CN107522149A - A kind of pure electronic aerial work platform Electronic governing system - Google Patents
A kind of pure electronic aerial work platform Electronic governing system Download PDFInfo
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- CN107522149A CN107522149A CN201710878796.4A CN201710878796A CN107522149A CN 107522149 A CN107522149 A CN 107522149A CN 201710878796 A CN201710878796 A CN 201710878796A CN 107522149 A CN107522149 A CN 107522149A
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- 230000005611 electricity Effects 0.000 claims description 10
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- 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
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- Chemical & Material Sciences (AREA)
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- Fluid-Pressure Circuits (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Fluid Gearings (AREA)
Abstract
The invention discloses a kind of pure electronic aerial work platform Electronic governing system, pure electronic aerial work platform Electronic governing system provided by the invention starts in executive component, in operation and stopped process, no matter executive component whether there is position feedback transducer, control for potentiometer handle and switch can realize that speed finely controls, reduce impact, and ensure that the flow that system provides under various operating modes matches with executive component demand volume, the overflow loss of reduction system, the automatic control level and system effectiveness of raising system, make the control accuracy of system higher, reliability is stronger, so as to ensure the safety of aerial work personnel.
Description
Technical field
The present invention relates to a kind of pure electronic aerial work platform Electronic governing system.
Background technology
Aerial work platform is the lifting by working arm, and staff and utensil are transported into the special of assignment position
With machinery.To ensure that the safety of aerial work personnel and executive component operate steadily reliably, fortune is required in start and stop
It is dynamic steady, require according to operating personnel's demand, accurately to control the movement velocity of each executive component in motion process.Therefore high-altitude is made
Industry platform control system must have perfect speed-regulating function.
And aerial work platform governing system mainly has two types at present：
The first kind is that adoption rate flow valve combines with multi-disc solenoid directional control valve, and wherein proportional flow control valve controls current executive component
Flow supply, realize speed control, reversal valve determines object component and its direction of action.This governor system control mode letter
It is single, good speed adjustment features, but the velocity interval of an executive component can only be defined, the operational speed range of other mechanisms can not be set
It is fixed.
Second class is that each action to executive component is independently controlled, this control using multi-disc proportional reversing valve
Mode can preferably realize speed control, but the cost of this governing system is too high, and need configuration quantity identical with mechanism
Potentiometer handle, it is complicated, be unfavorable for batch popularization and application.
Chinese invention patent《A kind of hydraulic control proportionality velocity modulation energy-saving control system and its controlling party for high-altitude operation vehicle
Method》（Patent No. CN201410019603.6）Disclose a kind of hydraulic control proportionality velocity modulation energy-saving control system.Pass through pilot-actuated valve
Proportional hydraulic pressure signal is exported, realizes the control towards each executive component flow, pilot operated valve device can perform member according to each
Part responsiveness limits maximum stream flow, while exports electric signal according to pilot pressure value, and control hydraulic pressure pump output flow, which is equal to, to be held
Maximum flow setting value needed for units.
Utility model patent《Proportional speed regulation control system》（Patent No. CN200920283646.X）Disclose a kind of monolithic
The governing system that proportional flow control valve and reversal valve are realized.Multigroup variable resistor in parallel, passes through on the amplifier of proportional flow control valve
Change the resistance of every group of variable resistor, the maximum output current of amplifier, realizes each hold when changing each executive component action
Regulation of the units in corresponding discharge range of motion speed.
The shortcomings that prior art：
Patent of invention《A kind of hydraulic control proportionality velocity modulation energy-saving control system and its control method for high-altitude operation vehicle》For holding
Units start and stop process is not controlled in detail, the rotational speed regulation of engine driving oil pump needed for executive component most
Big flow, when executive component low speed is run, system can produce energy spill losses, and complete machine needs to configure hydraulic pilot control
System processed, cause whole system complicated, cost is high.
Utility model patent《Proportional speed regulation control system》Start and stop process not to executive component carries out detailed
Control, speed-regulating function must configure potentiometer handle, for the executive component for only having switching signal to control, can not carry out speed governing control
System, while multigroup variable resistor parallel form is used, reliability is low, is not easy to systemic-function upgrading and maintenance and debugging.
