CN106996401B - A kind of double-cylinder hydraulic synchronizes Erecting System and its control method - Google Patents
A kind of double-cylinder hydraulic synchronizes Erecting System and its control method Download PDFInfo
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- CN106996401B CN106996401B CN201510462659.3A CN201510462659A CN106996401B CN 106996401 B CN106996401 B CN 106996401B CN 201510462659 A CN201510462659 A CN 201510462659A CN 106996401 B CN106996401 B CN 106996401B
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Abstract
A kind of double-cylinder hydraulic synchronization Erecting System, the control system includes controller, the controller is connected with two angular transducers induction in electrical system, and the controller is connect with cowling panel, solenoid directional control valve one, the solenoid directional control valve two in the hydraulic system.It with real-time acquisition angles, is adjusted in real time convenient for controller, when site error occur in two hydraulic cylinders, automatic control system will send out signal, adjust the aperture of proportioning valve, realize and synchronize, and used balanced valve, greatly alleviate influence of the pressure oscillation to system；Synchronous Erecting System has achieved the purpose that two-tank method is controlled by speed governing valve circuit and feed circuit from source；The control mode that synchronous Erecting System is combined using " principal and subordinate is dynamic " and " classification PID ", the synchronization accuracy of system is substantially increased from control strategy level；The hydraulic principle of whole system is reliably reasonable, and electrical control difficulty is small, implement it is easy to operate, it is at low cost many advantages, such as.
Description
Technical field
Present invention relates solely to hydraulic cylinder synchronous to play perpendicular technical field, more particularly to how to improve Synchronization Control of Bi-cylinder Systems
Precision Erecting System synchronous with the double-cylinder hydraulic of security reliability and its control method.
Background technology
Existing large-scale heavy equipment of closing plays principle modes there are two types of perpendicular control systems：It is erected 1. being risen using single multi-stage oil cylinder,
This principle modes are simple in structure, but are not suitable for loading the operating mode of unbalance loading, and reliability is poor；2. being risen using two Multi-stage cylinders
It is perpendicular, it is equipped with synchronized splitter valve, although this principle modes realize two-tank method and erect, but its precision is relatively low, and only 5% is left
The right side, stability is not high, and safety is poor.
Invention content
For pressure oscillation of the Multi-stage cylinder existing in the prior art during changing grade, certain rush can be caused to system
Hit influence；Multi-stage cylinder rises when erecting to certain angle, and the center of gravity of whole system will be 90 °, and Multi-stage cylinder is in the load born at this time
State, if not having technological prevention measure, Multi-stage cylinder can acceleration out of control；During Multi-stage cylinder is perpendicular, if synchronization accuracy is not high,
Accumulated error will lead to the badly damaged shortcoming of system.
To solve the above problems, the present invention provides a kind of double-cylinder hydraulic synchronization Erecting System, a kind of double-cylinder hydraulic synchronization onwards
Perpendicular system, including double-cylinder hydraulic system, the double-cylinder hydraulic system include hydraulic cylinder one and hydraulic cylinder two, hydraulic system respectively with
Hydraulic cylinder two described in the hydraulic cylinder one connects, and control system is connect with the hydraulic cylinder one, the hydraulic cylinder two；
The control system includes controller, the controller and two angular transducer senses in electrical system
It should connect, the controller and speed governing valve one, speed governing valve two, solenoid directional control valve three, the solenoid directional control valve in the hydraulic system
One, solenoid directional control valve two connects.
