CN104454715A - Novel secondary regulation system based on electrical control - Google Patents
Novel secondary regulation system based on electrical control Download PDFInfo
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- CN104454715A CN104454715A CN201410723804.4A CN201410723804A CN104454715A CN 104454715 A CN104454715 A CN 104454715A CN 201410723804 A CN201410723804 A CN 201410723804A CN 104454715 A CN104454715 A CN 104454715A
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- motor
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- controller
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
Abstract
The invention discloses a novel secondary regulation system based on electrical control. The novel secondary regulation system comprises a hydraulic energy accumulator, an electric quantity storage unit, a driving motor, a first motor/generator, a second motor/generator, a first motor controller, a second motor controller, an inverter, a first variable pump/motor, a second variable pump/motor, a reversing valve, a shuttle valve, a safety valve, a controller and the like. Conventional hydraulic transformers or proportional reversing valves are replaced by the variable pumps/motors and the motors/generators for matching the pressures and flows of a constant pressure source and a load in the secondary regulation system, the pressures of the hydraulic energy accumulator and the load are matched by regulating the displacement of the variable pumps/motors, and the speed of an actuator is controlled by regulating the rotation speed of the motors/generators; in addition, through the multi-quadrant operation of the motors/generators and the variable pumps/motors, the occasion where the pressure of the load is driven to be higher than that of the hydraulic energy accumulator is achieved, and the defects that a conventional secondary regulation system is difficult to adapt to the actuator which is linearly driven and the pressure of the load is difficult to drive to be higher than that of the hydraulic energy accumulator are overcome.
Description
Technical field
The present invention relates to drive system technical field, refer in particular to kind of an a kind of novel secondary regulating system based on electrical control.
Background technique
In the face of the global significant problem such as energy crisis, environmental pollution, the pressure of reply energy-conserving and environment-protective needed badly by various mechanized equipment, and the mechanized equipment theory of environmental type appears gradually, makes great efforts to seek new solution technically.Several typical hydraulic control systems such as at present conventional hydraulic system is energy-conservation mainly contains Secondary Regulation Technology, open center, load-sensitive, minus flow and positive flow control.Wherein Secondary Regulation Technology has started to obtain application at present.
As far back as 1977, namely professor Nikolaus of Hamburg, Germany national defense industry university proposed the concept of the quiet liquid regulation technology of secondary.The original paper that in hydraulic system can be by changes mechanical energy hydraulic energy is called an original paper by us, and the original paper that mechanical energy and hydraulic energy are changed mutually is called secondary component.Namely secondary quiet liquid regulation technology is take secondary component as a kind of energy adjustment technology of core.
The research that the quiet liquid of secondary regulates experienced by hydraulic direct and switches through the control of the different object such as speed control system, hydraulic pilot speed regulating control, machine liquid speed regulating control, the control of electric liquid rotating speed, electric liquid controlling angle, electric liquid direct torque and control with PID, the combination of the advanced control algorithms such as ANN (Artificial Neural Network) Control, obtain good dynamic characteristic, significantly reduce system installed power, obtain significant energy-saving effect.
But because the object of Secondary Regulation Technology research is the constant pressure network be coupled based on pressure, therefore some parameters of hydraulic actuator must be able to regulate, thus and bearing power coupling.Hydraulic actuator in constant pressure network is the hydraulic motor/pump of adjustable discharge capacity, therefore this technology can be applicable to revolution driving, but the rotating speed due to hydraulic pump/motor controls necessary closed loop control, due to the feature of the strong nonlinearity of hydraulic system, the rotating speed of hydraulic pump/motor is difficult to accurate control, there is larger impact instantaneously in startup and braking simultaneously.And for doing the oil hydraulic cylinder of straight line motion, because the sectional area of oil hydraulic cylinder is immutable, therefore Secondary Regulation Technology can not be directly applied for the system of straight line motion.Current researcher generally adopts following two schemes: a kind of method of access hydraulic transformer that adopts is to realize constant pressure oil source and to do the coupling of transformation load of straight line motion, but introducing hydraulic transformer can make system architecture complicated, is unfavorable for actual production application; Another is that adoption rate selector valve directly controls, but due to not mating of hydraulic accumulator pressure and induced pressure, must cause on the valve port of proportional reversing valve, produce a large amount of throttling losses, simultaneously in the program, proportional reversing valve can not supercharging, requires that hydraulic accumulator pressure is higher than induced pressure.
