CN106394246A - Control system and control method for synchronization of hydraulic motors, as well as dual-vehicle-body all-terrain vehicle - Google Patents
Control system and control method for synchronization of hydraulic motors, as well as dual-vehicle-body all-terrain vehicle Download PDFInfo
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- CN106394246A CN106394246A CN201610945044.0A CN201610945044A CN106394246A CN 106394246 A CN106394246 A CN 106394246A CN 201610945044 A CN201610945044 A CN 201610945044A CN 106394246 A CN106394246 A CN 106394246A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
- B60K31/08—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and one or more electrical components for establishing or regulating input pressure
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Control Of Fluid Gearings (AREA)
Abstract
The invention discloses a control system for synchronization of hydraulic motors. The control system comprises at least two groups of driving circuits, wherein each of the driving circuits comprises a hydraulic pump, at least two hydraulic motors and a walking controller; a rotating speed signal of an engine and a position signal of an accelerator are detected by the walking controllers; and control electric currents of each of the hydraulic pumps and control electric currents of each of the hydraulic motors are adjusted by the corresponding walking controller according to the rotating speed signal and the position signal. The control system comprises the hydraulic pumps and the hydraulic motors. The control system disclosed by the invention aims to solve the technical problem, namely the synchronization of the hydraulic motors. According to the control system disclosed by the invention, discharge capacity of each of the hydraulic pumps and discharge capacity of each of the hydraulic motors can be calculated through the rotating speed signal of the engine and the position signal of the accelerator, so that the control currents of each of the hydraulic pumps and the control currents of each of the hydraulic motors can be obtained, the rotating speed of each of the hydraulic pumps and the rotating speed of each of the hydraulic motors can be controlled, and the synchronization of the hydraulic motors is realized. The invention also discloses a control method for the synchronization of the hydraulic motors. The invention also discloses a dual-vehicle-body all-terrain vehicle.
Description
Technical field
The present invention relates to technical field of engineering machinery, in particular it relates to a kind of synchronous control system of hydraulic motor and control
Method processed.The invention still further relates to a kind of double car body all-terrain vehicle with above-mentioned hydraulic motor synchronous control system.
Background technology
In existing hydraulic motor synchronous control technique, typically all single hydraulic pump drive is single or two hydraulic pressure horses
Reach, the synchronism of hydraulic motor is easier to realize.
Hydraulic motor Synchronization Control of the prior art adopts shunting or the collection technology of hydraulic pressure mostly, when the multiple liquid of needs
When press pump drives multiple hydraulic motor, Synchronization Control just relatively difficult, the poor synchronization of hydraulic motor of hydraulic motor, make whole
Fluid pressure drive device reliability reduces, and energy consumption increases.
Double car body all-terrain vehicle are a kind of amphibious MPVs of round-the-clock full landform, can pass through various intricately
Shape.Double car body all-terrain vehicle are usually the double body construction of radial type, including front truck, articulated mounting and rear car, front truck and rear car it
Between connected by articulated mounting, front truck and rear car have the actuating unit of oneself respectively.
The travel driving system of double car body all-terrain vehicle adopts the hydraulic system that two pump four motor is constituted, as shown in figure 1, figure
1 is the hydraulic schematic diagram of the drive system of double car body all-terrain vehicle.I.e. front truck hydraulic pump 1 drives front vehicle body hydraulic motor 3,4, after
Car hydraulic pump 2 drives aftercarriage hydraulic motor 5,6.
During car load is from inactive state to maximum travelling speed, due to difference, the fluid pressure line of in front and back's car weight amount
Loss and hydraulic part internal leakage etc., can lead to the flow of four hydraulic motors that difference occurs, thus leading to four hydraulic pressure
Different phenomenons in motor, that is, the rotating speed of the rotating speed of hydraulic motor 3,4 and hydraulic motor 5,6 inconsistent so that car body in front and back
Pull mutually.Dragging can make the maximum travel speed of car load not reach requirement, and articulated mounting stress becomes big, leads to service life
Reduce, engine power consumption increases, hydraulic part service life reduction etc..
Therefore, how to make multiple hydraulic motors keep synchronous in car load driving process, eliminate the in-fighting of vehicle, be ability
Field technique personnel are badly in need of the technical problem solving.
Content of the invention
It is an object of the invention to provide a kind of synchronous control system of hydraulic motor, this control system can make multiple liquid
Pressure motor is in synchronous regime, improves the reliability of whole hydraulic system, effectively reduces energy consumption.Second mesh of the present invention
Be that a kind of control method of the synchronization of hydraulic motor is provided.It is a further object to provide one kind has above-mentioned control
Double car body all-terrain vehicle of system.