It is further improved as the present invention, the hydraulic system includes balanced valve one, balanced valve two, balanced valve three and balance
Valve four, the balanced valve one, the balanced valve two are connect with the hydraulic cylinder one, the balanced valve three, the balanced valve four with
The hydraulic cylinder two connects, and the solenoid directional control valve one is connect with the hydraulic cylinder one, the solenoid directional control valve two and the liquid
Cylinder pressure two connects, and speed governing valve three, the first cowling panel are connect with the balanced valve one, speed governing valve one, second cowling panel and institute
State the connection of balanced valve four, speed governing valve two connect with the solenoid directional control valve one, the solenoid directional control valve two, solenoid directional control valve three and
The balanced valve one, the balanced valve three connect, and the solenoid directional control valve three is connect with the speed governing valve two, second rectification
Plate is connect with the speed governing valve one, and first cowling panel is connect with the speed governing valve three, the solenoid directional control valve three with it is described
Second cowling panel, the speed governing valve one, first cowling panel, the speed governing valve three are separately connected.
It is further improved as the present invention, the solenoid directional control valve one and the solenoid directional control valve two are small latus rectum electromagnetism
Reversal valve.
It is further improved as the present invention, the speed governing valve one is electric proportional velocity regulating valve, and the speed governing valve two is small latus rectum
Electric proportion magnetic valve, the speed governing valve three are manual governing valve.
A kind of double-cylinder hydraulic synchronizes the control method of Erecting System, and this approach includes the following steps：
Step 101：Two sensors acquire the angle information of its corresponding hydraulic cylinder one and hydraulic cylinder two respectively, and
It is uploaded to controller；
Step 102：Controller receives hydraulic cylinder one and is compared with the angle information of hydraulic cylinder two, when the two deviation is larger
When, controller will send Regulate signal to electric proportional velocity regulating valve, the openings of sizes of electric proportional velocity regulating valve be controlled, by its corresponding mistake
Flow is delivered to balanced valve three, balanced valve four, adjusts slave cylinder --- the stroke of hydraulic cylinder two in real time with this, makes itself and active
Cylinder --- hydraulic cylinder one synchronizes；
Step 103：Controller receive hydraulic cylinder one and hydraulic cylinder two angular deviation it is smaller when, controller is by Regulate signal
It is sent to speed governing valve two, solenoid directional control valve one, solenoid directional control valve two, hydraulic cylinder one and hydraulic cylinder two are adjusted, it is made
It is synchronous.
Beneficial effects of the present invention are：By using controller and two angular transducer senses in electrical system
It should connect, controller is connect with speed governing valve, cowling panel, solenoid directional control valve one, the solenoid directional control valve two in hydraulic system；Angle passes
Sensor is adjusted with real-time acquisition angles convenient for controller in real time, when site error occur in two hydraulic cylinders, is automatically controlled and is
System will send out signal, adjust the aperture of proportioning valve, realize and synchronize, achieve the purpose that accurately control oil cylinder displacement with this；And
Used balanced valve greatly alleviates influence of the pressure oscillation to system；Synchronous Erecting System by speed governing valve circuit and
Feed circuit has achieved the purpose that two-tank method is controlled from source；Synchronous Erecting System is using " principal and subordinate is dynamic " and " classification PID "
The control mode being combined substantially increases the synchronization accuracy of system from control strategy level；The hydraulic control of whole system is former
Reason is reliable reasonable, and electrical control difficulty is small, implement it is easy to operate, it is at low cost many advantages, such as.
Description of the drawings
Fig. 1 is the hydraulic schematic diagram that a kind of double-cylinder hydraulic of the present invention synchronizes Erecting System；
Fig. 2 is the control method flow chart one that double-cylinder hydraulic synchronizes Erecting System shown in Fig. 1；
Fig. 3 is the control method flow chart one that double-cylinder hydraulic synchronizes Erecting System shown in Fig. 1；
Fig. 4 is the oil cylinder comparison diagram that double-cylinder hydraulic synchronizes Erecting System.
In figure：1, hydraulic cylinder one；2, hydraulic cylinder two；3, balanced valve three；4, balanced valve four；5, speed governing valve one；6, first is whole
Flowing plate；7, solenoid directional control valve three；8, speed governing valve two；9, solenoid directional control valve two；10, solenoid directional control valve one；11, balanced valve two；12,
Balanced valve one；13, speed governing valve three；14, the second cowling panel.