Summary of the invention
In view of this, the present invention is directed to the disappearance of prior art existence, its main purpose is to provide a kind of novel secondary regulating system based on electrical control, this system architecture is relatively simple, can reduce throttling loss, can be applicable to the occasion of induced pressure higher than hydraulic accumulator pressure, can realize the adjustment of turntable driving torque and rotating speed simultaneously.
In order to achieve the above object, the technical solution used in the present invention is:
Based on a novel secondary regulating system for electrical control, it comprises drive motor, oil hydraulic pump, safety valve, inverter, one-way valve, electricity storage element, the first electric machine controller, the first dynamoelectric machine, the first pump/motor, selector valve, the first pressure transducer, shuttle valve, oil cylinder, the second electric machine controller, the second dynamoelectric machine, the second pump/motor, retarder, turntable, hydraulic accumulator, the second pressure transducer, other final controlling element hydraulic driving system and controller;
Drive motor is connected with shaft mechanical with oil hydraulic pump; First pump/motor is connected with shaft mechanical with the first dynamoelectric machine; The input shaft of the second pump/motor, retarder and the second dynamoelectric machine are connected with shaft mechanical; The output shaft of retarder is connected with turntable machinery;
Hydraulic pressure delivery side of pump divides two-way: the first via connects safety valve; Second tunnel connects the filler opening of one-way valve; The outlet of one-way valve divides five tunnels: the first via connects the filler opening of the first pump/motor, and the oil outlet of the first pump/motor is connected with the P mouth of selector valve; Second tunnel connects the filler opening of the second pump/motor, the oil outlet connected tank of the second pump/motor; 3rd tunnel connects hydraulic accumulator; 4th tunnel connects the second pressure transducer; 5th tunnel connects other final controlling element hydraulic driving system; , the T mouth connected tank of selector valve, the A mouth of selector valve is connected with the rodless cavity of the hydraulic fluid port A1 of shuttle valve and oil cylinder, and the B mouth of selector valve is connected with the rod chamber of the hydraulic fluid port A2 of shuttle valve and oil cylinder;
The power input of inverter, the first electric machine controller and the power input of the second electric machine controller are connected with electricity storage element, clutch end and first dynamoelectric machine of the first electric machine controller are electrical connected, and clutch end and second dynamoelectric machine of the second electric machine controller are electrical connected;
The input signal of controller comprises the output signal of the first pressure transducer and the output signal of the second pressure transducer; The output signal of controller comprises the input signal of the first electric machine controller, the input signal of the second electric machine controller and the input signal of inverter.
Preferably, described first dynamoelectric machine and described second dynamoelectric machine are all provided with the sensor measuring rotating speed, and described sensor is rotary transformer or photoelectric encoder.
In such scheme, described selector valve is Non-follow control selector valve, solenoid controlled directional control valve, electrichydraulic control selector valve and the one controlled in selector valve of surging.
In such scheme, other final controlling element hydraulic driving system described comprises driving the hydraulic oil cylinder driving system of other oil cylinder straight line motion and the turntable drive system in order to drive other turntable to rotate.