In order to realize above-mentioned technical purpose, the invention provides a kind of synchronous control system of hydraulic motor, including walking
Controller and at least two groups driving circuits, described driving circuit includes hydraulic pump and at least two hydraulic motors；
Described traveling controller includes sensor group, processing unit and control unit；
Described sensor group includes first sensor and second sensor；Described first sensor is used for detecting the rotating speed of engine
Signal, described second sensor is used for detecting the position signalling of throttle；
Described processing unit is used for the data acquisition parameters value being gathered according to described sensor group, and is given birth to according to described parameter value
Become control instruction；
Described control unit is used for adjusting the control electricity of each described hydraulic pump and each described hydraulic motor according to described control instruction
Stream.
Optionally, described sensor group also includes multiple 3rd sensors, and multiple described 3rd sensors are respectively used to examine
Survey the actual speed of each described hydraulic motor；
Described parameter value also includes the difference of each described actual speed value and rotating speed of target value.
Optionally, described sensor group also includes multiple 4th sensors, and multiple described 4th sensors are respectively used to examine
Survey the pressure signal of each described hydraulic pump；
Described parameter value includes the difference of the described pressure signal between each described hydraulic pump.
Optionally, the first pipeline and the second pipeline are also included, hydraulic pressure described in each driving circuit of described first pipeline connection
The rotating forward oil-out of pump, the reversion oil-out of hydraulic pump described in each driving circuit of described second pipeline connection.
Present invention also offers a kind of synchronous control method of hydraulic motor, for the drive of many hydraulic pumps and many hydraulic motors
Dynamic system, comprises the following steps：
The tach signal of engine and the position signalling of throttle are detected by sensor group；
The data acquisition parameters value being gathered according to described sensor group, and control instruction is generated according to described parameter value；
Adjust the control electric current of each described hydraulic pump and each described hydraulic motor according to described control instruction.
Optionally, further comprising the steps of：
Described sensor group also detects the actual speed of each described hydraulic motor；
Described parameter value also includes described actual speed value and the difference of rotating speed of target value；
And/or,
Described sensor group also detects the pressure signal of each described hydraulic pump；
Described parameter value also includes the difference of the described pressure signal between each hydraulic pump.
Present invention also offers a kind of pair of car body all-terrain vehicle, including engine and throttle, also include front truck driving circuit,
Rear car driving circuit and traveling controller；
Described front truck driving circuit includes front truck hydraulic pump and two front truck hydraulic motors, and described rear car driving circuit includes rear car
Hydraulic pump and two rear car hydraulic motors；
Described traveling controller includes sensor group, processing unit and control unit；
Described sensor group includes first sensor and second sensor；Described first sensor is used for detecting described engine
Tach signal, described second sensor is used for detecting the position signalling of described throttle；
Described processing unit is used for the data acquisition parameters value being gathered according to described sensor group, and is given birth to according to described parameter value
Become control instruction；
Described control unit is used for adjusting described front truck driving circuit and described rear car driving circuit work according to described control instruction
The control electric current made.
Optionally, described sensor group also includes four 3rd sensors, and four described 3rd sensors are respectively used to examine
Survey the actual speed of two described front truck hydraulic motors and two described rear car hydraulic motors；
Described parameter value also includes the difference of each described actual speed value and rotating speed of target value.
Optionally, described sensor group also includes two the 4th sensors, and two described 4th sensors are respectively used to examine
Survey described front truck hydraulic pump and the pressure signal of described rear car hydraulic pump；
Described parameter value also includes the difference of the described pressure signal between described front truck hydraulic pump and described rear car hydraulic pump.
Optionally, the first pipeline and the second pipeline are also included, front truck hydraulic pump described in described first pipeline connection and described
The rotating forward oil-out of rear car hydraulic pump, the reversion of front truck hydraulic pump and described rear car hydraulic pump described in described second pipeline connection goes out
Hydraulic fluid port.
The control system of the hydraulic motor synchronization that the present invention provides, including traveling controller and at least two groups driving circuits,
Driving circuit includes hydraulic pump and at least two hydraulic motors；Traveling controller includes sensor group, processing unit and controls single
Unit；Sensor group includes first sensor and second sensor；First sensor is used for detecting the tach signal of engine, second
Sensor is used for detecting the position signalling of throttle；Processing unit is used for the data acquisition parameters value being gathered according to sensor group,
And control instruction is generated according to parameter value；Control unit is used for adjusting the control of each hydraulic pump and each hydraulic motor according to control instruction
Electric current processed.