Specific implementation mode
As shown in Figs 1-4, a kind of double-cylinder hydraulic described in the embodiment of the present invention synchronizes Erecting System, and a kind of double-cylinder hydraulic is same
Erecting System is walked, including double-cylinder hydraulic system, the double-cylinder hydraulic system include hydraulic cylinder 1 and hydraulic cylinder 22, hydraulic pressure system
System is connect with one 1 hydraulic cylinder 22 of the hydraulic cylinder respectively, control system and the hydraulic cylinder 1, the hydraulic cylinder 22
Connection；The control system includes controller, and the controller incudes with two angular transducers in electrical system
Connection, speed governing valve 1, speed governing valve 28, speed governing valve 3 13, the first cowling panel 6 in the controller and the hydraulic system,
Solenoid directional control valve 1, solenoid directional control valve 29 connect.
Angular transducer is adjusted with real-time acquisition angles convenient for controller in real time, when site error occur in two hydraulic cylinders
When, automatic control system will send out signal, adjust the aperture of proportioning valve, realize and synchronize, reached with this and accurately control oil cylinder position
The purpose of shifting.
The hydraulic system includes balanced valve 1, balanced valve 2 11, balanced valve 33 and balanced valve 44, balanced valve one
12, balanced valve 2 11 is connect with hydraulic cylinder 1, and balanced valve 33, balanced valve 44 are connect with hydraulic cylinder 22, solenoid directional control valve one
10 connect with hydraulic cylinder 1, and solenoid directional control valve 29 is connect with hydraulic cylinder 22, speed governing valve 3 13, the first cowling panel 6 and balanced valve
One 12 connections, speed governing valve 1, the second cowling panel 14 are connect with balanced valve 44, speed governing valve 28 and solenoid directional control valve 1, electromagnetism
Reversal valve 29 connects, and solenoid directional control valve 37 is connect with balanced valve 1, balanced valve 33, solenoid directional control valve 37 and speed governing valve two
8 connections, the second cowling panel 14 connect with speed governing valve 1, and the first cowling panel 6 is connect with speed governing valve 3 13, solenoid directional control valve 37 and
Second cowling panel 14, speed governing valve 1, the first cowling panel 6, speed governing valve 3 13 are separately connected.Solenoid directional control valve 1 is changed with electromagnetism
It is small latus rectum solenoid directional control valve to valve 29.Speed governing valve 1 is electric proportional velocity regulating valve, and speed governing valve 28 is small latus rectum electricity ratio electricity
Magnet valve, speed governing valve 3 13 are manual governing valve.
The balanced valve of use greatly alleviates influence of the pressure oscillation to system；Synchronous Erecting System passes through speed governing valve
Circuit and feed circuit have achieved the purpose that two-tank method is controlled from source；Synchronous Erecting System is using " principal and subordinate is dynamic " and " divides
The control mode that grade PID " is combined, the synchronization accuracy of system is substantially increased from control strategy level；The hydraulic pressure of whole system
Control principle is reliably reasonable, and electrical control difficulty is small, implement it is easy to operate, it is at low cost many advantages, such as.
A kind of double-cylinder hydraulic synchronizes the control method of Erecting System, and this approach includes the following steps：
Step 101：Two sensors acquire the angle information of its corresponding hydraulic cylinder one and hydraulic cylinder two respectively, and
It is uploaded to controller；
Step 102：Controller receives hydraulic cylinder one and is compared with the angle information of hydraulic cylinder two, when the two deviation is larger
When, controller will send Regulate signal to electric proportional velocity regulating valve, the openings of sizes of electric proportional velocity regulating valve be controlled, by its corresponding mistake
Flow is delivered to balanced valve three, balanced valve four, adjusts slave cylinder --- the stroke of hydraulic cylinder two in real time with this, makes itself and active
Cylinder --- hydraulic cylinder one synchronizes；
Step 103：Controller receive hydraulic cylinder one and hydraulic cylinder two angular deviation it is smaller when, controller is by Regulate signal
It is sent to speed governing valve two, solenoid directional control valve one, solenoid directional control valve two, hydraulic cylinder one and hydraulic cylinder two are adjusted, it is made
It is synchronous.