The present invention compared with prior art has obvious advantage and beneficial effect, as shown from the above technical solution:
This system is the load sensitive system of the single pump multi executors based on the control of Hydraulic Motor Generator pressure reduction, can ensure the flow that final controlling element obtains and pilot operated signal is proportional, recyclable conventional load sensory system consumes the energy at Fixed differential reducing valve valve port again; Specifically:
1) have employed pump/motor and the dynamoelectric machine regulon as [constant pressure and induced pressure and flow in secondary regulation system, because the control of pump/motor and dynamoelectric machine is that discharge capacity or rotating speed control, achieve hydraulic system without throttling loss;
2) when final controlling element does straight line motion, by the difference regulating the discharge capacity of the first pump/motor to mate hydraulic pressure energy storage pressure and induced pressure, regulate the rotating speed of the first dynamoelectric machine to control the speed of oil cylinder; When induced pressure is less than hydraulic accumulator pressure, first dynamoelectric machine is operated in power generation mode, first pump/motor is operated in motoring mode, now drives the first dynamoelectric machine to convert electrical power storage in electricity storage element by the first pump/motor the pressure reduction hydraulic energy of hydraulic accumulator pressure and induced pressure; In like manner, when induced pressure is greater than hydraulic accumulator pressure, first dynamoelectric machine is operated in electric model, first pump/motor is operated in pump pattern, now electricity storage element release electric energy, drive the first pump/motor that the hydraulic oil that hydraulic accumulator stores is delivered to linear drives oil cylinder by the first dynamoelectric machine, realize function of increasing pressure; There is a large amount of pressure reduction throttling loss when solving adoption rate selector valve when traditional secondary regulating system is applied to linear drives oil cylinder and the occasion of induced pressure higher than hydraulic accumulator pressure can not be applicable to;
3) when final controlling element rotates, by the driving torque regulating the discharge capacity of the second pump/motor to regulate turntable, regulate the rotating speed of the second dynamoelectric machine to control the rotating speed of turntable; Solve in traditional secondary regulating system to adopt pump/motor to drive to have during turntable and to start and comparatively large and the unmanageable deficiency of rotating speed are impacted in braking;
4) power system have employed hydraulic accumulator as source of stable pressure, drive motor is connected with carrying inorganic tool, the fluctuation of load can not affect the working state of drive motor, drive motor can according to the pressure duty of hydraulic accumulator at efficient region, drive motor only needs the average power of output loading simultaneously, reduces the power level to drive motor.
For more clearly setting forth structure characteristic of the present invention and effect, below in conjunction with accompanying drawing and specific embodiment, the present invention is described in detail.
Accompanying drawing explanation
Accompanying drawing is the overall structure block diagram of the preferred embodiment of the present invention.
Accompanying drawing identifier declaration:
1, drive motor 2, oil hydraulic pump
3, safety valve 4, inverter
5, one-way valve 6, electricity storage element
7, the first electric machine controller 8, first dynamoelectric machine
9, the first pump/motor 10, selector valve
11, the first pressure transducer 12, shuttle valve
13, oil cylinder 14, second electric machine controller
15, the second dynamoelectric machine 16, second pump/motor
17, retarder 18, turntable
19, hydraulic accumulator 20, second pressure transducer
21, other final controlling element hydraulic system 22, controller
Embodiment
Please refer to shown in accompanying drawing 1, that show the concrete structure of the preferred embodiment of the present invention,
A kind of novel secondary regulating system based on electrical control, it comprises drive motor (1), oil hydraulic pump (2), safety valve (3), inverter (4), one-way valve (5), electricity storage element (6), first electric machine controller (7), first dynamoelectric machine (8), first pump/motor (9), selector valve (10), first pressure transducer (11), shuttle valve (12), oil cylinder (13), second electric machine controller (14), second dynamoelectric machine (15), second pump/motor (16), retarder (17), turntable (18), hydraulic accumulator (19), second pressure transducer (20), other final controlling element hydraulic driving system (21) and controller (22),
Drive motor (1) is connected with shaft mechanical with oil hydraulic pump (2); First pump/motor (9) is connected with shaft mechanical with the first dynamoelectric machine (8); The input shaft of the second pump/motor (16), retarder (17) is connected with shaft mechanical with the second dynamoelectric machine (15); The output shaft of retarder (17) is connected with turntable (18) machinery;
The outlet of oil hydraulic pump (2) divides two-way: the first via connects safety valve (3); Second tunnel connects the filler opening of one-way valve (5); The outlet of one-way valve (5) divides five tunnels: the first via connects the filler opening of the first pump/motor (9), and the oil outlet of the first pump/motor (9) is connected with the P mouth of selector valve (10); Second tunnel connects the filler opening of the second pump/motor (16), the oil outlet connected tank of the second pump/motor (16); 3rd tunnel connects hydraulic accumulator (19); 4th tunnel connects the second pressure transducer (20); 5th tunnel connects other final controlling element hydraulic driving system (21); The T mouth connected tank of selector valve (10), the A mouth of selector valve (10) is connected with the rodless cavity of the hydraulic fluid port A1 of shuttle valve (12) and oil cylinder (13), and the B mouth of selector valve (10) is connected with the rod chamber of the hydraulic fluid port A2 of shuttle valve (12) and oil cylinder (13);
The power input of inverter (4), the first electric machine controller (7), the second electric machine controller (14) is connected with electricity storage element (6), clutch end and first dynamoelectric machine (8) of the first electric machine controller (7) are electrical connected, and clutch end and second dynamoelectric machine (15) of the second electric machine controller (14) are electrical connected;
The input signal of controller (22) comprises the output signal of the first pressure transducer (11) and the output signal of the second pressure transducer (20); The output signal of controller (22) comprises the input signal of the input signal of the first electric machine controller (8), the input signal of the second electric machine controller (14) and inverter (4).
