CN107023537B - The equilibrium of load control method and system of hydraulic system - Google Patents
The equilibrium of load control method and system of hydraulic system Download PDFInfo
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- CN107023537B CN107023537B CN201710187971.5A CN201710187971A CN107023537B CN 107023537 B CN107023537 B CN 107023537B CN 201710187971 A CN201710187971 A CN 201710187971A CN 107023537 B CN107023537 B CN 107023537B
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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
- 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
- F15B21/087—Control strategy, e.g. with block diagram
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/002—Calibrating
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/007—Simulation or modelling
-
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/65—Methods of control of the load sensing pressure
-
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
-
- 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
- F15B2211/80—Other types of control related to particular problems or conditions
Abstract
The present invention provides a kind of equilibrium of load control method and system of hydraulic system, the equilibrium of load control method includes：Calculate the active force of other each hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum；Judge whether the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is 0, that is, judges whether the fictitious force suffered by each hydraulic pressure fulcrum is 0；It is not 0 hydraulic pressure fulcrum if there is fictitious force, the size and Orientation of the fictitious force suffered by the hydraulic pressure fulcrum adjusts the displacement distance and moving direction of the hydraulic pressure fulcrum, until the fictitious force suffered by all hydraulic fulcrum is 0；If the fictitious force suffered by all hydraulic fulcrum is 0, the load of multiple hydraulic pressure fulcrums of hydraulic system reaches balanced.This invention ensures that when section hydraulic branch point failure, the automatic realization load equalization of residual hydraulic pressure fulcrum in extensive hydraulic system.
Description
Technical field
The present invention relates to Hydraulic Field more particularly to a kind of equilibrium of load control method and system of hydraulic system.
Background technology
Extensive hydraulic synchronous jacking system generally comprises a large amount of hydraulic pressure fulcrum 10, such as Fig. 1, has been widely used in great
In bridge or heavy construction, in practical application, the initial placement position of hydraulic pressure fulcrum is by force analysis, load equalization calculates
It determines afterwards.But section hydraulic fulcrum is likely to occur failure in jack-up system for various reasons, at this point, being equivalent to extensive
There is " empty leg " phenomenon in hydraulic pressure fulcrum in hydraulic jacking system, leads to the increase loaded of section hydraulic fulcrum institute, hydraulic pressure branch
The load of point is unevenly distributed, and can cause the deformation or damage of jacked weight.When how to ensure to occur section hydraulic branch point failure
Whole extensive hydraulic jacking system remains to normal operation, and remaining hydraulic pressure fulcrum realizes load equalization automatically, is one important
Engineering problem.
In the prior art, generally use alarm subprogram always ceaselessly detects system, such as breaks down or meets
It to emergency, then alarms at once, and system is stopped into the progress analysis of causes.This method interrupts jack-up system work due to needing
Make, working efficiency and progress can be influenced.
Invention content
For " empty leg " phenomenon under section hydraulic fulcrum failure conditions, one kind is provided and is worked without interruption system, not shadow
Ring the equilibrium of load control method and system of the hydraulic system of working efficiency and progress.
According to an aspect of the present invention, a kind of equilibrium of load control method of hydraulic system, the hydraulic system are provided
Including multiple hydraulic pressure fulcrums, the equilibrium of load control method of the hydraulic system includes：Calculate each hydraulic pressure fulcrum it is suffered its
The active force of his each hydraulic pressure fulcrum,
Wherein, t is the time, and K is adjustment parameter, Fij(t) it indicates in t moment, the work of hydraulic pressure fulcrum j suffered by hydraulic pressure fulcrum i
Firmly, Qi(t) load born in t moment for hydraulic pressure fulcrum i, Qj(t) load born in t moment for hydraulic pressure fulcrum j, xi(t)
It is hydraulic pressure fulcrum i in the geographical location information of t moment, xj(t) it is geographical location information of the hydraulic pressure fulcrum j in t moment, | | | |
Indicate norm；Judge whether the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is 0, that is, judges each liquid
Press whether the fictitious force suffered by fulcrum is 0,
Wherein, Fi(t) it is fictitious forces of the hydraulic pressure fulcrum i suffered by moment t, N is other hydraulic pressure branch for removing hydraulic pressure fulcrum i
The sum of point；It is not 0 hydraulic pressure fulcrum, the size of the fictitious force suffered by the hydraulic pressure fulcrum and side if there is fictitious force
To, adjust the displacement distance and moving direction of the hydraulic pressure fulcrum, until all hydraulic fulcrum suffered by fictitious force be 0；If
Fictitious force suffered by all hydraulic fulcrum is 0, then the load of multiple hydraulic pressure fulcrums of hydraulic system reaches balanced.
