0.3V; otherwise with Joystick not at meta to forklift door frame rise/fall, fork of forklift truck lean forward/the control ratio valve electric current of the everything such as hypsokinesis enters row lock protection, forbids its work.
Press emergency stop switch button, control gear ECU need confirm that each actuated position is positioned at meta, enters row lock protection, forbid its work to control ratio valve electric current.
Described inclination series flow control valve 8 and lifting series flow control valve 9 are guide proportion and control series flow control valve, by driving stepper motor.
Described intelligent controller U1 is single-chip microcomputer STC12C5410AD.
Described multiple directional control valve 7 adopts two-way self-closing electromagnetic iron and two coil configuration.
The preferred STC12C5410AD of intelligent controller U1.STC12C5410 series monolithic is the compatibility 8051 kernel single-chip microcomputer of the single clock/machine cycle (1T) of being produced by macrocrystalline science and technology, it is a new generation 8051 single-chip microcomputer of high speed/low power consumption, brand-new production line/Reduced Instruction Set Computer Architecture, inner integrated MAX810 Special reset circuit.
The multifunctional circuit that two motor-drive circuits are all made up of drived control logic chip L297 and chip L298N.The I/O mouth output control pulse of single-chip microcomputer, processes through L297, L298N drive circuit paired pulses, exports the drive singal of energy direct controlling and driving motor or stepper motor.
First stepping motor control chip U2 and the second stepping motor control chip U4 is L297.L297 is the stepper motor nonshared control unit that Italian SGS semiconductor company produces, it can produce 4 phase control signals, can be used for the bipolar and four phase single-phase stepper motors of computer-controlled two-phase, can with single four clapping, two four to clap, four-phase eight-step mode control step motor.PWM chopper circuit in chip can regulate the electric current in the motor winding in stepper motor winding under switching mode.This intergrated circuit have employed the I2L technology of the analog/digital compatibility of SGS company, uses the supply voltage of 5V, the connection of whole signal all with TFL/CMOS or open-collector transistor compatible.L297 chip is the Step-motor Control device of the dual inline type plastic-packaged with 20 pins.It can produce four phase drive singal, can drive the bipolar or four phase unipolar stepper motors of Single-chip Controlling two-phase by modes such as half step (eight clap) and full steps (four bats).The PWM chopper of this chip internal allows control step motor winding current under the pattern of pass, because phase sequential signal is also produced by inside, therefore it only needs clock, direction and mode input signal just can control step motor, can alleviate the burden of microprocessor and programming.
First stepper motor driver chip U3 and the second stepper motor driver chip U5 is L298N.L298N is a kind of high voltage, the big current motor drive ic that ST company produces.This chip adopts 15 pin encapsulation.Main feature is: operating voltage is high, and maximum operating voltage can reach 46V; Output current is large, and instantaneous peak current can reach 3A, and continuous firing electric current is 2A; Include the high-voltage large current full-bridge type driver of two H bridges, can be used for driving direct current motor and the inductive load such as stepping motor, relay coil; Adopt standard logic levels SC sigmal control; There are two enable control ends, allow when not affecting by input signal or forbid that devices function has a logic power input end, internal logic circuit part is worked at lower voltages; Can external detection resistance, variable quantity is fed back to control circuit.Use L298N chip drives motor, this chip can drive two two-phase electric machines, also can drive four phase motors, directly can carry out regulation output voltage by power supply; And directly can provide signal with the I/O mouth of single-chip microcomputer, circuit is simple, uses more convenient.
As shown in Figure 1, the hydraulic system composition of the electric controller of engineering machinery, special-purpose vehicle (fork truck) integrated electric electro-hydraulic proportional control system mainly contains the unit compositions such as gear pump, multiple directional control valve, guide controlled proportional series flow control valve, hydraulic tilt cylinder, lifting hydraulic cylinder, power-assisted steering, pressure security protection.
Multiple directional control valve adopts two-way Self-retaining electromagnet to adopt two coil configuration, when after coil electricity, and the position (self-locking) of energy retainer shaft core after energising displacement, and no longer need the input of electric power to maintain.Attract to be driven by pulse power supply with reset.There is the advantages such as power-saving, temperature rise is little, power is large.