As a kind of optimal way, described first dynamoelectric machine (8) and described second dynamoelectric machine (15) are all provided with the sensor measuring rotating speed, and described sensor is rotary transformer or photoelectric encoder.
In such scheme, described selector valve (10) is Non-follow control selector valve, solenoid controlled directional control valve, electrichydraulic control selector valve and the one controlled in selector valve of surging.
In such scheme, other final controlling element hydraulic driving system described comprises driving the hydraulic oil cylinder driving system of other oil cylinder straight line motion and the turntable drive system in order to drive other turntable to rotate.The present invention is described in detail for turntable and oil cylinder, and in fact a machine may be made up of multiple oil cylinder or multiple turntable, but principle and the present invention are the same.
Specific works principle of the present invention is as follows:
(1) power source working rules
The pressure p of hydraulic accumulator 19 is obtained by the second pressure transducer 20
a, the range of working pressure p of setting secondary regulation system [constant (i.e. hydraulic accumulator 19)
amaxand p
amin, and p
amaxbe greater than p
amin.Work as p
a< p
amintime, controller 22 output enable signal makes inverter 4 export, and start drive motor 1 and work, oil hydraulic pump 2 output hydraulic pressure oil is oil-filled to hydraulic accumulator 19, and the pressure of hydraulic accumulator 19 raises; Work as p
a>p
amaxtime, controller 22 exports disable signal and inverter 4 is not exported, and drive motor 1 quits work, and oil hydraulic pump 2 is output hydraulic pressure oil not, and due to the effect of one-way valve 5, the high pressure liquid force feed of hydraulic accumulator 19 can not flow back to oil hydraulic pump 2.
(2) linear drives working principle
When the oil cylinder 13 of straight line motion is made in [constant (hydraulic accumulator 19) driving of secondary regulation system, selector valve 10 can be operated in different stations by various control mode (electromagnetism, electric liquid or manual etc.), and the piston rod realizing oil cylinder 13 stretches out, stop and the different mode such as retraction.When oil cylinder 13 is operated in stop mode, the first dynamoelectric machine 8 does not work.When oil cylinder 13 be operated in stretch out or retraction pattern time, load pressure maximum is now passed to the first pressure transducer 11 by shuttle valve 12, thus controller 22 obtains the pressure maximum p of oil cylinder 13 when stretching out or retract
lmax, the pressure p of hydraulic accumulator 19 is obtained by the second pressure transducer 20
a; The front and back pressure reduction △ p of the first pump/motor 9
m1=p
a-p
lmax, the target flow Q of the first pump/motor 9 can be calculated according to the target velocity (by artificially setting) of oil cylinder 13 and the parameter of oil cylinder 13
m1, ignore the energy loss between the first dynamoelectric machine 8 and the first pump/motor 9, the working power p of the first dynamoelectric machine 8
e1=△ p
m1* Q
m1; Can obtain the first dynamoelectric machine 8 at working power according to the universal characteristic curve of the first dynamoelectric machine 8 is p
e1corresponding most effective point (T
et, n
et), therefore, the rotating speed of target of the first dynamoelectric machine 8 can be exported to the first Electric Machine Control 7 by controller 22 and be set as n
et, and the discharge capacity q of the first pump/motor 9
m1for: q
m1=T
et/ △ p
m1, wherein T
etand n
etrepresent the moment of torsion corresponding to peak efficiency operation point and rotating speed respectively.