According to another aspect of the present invention, a kind of equilibrium of load control system of hydraulic system, the hydraulic pressure system are provided
System includes multiple hydraulic pressure fulcrums, and the equilibrium of load control system of the hydraulic system includes：Load transducer is mounted on each
On hydraulic pressure fulcrum, the load that each hydraulic pressure fulcrum is born is measured；Control unit, the load born according to each hydraulic pressure fulcrum
The load that lotus and other hydraulic pressure fulcrums are born determines the fictitious force suffered by each described hydraulic pressure fulcrum, and filtering out fictitious force is not
0 hydraulic pressure fulcrum；Mobile unit, the fictitious force filtered out according to control unit are not the fictitious force suffered by 0 hydraulic pressure fulcrum
Size and Orientation adjusts the displacement distance and moving direction of the hydraulic pressure fulcrum, sends the hydraulic pressure in real time during the adjustment
The location information of fulcrum is to control unit, until the fictitious force suffered by all hydraulic fulcrum is 0；Wherein, described control unit packet
It includes：Work-force model construction unit, the load that each the hydraulic pressure fulcrum measured according to each load transducer is born calculate
The active force of other each hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum,
Wherein, t is the time, and K is adjustment parameter, Fij(t) it indicates in t moment, the work of hydraulic pressure fulcrum j suffered by hydraulic pressure fulcrum i
Firmly, Qi(t) load born in t moment for hydraulic pressure fulcrum i, Qj(t) load born in t moment for hydraulic pressure fulcrum j, xi(t)
It is hydraulic pressure fulcrum i in the geographical location information of t moment, xj(t) it is geographical location information of the hydraulic pressure fulcrum j in t moment, | | | |
Indicate norm；Fictitious force model construction unit, according to the sum of active force of other hydraulic pressure fulcrums structure suffered by each hydraulic pressure fulcrum
Fictitious force model suffered by the hydraulic pressure fulcrum is built,
Wherein, Fi(t) it is fictitious forces of the hydraulic pressure fulcrum i suffered by moment t, N is other hydraulic pressure branch for removing hydraulic pressure fulcrum i
The sum of point；Second judgment unit judges whether the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is 0,
Judge whether the fictitious force suffered by each hydraulic pressure fulcrum is 0, the hydraulic pressure fulcrum that filter out suffered fictitious force be 0.
The equilibrium of load control system and method for the above-mentioned hydraulic system of the present invention has following beneficial effect：
(1) when section hydraulic branch point failure in extensive hydraulic system, hydraulic pressure fulcrum is controlled by fictitious force algorithm and is moved
It is dynamic, reach load equalization distribution again, solves the whole extensive hydraulic pressure caused by occurring " empty leg " phenomenon in hydraulic system
The unbalanced problem of system load.
(2) virtual force computation model introducing load proposed by the present invention is poor, and the phasor difference in geographical location is converted into fictitious force
Direction, the movement on control hydraulic pressure fulcrum geographical location, the virtual force computation model combines load and geographical location letter
Breath, calculation amount is small, is easily achieved, these features make it be highly suitable to be applied for the equilibrium of load control of extensive hydraulic system.
Description of the drawings
By the way that embodiment is described in conjunction with following accompanying drawings, features described above of the invention and technological merit will become
More understands and be readily appreciated that.
Fig. 1 is extensive hydraulic system synchronization of jacking up schematic diagram；
Fig. 2 is the composition block diagram of the equilibrium of load control system of hydraulic system of the present invention；
Fig. 3 is the schematic diagram of fictitious force of the present invention and neighbours' fulcrum；
Fig. 4 is the flow chart of the equilibrium of load control method of hydraulic system of the present invention；
Fig. 5 a are the schematic diagrames of the hydraulic synchronous jacking system with " empty leg " phenomenon；
Fig. 5 b are that hydraulic synchronous jacking system shown in Fig. 5 a the load distribution schematic diagram after hydraulic pressure branch point failure occurs；
Fig. 6 a are hydraulic jacking system shown in Fig. 5 a in the equilibrium of load control method of hydraulic system of the present invention and are
The distribution schematic diagram of hydraulic pressure fulcrum after system effect；
Fig. 6 b are that hydraulic jacking system shown in Fig. 6 a reaches the load distribution schematic diagram after optimal load equilibrium.In attached drawing
In, identical reference numeral indicates similar or corresponding feature or function.