In this control system, including multigroup driving circuit, by the multiple hydraulic motor of hydraulic pump drive in every group of driving circuit,
So there is multiple hydraulic pumps and multiple hydraulic motor in this control system, the technical problem to be solved in the present invention is multiple liquid
Synchronization between pressure motor.
Traveling controller obtains the tach signal of engine and the position signalling of throttle by sensor group, and processing unit leads to
Cross this tach signal and position signalling can calculate each hydraulic pump and the discharge capacity of each hydraulic motor, control unit is given birth to according to discharge capacity
Become each hydraulic pump and the control electric current of each hydraulic motor, and then each hydraulic pump and the rotating speed of each hydraulic motor can be controlled, realize
The synchronization of each hydraulic motor.
Present invention also offers a kind of synchronous control method of above-mentioned hydraulic motor, for many hydraulic pumps and many hydraulic motors
The Synchronization Control of the hydraulic motor in hydraulic system.
Present invention also offers a kind of pair of car body all-terrain vehicle, the hydraulic motor synchronization described in the various embodiments described above on report
Control system, has the corresponding technique effect of this control system.
Brief description
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of specification, with following tool
Body embodiment is used for explaining the present invention together, but is not construed as limiting the invention.
Fig. 1 is the hydraulic schematic diagram of the drive system of double car body all-terrain vehicle；
Wherein, the corresponding relation between the reference in Fig. 1 and component names is as follows：
Front truck hydraulic pump 1；Front vehicle body hydraulic motor 3,4；
Rear car hydraulic pump 2；Aftercarriage hydraulic motor 5,6；
First pipeline 7；Second pipeline 8.
Specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the present invention, is not limited to the present invention.
In a kind of specific embodiment, the invention provides a kind of synchronous control system of hydraulic motor, including row
Walk controller and at least two groups driving circuits, driving circuit includes hydraulic pump and at least two hydraulic motors；
Traveling controller includes sensor group, processing unit and control unit；
Sensor group includes first sensor and second sensor；First sensor is used for detecting the tach signal of engine, the
Two sensors are used for detecting the position signalling of throttle；
Processing unit is used for the data acquisition parameters value being gathered according to sensor group, and generates control instruction according to parameter value；
Control unit is used for adjusting the control electric current of each hydraulic pump and each hydraulic motor according to control instruction.
In this control system, including multigroup driving circuit, by the multiple hydraulic motor of hydraulic pump drive in every group of driving circuit,
So there is multiple hydraulic pumps and multiple hydraulic motor in this control system, between multiple hydraulic motors, there is stationary problem, this
Invention technical problem to be solved is the synchronization between multiple hydraulic motors.
The sensor group of traveling controller includes first sensor and second sensor, and first sensor detects engine
Tach signal, second sensor detects the position signalling of throttle.The tach signal of the engine according to acquisition for the processing unit and oil
The position signalling of door, can be derived that each hydraulic pump and the discharge capacity of each hydraulic motor, and control unit generates each hydraulic pump according to discharge capacity
With the control electric current of each hydraulic motor, each hydraulic pump and the rotating speed of each hydraulic motor can be controlled by control electric current, realize each
The synchronization of hydraulic motor.
This control system employs the electro-hydraulic control method combining, in the hydraulic system of many hydraulic pumps and many hydraulic motors
In, it is capable of the synchronous operation of each hydraulic motor, improve the reliability of hydraulic system, reducing energy consumption.
One kind preferred embodiment in, sensor group also includes multiple 3rd sensors, and multiple 3rd sensors are respectively
For detecting the actual speed of each hydraulic motor；
Parameter value also includes each actual speed value and the difference of rotating speed of target value.
The actual speed and rotating speed of target of each hydraulic motor is compared, the result according to comparing feedback is further adjusted
Section control electric current, the control to hydraulic motor forms closed-loop control, when difference in actual speed and theoretical rotational speed, Neng Gougeng
The operating of the good each hydraulic motor of regulation, makes each hydraulic motor reach more preferable synchronization.
In another preferred embodiment, sensor group also includes multiple 4th sensors, and multiple 4th sensors divide
The pressure signal of each hydraulic pump Yong Yu not detected；
Parameter value includes the difference of the pressure signal between each hydraulic pump.
