CN107701531B - Power and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system - Google Patents

Power and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system Download PDF

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Publication number
CN107701531B
CN107701531B CN201710830455.XA CN201710830455A CN107701531B CN 107701531 B CN107701531 B CN 107701531B CN 201710830455 A CN201710830455 A CN 201710830455A CN 107701531 B CN107701531 B CN 107701531B
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hydraulic
control valve
back pressure
control
oil
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CN107701531A (en
Inventor
权龙�
李运帷
权仲翊
葛磊
王波
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Taiyuan University of Technology
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Taiyuan University of Technology
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14Energy-recuperation means
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/20Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205Systems with pumps
    • F15B2211/2053Type of pump
    • F15B2211/20546Type of pump variable capacity
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/20Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/70Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71Multiple output members, e.g. multiple hydraulic motors or cylinders

Abstract

A kind of power and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, the compound regulation multi executors system is to be utilized using energy regeneration and controlled the back oil cavity pressure of each actuator other than highest load, to keep the pressure of each actuator oil suction chamber all the same, the pressure difference of all control valve ports is all the same, the pressure and flow for making hydraulic pump match with each hydraulic actuator, eliminate multi executors system throttles caused by load variations and lose.The present invention can regulate and control the operating point of power source by the back oil cavity pressure of control actuator, and regulation unit nonrigid can be connected with power source, hybrid power function is further expanded into action potential and recycles and reduce throttling loss, it greatly promotes energy-saving effect and shortens investment return period, be conducive to promote and apply.

Description

Power and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system
Technical field
The present invention relates to a kind of control systems of multi executors in hydraulic control technology, especially a kind of to be used for engineer equipment Reduce the electrohydraulic control system of multi executors system pressure difference loss and power matching.
Background technique
The non-rice habitats such as existing various types engineering machinery, road building machine, mining machinery, forestry machinery and agricultural machinery are mobile Equipment, generallys use the hydraulic pump as power source of internal combustion engine drives, through multi-way valve and pipeline distribution and transmitting power, controls more The hydraulic system of a actuator composite move, this is also that hydraulic technique is most widely used, most important field, and feature is that power is close It is strong to spend high, compact-sized, handling good and environmental suitability, but fatal deficiency is that capacity usage ratio is low, complete machine efficiency only has 20% Left and right.Studies have shown that the loss of control valve port significant energy, engine work long hours in inefficient area and action potential conversion The energy dissipation of process is to cause that engineer equipment installed power is big, fuel consumption is big, discharge difference and the serious root of fever, The energy dissipation that middle control valve generates is the most serious.In published patent of invention " using the energy-saving shield of load-sensitive technology Structure pipe sheet assembling positions electrohydraulic control system, and CN103032396A " often has load variation range for multi executors system Wide feature makes the output pressure of hydraulic pump that load be followed to change and change always, keeps away by using Ioad-sensing control principle Exempt from original system always with energy dissipation caused by maximum working pressure fuel feeding, reduce restriction loss and spill losses, But it match since the output pressure of pump can only be loaded with highest, and for multi executors system, caused by larger load variations The restriction loss of low-load actuator control valves can not be eliminated always, and exactly multi executors system is main for this partial loss Energy consumption source, account for the 35% ~ 39% of engine output.
In addition, engineering machinery load wide variation in actual operation, power source is caused to often operate in inefficient Working region increases the discharge and energy consumption of power source, and therefore, it is necessary to the situations of change according to load, using torque couple side Formula adds the power source of other forms, to match to original power source, such as the electronic of oil electric mixed dynamic mode or hair The hydraulic pump or motor of motor or hydraulic hybrid mode absorb actively in low load working condition auxiliary power source as loading The power in power source, so that the efficiency of main power source is promoted, and under big load operating condition, auxiliary power source discharges absorbed energy And assisting main power source that load is driven to do work together, but existing hybrid power mode, the energy that auxiliary power source provides will pass through The second throttle of control valve generates loss, and function is only to match the operating point of engine, after adding this unit, complete machine Cost will increase many, and the cost recovery period is longer, influences to promote and apply.
Summary of the invention
For deficiency existing for above-mentioned existing load-sensitive multi executors system, the present invention provides a kind of power and back pressure oil Electro-hydraulic combination of rigidity and flexibility regulates and controls multi executors system, utilizes structure using energy regeneration, respectively holds other than control highest load The back oil cavity pressure of row device keeps each actuator oil inlet cavity pressure and control valve port pressure difference identical, make prexxure of the hydraulic pump and flow with Each hydraulic actuator matching, eliminates multi executors system throttles caused by load variations and loses, and is returned by control actuator Oil pocket pressure controlling power source operating point, regulation unit and the non-rigid connection of power source, hybrid power function is further expanded It is recycled to action potential, reduces throttling loss, promote energy-saving effect, shorten investment return period, be conducive to promote and apply.