Specifically regulative mode is：Shown in control principle Fig. 1, before equipment starts accurately to dock, risen first
It erects to 90 °.The right spool of main solenoid directional control valve obtains electric at this time, and for pressure oil P1 after reversal valve, fluid is divided into two-way, flows through all the way
Cowling panel and the manual governing valve being previously set, the same first rectified plate of another way, then pass through electric proportional velocity regulating valve, finally
The big chamber of oil cylinder is reached after balanced valve, that is, has been started perpendicular.The purpose that electric proportional velocity regulating valve is arranged is to realize " the dynamic control of principal and subordinate
System " realizes the synchronization of oil cylinder on the left of right side oil cylinder " following " that is, by first order PID procedure auto-control electricity proportional velocity regulating valves.
The control strategy of automatic control system is using classification PID control strategy, i.e., two oil of two angular transducer detections
When cylinder real-time angular difference is larger, system calls first order PID programs, is adjusted in real time by control strategy shown in Fig. 2.
When two oil cylinders are close to terminal, system calls second level PID programs, enters according to control strategy shown in Fig. 3 and accurately controls rank
Section, i.e. when the difference of two oil cylinder real-time angulars is smaller, the solenoid valve of controller output control signal driving repairing is adjusted in real time
Valve port opening achievees the purpose that accurately control oil cylinder displacement with this.
When two oil cylinders are close to terminal, control system closes main solenoid directional control valve, stops calling first order PID programs, and
It is automatic to enable second level PID programs, it realizes small flow repairing, achievees the purpose that accurately control.
When needing to withdraw, the main left spool of solenoid directional control valve obtains electric, and pressure oil P2 reaches oil cylinder after main solenoid valve
Small chamber, under the gravity of load and the collective effect of pressure oil P2, the fluid of the big chamber of oil cylinder passes through balanced valve, cowling panel and speed governing
After valve, it is back to fuel tank.During decline, again by first order PID procedure auto-control electricity proportional velocity regulating valves, realized with this
Synchronization during the withdrawal of two oil cylinders.
In actual loading test debugging process, real-time inspection has been carried out to the data of oil cylinder stroke by the host computer of electric-control system
It surveys, appoints the data for taking three angles, as shown in Figure 4.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of double-cylinder hydraulic synchronizes Erecting System, it is characterised in that：Including double-cylinder hydraulic system, the double-cylinder hydraulic system packet
Hydraulic cylinder one (1) and hydraulic cylinder two (2) are included, hydraulic system is connect with the hydraulic cylinder one (1) hydraulic cylinder two (2) respectively,
Control system is connect with the hydraulic cylinder one (1), the hydraulic cylinder two (2)；
The control system includes controller, and the controller connects with two angular transducers induction in electrical system
It connects, the controller is changed with speed governing valve one (5), speed governing valve two (8), solenoid directional control valve three (7), the electromagnetism in the hydraulic system
It is connected to valve one (10), solenoid directional control valve two (9)；
The hydraulic system includes balanced valve one (12), balanced valve two (11), balanced valve three (3) and balanced valve four (4), described flat
Weighing apparatus valve one (12), the balanced valve two (11) are connect with the hydraulic cylinder one (1), the balanced valve three (3), the balanced valve four
(4) it is connect with the hydraulic cylinder two (2), the solenoid directional control valve one (10) is connect with the hydraulic cylinder one (1), and the electromagnetism changes
It is connect to valve two (9) with the hydraulic cylinder two (2), speed governing valve three (13), the first cowling panel (6) and the balanced valve one (12) connect
It connects, speed governing valve one (5), the second cowling panel (14) are connect with the balanced valve four (4), speed governing valve two (8) and the electromagnetic switch
Valve one (10), the solenoid directional control valve two (9) connection, solenoid directional control valve three (7) and the balanced valve one (12), the balanced valve
Three (3) connect, and the solenoid directional control valve three (7) is connect with the speed governing valve two (8), second cowling panel (14) and the tune
Fast valve one (5) connects, and first cowling panel (6) connect with the speed governing valve three (13), the solenoid directional control valve three (7) and institute
The second cowling panel (14), the speed governing valve one (5), first cowling panel (6), the speed governing valve three (13) is stated to be separately connected.