Guide controlled proportional series flow control valve adopts step motor control, and Novel electric electro-hydraulic proportional control system is proposed a kind of system of valve characteristic formula of throttle valve of novel employing step motor control.Compared with solenoid valve, stepper valve has following features: the positional accuracy that improve valve; In working procedure, when the electric current to actuator's supply is interrupted, can not there is Rapid Variable Design because of the variation of valve position in hydraulic coupling, namely the situation stability inferior of system failure is good.Novel electric electro-hydraulic proportional control system has that structure is simple, stable performance, antijamming capability are strong, ambient temperature reaches 120 DEG C, can meet engineering machinery, the job requirement of special-purpose vehicle (fork truck) fork truck, and can realize closed loop control easily.
As Fig. 2, front when pushing away Joystick, tilt operation signal exports at 0.6 ~ 2.2V; During post-tensioning Joystick, tilt operation signal exports at 2.8 ~ 4.4V.When a left side pushes away Joystick, descending operation signal exports at 0.6 ~ 2.2V; When the right side pushes away Joystick, descending operation signal exports at 2.8 ~ 4.4V.
The signal that Joystick sends changes with the change of its actuated position, and when handle is positioned at meta or flip operation, its output signal is between 0.6 ~ 2.8V; When handle is positioned at forward (front push away or the right side pushes away) operation, its output signal is between 2.8 ~ 4.4V, integrated hydraulic is handled electric controller and is exported step motor control logic integrated hydraulic operation electric controller output step motor control logic, drive No. two stepper motors, control respectively and lifting by guide controlled proportional series flow control valve, output control logic simultaneously, in control inclined valve and poppet valve.
Above control procedure is realized by the schematic circuit shown in Fig. 2.The hall element output signal of Joystick gives computer STC12C5410AD, the control signal that computer unit exports respectively by the logic drive circuit control step motor be made up of chip L297 and L298 and transistor and inclined valve, lift valve, thus realizes operation control; When handle is positioned at meta, computer unit exports stop control signal, stops and resetting system manipulation.
For guaranteeing safety; at opening power and prestart; first control gear confirms that each actuated position is positioned at meta; namely handle output signal voltage all should be 2.5 ± 0.3V; otherwise with Joystick not at meta to forklift door frame rise/fall, fork of forklift truck lean forward/control signal of the everything such as hypsokinesis enters row lock protection, forbids its work.Press emergency stop switch button 15, control gear confirms that each actuated position is positioned at meta, enters row lock protection, forbid its work to control ratio valve electric current.
As seen in figures 3-5, hand-operating device includes Joystick and handle pivoted housing, and the two corresponding position installs a pair Hall element (i.e. Hall transducer) and permanent magnetism bloom (i.e. magnet steel) respectively.When handle pivoted housing rotates, the relative position change of Hall element and magnet steel, the signal that sensor sends changes, when handle is positioned at meta with its distance change, its output signal is between 2.5 ± 0.3V, when operating this manipulation position, handle pivoted housing rotates, and its output signal is between 2.8 ~ 4.4V or 0.6 ~ 2.2V, output signal with operation amplitude increase away from 2.5V, handle top button is pressed and is, is meta shut-down operation, and now output signal is 2.5V.
Joystick position transducer, namely the signal that Hall transducer sends changes with the change of its actuated position, when handle is positioned at meta or flip operation, its output signal is between 0.6 ~ 2.8V, ECU controls corresponding proportion valve electric current and is about about 90mA, this Proportional valve is in closed condition, and corresponding pilot control oil pressure is zero (being failure to actuate); When operating this manipulation position, its output signal is between 3.0 ~ 4.4V, increase with operation amplitude and increase, ECU controls corresponding proportion valve electric current to be changed thereupon in proportion between 300 ~ 1000mA, corresponding pilot control oil pressure changes between 0.5 ~ 2.9MPa, thus controls corresponding action selector valve aperture.
For guaranteeing safety; at opening power and prestart; control gear ECU need confirm each actuated position to be positioned at meta, and (4 position sensor signal voltages all should be 2.5 ± 0.3V; otherwise with Joystick not at meta to forklift door frame rise/fall, fork of forklift truck lean forward/the control ratio valve electric current of the everything such as hypsokinesis enters row lock protection, forbids its work.