To achieve the goals above, the technical scheme is that a kind of power and the electro-hydraulic combination of rigidity and flexibility regulation of back pressure oil Multi executors system, including power source, Main Hydraulic Pump, transfer case, safety valve, the first hydraulic actuator, the second hydraulic actuator, Third hydraulic actuator, the first control valve, the second control valve and third control valve;It is characterized by:
Further have additional hydrodynamic regulation unit, back pressure regulation unit, controller, the first switchover control valve, the second conversion Control valve, third switchover control valve, the first hydraulic control one-way valve, the second hydraulic control one-way valve, third hydraulic control one-way valve, first pressure pass Sensor, second pressure sensor, third pressure sensor, the 4th pressure sensor, the 5th pressure sensor and the 6th pressure pass Sensor;
The actuator port of first control valve is connected to the oil inlet and outlet of the first hydraulic actuator respectively, the work of the second control valve Make hydraulic fluid port to be connected to the oil inlet and outlet of the second hydraulic actuator respectively, the actuator port of third control valve respectively with third is hydraulic holds The oil inlet and outlet of row device is connected to;The oil outlet of Main Hydraulic Pump respectively with the first control valve, the second control valve and third control valve Oil inlet connection;The oil return opening of first control valve is connected to the oil outlet of the first hydraulic control one-way valve, the oil outlet of the second control valve It is connected to the oil outlet of the second hydraulic control one-way valve, the oil outlet of third control valve is connected to the oil outlet of third hydraulic control one-way valve; The output shaft of power source is connect with transfer case, and the input shaft of Main Hydraulic Pump is connect with transfer case;The hydraulic fluid port of first switchover control valve A1 and hydraulic fluid port B1 are connected to the oil inlet and outlet of the first hydraulic actuator respectively, and hydraulic fluid port A2 and hydraulic fluid port B2 points of the second switchover control valve It is not connected to the oil inlet and outlet of the second hydraulic actuator, the hydraulic fluid port A3 and hydraulic fluid port B3 of third switchover control valve are hydraulic with third respectively The oil inlet and outlet of actuator is connected to;The disengaging with the first hydraulic actuator respectively of first pressure sensor, second pressure sensor Hydraulic fluid port connection, third pressure sensor, the 4th pressure sensor are connected to the oil inlet and outlet of the second hydraulic actuator respectively, and the 5th The 6th pressure sensor of pressure sensor is connected to the oil inlet and outlet of third hydraulic actuator respectively;All pressure sensors, position Displacement sensor, speed probe output signal be all connected to controller, the signal provides control after controller operation First control valve, second the first switchover control valve of control valve third control valve, the second switchover control valve, third switchover control valve and The signal of rotational speed governor movement.
The back pressure regulation unit is to regulate and control electronic or generator by back pressure, and the first back pressure regulates and controls hydraulic pump or motor, the Two back pressures regulate and control hydraulic pump or motor, and the first back pressure regulates and controls hydraulic accumulator, and the second back pressure regulates and controls hydraulic accumulator, the first repairing Check valve, the second repairing check valve, the 7th pressure sensor, the 8th pressure sensor, the first displacement sensor, second displacement pass Sensor, speed probe, rotational speed governor, bidirectional DC-DC converter, super capacitor group and power switch are constituted;Wherein:
Second back pressure regulates and controls the hydraulic fluid port P3 of hydraulic pump or motor and the hydraulic fluid port R1 of the first switchover control valve and second turn The hydraulic fluid port R2 connection of control valve is changed, the second back pressure regulates and controls the hydraulic fluid port P4 of hydraulic pump or motor and the second back pressure regulates and controls hydraulic accumulator Oil inlet, the 8th pressure sensor, the second repairing check valve oil outlet connection, second displacement sensor detect the second back pressure tune The pivot angle of draining press pump or motor;First back pressure regulates and controls the hydraulic fluid port P1 of hydraulic pump or motor and the hydraulic fluid port R3 of third switchover control valve Connection, the first back pressure regulate and control the hydraulic fluid port P2 of hydraulic pump or motor and oil inlet, the 7th pressure of the first back pressure regulation hydraulic accumulator Force snesor, the connection of the first repairing check valve oil outlet, the first displacement sensor detect the first back pressure regulation hydraulic pump or motor Pivot angle;The output end of rotational speed governor regulates and controls electronic or generator with back pressure and connect, one end connection of bidirectional DC-DC converter On the DC bus of rotational speed governor, the other end of bidirectional DC-DC converter is connect with super capacitor group, power switch it is defeated The connection of the input terminal of outlet and rotational speed governor, speed probe detection back pressure regulate and control electronic or generator revolving speed.
The back pressure regulates and controls electronic or generator and the first back pressure regulation hydraulic pump or motor, the second back pressure regulate and control hydraulic pump Or motor is connected by torque couple mode;The back pressure regulates and controls electronic or generator, the first back pressure regulation hydraulic pump or motor Regulate and control hydraulic pump with the second back pressure or motor drive shaft is connect or is not connected to transfer case.
When the hydrodynamic regulation unit is electronic hydrodynamic regulation or generator, hydrodynamic regulation is electronic or the driving of generator Axis is connect with transfer case, and is provided with the second inverter, the output end of the second inverter be connected to hydrodynamic regulation it is electronic or power generation Machine, the input terminal of the second inverter and the DC bus of rotational speed governor connect.