The pressure signal of each hydraulic pump is detected, contrasts the value of each pressure signal, further according to result of the comparison
Adjust control electric current, when each pressure value when each hydraulic pressure pump operation is different, each hydraulic pump can be made by adjusting control electric current
Keep synchronous, further ensure the synchronous operation of each hydraulic motor.
In above-mentioned each specific embodiment, also include the first pipeline and the second pipeline, the first pipeline connection is respectively driven back to
The rotating forward oil-out of hydraulic pump in road, the reversion oil-out of hydraulic pump in each driving circuit of the second pipeline connection.
By the first pipeline, the rotating forward oil-out of each hydraulic pump is connected, by the second pipeline, the reversion of each hydraulic pump is gone out
Hydraulic fluid port is connected, and completely eliminates the output flow error that the foozle of hydraulic pump and internal leakage cause, and can be completely secured each
The flow of hydraulic pump output is identical, further ensures the synchronism of each hydraulic motor.
Present invention also offers a kind of synchronous control method of hydraulic motor, for the drive of many hydraulic pumps and many hydraulic motors
Dynamic system, comprises the following steps：
The tach signal of engine and the position signalling of throttle are detected by sensor group；
The data acquisition parameters value being gathered according to sensor group, and control instruction is generated according to parameter value；
Adjust the control electric current of each hydraulic pump and each hydraulic motor according to control instruction.
The tach signal according to engine for the traveling controller and the position signalling of throttle, can be derived that each hydraulic pump and each liquid
The discharge capacity of pressure motor, and then can be derived that each hydraulic pump and the control electric current of each hydraulic motor, can be controlled by control electric current
Each hydraulic pump and the rotating speed of each hydraulic motor, realize the synchronization of each hydraulic motor.
This control system employs the electro-hydraulic control method combining, in the hydraulic system of many hydraulic pumps and many hydraulic motors
In, it is capable of the synchronous operation of each hydraulic motor, improve the reliability of hydraulic system, reducing energy consumption.
Further in specific embodiment, further comprising the steps of：
Sensor group also detects the actual speed of each hydraulic motor；
Parameter value also includes actual speed value and the difference of rotating speed of target value；
And/or,
Sensor group also detects the pressure signal of each hydraulic pump；
Parameter value also includes the difference of the pressure signal between each hydraulic pump.
Be further ensured that the synchronous operation of each hydraulic motor by two closed-loop controls, two closed loops can with isolated operation,
Can also run simultaneously.One closed-loop control is difference between the actual speed of hydraulic motor and rotating speed of target it is also possible to reason
Solve as the difference between actual speed and theoretical rotational speed, control electric current is adjusted by this difference.Another closed-loop control is each
The output pressure signal of hydraulic pump in driving circuit, whether the pressure of each hydraulic pump is identical to can interpolate that whether each hydraulic pump is same
Step, and then each hydraulic pump output can be made synchronous by adjusting control electric current, it is further ensured that the synchronization of each hydraulic motor.
Refer to Fig. 1, Fig. 1 is the hydraulic schematic diagram of the drive system of double car body all-terrain vehicle.
Present invention also offers a kind of pair of car body all-terrain vehicle, including engine and throttle, also include front truck driving circuit,
Rear car driving circuit and traveling controller；
Front truck driving circuit includes front truck hydraulic pump 1 and two front truck hydraulic motors 3,4, and rear car driving circuit includes rear car hydraulic pressure
Pump 2 and two rear car hydraulic motors 5,6；
Traveling controller includes sensor group, processing unit and control unit；
Sensor group includes first sensor and second sensor；First sensor is used for detecting the tach signal of engine, the
Two sensors are used for detecting the position signalling of throttle；
Processing unit is used for the data acquisition parameters value being gathered according to sensor group, and generates control instruction according to parameter value；
Control unit is used for adjusting front truck driving circuit and the control electric current of rear car driving circuit work according to control instruction.
In the hydraulic system of all-terrain vehicle, by traveling controller make front truck and rear car totally four hydraulic motors whole
Individual travel during all keeps synchronously, that is, the rotating speed moment of four hydraulic motors be consistent.Motor before and after elimination is because different
The problem that car body pulls mutually in front and back that step produces.
One kind preferred embodiment in, sensor group also includes four 3rd sensors, and four 3rd sensors are respectively
For detecting the actual speed of 3,4 and two rear car hydraulic motors 5,6 of two front truck hydraulic motors；
Parameter value also includes each actual speed value and the difference of rotating speed of target value.