(3) rotary actuation working principle
1) to drive turntable 18, the rotating speed of target signal n of setting turntable 18
et, this signal times obtains the rotating speed of target n of the second dynamoelectric machine 15 with the reduction speed ratio i of retarder 17
et2, the rotating speed of target of the second dynamoelectric machine 15 can be exported to the second electric machine controller 14 by controller 22 and be set as n
et2,
2) Main Function of the second pump/motor 16 is the speed discrepancy △ n according to the second dynamoelectric machine 15
e2with the Pressure behaviour adjustment discharge capacity of hydraulic accumulator 19, and then control the acceleration and deceleration moment of torsion of turntable 18.
△ n
e2=n
et2-n
et, as △ n
e2time larger, be namely greater than △ n
e2c1, illustrate that the speed discrepancy of the actual speed of the second dynamoelectric machine 15 and rotating speed of target is comparatively large, now regulated the variable device of the second pump/motor 16 by controller 22, the discharge capacity of the second pump/motor 16 is set to maximum value q
m2max, ensure the quick response of the second dynamoelectric machine 15; In like manner, as △ n
e2time less, be namely less than △ n
e2c2time, illustrate that the actual velocity of the second dynamoelectric machine 15 is close to rotating speed of target, now regulates the variable device of the second pump/motor 16 by controller 22, the discharge capacity of the second pump/motor 16 can be arranged to a smaller value q
m2min, and as rotating speed difference △ n
e2between △ n
e2c1with △ n
e2c1between time, use △ n
e2on-the-fly modify the discharge capacity of the second pump/motor 16, i.e. △ n
e2difference is larger, and the discharge capacity of the second pump/motor 16 is also larger, and therefore, the displacement control rule of the second pump/motor 16 is as follows:
Wherein, △ n
e2c1with △ n
e2c2the judgment threshold of the speed discrepancy of the second dynamoelectric machine 15, wherein △ n
e2c1be greater than △ n
e2c2.
The braking operation principle referenced drive working principle of turntable 18, now the second dynamoelectric machine 15 is operated in power generation mode, second pump/motor 16 is operated in pump pattern, the braking kinetic energy of turntable 18 is converted to hydraulic energy to be stored in hydraulic accumulator 18, and part converting electrical energy is stored in electricity storage element 6.
The above, it is only preferred embodiment of the present invention, not technical scope of the present invention is imposed any restrictions, thus every above embodiment is done according to technical spirit of the present invention any trickle amendment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (4)
1. the novel secondary regulating system based on electrical control, it comprises drive motor (1), oil hydraulic pump (2), safety valve (3), inverter (4), one-way valve (5), electricity storage element (6), first electric machine controller (7), first dynamoelectric machine (8), first pump/motor (9), selector valve (10), first pressure transducer (11), shuttle valve (12), oil cylinder (13), second electric machine controller (14), second dynamoelectric machine (15), second pump/motor (16), retarder (17), turntable (18), hydraulic accumulator (19), second pressure transducer (20), other final controlling element hydraulic driving system (21) and controller (22),
Drive motor (1) is connected with shaft mechanical with oil hydraulic pump (2); First pump/motor (9) is connected with shaft mechanical with the first dynamoelectric machine (8); The input shaft of the second pump/motor (16), retarder (17) and the second dynamoelectric machine (15) are connected with shaft mechanical; The output shaft of retarder (17) is connected with turntable (18) machinery;
The outlet of oil hydraulic pump (2) divides two-way: the first via connects safety valve (3); Second tunnel connects the filler opening of one-way valve (5); The outlet of one-way valve (5) divides five tunnels: the first via connects the filler opening of the first pump/motor (9), and the oil outlet of the first pump/motor (9) is connected with the P mouth of selector valve (10); Second tunnel connects the filler opening of the second pump/motor (16), the oil outlet connected tank of the second pump/motor (16); 3rd tunnel connects hydraulic accumulator (19); 4th tunnel connects the second pressure transducer (20); 5th tunnel connects other final controlling element hydraulic driving system (21); The T mouth connected tank of selector valve (10), the A mouth of selector valve (10) is connected with the rodless cavity of the hydraulic fluid port A1 of shuttle valve (12) and oil cylinder (13), and the B mouth of selector valve (10) is connected with the rod chamber of the hydraulic fluid port A2 of shuttle valve (12) and oil cylinder (13);
The power input of inverter (4), the first electric machine controller (7) and the power input of the second electric machine controller (14) are connected with electricity storage element (6), clutch end and first dynamoelectric machine (8) of the first electric machine controller (7) are electrical connected, and clutch end and second dynamoelectric machine (15) of the second electric machine controller (14) are electrical connected;
The input signal of controller (22) comprises the output signal of the first pressure transducer (11) and the output signal of the second pressure transducer (20); The output signal of controller (22) comprises the input signal of the input signal of the first electric machine controller (8), the input signal of the second electric machine controller (14) and inverter (4).