When the hydrodynamic regulation unit is hydrodynamic regulation hydraulic pump or motor, the driving of hydrodynamic regulation hydraulic pump or motor In axis connection to transfer case, and the actuator port of the oil inlet P 5 of hydrodynamic regulation hydraulic pump or motor and hydrodynamic regulation accumulator, The hydraulic fluid port P6 of the connection of 9th pressure sensor actuator port, hydrodynamic regulation hydraulic pump or motor is connected to fuel tank;Third displacement passes Sensor, which is mounted on hydrodynamic regulation hydraulic pump or motor, detects its discharge capacity.
The Main Hydraulic Pump is that the volume adjustable hydraulic pump of load-sensitive type, constant-pressure variable hydraulic pump, inverted flux control type are hydraulic Pump, ratio become displacement hydraulic pump or the combination of these hydraulic pumps.
First control valve, the second control valve, third control valve are the multiple directional control valve of four sides linkage, or are into and out The hydraulic valve bank of hydraulic fluid port independent control, control mode are Hydraulic guide controls, manually control either electrical ratio control.
First hydraulic actuator, the second hydraulic actuator, third hydraulic actuator are hydraulic cylinder or hydraulic horse It reaches.
First switchover control valve, the second switchover control valve, third switchover control valve are hydraulic controls, or electrical Signal control.
Hydraulic fluid port A2, B2 of hydraulic fluid port A1, B1 of first switchover control valve, the second switchover control valve, third conversion and control Hydraulic fluid port A3, B3 of valve be respectively with the first control valve oil inlet and outlet, the second control valve oil inlet and outlet, third control valve oil inlet and outlet Connection, the hydraulic fluid port R1 of the first switchover control valve, the hydraulic fluid port R2 of the second switchover control valve and the second back pressure regulation hydraulic pump or motor Hydraulic fluid port P3 connection;The hydraulic fluid port R3 of third switchover control valve is connected to the hydraulic fluid port P1 that the first back pressure regulates and controls hydraulic pump or motor.
Implement the present invention it is above-mentioned provided by a kind of power and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, with The prior art is compared, and advantage is as follows with good effect.
This system structure regulates and controls the pressure of actuator oil back chamber, is made by setting pressure energy electrical regeneration structure Much for actuator system under big load difference operating condition, the pressure difference of each actuator control valves is equal, the output pressure of hydraulic pump It is matched with flow with needed for each actuator, thus eliminates the inconsistent generated restriction loss of load.
This system structure is not necessarily to pressure difference compensation valve, is not influenced by load difference variation, accurate control and distribution flow, into one Step reduces the restriction loss of control valve control flow.
This system structure includes that the recycling function of action potential using same set of hardware system realizes swing arm gesture It can realize energy regenerating with the recycling of rotary braking kinetic energy and eliminate the overall-in-one control schema of load variations throttling loss.
This system structure adjusts the operating point of engine, engine operation is made to exist by control actuator back oil cavity pressure Efficient working region meets engine power matching and requires.
This system organization plan reduces the installed power of machine, reduces the fever of system, it is sustainable to increase machine Working time simultaneously reduces cooling power, solves the problems, such as that construction machinery hydraulic oil tank little Yi causes hydraulic heating of oil and aging.
This system organization plan effectively eliminates original on the basis of retaining realization has multi executors steer mode advantage There is the deficiency of scheme, has the advantages that high energy efficiency, low emission, action potential recycling and power matching integration etc. are various.
Detailed description of the invention
Fig. 1 is that the present invention regulates and controls unit containing electric driving force and the back pressure connecting with transfer case regulation unit controls three liquid Press the circuit theory structural schematic diagram of actuator.
Fig. 2 is that the present invention regulates and controls unit containing hydraulic power and the back pressure connecting with transfer case regulation unit controls three liquid Press the circuit theory structural schematic diagram of actuator.
Fig. 3 is that the circuit that the present invention controls three hydraulic actuators only with the back pressure regulation unit connecting with transfer case is former Manage structural schematic diagram.
Fig. 4 be the present invention containing electric driving force regulation unit and separated with transfer case back pressure regulation unit control three it is hydraulic The circuit theory structural schematic diagram of actuator.
Fig. 5 be the present invention containing hydraulic power regulation unit and separated with transfer case back pressure regulation unit control three it is hydraulic The circuit theory structural schematic diagram of actuator.
Fig. 6 is the present invention only with the circuit theory for separating back pressure regulation unit three hydraulic actuators of control with transfer case Structural schematic diagram.