The present invention adopts the control method of combination of electric and hydraulic, by gathering tach signal and the engine of four hydraulic motors
Tach signal and throttle position, then calculate displacement size under present engine rotating speed for four hydraulic motors, then
Export the control electric current matching again, closed-loop control is formed to each hydraulic motor.
In another preferred embodiment, sensor group also includes two the 4th sensors, and two the 4th sensors divide
The pressure signal of front truck hydraulic pump 1 and rear car hydraulic pump 2 Yong Yu not detected；
Parameter value also includes the difference of the pressure signal between front truck hydraulic pump 1 and rear car hydraulic pump 2.
The present invention adopts the control method of combination of electric and hydraulic, and the pressure signal that traveling controller passes through to gather two hydraulic pumps can
Whether synchronous with the operation that judges front truck hydraulic pump 1 and rear car hydraulic pump 2, if asynchronous, can be by adjusting corresponding control
Electric current processed makes the two synchronous.
In above-mentioned each specific embodiment, also include the first pipeline 7 and the second pipeline 8, the first pipeline 7 connects front truck liquid
The rotating forward oil-out of press pump 1 and rear car hydraulic pump 2, the second pipeline 8 connects front truck hydraulic pump 1 and the reversion of rear car hydraulic pump 2 goes out
Hydraulic fluid port.
By the first pipeline 7 by the rotating forward oil-out series connection rotating forward oil-out and rear car hydraulic pump 2 of front truck hydraulic pump 1,
By the second pipeline 8 by the reversion oil-out series connection of the reversion oil-out of front truck hydraulic pump 1 and rear car hydraulic pump 2, it is completely eliminated
The output flow error that the foozle of two hydraulic pumps and internal leakage cause is different, and front truck hydraulic pump 1 and rear car be completely secured
The flow of hydraulic pump 2 output identical it is ensured that the synchronism of four motors.
The specific course of work is as follows：
During the walking of all-terrain vehicle ground zero, traveling controller detects accelerator pedal position signal, and accelerator pedal position starts to increase from 0
Add to 100%, engine speed is increased to rated speed from idling.When engine speed reaches 1400rpm, that is, at engine
When speed at maximum torque point, traveling controller is by the control electric current of front truck hydraulic pump 1 and rear car hydraulic pump 2 in this process
Increase to maximum from minimum of a value, the discharge capacity of front truck hydraulic pump 1 and rear car hydraulic pump 2 will increase to maximum pump discharge by 0, before making
Car hydraulic pump 1 and rear car hydraulic pump 2 work always in the state of maximum pump discharge, and now 4 hydraulic motors are also in maximum row
Amount state, changes ready in advance to hydraulic motor displacement.
Now, front truck hydraulic motor 3,4, the current value of rear car hydraulic motor 5,6 linearly changes by minimum of a value, becomes
Change speed is 20mA/s, and that is, the discharge capacity of 4 hydraulic motors starts linear reduction from maximum, and then car load starts to accelerate row
Sail, reach maximum travelling speed until reaching car load.
During vehicle travels to maximal rate from speed for 0, when car load reaches maximal rate and keeps this speed
When degree travels, the pressure of the rotating speed, the pressure of front truck hydraulic pump 1 and rear car hydraulic pump 2 of traveling controller real-time detection hydraulic motor
Power, when the pressure difference value of two hydraulic pumps is more than 40bar, front truck hydraulic motor 3,4 and rear car hydraulic motor 5,6 arise that
Asynchronous, at this moment controller is analyzed calculating by the data of collection, the hydraulic pressure horse that hydraulic pump pump high for pressure is driven
The discharge capacity reaching increases, and so that the rotating speed of hydraulic motor is reduced；The discharge capacity of the hydraulic motor that hydraulic pump low for pressure is driven reduces,
The rotating speed of hydraulic motor is made to raise, until the rotating speed of four motors is consistent.This process iterative cycles, makes front truck hydraulic pump 1 all the time
It is less than 40bar with the pressure value of rear car hydraulic pump 2 it is ensured that the synchronization of 4 hydraulic motors.
It is understood that the embodiment of above principle being intended to be merely illustrative of the present and the exemplary enforcement adopting
Mode, but the invention is not limited in this.For those skilled in the art, in the essence without departing from the present invention
In the case of god and essence, various modifications and improvement can be made, these modifications and improvement are also considered as protection scope of the present invention.