Specific implementation mode
Embodiment of the present invention described below with reference to the accompanying drawings.Those skilled in the art may recognize that
It arrives, it without departing from the spirit and scope of the present invention, can be with a variety of different modes or combinations thereof to described
Embodiment is modified.Therefore, attached drawing and description are regarded as illustrative in nature, rather than the protection for limiting claim
Range.In addition, in the present specification, attached drawing is drawn not in scale, and identical reference numeral indicates identical part.
Fig. 2 is the composition block diagram of the equilibrium of load control system of hydraulic system of the present invention, as shown in Fig. 2, hydraulic pressure system
System includes multiple hydraulic pressure fulcrums 10, and the equilibrium of load control system 100 includes：
Load transducer 110 is mounted on each hydraulic pressure fulcrum 10, measures the load that each hydraulic pressure fulcrum 10 is born
Lotus.
The load that control unit 120, the load born according to each hydraulic pressure fulcrum and other hydraulic pressure fulcrums are born is true
Fictitious force suffered by each fixed described hydraulic pressure fulcrum, the hydraulic pressure fulcrum that filter out fictitious force not be 0, control unit 120 can be with
The hardware such as industrial personal computer, PLC controller, computer, microcontroller, can also be implemented in combination with by hardware and software, including：
Work-force model construction unit 121, each the hydraulic pressure fulcrum 10 measured according to each load transducer 110 are held
The load received calculates the active force of other each hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum,
Wherein, t is time, Fij(t) it indicates in t moment, the active force of hydraulic pressure fulcrum j, Q suffered by hydraulic pressure fulcrum ii(t) it is
The load that hydraulic pressure fulcrum i is born in t moment, Qj(t) load born in t moment for hydraulic pressure fulcrum j, xi(t) it is hydraulic pressure fulcrum i
In the geographical location information of t moment, xj(t) be hydraulic pressure fulcrum j in the geographical location information of t moment, the geographical location information
It can be the coordinate of hydraulic pressure fulcrum, can also be the distance vector of hydraulic pressure fulcrum and origin, what it is when multiple hydraulic pressure fulcrums composition is
Hydraulic synchronous jacking system can also be lateral coordinates when hydraulic pressure fulcrum only needs transverse shifting, | | | | indicate that norm, K are
Adjustment parameter influences the size of virtual force value suffered by hydraulic pressure fulcrum, and according to the quality of hydraulic system, the factors such as friction are set
It is fixed；
Fictitious force model construction unit 122, according to the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum
Fictitious force model suffered by the hydraulic pressure fulcrum is built,
Wherein, Fi(t) it is fictitious forces of the hydraulic pressure fulcrum i suffered by moment t, N is other hydraulic pressure branch for removing hydraulic pressure fulcrum i
The sum of point, as shown in figure 3, at a time, hydraulic pressure fulcrum i is F by the active force of hydraulic pressure fulcrum jij, by hydraulic pressure fulcrum k's
Active force is Fik, fictitious force suffered by hydraulic pressure fulcrum i is Fi；
Second judgment unit 123, judge the sum of active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum whether be
0, that is, judge whether the fictitious force suffered by each hydraulic pressure fulcrum is 0, the hydraulic pressure fulcrum that filter out suffered fictitious force be 0.
Mobile unit 130, the fictitious force filtered out according to control unit 120 are not the void suffered by 0 hydraulic pressure fulcrum
The size and Orientation of quasi- power, adjusts the displacement distance and moving direction of the hydraulic pressure fulcrum, sends institute in real time during the adjustment
The location information of hydraulic pressure fulcrum is stated to control unit 120, until the fictitious force suffered by all hydraulic fulcrum is 0.Mobile unit 130
It can be realized by various translation stages.
The equilibrium of load control system of above-mentioned hydraulic system is according to location information between multiple hydraulic pressure fulcrums, load information
Divide and realize hydraulic pressure fulcrum load equalization, without interrupting the work of hydraulic system, solves " empty leg " phenomenon in hydraulic system, tie
Structure is simple, easy to operate, and regulated efficiency is high, and above-mentioned advantage is particularly evident in extensive hydraulic system.