In figure: 1, power source, 2, Main Hydraulic Pump, 3, transfer case, 4, safety valve, 5, hydrodynamic regulation motor or generator, 6, the first hydraulic actuator, the 7, second hydraulic actuator, 8, third hydraulic actuator, the 9, first control valve, the 10, second control Valve, 11, third control valve, the 12, first switchover control valve, the 13, second switchover control valve, 14, third switchover control valve, 15, back Pressure regulation unit, 16, controller, 17, first pressure sensor, 18, second pressure sensor, 19, third pressure sensor, 20, the 4th pressure sensor, the 21, the 5th pressure sensor, the 22, the 6th pressure sensor, the 23, first back pressure regulate and control hydraulic storage Energy device, the 24, second back pressure regulate and control hydraulic accumulator, and the 25, first back pressure regulates and controls hydraulic pump or motor, and the 26, second back pressure regulates and controls liquid Press pump or motor, 27, back pressure regulate and control electronic or engine, the 28, first repairing check valve, the 29, second repairing check valve, 30, turn Fast controller, 31, bidirectional DC-DC converter, 32, super capacitor group, the 33, the 7th pressure sensor, the 34, the 8th pressure sensing Device, the 35, first displacement sensor, 36, second displacement sensor, 37, speed probe, 38, power switch, 39, hydrodynamic regulation Hydraulic pump or motor, 40, hydrodynamic regulation hydraulic accumulator, the 41, second inverter, the 42, the 9th pressure sensor, 43, third position Displacement sensor, 44, hydrodynamic regulation unit.
G1, the first hydraulic control one-way valve, G2, the second hydraulic control one-way valve, G2, third hydraulic control one-way valve, P1, the regulation of the first back pressure Hydraulic pump or motor oil inlet, P2, the first back pressure regulation hydraulic pump or motor oil outlet, P3, the second back pressure regulation hydraulic pump or Motor oil inlet, P4, the second back pressure regulation hydraulic pump or motor oil outlet, P5, hydrodynamic regulation hydraulic pump or motor oil inlet, P6, hydrodynamic regulation hydraulic pump or motor oil outlet, A1, the first switchover control valve hydraulic fluid port I, the first switchover control valve of B1 hydraulic fluid port II, The first switchover control valve of R1 hydraulic fluid port III, the second switchover control valve of A2 hydraulic fluid port I, the second switchover control valve of B2 hydraulic fluid port II, second turn of R2 Change control valve hydraulic fluid port III.A3 third switchover control valve hydraulic fluid port I, B3 third switchover control valve hydraulic fluid port II, R3 third switchover control valve Hydraulic fluid port III.
Specific embodiment
The explanation of a step is made to a specific embodiment of the invention with reference to the accompanying drawing.
Embodiment 1
It as shown in Fig. 1, is that power of the present invention and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system embodiment 1, The circuit of its back pressure regulation unit 3 hydraulic actuator of control for containing electric driving force regulation unit and connecting with transfer case is former Reason.Power source selects internal combustion engine in the system, and Main Hydraulic Pump mainly transmits torque using displacement hydraulic pump, transfer case is become, Each axle speed ratio is 1:1, and safety valve setting pressure is 32 MPa, and the first hydraulic actuator selects hydraulic cylinder, and second hydraulic holds Row device equally selects hydraulic cylinder, and third hydraulic actuator selects hydraulic motor;First control valve, the second control valve and third control Valve is all made of the proportional multi-way valve of positive flow control.Its structural relation is further to have additional hydrodynamic regulation unit, back pressure regulation Unit and controller, controller use 32 industrial control computers, the first switchover control valve added, the second conversion and control Valve and third switchover control valve are all made of automatically controlled mode;First hydraulic control one-way valve, the second hydraulic control one-way valve and third fluid-control one-way Valve promoting menstruation is 32 mm;First pressure sensor, second pressure sensor, third pressure sensor, the 4th pressure sensor, 5th pressure sensor, the 6th pressure sensor pressure limit be 0-40 MPa.
Constituent relation is that the actuator port of the first control valve is connected to the oil inlet and outlet of the first hydraulic actuator respectively, the The actuator port of two control valves is connected to the oil inlet and outlet of the second hydraulic actuator respectively, the actuator port difference of third control valve It is connected to the oil inlet and outlet of third hydraulic actuator;The oil outlet of Main Hydraulic Pump respectively with the first control valve, the second control valve and The oil inlet of third control valve is connected to, and the oil return opening of the first control valve is connected to the oil outlet of the first hydraulic control one-way valve, the second control The oil outlet of valve processed is connected to the oil outlet of the second hydraulic control one-way valve, oil outlet and the third hydraulic control one-way valve of third control valve Oil outlet connection;The output shaft of power source is connect with transfer case, and the input shaft of Main Hydraulic Pump is connect with transfer case;First conversion control The hydraulic fluid port A1 and hydraulic fluid port B1 of valve processed are connected to the oil inlet and outlet of the first hydraulic actuator respectively, the hydraulic fluid port A2 of the second switchover control valve It is connected to respectively with the oil inlet and outlet of the second hydraulic actuator with hydraulic fluid port B2, hydraulic fluid port A3 and hydraulic fluid port the B3 difference of third switchover control valve It is connected to the oil inlet and outlet of third hydraulic actuator;First pressure sensor, second pressure sensor hydraulic are held with first respectively The oil inlet and outlet of row device is connected to, and third pressure sensor, the 4th pressure sensor are oily with the disengaging of the second hydraulic actuator respectively Mouth connection, the 5th pressure sensor, the 6th pressure sensor are connected to the oil inlet and outlet of third hydraulic actuator respectively;All pressures Force snesor, displacement sensor, speed probe output signal be all connected to controller, these signals pass through controller operation After provide control the first control valve, the second control valve, third control valve, the first switchover control valve, the second switchover control valve, third The signal of switchover control valve and rotational speed governor movement.