2. a kind of novel secondary regulating system based on electrical control according to claim 1, it is characterized in that: described first dynamoelectric machine (8) and described second dynamoelectric machine (15) are all provided with the sensor measuring rotating speed, and described sensor is rotary transformer or photoelectric encoder.
3. a kind of novel secondary regulating system based on electrical control according to claim 1, is characterized in that: described selector valve (10) is Non-follow control selector valve, solenoid controlled directional control valve, electrichydraulic control selector valve and the one controlled in selector valve of surging.
4. a kind of novel secondary regulating system based on electrical control according to claim 1, is characterized in that: other final controlling element hydraulic driving system (21) described comprises driving the hydraulic oil cylinder driving system of other oil cylinder straight line motion and the turntable drive system in order to drive other turntable to rotate.
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| CN105064957A (en) * | 2015-08-11 | 2015-11-18 | 吉林大学 | Hydraulic hybrid power driving system of beam-pumping unit and control method of hydraulic hybrid power driving system |
| CN111577682A (en) * | 2020-05-19 | 2020-08-25 | 华侨大学 | Two-way speed regulating valve based on variable pressure difference active control |
| CN111706563A (en) * | 2020-06-03 | 2020-09-25 | 华侨大学 | Three-way speed regulating valve based on hydraulic motor-generator pressure compensator |
| CN111706564A (en) * | 2020-06-03 | 2020-09-25 | 华侨大学 | Two-way speed regulating valve based on volume variable pressure difference active control |
| CN114008332A (en) * | 2019-04-08 | 2022-02-01 | 沃尔沃建筑设备公司 | Hydraulic system and control method thereof |
| CN114321041A (en) * | 2021-12-23 | 2022-04-12 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Airborne energy storage hydraulic system and method for electric energy hydraulic bidirectional conversion |
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| CN114008332A (en) * | 2019-04-08 | 2022-02-01 | 沃尔沃建筑设备公司 | Hydraulic system and control method thereof |
| CN111577682A (en) * | 2020-05-19 | 2020-08-25 | 华侨大学 | Two-way speed regulating valve based on variable pressure difference active control |
| CN111577682B (en) * | 2020-05-19 | 2022-03-04 | 华侨大学 | Two-way speed regulating valve based on variable pressure difference active control |
| CN111706563A (en) * | 2020-06-03 | 2020-09-25 | 华侨大学 | Three-way speed regulating valve based on hydraulic motor-generator pressure compensator |
| CN111706564A (en) * | 2020-06-03 | 2020-09-25 | 华侨大学 | Two-way speed regulating valve based on volume variable pressure difference active control |
| CN111706563B (en) * | 2020-06-03 | 2022-05-03 | 华侨大学 | Three-way speed regulating valve based on hydraulic motor-generator pressure compensator |
| CN114321041A (en) * | 2021-12-23 | 2022-04-12 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Airborne energy storage hydraulic system and method for electric energy hydraulic bidirectional conversion |
| CN114321041B (en) * | 2021-12-23 | 2023-09-22 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Onboard energy storage hydraulic system and method for electric energy hydraulic bidirectional conversion |
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