Claims (10)
1. a kind of synchronous control system of hydraulic motor is it is characterised in that include traveling controller and at least two groups driving circuits,
Described driving circuit includes hydraulic pump and at least two hydraulic motors；
Described traveling controller includes sensor group, processing unit and control unit；
Described sensor group includes first sensor and second sensor；Described first sensor is used for detecting the rotating speed of engine
Signal, described second sensor is used for detecting the position signalling of throttle；
Described processing unit is used for the data acquisition parameters value being gathered according to described sensor group, and is given birth to according to described parameter value
Become control instruction；
Described control unit is used for adjusting the control electricity of each described hydraulic pump and each described hydraulic motor according to described control instruction
Stream.
2. the synchronous control system of hydraulic motor as claimed in claim 1 it is characterised in that described sensor group also include many
Individual 3rd sensor, multiple described 3rd sensors are respectively used to detect the actual speed of each described hydraulic motor；
Described parameter value also includes the difference of each described actual speed value and rotating speed of target value.
3. the synchronous control system of hydraulic motor as claimed in claim 1 it is characterised in that described sensor group also include many
Individual 4th sensor, multiple described 4th sensors are respectively used to detect the pressure signal of each described hydraulic pump；
Described parameter value includes the difference of the described pressure signal between each described hydraulic pump.
4. the synchronous control system of the hydraulic motor as described in any one of claims 1 to 3 is it is characterised in that also include first
Pipeline and the second pipeline, the rotating forward oil-out of hydraulic pump, described second pipe described in each driving circuit of described first pipeline connection
Road connects the reversion oil-out of hydraulic pump described in each driving circuit.
5. a kind of synchronous control method of hydraulic motor is it is characterised in that be used for the drivetrain of many hydraulic pumps and many hydraulic motors
System, comprises the following steps：
The tach signal of engine and the position signalling of throttle are detected by sensor group；
The data acquisition parameters value being gathered according to described sensor group, and control instruction is generated according to described parameter value；
Adjust the control electric current of each described hydraulic pump and each described hydraulic motor according to described control instruction.
6. the synchronous control method of hydraulic motor as claimed in claim 5 is it is characterised in that further comprising the steps of：
Described sensor group also detects the actual speed of each described hydraulic motor；
Described parameter value also includes described actual speed value and the difference of rotating speed of target value；
And/or,
Described sensor group also detects the pressure signal of each described hydraulic pump；
Described parameter value also includes the difference of the described pressure signal between each hydraulic pump.
7. a kind of pair of car body all-terrain vehicle, including engine and throttle it is characterised in that also including front truck driving circuit, rear car
Driving circuit and traveling controller；
Described front truck driving circuit includes front truck hydraulic pump and two front truck hydraulic motors, and described rear car driving circuit includes rear car
Hydraulic pump and two rear car hydraulic motors；
Described traveling controller includes sensor group, processing unit and control unit；
Described sensor group includes first sensor and second sensor；Described first sensor is used for detecting described engine
Tach signal, described second sensor is used for detecting the position signalling of described throttle；
Described processing unit is used for the data acquisition parameters value being gathered according to described sensor group, and is given birth to according to described parameter value
Become control instruction；
Described control unit is used for adjusting described front truck driving circuit and described rear car driving circuit work according to described control instruction
The control electric current made.
8. as claimed in claim 7 double car body all-terrain vehicle it is characterised in that described sensor group also includes four the 3rd biographies
Sensor, four described 3rd sensors are respectively used to detect two described front truck hydraulic motors and two described rear car hydraulic motors
Actual speed；
Described parameter value also includes the difference of each described actual speed value and rotating speed of target value.
9. as claimed in claim 7 double car body all-terrain vehicle it is characterised in that described sensor group also includes two the 4th biographies
Sensor, two described 4th sensors are respectively used to detect the pressure signal of described front truck hydraulic pump and described rear car hydraulic pump；
Described parameter value also includes the difference of the described pressure signal between described front truck hydraulic pump and described rear car hydraulic pump.
10. the double car body all-terrain vehicle as described in any one of claim 7 to 9 are it is characterised in that also include the first pipeline and
Two pipelines, the rotating forward oil-out of front truck hydraulic pump and described rear car hydraulic pump, described second pipe described in described first pipeline connection
Road connects the reversion oil-out of described front truck hydraulic pump and described rear car hydraulic pump.
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| CN201610945044.0A CN106394246B (en) | 2016-11-02 | 2016-11-02 | Hydraulic motor synchronous control system and control method, double car body all-terrain vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111102329A (en) * | 2018-10-26 | 2020-05-05 | 贵州詹阳动力重工有限公司 | Double-motor transmission for engineering truck |
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|---|---|
| CN106394246B (en) | 2019-04-12 |
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