Implement the electronic or generator of back pressure regulation and select synchronous permanent-magnet motor or generator, the first back pressure regulate and control hydraulic pump or Motor, the second back pressure regulation hydraulic pump or motor all select axial plunger structure, and the first back pressure regulates and controls hydraulic accumulator, the second back Pressure regulation hydraulic accumulator all uses piston cylinder operator, and the first repairing check valve, the second repairing check valve promoting menstruation all select 32 mm;Speed probe uses high-precision encoder, and the pressure limit of the 7th pressure sensor and the 8th pressure sensor is 40 MPa;First displacement sensor and second displacement sensor select differential transformer form, and rotational speed governor uses frequency conversion control Mode processed;Bidirectional DC-DC converter designed, designed, super capacitor pool-size are 60 farads, and the rated power of power switch is 100 kW.First back pressure regulation hydraulic pump or the hydraulic fluid port P1 of the motor and hydraulic fluid port R3 of third switchover control valve are connected to, the regulation of the first back pressure Oil inlet, the 7th pressure sensor, the first repairing of the hydraulic fluid port P2 and the first back pressure regulation hydraulic accumulator of hydraulic pump or motor The connection of check valve oil outlet;Second back pressure regulates and controls the hydraulic fluid port P3 of the hydraulic pump or motor and hydraulic fluid port R1 of the first switchover control valve, the The hydraulic fluid port R2 of two switchover control valves is connected to, and the second back pressure regulates and controls the hydraulic fluid port P4 of hydraulic pump or motor and the second back pressure regulates and controls hydraulic storage The oil inlet of energy device, the 8th pressure sensor, the connection of the second repairing check valve oil outlet;The output end and back pressure of rotational speed governor Regulate and control the connection of electronic or generator, one end of bidirectional DC-DC converter is connected on the DC bus of rotational speed governor, two-way The other end of DC-DC converter is connect with super capacitor group, and the output end of power switch and the input terminal of rotational speed governor connect, Speed probe detection back pressure regulates and controls electronic or generator revolving speed, and the first displacement sensor detects the first back pressure and regulates and controls hydraulic pump Or the pivot angle of motor, second displacement sensor detect the pivot angle of the second back pressure regulation hydraulic pump or motor.
Back pressure regulates and controls electronic or generator and the first back pressure regulation hydraulic pump or motor, the second back pressure regulation hydraulic pump or horse Up to being connect again with transfer case by torque couple mode after coaxially connected.
Further select hydrodynamic regulation unit for electronic or generator, drive shaft is directly connected to transfer case, is provided with Second inverter, the output end of the second inverter are connected to that hydrodynamic regulation is electronic or generator input terminal, control its revolving speed, and second The input terminal of inverter and the DC bus of rotational speed governor connect.
Main Hydraulic Pump is further selected to become displacement hydraulic pump for ratio.
Further the first control valve of selection, the second control valve, third control valve select the multiple directional control valve of four sides linkage, control Mode processed selects Hydraulic guide control.
Further the first switchover control valve of selection, the second switchover control valve, third switchover control valve select electric signal control Mode processed.
Embodiment 2
It as shown in Fig. 2, is that power of the present invention and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system embodiment 2, The circuit of its back pressure regulation unit three hydraulic actuator of control for containing hydraulic power regulation unit and connecting with transfer case is former Reason.
The composition and connection relationship of the present embodiment 2 are similar to Example 1, and difference is only hydrodynamic regulation unit using hydraulic Control mode, the hydrodynamic regulation hydraulic pump or motor select axial plunger structure, and drive shaft is directly connected on transfer case, The actuator port of the oil inlet P 5 of hydrodynamic regulation hydraulic pump or motor and hydrodynamic regulation hydraulic accumulator, the 9th pressure sensor connect Logical, the hydraulic fluid port P6 of hydrodynamic regulation hydraulic pump or motor is connected to fuel tank, and third displacement sensor is mounted on hydrodynamic regulation hydraulic pump Or on motor, its discharge capacity is detected.
Embodiment 3
It as shown in Fig. 3, is that power of the present invention and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system embodiment 3, Its circuit theory that three hydraulic actuators are controlled only with the back pressure regulation unit connecting with transfer case 3.The present embodiment and reality The difference for applying example 1 and embodiment 2 is not include hydrodynamic regulation unit in system.