The content of the invention
Purpose：In order to overcome the deficiencies in the prior art, for the existing speed regulating control skill of above-mentioned aerial work platform
Deficiency in the presence of art, cause to impact during each executive component start and stop greatly, operation is unstable, simultaneously because speed-regulating function
Imperfection, traffic demand during executive component different motion speed can not be accurately controlled, the problem of system energy loss is big, this hair
It is bright that a kind of pure electronic aerial work platform Electronic governing system is provided.
Technical scheme：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of Electronic governing system, it is characterised in that：Including controller, operation handle, controlling switch, arm lengths sensor, arm
Obliquity sensor, electric machine controller, motor, constant displacement pump, ratio main valve, switch valve group and executive component；
It is controller and operation handle, controlling switch, arm lengths sensor, arm obliquity sensor, electric machine controller, motor, quantitative
Connected between pump, ratio main valve, switch valve group, executive component by communication cable；Between electric machine controller and motor
Connected by power line；
Arm lengths sensor, obliquity sensor monitor the length stretched for feedback arm, raising angle；
Controller acquisition operations handle position, controlling switch and sensor signal, output motor rotating speed Regulate signal, ratio main valve
Aperture current regulating signal and switch valve group control signal；
Ratio main valve carries pressure compensation, and with the increase of input current, the flow of proportioning valve output also increases, and is not
The influence for operating pressure of uniting；
Electric machine controller receives controller rotary speed regulating signal, and controlled motor drives quantitative oil pump rotation speed operation as desired；
Executive component realizes corresponding action according to HYDRAULIC CONTROL SYSTEM.
The present invention also provides the speed regulating method of described Electronic governing system, comprises the following steps：
Step（1）Executive component maximum stream flow calculates and control process：
（1-1）Inputted according to the operation handle of driver and controlling switch signal, determine the current executive component C of system i ；
（1-2）Inquiry obtains the pre-stored maximum allowable flow system flow Q of the executive component maxi ；
（1-3）According to flow Q maxi With oil pump capacity and considering leakage loss, motor maximum permissible speed n is calculated maxi ；
（1-4）According to flow Q maxi Between ratio main valve control electric current and flow（Q-I）Relation curve, obtain ratio main valve
Maximum controlling current I maxi 。
Step（2）Preset each executive component C i Start-up course and stopped process flow and time relationship（Q-t）Curve, control
System adjusts the output of executive component flow according to the curve, can ensure executive component C i Startup, stopped process are steady；If perform
Element is controlled by potentiometer operation handle, performs step（3）Speed regulation process, otherwise, if being controlled by switch, perform step（4）
Speed regulation process；
Step（3）Potentiometer operation handle controls：
（3-1）If detecting handle position signal first, then carry out executive component and start cushioning control；Believe according to handle position
Number real time computation system demand volume Q req , while according to step（2）In（Q-t）Curve obtains flow Q in real time lim If Q req >
Q lim , then system output stream amount Q i =Q lim , otherwise Q i =Q req , and Q lim 、Q req 、Q i ≤Q maxi ；
（3-2）According to flow Q i With oil pump capacity and consider leakage loss, calculate motor demand rotating speed n i , according to ratio main valve control
Relation curve between electric current and flow processed, obtain ratio main valve aperture control electric current I i , and I i ≤I maxi If while I i >I dead ,
Then output switch valve opening control signal, wherein, I dead It is that ratio main valve opens dead band electric current；
（3-3）After the completion of Acceleration of starting cushioning control, controller gathers handle position signal, computing system traffic demand in real time
Q req , according to flow Q req With oil pump capacity and consider leakage loss, calculate motor demand rotating speed n, according to ratio main valve control electricity
Relation curve between stream and flow, obtain ratio main valve aperture control electric current I, and Q req ≤Q maxi , I≤I maxi ；
（3-4）Judge whether executive component has position feedback transducer, performed if having（3-5）, otherwise perform（3-6）；
（3-5）Judge whether executive component enters deceleration area, if into deceleration area, pressure carries out stopping deceleration buffer control,
According to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , and calculate motor demand rotating speed n and
Ratio main valve aperture control electric current I, if I≤（I dead +ΔI）, then output switch valve closing control signal, wherein,ΔI is electricity
Deviation is flowed, if being introduced into deceleration area, performs step（3-6）；
（3-6）Judge whether handle signal has output, if so, then continuing executing with（3-3）、（3-4）、（3-5）Process, if nothing,
Carry out stopping deceleration buffer control, according to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim ,
And motor demand rotating speed n and ratio main valve aperture control electric current I are calculated, if I≤（I dead +ΔI）, then output switch valve, which is closed, controls
Signal processed.