Press emergency stop switch button 15, control gear ECU need confirm that each actuated position is positioned at meta, enters row lock protection, forbid its work to control ratio valve electric current.
The electric controller circuit theory diagrams of integrated electric electro-hydraulic proportional control system as shown in Figure 2.
Before when pushing away Joystick, tilt operation signal exports at 0.6 ~ 2.2V; During post-tensioning Joystick, tilt operation signal exports at 2.8 ~ 4.4V.
When a left side pushes away Joystick, descending operation signal exports at 0.6 ~ 2.2V; When the right side pushes away Joystick, descending operation signal exports at 2.8 ~ 4.4V.
The signal that Joystick sends changes with the change of its actuated position, and when handle is positioned at meta or flip operation, its output signal is between 0.6 ~ 2.8V; When handle is positioned at forward (front push away or the right side pushes away) operation, its output signal is between 2.8 ~ 4.4V, integrated hydraulic is handled electric controller and is exported step motor control logic integrated hydraulic operation electric controller output step motor control logic, drive No. two stepper motors, control respectively and lifting by guide controlled proportional series flow control valve, output control logic simultaneously, in control inclined valve and poppet valve.
Above control procedure is realized by the schematic circuit shown in Fig. 2.The hall element output signal of Joystick gives computer STC12C5410AD, the control signal that computer unit exports respectively by the logic drive circuit control step motor be made up of chip L297 and L298 and transistor and inclined valve, lift valve, thus realizes operation control; When handle is positioned at meta, computer unit exports stop control signal, stops and resetting system manipulation.
For guaranteeing safety; at opening power and prestart; first control gear confirms that each actuated position is positioned at meta; namely handle output signal voltage all should be 2.5 ± 0.3V; otherwise with Joystick not at meta to forklift door frame rise/fall, fork of forklift truck lean forward/control signal of the everything such as hypsokinesis enters row lock protection, forbids its work.Press emergency stop switch button, control gear confirms that each actuated position is positioned at meta, enters row lock protection, forbid its work to control ratio valve electric current.
The electric controller of integrated electric electro-hydraulic proportional control system of the present invention, structure is simple, handles reliable, and device manipulation space is arranged easily; Operating grip adopts Hall element, and structure is simple, and action control precisely, reliably, stablize by process control, and multiple logic control is implemented rapidly, accurately, antijamming capability is strong; Pressure output control is stablized.
Claims (4)
1. the electric controller of integrated electric electro-hydraulic proportional control system, is characterized in that, comprises control circuit and hydraulic system;
Described control circuit comprises intelligent controller U1 and motor-drive circuit; Described motor-drive circuit comprises the first motor-drive circuit and the second motor-drive circuit; Described first motor-drive circuit comprises the first stepping motor control chip U2 and the first stepper motor driver chip U3; Described second motor-drive circuit comprises the second stepping motor control chip U4 and the second stepper motor driver chip U5; Hall transducer is connected with described intelligent controller U1; Described first stepper motor driver chip U3 is connected with described intelligent controller U1 by described first stepping motor control chip U2, and described second stepper motor driver chip U5 is connected with described intelligent controller U1 by the second stepping motor control chip U4;
Electric capacity C1, resistance R1 and resistance R2 are all connected with described first stepping motor control chip U2, resistance R3 and resistance R4 are all connected with described first stepper motor driver chip U3, and resistance R3 and resistance R4 are all connected with described first stepping motor control chip U2 again simultaneously; Electric capacity C2, resistance R5 and resistance R6 are all connected with described second stepping motor control chip U4, resistance R7 and resistance R8 are all connected with described second stepper motor driver chip U5, and resistance R7 and resistance R8 are all connected with described second stepping motor control chip U4 again simultaneously;
Described hydraulic system comprises oil pump (6), multiple directional control valve (7), inclination series flow control valve (8), lifting series flow control valve (9), steering system relief valve (10), power steering servo valve (11), hydraulic tilt cylinder (12), lifting hydraulic cylinder (13) and power steering oil hydraulic cylinder (14); Described oil pump (6) is connected with described multiple directional control valve (7), and described multiple directional control valve (7) comprises four output ports: A1 port, A2 port, B2 port and PF port; Described multiple directional control valve (7) is connected with described inclination series flow control valve (8) by described A2 port, and described inclination series flow control valve (8) is connected with the rod chamber of described hydraulic tilt cylinder (12); Described multiple directional control valve (7) is connected by the rodless cavity of described B2 port with described hydraulic tilt cylinder (12); Described multiple directional control valve (7) is connected with described lifting series flow control valve (9) by described A1 port, and described lifting series flow control valve (9) is connected with the rodless cavity of lifting hydraulic cylinder (13); Described steering system relief valve (10) is all connected with the PF port of described multiple directional control valve (7) with power steering servo valve (11), and described steering system relief valve (10) is connected with power steering servo valve (11); Described power steering servo valve (11) is connected with the rodless cavity of described power steering oil hydraulic cylinder (14);
First stepper motor driver chip U3 is connected with the stepper motor of inclination series flow control valve (8), and the second stepper motor driver chip U5 is connected with the stepper motor of lifting series flow control valve (9).