Embodiment 4
It as shown in Fig. 4, is that power of the present invention and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system embodiment 4, The circuit of its back pressure regulation unit three hydraulic actuator of control for containing electric driving force regulation unit and separating with transfer case is former Reason.It include power source in system for motor, Main Hydraulic Pump is to become displacement hydraulic pump, and transfer case mainly transmits torque, each axis Speed ratio example is 1:1, and safety valve setting pressure is 32 MPa, and the first hydraulic actuator selects hydraulic cylinder, the second hydraulic actuator Hydraulic cylinder is selected, third hydraulic actuator selects hydraulic motor, and the first control valve, the second control valve and third control valve are all made of The proportional multi-way valve of positive flow control.Its composition is further to have additional hydrodynamic regulation unit, and back pressure regulates and controls unit, and control Device, controller use 32 industrial control computers;The first switchover control valve added, the second switchover control valve and third turn It changes control valve and is all made of its electric control mode, the first hydraulic control one-way valve, the second hydraulic control one-way valve and third hydraulic control one-way valve promoting menstruation It is 32 mm, first pressure sensor, second pressure sensor, third pressure sensor, the 4th pressure sensor, the 5th pressure Force snesor, the pressure limit of the 6th pressure sensor are 0-40 MPa.
The actuator port of first control valve is connected to the oil inlet and outlet of the first hydraulic actuator respectively, the work of the second control valve Make hydraulic fluid port to be connected to the oil inlet and outlet of the second hydraulic actuator respectively, the actuator port of third control valve respectively with third is hydraulic holds The oil inlet and outlet of row device is connected to;The oil outlet of Main Hydraulic Pump respectively with the first control valve, the second control valve and third control valve Oil inlet connection, the oil return opening of the first control valve are connected to the oil outlet of the first hydraulic control one-way valve, the oil outlet of the second control valve It is connected to the oil outlet of the second hydraulic control one-way valve, the oil outlet of third control valve is connected to the oil outlet of third hydraulic control one-way valve; The output shaft of power source is connect with transfer case, and the input shaft of Main Hydraulic Pump is connect with transfer case;The hydraulic fluid port of first switchover control valve A1 and hydraulic fluid port B1 are connected to the oil inlet and outlet of the first hydraulic actuator respectively, and hydraulic fluid port A2 and hydraulic fluid port B2 points of the second switchover control valve It is not connected to the oil inlet and outlet of the second hydraulic actuator, the hydraulic fluid port A3 and hydraulic fluid port B3 of third switchover control valve are hydraulic with third respectively The oil inlet and outlet of actuator is connected to;The disengaging with the first hydraulic actuator respectively of first pressure sensor, second pressure sensor Hydraulic fluid port connection, third pressure sensor, the 4th pressure sensor are connected to the oil inlet and outlet of the second hydraulic actuator respectively, and the 5th Pressure sensor, the 6th pressure sensor are connected to the oil inlet and outlet of third hydraulic actuator respectively;All pressure sensors, position Displacement sensor, speed probe output signal be all connected to controller, these signals provide control after controller operation First control valve, the second control valve, third control valve, the first switchover control valve, the second switchover control valve, third switchover control valve With the signal of rotational speed governor movement.
Back pressure regulation is electronic in implementation or generator selects synchronous permanent-magnet motor or generator, and the first back pressure regulates and controls hydraulic pump Or motor, the second back pressure regulation hydraulic pump or motor all select axial plunger structure, the first back pressure regulates and controls hydraulic accumulator, second Back pressure regulation hydraulic accumulator all uses piston cylinder operator, and the first repairing check valve, the second repairing check valve promoting menstruation all select 32 mm;Speed probe uses high-precision encoder, and the pressure limit of the 7th pressure sensor and the 8th pressure sensor is 40MPa;First displacement sensor and second displacement sensor select differential transformer form, and rotational speed governor uses frequency control Mode;Bidirectional DC-DC converter designed, designed, super capacitor pool-size are 60 farads, and the rated power of power switch is 100 kW.First back pressure regulation hydraulic pump or the hydraulic fluid port P1 of the motor and hydraulic fluid port R3 of third switchover control valve are connected to, the regulation of the first back pressure Oil inlet, the 7th pressure sensor, the first repairing of the hydraulic fluid port P2 and the first back pressure regulation hydraulic accumulator of hydraulic pump or motor The connection of check valve oil outlet;Second back pressure regulates and controls the hydraulic fluid port P3 of the hydraulic pump or motor and hydraulic fluid port R1 of the first switchover control valve, the The hydraulic fluid port R2 of two switchover control valves is connected to, and the second back pressure regulates and controls the hydraulic fluid port P4 of hydraulic pump or motor and the second back pressure regulates and controls hydraulic storage The oil inlet of energy device, the 8th pressure sensor, the connection of the second repairing check valve oil outlet;The output end and back pressure of rotational speed governor Regulate and control the connection of electronic or generator, one end of bidirectional DC-DC converter is connected on the DC bus of rotational speed governor, two-way The other end of DC-DC converter is connect with super capacitor group, and the output end of power switch and the input terminal of rotational speed governor connect; Speed probe detection back pressure regulates and controls electronic or generator revolving speed, and the first displacement sensor detects the first back pressure and regulates and controls hydraulic pump Or the pivot angle of motor, second displacement sensor detect the pivot angle of the second back pressure regulation hydraulic pump or motor.
Back pressure regulates and controls electronic or generator and the first back pressure regulation hydraulic pump or motor, the second back pressure regulation hydraulic pump or horse Up to coaxially connected, but connection relationship does not occur with transfer case 3.