2. double-cylinder hydraulic according to claim 1 synchronizes Erecting System, it is characterised in that：The solenoid directional control valve one (10)
It is small latus rectum solenoid directional control valve with the solenoid directional control valve two (9).
3. double-cylinder hydraulic according to claim 1 synchronizes Erecting System, it is characterised in that：The speed governing valve one (5) is electricity
Proportional velocity regulating valve, the speed governing valve two (8) are small latus rectum electricity proportion magnetic valve, and the speed governing valve three (13) is manual governing valve.
4. a kind of double-cylinder hydraulic as described in claim 1 synchronizes the control method of Erecting System, which is characterized in that this method includes
Following steps：
Step 101：Two sensors acquire the angle information of its corresponding hydraulic cylinder one and hydraulic cylinder two respectively, and upload
To controller；
Step 102：Controller receives hydraulic cylinder one and is compared with the angle information of hydraulic cylinder two, when the two deviation is larger,
Controller will send Regulate signal to electric proportional velocity regulating valve, the openings of sizes of electric proportional velocity regulating valve be controlled, by its corresponding overcurrent
Amount is delivered to balanced valve three, balanced valve four, adjusts slave cylinder --- the stroke of hydraulic cylinder two in real time with this, makes itself and active
Cylinder --- hydraulic cylinder one synchronizes；
Step 103：When controller receives hydraulic cylinder one and the smaller angular deviation of hydraulic cylinder two, controller sends Regulate signal
To speed governing valve two, solenoid directional control valve one, solenoid directional control valve two, hydraulic cylinder one and hydraulic cylinder two are adjusted, make its synchronization.
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| CN201510462659.3A CN106996401B (en) | 2015-07-31 | 2015-07-31 | A kind of double-cylinder hydraulic synchronizes Erecting System and its control method |
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| CN201510462659.3A CN106996401B (en) | 2015-07-31 | 2015-07-31 | A kind of double-cylinder hydraulic synchronizes Erecting System and its control method |
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| US4091715A (en) * | 1975-05-30 | 1978-05-30 | Deggendorfer Werft Und Eisenbau G.M.B.H. | Hydraulic system for opening and closing hopper barges |
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| CN104389830A (en) * | 2013-08-19 | 2015-03-04 | 扬州市飞龙气动液压设备有限公司 | Intelligent synchronous type hydraulic hoist |
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- 2015-07-31 CN CN201510462659.3A patent/CN106996401B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4091715A (en) * | 1975-05-30 | 1978-05-30 | Deggendorfer Werft Und Eisenbau G.M.B.H. | Hydraulic system for opening and closing hopper barges |
| CN101392771A (en) * | 2008-10-13 | 2009-03-25 | 江苏武进液压启闭机有限公司 | Hydraulic double cylinder or multi-cylinder synchronous control system |
| CN102797719A (en) * | 2011-05-26 | 2012-11-28 | 邵阳维克液压股份有限公司 | Synchronous valve block of surface discharge outlet gate hydraulic hoist |
| CN104389830A (en) * | 2013-08-19 | 2015-03-04 | 扬州市飞龙气动液压设备有限公司 | Intelligent synchronous type hydraulic hoist |
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