Step（4）Switch control：
（4-1）Detect that switch has signal output, then carry out executive component and start cushioning control；According to step（2）In（Q-t）
Curve obtains flow Q in real time lim , Q i =Q lim , and Q lim 、Q i ≤Q maxi ；
（4-2）Perform（3-2）Step, calculate motor demand rotating speed n i With ratio main valve aperture control electric current I i ；
（4-3）After the completion of Acceleration of starting cushioning control, system flow demand Q req =Q maxi , according to flow Q req With oil pump capacity simultaneously
Consider leakage loss, calculate motor demand rotating speed n, according to the relation curve between ratio main valve control electric current and flow, obtain
Ratio main valve aperture control electric current I, and Q req ≤Q maxi , I≤I maxi ；
（4-4）Judge whether executive component has position feedback transducer, performed if having（4-5）, otherwise perform（4-6）；
（4-5）Judge whether executive component enters deceleration area, if into deceleration area, pressure carries out stopping deceleration buffer control,
According to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , and calculate motor demand rotating speed n and
Ratio main valve aperture control electric current I, if I≤（I dead +ΔI）, then output switch valve closing control signal, wherein,ΔI is electricity
Deviation is flowed, if being introduced into deceleration area, performs step（4-5）；
（4-6）Judge whether switching signal has output, if so, then continuing executing with（4-2）、（4-3）、（4-4）Process, if nothing,
Carry out stopping deceleration buffer control, according to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim ,
And motor demand rotating speed n and ratio main valve aperture control electric current I are calculated, if I≤（I dead +ΔI）, then output switch valve, which is closed, controls
Signal processed.
Beneficial effect：Pure electronic aerial work platform Electronic governing system provided by the invention, simple in construction, operation side
Just, cost is low, can realize speed precise controlling of each executive component in startup, operation and stopped process, provide system
Flow matches with executive component demand volume, reduces system shock and energy spill losses, improves the Automated condtrol of system
Horizontal and system effectiveness, makes that the control accuracy of system is higher, and reliability is stronger, ensures the safety of aerial work personnel.No matter
Executive component whether there is position feedback transducer, and speed in the process of running can be realized for potentiometer handle and switch control
Precise controlling, reduce start and stopped process in impact, ensure aerial work personnel safety and executive component operation
It is steady reliable.Demand according to actuator movement to flow, Oil pump electrical machinery rotating speed and ratio main valve control electric current are adjusted in real time,
So as to ensure that the flow that system provides under various operating modes matches with executive component demand volume, the overflow loss of system is reduced,
Improve system effectiveness.
Brief description of the drawings
Fig. 1 is the system schematic of the present invention；
Fig. 2 is the calculating of executive component maximum stream flow and control flow chart；
Fig. 3 is executive component speed regulating control flow chart：Fig. 3（a）Speed governing flow, Fig. 3 are controlled for potentiometer handle（b）Controlled for switch
Speed governing flow processed.
Embodiment
The present invention is further described with reference to specific embodiment.
As shown in figure 1, be a kind of pure electronic aerial work platform Electronic governing system, including controller, operation handle, control
System switch, arm lengths sensor, arm obliquity sensor, electric machine controller, motor, constant displacement pump, ratio main valve, switch valve group and hold
Units.All connected between controller and other modules by communication cable, by dynamic between electric machine controller and motor
The line of force connects.The arm lengths length and raising angle flexible with obliquity sensor monitoring feedback arm；Controller acquisition operations handle
Position, controlling switch and sensor signal, output motor rotating speed Regulate signal, ratio main valve aperture current regulating signal and switch
Valve group control signal；Ratio main valve carries pressure compensation, and with the increase of input current, the flow of proportioning valve output also increases
Greatly, do not influenceed by system working pressure；Electric machine controller receives controller rotary speed regulating signal, and controlled motor drives quantitative oil
Pump rotation speed operation as desired；Executive component realizes corresponding action according to HYDRAULIC CONTROL SYSTEM.