Preferably, above-mentioned control unit 120 further includes：First judging unit 124 judges that each hydraulic pressure fulcrum communicates model
Interior neighbours' fulcrum is enclosed, the location information of neighbours' fulcrum and the load born are sent to work-force model construction unit
121, the active force of neighbours' fulcrum suffered by the hydraulic pressure fulcrum is only calculated, as shown in figure 3, the communication context of hydraulic pressure fulcrum i
For Dth, the distance between hydraulic pressure fulcrum j and hydraulic pressure fulcrum i are dij, dij＜ Dth, hydraulic pressure fulcrum j is in communication context, hydraulic pressure branch
Point j is neighbours' fulcrum of hydraulic pressure fulcrum i, and the distance between hydraulic pressure fulcrum k and hydraulic pressure fulcrum i are dik, dik＞ Dth, hydraulic pressure fulcrum k
Not in communication context, hydraulic pressure fulcrum k is not neighbours' fulcrum of hydraulic pressure fulcrum i, and the communication context can be setting value, also may be used
To be determined by the transmitting-receiving of signal, for example, the equilibrium of load control system 100 further includes：Signal transmitting and receiving unit 140, installation
On each hydraulic pressure fulcrum 10, sends wireless communication signal and give other hydraulic pressure fulcrums, the feedback signal received is sent to
First judging unit 124, other corresponding hydraulic pressure fulcrums of feedback signal are neighbours' fulcrum.
The equilibrium of load control system 100 of above-mentioned multiple hydraulic pressure fulcrums can transmit signal by wired mode to lead to
Wireless way for transmitting information is crossed, can be using the control mode of the centralization of one or more control units can also be each
A hydraulic system uses the distributed control mode of a control unit, still, due to being existed by the method for wire transmission information
There is a problem of that wiring is complicated, lacks safety and aesthetics in the case of remote, widespread, in this case, centralization
Control mode no longer be applicable in, wireless telecom equipment is more applicable than long-distance line, it is preferable that equilibrium of load control system 100 is adopted
With distributed control mode, technical transmission information by radio communication, that is to say, that each hydraulic pressure fulcrum 10 configures an institute
Control unit 120 is stated, each hydraulic pressure fulcrum 10 is also equipped with load transducer 110 and signal transmitting and receiving unit 140, passes through signal
Transmit-Receive Unit 140 determines neighbours' fulcrum of each hydraulic pressure fulcrum 10, each hydraulic pressure fulcrum is sensed by load transducer 110
And its neighbours' fulcrum the load born and the control unit that each hydraulic pressure fulcrum 10 is transferred to by signal transmitting and receiving unit 140
120, by control unit 120 determine each hydraulic pressure fulcrum 10 suffered by fictitious force, mobile unit 130 according to not for 0 void
The corresponding hydraulic pressure fulcrum of size and Orientation mobile virtual power of quasi- power, real-time Communication for Power between each unit, constantly recycles, Zhi Daosuo
It is 0 to have the fictitious force suffered by hydraulic pressure fulcrum.
The virtual force computation model introducing load that above-mentioned equilibrium of load control system proposes is poor, by the load between neighbours' fulcrum
Difference is converted into the size of virtual force value, and the phasor difference in geographical location is converted into the direction of fictitious force, and control hydraulic pressure fulcrum is geographical
Movement on position, the computation model combine load and geographical location information, while small, easy for distributed AC servo system, calculation amount
In realization, these features make it be highly suitable to be applied for the equilibrium of load control of extensive hydraulic jacking system.