Further select hydrodynamic regulation unit for electronic or generator, drive shaft is directly connected to transfer case, is provided with Second inverter, the output end of the second inverter are connected to that hydrodynamic regulation is electronic or generator input terminal, control its revolving speed, and second The input terminal of inverter and the DC bus of rotational speed governor connect.
Main Hydraulic Pump is further selected to become displacement hydraulic pump for ratio.
Further the first control valve of selection, the second control valve, third control valve select the multiple directional control valve of four sides linkage, control Mode processed selects Hydraulic guide control.
Further the first switchover control valve of selection, the second switchover control valve, third switchover control valve select electric signal control Mode processed.
Embodiment 5
It as shown in Fig. 5, is that power of the present invention and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system embodiment 5, The circuit of its back pressure regulation unit three hydraulic actuator of control for containing hydraulic power regulation unit and separating with transfer case is former Reason.
The composition and connection relationship of the present embodiment 5 are similar to Example 4, and difference is only hydrodynamic regulation unit using hydraulic Control mode, the hydrodynamic regulation hydraulic pump or motor select axial plunger structure, and drive shaft is directly connected on transfer case, The hydraulic fluid port P5 of hydrodynamic regulation hydraulic pump or motor is connected to the actuator port of hydrodynamic regulation accumulator, the 9th pressure sensor, is moved The hydraulic fluid port P6 of power regulation hydraulic pump or motor is connected to fuel tank, and third displacement sensor is mounted on hydrodynamic regulation hydraulic pump or motor On, detect its discharge capacity.
Embodiment 6
It as shown in Fig. 6, is that power of the present invention and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system embodiment 6, Its circuit theory that three hydraulic actuators are controlled only with the back pressure regulation unit isolated with transfer case 3.The present embodiment and reality The difference for applying example 4 and embodiment 5 is not include hydrodynamic regulation unit in system.

Claims (10)

1. a kind of power and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, including power source (1), Main Hydraulic Pump (2), Transfer case (3), safety valve (4), the first hydraulic actuator (6), the second hydraulic actuator (7), third hydraulic actuator (8), One control valve (9), the second control valve (10) and third control valve (11);It is characterized in that:
Further have additional hydrodynamic regulation unit (44), back pressure regulation unit (15), controller (16), the first switchover control valve (12), the second switchover control valve (13), third switchover control valve (14), the first hydraulic control one-way valve (G1), the second hydraulic control one-way valve (G2), third hydraulic control one-way valve (G3), first pressure sensor (17), second pressure sensor (18), third pressure sensor (19), the 4th pressure sensor (20), the 5th pressure sensor (21) and the 6th pressure sensor (22), the first displacement sensor (35), second displacement sensor (36), speed probe (37);
The actuator port of first control valve (9) is connected to the oil inlet and outlet of the first hydraulic actuator (6) respectively;Described second The actuator port of control valve (10) is connected to the oil inlet and outlet of the second hydraulic actuator (7) respectively;The third control valve (11) Actuator port be connected to respectively with the oil inlet and outlet of third hydraulic actuator (8);The oil outlet of the Main Hydraulic Pump (2) respectively with First control valve (9), the second control valve (10) are connected to the oil inlet of third control valve (11);The oil return of first control valve (9) Mouth is connected to the oil outlet of the first hydraulic control one-way valve (G1), the oil outlet and the second hydraulic control one-way valve (G2) of the second control valve (10) Oil outlet connection, the oil outlet of third control valve (11) is connected to the oil outlet of third hydraulic control one-way valve (G3);Power source (1) Output shaft connect with transfer case (3), the input shaft of Main Hydraulic Pump (2) is connect with transfer case (3);First switchover control valve (12) Hydraulic fluid port A1 and hydraulic fluid port B1 be connected to respectively with the oil inlet and outlet of the first hydraulic actuator (6), the oil of the second switchover control valve (13) Mouth A2 and hydraulic fluid port B2 is connected to the oil inlet and outlet of the second hydraulic actuator (7) respectively, the hydraulic fluid port A3 of third switchover control valve (14) It is connected to respectively with the oil inlet and outlet of third hydraulic actuator (8) with hydraulic fluid port B3;First pressure sensor (17), second pressure sensing Device (18) is connected to the oil inlet and outlet of the first hydraulic actuator (6) respectively, third pressure sensor (19), the 4th pressure sensor (20) it is connected to respectively with the oil inlet and outlet of the second hydraulic actuator (7), the 5th pressure sensor (21), the 6th pressure sensor (22) it is connected to respectively with the oil inlet and outlet of third hydraulic actuator (8);All pressure sensors, displacement sensor, revolution speed sensing The output signal of device is respectively connected with controller (16);The signal provides the first control valve of control after controller (16) operation (9), the second control valve (10), third control valve (11), the first switchover control valve (12), the second switchover control valve (13), third The signal of switchover control valve (14) and rotational speed governor (30) movement.
2. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: institute State back pressure regulation unit (15) be regulated and controled by back pressure electronic or generator (27), the first back pressure regulation hydraulic pump or motor (25), Second back pressure regulates and controls hydraulic pump or motor (26), the first back pressure regulation hydraulic accumulator (23), the second back pressure regulation hydraulic energy-accumulating Device (24), the first repairing check valve (28), the second repairing check valve (29), the 7th pressure sensor (33), the 8th pressure sensing It is device (34), the first displacement sensor (35), second displacement sensor (36), speed probe (37), rotational speed governor (30), double It is constituted to DC-DC converter (31), super capacitor group (32) and power switch (38);
The hydraulic fluid port R1 of the hydraulic fluid port P3 and the first switchover control valve (12) of second back pressure regulation hydraulic pump or motor (26) and the The hydraulic fluid port R2 of two switchover control valves (13) is connected to, and the second back pressure regulates and controls the hydraulic fluid port P4 and the second back pressure tune of hydraulic pump or motor (26) The oil inlet, the 8th pressure sensor (34), the second repairing check valve (29) oil outlet for controlling hydraulic accumulator (24) are connected to, and second Displacement sensor (36) detects the pivot angle of the second back pressure regulation hydraulic pump or motor (26);First back pressure regulates and controls hydraulic pump or motor (25) hydraulic fluid port P1 is connected to the hydraulic fluid port R3 of third switchover control valve (14), and the first back pressure regulates and controls the oil of hydraulic pump or motor (25) Oil inlet, the 7th pressure sensor (33), the first repairing check valve of mouth P2 and the first back pressure regulation hydraulic accumulator (23) (28) oil outlet is connected to, and the first displacement sensor (35) detects the pivot angle of the first back pressure regulation hydraulic pump or motor (25);Revolving speed The output end of controller (30) is connect with back pressure regulation electronic or generator (27), and one end of bidirectional DC-DC converter (31) connects It connects on the DC bus of rotational speed governor (30), the other end of bidirectional DC-DC converter (31) and super capacitor group (32) are even It connects, the output end of power switch (38) is connect with the input terminal of rotational speed governor (30), and speed probe (37) detects back pressure tune Control the revolving speed of electronic or generator (27).
3. power according to claim 1 or 2 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, feature It is: the back pressure regulation electronic or generator (27) and the first back pressure regulation hydraulic pump or motor (25), the second back pressure regulation liquid Press pump or motor (26) are connected by torque couple mode.
4. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: working as When the hydrodynamic regulation unit (44) is electronic hydrodynamic regulation or generator, hydrodynamic regulation is electronic or the drive shaft of generator (5) It is connect with transfer case (3), and is provided with the second inverter (41), the output end of the second inverter (41) is connected to hydrodynamic regulation electricity Dynamic or generator (5), the input terminal of the second inverter (41) are connect with the DC bus of rotational speed governor (30).
5. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: working as When the hydrodynamic regulation unit (44) is hydrodynamic regulation hydraulic pump or motor (39), the drive of hydrodynamic regulation hydraulic pump or motor (39) Moving axis is connected on transfer case (3), and the oil inlet P 5 of hydrodynamic regulation hydraulic pump or motor (39) and hydrodynamic regulation accumulator (40) actuator port, the connection of the 9th pressure sensor (42) actuator port, the hydraulic fluid port of hydrodynamic regulation hydraulic pump or motor (39) P6 is connected to fuel tank;Third displacement sensor (42) is mounted on hydrodynamic regulation hydraulic pump or motor (39) and detects its discharge capacity.
6. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: institute Stating Main Hydraulic Pump (2) is the volume adjustable hydraulic pump of load-sensitive type, constant-pressure variable hydraulic pump, inverted flux control type hydraulic pump, ratio Become displacement hydraulic pump or the combination of these hydraulic pumps.
7. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: institute Stating the first control valve (9), the second control valve (10), third control valve (11) is the multiple directional control valve that four sides are linked, or into The hydraulic valve bank of oil outlet independent control, control mode are Hydraulic guide controls, manually control either electrical ratio control.
8. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: institute Stating the first hydraulic actuator (6), the second hydraulic actuator (7), third hydraulic actuator (8) is hydraulic cylinder or hydraulic horse It reaches.
9. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: institute Stating the first switchover control valve (12), the second switchover control valve (13), third switchover control valve (14) is hydraulic control, or electricity The control of gas signal.
10. power according to claim 1 and the electro-hydraulic combination of rigidity and flexibility of back pressure oil regulate and control multi executors system, it is characterized in that: Hydraulic fluid port A2, B2 of hydraulic fluid port A1, B1 of first switchover control valve (12), the second switchover control valve (13), third conversion and control Hydraulic fluid port A3, B3 of valve (14) be respectively with the first control valve (9) oil inlet and outlet, the second control valve (10) oil inlet and outlet, third control Valve (11) oil inlet and outlet processed connection, the hydraulic fluid port R1 of the first switchover control valve (12), the hydraulic fluid port R2 of the second switchover control valve (13) with Second back pressure regulates and controls the hydraulic fluid port P3 connection of hydraulic pump or motor (26);The hydraulic fluid port R3 and the first back pressure of third switchover control valve (14) Regulate and control the hydraulic fluid port P1 connection of hydraulic pump or motor (25).
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