The specific speed regulating method of aerial work platform Electronic governing system of the present invention is as follows：
（1）Executive component maximum stream flow is calculated with control process as shown in Fig. 2 detailed process is as follows：
（1-1）Inputted according to the operation handle of driver and controlling switch signal, determine the current executive component C of system i ；
（1-2）Inquiry obtains the pre-stored maximum allowable flow system flow Q of the executive component maxi ；
（1-3）According to flow Q maxi With oil pump capacity and considering leakage loss, motor maximum permissible speed n is calculated maxi ；
（1-4）According to flow Q maxi Between ratio main valve control electric current and flow（Q-I）Relation curve, obtain ratio main valve
Maximum controlling current I maxi ；
（2）Preset each executive component C i Start-up course and stopped process flow and time relationship（Q-t）Curve, control system according to
Curve adjustment executive component flow output, can ensure executive component C i Startup, stopped process are steady.If executive component is by electricity
Position device operation handle control, performs step（3）Speed regulation process, otherwise, if being controlled by switch, perform step（4）Speed regulation process；
（3）Potentiometer operation handle controls, control flow such as Fig. 3（a）Shown, specific speed regulation process is as follows：
（3-1）If detecting handle position signal first, then carry out executive component and start cushioning control.Believe according to handle position
Number real time computation system demand volume Q req , while according to step（2）In（Q-t）Curve obtains flow Q in real time lim If Q req >
Q lim , then system output stream amount Q i =Q lim , otherwise Q i =Q req , and Q lim 、Q req 、Q i ≤Q maxi ；
（3-2）According to flow Q i With oil pump capacity and consider leakage loss, calculate motor demand rotating speed n i , according to ratio main valve control
Relation curve between electric current and flow processed, obtain ratio main valve aperture control electric current I i , and I i ≤I maxi If while I i >I dead ,
Then output switch valve opening control signal, wherein, I dead It is that ratio main valve opens dead band electric current；
（3-3）After the completion of Acceleration of starting cushioning control, controller gathers handle position signal, computing system traffic demand in real time
Q req , according to flow Q req With oil pump capacity and consider leakage loss, calculate motor demand rotating speed n, according to ratio main valve control electricity
Relation curve between stream and flow, obtain ratio main valve aperture control electric current I, and Q req ≤Q maxi , I≤I maxi ；
（3-4）Judge whether executive component has position feedback transducer, performed if having（3-5）, otherwise perform（3-6）；
（3-5）Judge whether executive component enters deceleration area, if into deceleration area, pressure carries out stopping deceleration buffer control,
According to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , and calculate motor demand rotating speed n and
Ratio main valve aperture control electric current I, if I≤（I dead +ΔI）, then output switch valve closing control signal, wherein,ΔI is electricity
Deviation is flowed, if being introduced into deceleration area, performs step（3-6）；
（3-6）Judge whether handle signal has output, if so, then continuing executing with（3-3）、（3-4）、（3-5）Process, if nothing,
Carry out stopping deceleration buffer control, according to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim ,
And motor demand rotating speed n and ratio main valve aperture control electric current I are calculated, if I≤（I dead +ΔI）, then output switch valve, which is closed, controls
Signal processed.