Fig. 4 is the flow chart of the equilibrium of load control method of hydraulic system of the present invention, as shown in figure 4, the load
Balance control method includes：
In step S410, the active force of other each hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is calculated,
Wherein, t is the time, and K is adjustment parameter, Fij(t) it indicates in t moment, the work of hydraulic pressure fulcrum j suffered by hydraulic pressure fulcrum i
Firmly, Qi(t) load born in t moment for hydraulic pressure fulcrum i, Qj(t) load born in t moment for hydraulic pressure fulcrum j, xi(t)
It is hydraulic pressure fulcrum i in the geographical location information of t moment, xj(t) it is geographical location information of the hydraulic pressure fulcrum j in t moment, | | | |
Indicate norm；
In the step s 420, judge whether the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is 0, i.e.,
Judge whether the fictitious force suffered by each hydraulic pressure fulcrum is 0,
Wherein, Fi(t) it is fictitious forces of the hydraulic pressure fulcrum i suffered by moment t,NTo remove other hydraulic pressure branch of hydraulic pressure fulcrum i
The sum of point；
It is not 0 hydraulic pressure fulcrum if there is fictitious force in step S430, it is virtual suffered by the hydraulic pressure fulcrum
The size and Orientation of power adjusts the displacement distance and moving direction of the hydraulic pressure fulcrum, until the void suffered by all hydraulic fulcrum
Quasi- power is 0；
If the fictitious force suffered by all hydraulic fulcrum is 0, the fictitious force load of multiple hydraulic systems reaches balanced.
In step S410, it is preferable that neighbours' fulcrum in each hydraulic pressure fulcrum communication context is judged, only described in calculating
The active force of neighbours' fulcrum suffered by hydraulic pressure fulcrum, it is further preferred that described each hydraulic pressure fulcrum communication context of judgement
The method of interior neighbours' fulcrum includes：Each described hydraulic pressure fulcrum sends wireless communication signal and gives other hydraulic pressure fulcrums, described
It is neighbours' fulcrum that hydraulic pressure fulcrum, which receives other corresponding hydraulic pressure fulcrums of feedback signal,.
In a preferred embodiment of the invention, multiple hydraulic pressure fulcrums individually control, that is to say, that each liquid
Pressure fulcrum can execute above-mentioned steps, what the load and neighbours' fulcrum that each described hydraulic pressure fulcrum is born according to itself were born
Load determines the active force of neighbours' fulcrum suffered by each described described hydraulic pressure fulcrum, the sum of active force suffered by itself
Size and Orientation controls the position of hydraulic pressure fulcrum.
In one particular embodiment of the present invention, using above-mentioned equilibrium of load control system, above-mentioned load equalization is utilized
Control method controls the load of the hydraulic synchronous jacking system of the hydraulic pressure fulcrum with 12 array arrangements, same in hydraulic pressure
It walks in jack-up system, each hydraulic pressure fulcrum has locomotivity, is a set of independent jack-up system, i.e., each hydraulic pressure fulcrum has independence
Energy resource system, controller (load (power) sensor, distributed control unit, signal transmitting and receiving unit) etc., rather than multiple liquid
Liter hydraulic pressure fulcrum that bears down on one shares a hydraulic energy source, and the control unit of each hydraulic pressure fulcrum is sent out with the control unit of its neighbours' fulcrum
Raw effect.All hydraulic fulcrum in hydraulic synchronous jacking system is this virtual all by the virtual force effect of its neighbours' fulcrum
Force effect can be that gravitation can also be repulsion, and distance under the action of gravitation between hydraulic pressure fulcrum is shunk, in the work of repulsion
Increased with the hydraulic pressure pivot distance in lower system, according to fictitious force, drives hydraulic pressure fulcrum to cause it to move to most by mobile unit
Excellent position passes through the load equalization of the mobile realization hydraulic system in geographical location.Hydraulic pressure fulcrum in hydraulic jacking system is at it
It is constantly moved under all neighbours' fulcrum force actions, until suffered conjunction fictitious force is zero, overcomes the mistake of section hydraulic fulcrum
Imitate the problem of integrated hydraulic system load brought is unevenly distributed, that is to say, that when load is unbalanced, fictitious force Fi≠ 0,
Load difference is bigger, and virtual force value is bigger, and the geographical location difference of hydraulic pressure fulcrum i and neighbours' fulcrum determines the direction of fictitious force, from
And determine the direction of motion of hydraulic pressure fulcrum.Under the effect of mobile unit 140, hydraulic pressure fulcrum i starts to move, until load difference is
0, i.e.,Fictitious force is 0 at this time, hydraulic pressure fulcrum stop motion, it is meant that integral hydraulic jacking system
Again load equalization is realized.