2. the electric controller of integrated electric electro-hydraulic proportional control system according to claim 1, is characterized in that, described inclination series flow control valve (8) and lifting series flow control valve (9) are guide proportion and control series flow control valve, by driving stepper motor.
3. the electric controller of integrated electric electro-hydraulic proportional control system according to claim 1 and 2, is characterized in that, described intelligent controller U1 is single-chip microcomputer STC12C5410AD.
4. the electric controller of integrated electric electro-hydraulic proportional control system according to claim 1 and 2, is characterized in that, described multiple directional control valve (7) adopts two-way self-closing electromagnetic iron and two coil configuration.
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| CN104121406A (en) * | 2014-08-04 | 2014-10-29 | 合肥正威液压科技有限公司 | Electronic control module special for intelligent digital flow valve |
| CN104613029B (en) * | 2015-02-12 | 2016-11-16 | 柏跃龙 | The hydraulic system of Novel movable hoistable platform |
| CN107818858A (en) * | 2016-09-14 | 2018-03-20 | 广州市合熠电子科技有限公司 | The multi-functional magnet steel rotary magnet double-direction control module of time control |
| CN113007181A (en) * | 2019-12-20 | 2021-06-22 | 中国科学院沈阳自动化研究所 | Underwater hydraulic system control and data acquisition device |
| CN113683028A (en) * | 2020-05-19 | 2021-11-23 | 苏州先锋物流装备科技有限公司 | Electric fork head control system of forklift |
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| US3875747A (en) * | 1972-04-14 | 1975-04-08 | Lancer Boss Ltd | Hydraulic control circuits |
| US4499964A (en) * | 1981-05-29 | 1985-02-19 | Tokai Trw & Co. Ltd. | Power steering system |
| CN2223790Y (en) * | 1994-05-30 | 1996-04-03 | 四川联合大学 | Device for controlling bumping wheel of rotary kiln |
| CN102923185A (en) * | 2012-11-12 | 2013-02-13 | 江苏大学 | Electronic control hydraulic power steering system controller and control method thereof |
| CN203641175U (en) * | 2014-01-16 | 2014-06-11 | 合肥正威液压科技有限公司 | Electric control device of novel integrated electro-hydraulic proportion control system |
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| JP2010202084A (en) * | 2009-03-04 | 2010-09-16 | Nissan Motor Co Ltd | Electric hydraulic pressure type power steering system |
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| US3875747A (en) * | 1972-04-14 | 1975-04-08 | Lancer Boss Ltd | Hydraulic control circuits |
| US4499964A (en) * | 1981-05-29 | 1985-02-19 | Tokai Trw & Co. Ltd. | Power steering system |
| CN2223790Y (en) * | 1994-05-30 | 1996-04-03 | 四川联合大学 | Device for controlling bumping wheel of rotary kiln |
| CN102923185A (en) * | 2012-11-12 | 2013-02-13 | 江苏大学 | Electronic control hydraulic power steering system controller and control method thereof |
| CN203641175U (en) * | 2014-01-16 | 2014-06-11 | 合肥正威液压科技有限公司 | Electric control device of novel integrated electro-hydraulic proportion control system |
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