（4）Switch flow such as Fig. 3 of control（b）Shown, specific speed regulation process is as follows：
（4-1）Detect that switch has signal output, then carry out executive component and start cushioning control.According to step（2）In（Q-t）
Curve obtains flow Q in real time lim , Q i =Q lim , and Q lim 、Q i ≤Q maxi ；
（4-2）Perform（3-2）Step, calculate motor demand rotating speed n i With ratio main valve aperture control electric current I i ；
（4-3）After the completion of Acceleration of starting cushioning control, system flow demand Q req =Q maxi , according to flow Q req With oil pump capacity simultaneously
Consider leakage loss, calculate motor demand rotating speed n, according to the relation curve between ratio main valve control electric current and flow, obtain
Ratio main valve aperture control electric current I, and Q req ≤Q maxi , I≤I maxi ；
（4-4）Judge whether executive component has position feedback transducer, performed if having（4-5）, otherwise perform（4-6）；
（4-5）Judge whether executive component enters deceleration area, if into deceleration area, pressure carries out stopping deceleration buffer control,
According to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , and calculate motor demand rotating speed n and
Ratio main valve aperture control electric current I, if I≤（I dead +ΔI）, then output switch valve closing control signal, wherein,ΔI is electricity
Deviation is flowed, if being introduced into deceleration area, performs step（4-5）；
（4-6）Judge whether switching signal has output, if so, then continuing executing with（4-2）、（4-3）、（4-4）Process, if nothing,
Carry out stopping deceleration buffer control, according to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim ,
And motor demand rotating speed n and ratio main valve aperture control electric current I are calculated, if I≤（I dead +ΔI）, then output switch valve, which is closed, controls
Signal processed.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
- A kind of 1. Electronic governing system, it is characterised in that：Including controller, operation handle, controlling switch, arm lengths sensor, Arm obliquity sensor, electric machine controller, motor, constant displacement pump, ratio main valve, switch valve group and executive component；It is controller and operation handle, controlling switch, arm lengths sensor, arm obliquity sensor, electric machine controller, motor, quantitative Connected between pump, ratio main valve, switch valve group, executive component by communication cable；Between electric machine controller and motor Connected by power line；Arm lengths sensor, obliquity sensor monitor the length stretched for feedback arm, raising angle；Controller acquisition operations handle position, controlling switch and sensor signal, output motor rotating speed Regulate signal, ratio main valve Aperture current regulating signal and switch valve group control signal；Ratio main valve carries pressure compensation, and with the increase of input current, the flow of proportioning valve output also increases, and is not The influence for operating pressure of uniting；Electric machine controller receives controller rotary speed regulating signal, and controlled motor drives quantitative oil pump rotation speed operation as desired；Executive component realizes corresponding action according to HYDRAULIC CONTROL SYSTEM.
- 2. the speed regulating method of Electronic governing system according to claim 1, it is characterised in that comprise the following steps：Step（1）Executive component maximum stream flow calculates and control process；Step（2）Preset each executive component C i Start-up course and stopped process flow and time relationship（Q-t）Curve, control system According to curve adjustment executive component flow output, executive component C can be ensured i Startup, stopped process are steady；If executive component Controlled by potentiometer operation handle, perform step（3）Speed regulation process；Step（3）Potentiometer operation handle controls.
- 3. the speed regulating method of Electronic governing system according to claim 1, it is characterised in that comprise the following steps：Step（1）Executive component maximum stream flow calculates and control process；Step（2）Preset each executive component C i Start-up course and stopped process flow and time relationship（Q-t）Curve, control system According to curve adjustment executive component flow output, executive component C can be ensured i Startup, stopped process are steady；If executive component Controlled by potentiometer operation handle, perform step（3）Speed regulation process, otherwise, if being controlled by switch, perform step（4）Speed governing Process；Step（3）Potentiometer operation handle controls；Step（4）Switch control.