Fig. 5 a are the schematic diagrames of the hydraulic synchronous jacking system with " empty leg " phenomenon, and Fig. 5 b are hydraulic synchronizations shown in Fig. 5 a
There is the load distribution schematic diagram after hydraulic pressure branch point failure in jack-up system, as shown in Figure 5 a, the hydraulic pressure fulcrum of the second row secondary series
Failure, as shown in Figure 5 b, may be used the size that different colours represent load, the depth of color can also be used to represent load
Size, can also using both combine by the way of represent the size of load, in figure 5b, using from indigo plant to it is green to Huang to it is red not
The size for representing load is combined with the depth of color and color, for example, color 1-3 is partially blue, 4 and 5 partially green, color of color
The inclined yellow of 6-8, color 9 is partially red, and the value from color 1 to 9 load of color becomes larger, color 1-3 colors from depth to shallow, color
4 and 5 and color 6-8 from light to dark, each hydraulic pressure fulcrum is shown on each hydraulic pressure fulcrum using above-mentioned multiple color
The load that different places are born, when the hydraulic pressure branch point failure of the second row secondary series, it can be seen that maximum load value is
13186, load is unevenly distributed, and maximum load appears on the hydraulic pressure fulcrum of failure hydraulic pressure fulcrum periphery, that is to say, that in the second row
The hydraulic pressure fulcrum of the tertial hydraulic pressure fulcrum of hydraulic pressure fulcrum and the second row of first row in the second row secondary series by near failure
Place all has maximum load shown in color 9.
Fictitious force suffered by the hydraulic pressure fulcrum of second row first row is positive value, the tertial hydraulic pressure fulcrum institute of the second row
The fictitious force received is negative value, therefore the hydraulic pressure fulcrum of the second row first row moves right, the tertial hydraulic pressure fulcrum of the second row to
It moves left.
Fig. 6 a are hydraulic jacking system shown in Fig. 5 a in the equilibrium of load control method of hydraulic system of the present invention and are
Hydraulic pressure Pivot Distribution schematic diagram after system effect, Fig. 6 b are the load distributions for the hydraulic jacking system for reaching the equal balance system of optimal load
Schematic diagram, as shown in figure 6 a and 6b, maximum load value is 12008 at this time, is substantially reduced compared with the maximum value in Fig. 5 b, each liquid
Press the load distribution uniform of fulcrum.
It is lost for section hydraulic system is caused in the large complicated task such as bridge synchronous jacking system for various reasons
The problem of effect, above-mentioned equilibrium of load control system and method realize load based on location information, load information between hydraulic pressure fulcrum
Lotus Balance route, when ensure that section hydraulic branch point failure, residual hydraulic pressure fulcrum in whole extensive hydraulic synchronous jacking system
Automatic realization load equalization.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of equilibrium of load control method of hydraulic system, the hydraulic system includes multiple hydraulic pressure fulcrums, which is characterized in that
Including：
The active force of other each hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is calculated,
Wherein, t is the time, and K is adjustment parameter, Fij(t) it indicates in t moment, the active force of hydraulic pressure fulcrum j suffered by hydraulic pressure fulcrum i,
Qi(t) load born in t moment for hydraulic pressure fulcrum i, Qj(t) load born in t moment for hydraulic pressure fulcrum j, xi(t) it is liquid
Press fulcrum i in the geographical location information of t moment, xj(t) it is geographical location information of the hydraulic pressure fulcrum j in t moment, | | | | it indicates
Norm；
Judge whether the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is 0, that is, judges each hydraulic pressure branch
Whether the suffered fictitious force of point is 0,
Wherein, Fi(t) it is fictitious forces of the hydraulic pressure fulcrum i suffered by moment t, N is other hydraulic pressure fulcrums for removing hydraulic pressure fulcrum i
Sum；
It is not 0 hydraulic pressure fulcrum if there is fictitious force, the size and Orientation of the fictitious force suffered by the hydraulic pressure fulcrum is adjusted
The displacement distance and moving direction of the whole hydraulic pressure fulcrum, until the fictitious force suffered by all hydraulic fulcrum is 0；
If the fictitious force suffered by all hydraulic fulcrum is 0, the load of multiple hydraulic pressure fulcrums of hydraulic system reaches balanced.
2. equilibrium of load control method according to claim 1, which is characterized in that further include：
Judge neighbours' fulcrum in each hydraulic pressure fulcrum communication context, only calculates neighbours' fulcrum suffered by the hydraulic pressure fulcrum
Active force.