- 4. the speed regulating method of the Electronic governing system according to Claims 2 or 3, it is characterised in that step（1）Detailed process It is as follows：（1-1）Inputted according to the operation handle of driver and controlling switch signal, determine the current executive component C of system i ；（1-2）Inquiry obtains the pre-stored maximum allowable flow system flow Q of the executive component maxi ；（1-3）According to flow Q maxi With oil pump capacity and considering leakage loss, motor maximum permissible speed n is calculated maxi ；（1-4）According to flow Q maxi Between ratio main valve control electric current and flow（Q-I）Relation curve, obtain ratio main valve Maximum controlling current I maxi 。
- 5. the speed regulating method of Electronic governing system according to claim 4, it is characterised in that step（3）Detailed process is such as Under：（3-1）If detecting handle position signal first, then carry out executive component and start cushioning control；Believe according to handle position Number real time computation system demand volume Q req , while according to step（2）In（Q-t）Curve obtains flow Q in real time lim If Q req > Q lim , then system output stream amount Q i =Q lim , otherwise Q i =Q req , and Q lim 、Q req 、Q i ≤Q maxi ；（3-2）According to flow Q i With oil pump capacity and consider leakage loss, calculate motor demand rotating speed n i , according to ratio main valve control Relation curve between electric current and flow processed, obtain ratio main valve aperture control electric current I i , and I i ≤I maxi If while I i >I dead , Then output switch valve opening control signal, wherein, I dead It is that ratio main valve opens dead band electric current；（3-3）After the completion of Acceleration of starting cushioning control, controller gathers handle position signal, computing system traffic demand in real time Q req , according to flow Q req With oil pump capacity and consider leakage loss, calculate motor demand rotating speed n, according to ratio main valve control electricity Relation curve between stream and flow, obtain ratio main valve aperture control electric current I, and Q req ≤Q maxi , I≤I maxi ；（3-4）Judge whether executive component has position feedback transducer, performed if having（3-5）, otherwise perform（3-6）；（3-5）Judge whether executive component enters deceleration area, if into deceleration area, pressure carries out stopping deceleration buffer control, According to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , and calculate motor demand rotating speed n and Ratio main valve aperture control electric current I, if I≤（I dead +ΔI）, then output switch valve closing control signal, wherein,ΔI is electricity Deviation is flowed, if being introduced into deceleration area, performs step（3-6）；（3-6）Judge whether handle signal has output, if so, then continuing executing with（3-3）、（3-4）、（3-5）Process, if nothing, Carry out stopping deceleration buffer control, according to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , And motor demand rotating speed n and ratio main valve aperture control electric current I are calculated, if I≤（I dead +ΔI）, then output switch valve, which is closed, controls Signal processed.
- 6. the speed regulating method of Electronic governing system according to claim 5, it is characterised in that step（4）Detailed process is such as Under：（4-1）Detect that switch has signal output, then carry out executive component and start cushioning control；According to step（2）In（Q-t） Curve obtains flow Q in real time lim , Q i =Q lim , and Q lim 、Q i ≤Q maxi ；（4-2）Perform（3-2）Step, calculate motor demand rotating speed n i With ratio main valve aperture control electric current I i ；（4-3）After the completion of Acceleration of starting cushioning control, system flow demand Q req =Q maxi , according to flow Q req With oil pump capacity and examine Consider leakage loss, calculate motor demand rotating speed n, according to the relation curve between ratio main valve control electric current and flow, obtain ratio Example main valve aperture control electric current I, and Q req ≤Q maxi , I≤I maxi ；（4-4）Judge whether executive component has position feedback transducer, performed if having（4-5）, otherwise perform（4-6）；（4-5）Judge whether executive component enters deceleration area, if into deceleration area, pressure carries out stopping deceleration buffer control, According to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , and calculate motor demand rotating speed n and Ratio main valve aperture control electric current I, if I≤（I dead +ΔI）, then output switch valve closing control signal, wherein,ΔI is electricity Deviation is flowed, if being introduced into deceleration area, performs step（4-5）；（4-6）Judge whether switching signal has output, if so, then continuing executing with（4-2）、（4-3）、（4-4）Process, if nothing, Carry out stopping deceleration buffer control, according to step（2）In stopped process（Q-t）Curve obtains flow system flow Q in real time lim , And motor demand rotating speed n and ratio main valve aperture control electric current I are calculated, if I≤（I dead +ΔI）, then output switch valve, which is closed, controls Signal processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878796.4A CN107522149B (en) | 2017-09-26 | 2017-09-26 | A kind of pure electric vehicle aerial work platform Electronic governing system |
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| CN201710878796.4A CN107522149B (en) | 2017-09-26 | 2017-09-26 | A kind of pure electric vehicle aerial work platform Electronic governing system |
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| CN107522149A true CN107522149A (en) | 2017-12-29 |
| CN107522149B CN107522149B (en) | 2019-04-16 |
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