3. equilibrium of load control method according to claim 2, which is characterized in that described each hydraulic pressure fulcrum of judgement is logical
The method of neighbours' fulcrum in news range includes：
The hydraulic pressure fulcrum sends wireless communication signal and gives other hydraulic pressure fulcrums, the feedback signal institute that the hydraulic pressure fulcrum receives
Other corresponding hydraulic pressure fulcrums are neighbours' fulcrum of the hydraulic pressure fulcrum.
4. equilibrium of load control method according to claim 3, which is characterized in that each hydraulic pressure fulcrum individually controls,
The load that the load and neighbours' fulcrum that each described hydraulic pressure fulcrum is born according to itself are born determines each described hydraulic pressure branch
The active force of the suffered neighbours' fulcrum of point, the position of the size and Orientation control hydraulic pressure fulcrum of the sum of active force suffered by itself
It sets.
5. a kind of equilibrium of load control system of hydraulic system, the hydraulic system includes multiple hydraulic pressure fulcrums, which is characterized in that
Including：
Load transducer is mounted on each hydraulic pressure fulcrum, measures the load that each hydraulic pressure fulcrum is born；
The load that control unit, the load born according to each hydraulic pressure fulcrum and other hydraulic pressure fulcrums are born determines described every
Fictitious force suffered by one hydraulic pressure fulcrum, filter out fictitious force not be 0 hydraulic pressure fulcrum；
Mobile unit, the fictitious force filtered out according to control unit are not size and the side of the fictitious force suffered by 0 hydraulic pressure fulcrum
To adjusting the displacement distance and moving direction of the hydraulic pressure fulcrum, send the position of the hydraulic pressure fulcrum in real time during the adjustment
Confidence is ceased to control unit, until the fictitious force suffered by all hydraulic fulcrum is 0；
Wherein, described control unit includes：
Work-force model construction unit, the load that each the hydraulic pressure fulcrum measured according to each load transducer is born, meter
The active force of other each hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is calculated,
Wherein, t is the time, and K is adjustment parameter, Fij(t) it indicates in t moment, the active force of hydraulic pressure fulcrum j suffered by hydraulic pressure fulcrum i,
Qi(t) load born in t moment for hydraulic pressure fulcrum i, Qj(t) load born in t moment for hydraulic pressure fulcrum j, xi(t) it is liquid
Press fulcrum i in the geographical location information of t moment, xj(t) it is geographical location information of the hydraulic pressure fulcrum j in t moment, | | | | it indicates
Norm；
Fictitious force model construction unit, according to the sum of active force of other hydraulic pressure fulcrums structure suffered by each hydraulic pressure fulcrum
Fictitious force model suffered by hydraulic pressure fulcrum,
Wherein, Fi(t) it is fictitious forces of the hydraulic pressure fulcrum i suffered by moment t, N is other hydraulic pressure fulcrums for removing hydraulic pressure fulcrum i
Sum；
Second judgment unit judges whether the sum of the active force of other hydraulic pressure fulcrums suffered by each hydraulic pressure fulcrum is 0, that is, is judged
Whether the fictitious force suffered by each hydraulic pressure fulcrum is 0, the hydraulic pressure fulcrum that filter out suffered fictitious force be 0.
6. equilibrium of load control system according to claim 5, which is characterized in that described control unit further includes：First
Judging unit judges neighbours' fulcrum in each hydraulic pressure fulcrum communication context, by the location information of neighbours' fulcrum and holds
The load received is sent to work-force model construction unit, only calculates the active force of neighbours' fulcrum suffered by the hydraulic pressure fulcrum.
7. equilibrium of load control system according to claim 6, which is characterized in that further include：
Signal transmitting and receiving unit is mounted on each hydraulic pressure fulcrum, that is, is mounted on each hydraulic pressure fulcrum, is sent channel radio
Signal is interrogated to other hydraulic pressure fulcrums, the feedback signal received is sent to the first judging unit, feedback signal it is corresponding other
Hydraulic pressure fulcrum is neighbours' fulcrum.
8. equilibrium of load control system according to claim 7, which is characterized in that each hydraulic system configuration one
A described control unit.
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| CN102588505B (en) * | 2012-02-06 | 2014-01-15 | 三一汽车制造有限公司 | Pump truck stability control system, pump truck stability control method and pump truck |
| CN102591371B (en) * | 2012-03-07 | 2013-07-31 | 三一电气有限责任公司 | Synchronous control method and device of four-leg oil cylinder |
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