CN107939784A - A kind of multi-hydraulic-cylinder control system and its control method - Google Patents
A kind of multi-hydraulic-cylinder control system and its control method Download PDFInfo
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- CN107939784A CN107939784A CN201711151211.5A CN201711151211A CN107939784A CN 107939784 A CN107939784 A CN 107939784A CN 201711151211 A CN201711151211 A CN 201711151211A CN 107939784 A CN107939784 A CN 107939784A
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- hydraulic
- cylinder
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- hydraulic cylinder
- control
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Classifications
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more 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
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- 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
Abstract
The present invention relates to the present invention relates to technical field of hydraulic, a kind of multi-hydraulic-cylinder control system and its control method are disclosed, the control system includes controller, reversal valve, at least two hydraulic cylinders, hydraulic control one-way valve, digital throttle, servo valve and displacement sensor.The present invention is by monitoring the shift differences between active hydraulic cylinder and each Slave cylinder whether in default synchronous shift deviation range, by control digital throttle valve regulation flow in or out corresponding Slave cylinder rod chamber flow and control servo valve the rod chamber of corresponding Slave cylinder is carried out repairing or is drained the oil, conveniently and efficiently realize between active hydraulic cylinder and each Slave cylinder rough is synchronized with the movement with accurate two kinds, and synchronization accuracy can be regulated and controled according to application requirement, it can avoid due to influence of the hydraulic cylinder accuracy of manufacture to synchronization accuracy.In addition, the present invention also has the advantages that simple in structure, fast response time, stable and reliable operation, security are good.
Description
Technical field
The present invention relates to technical field of hydraulic, and in particular to a kind of multi-hydraulic-cylinder control system and its control method.
Background technology
At present, multi-hydraulic-cylinder synchronization system is mainly used in the technique mistake such as formed product, stretching, punching and mold manufacturing
Cheng Zhong.Hydraulic system Synchronization Control is to ensure that at least two hydraulic cylinders keep same displacement amount during the motion.It is theoretical
On, it is synchronized with the movement if ensured that to the liquid of the equal hydraulic cylinder input equal quantities of multiple work areas, but in reality
Due to the influence of load, the accuracy of manufacture and friction factor etc. in the work of border, the multiple hydraulic cylinders precision that is synchronized with the movement relatively is difficult to guarantee.With
The fast development of modern industry, requirement on machining accuracy is higher and higher, influences multi-hydraulic-cylinder synchronization to overcome or reduce as far as possible
Factor, it would be desirable to take eliminate cumulative errors indemnifying measure.And traditional multi-hydraulic-cylinder synchronous control system is generally adopted
Controlled with mechanical synchronization or using synchronous valve, synchronized cylinder, syncmotor etc., although good using mechanical synchronization stability,
Bulky, synchronization accuracy is mainly influenced be subject to the accuracy of manufacture and structural rigidity；Although using synchronous valve control control it is simple,
The shortcomings that cost is low, but it is maximum is that precision is relatively low, and for offset load resistance difference, it is necessary to adjust repeatedly, Synchronization Control is undesirable, only
Suitable for synchronous place of less demanding；Synchronized cylinder is volume synchronization, and synchronization accuracy is high, and offset load resistance is strong, but it is maximum
The shortcomings that be that volume is big, installation is limited, flow is small, and repairing is difficult；Syncmotor is also the volume method of synchronization, offset load resistance
By force, net synchronization capability is good, and contamination resistance is strong, but volume is big, and price is high, its rotating speed must just can be with certain scope, with
Cause with limited.
The content of the invention
Based on above technical problem, the present invention provides a kind of high, the simple in structure multi-hydraulic-cylinder of synchronization accuracy to control system
System and its control method.
The technical solution adopted by the present invention is as follows：
A kind of multi-hydraulic-cylinder control system, including controller, reversal valve and at least two hydraulic cylinders, one of hydraulic cylinder
For main hydrodynamic cylinder pressure, remaining hydraulic cylinder is Slave cylinder；The rodless cavity of each hydraulic cylinder by fluid pressure line with it is described
First working port of reversal valve is connected, the rod chamber of each hydraulic cylinder passes through the of fluid pressure line and the reversal valve
Two working ports are connected；And the hydraulic stem of each hydraulic cylinder is all connected with a displacement sensor；It is characterized in that：Each
A hydraulic control one-way valve is serially connected with fluid pressure line between the rod chamber of a hydraulic cylinder and the second working port of reversal valve
With a digital throttle, the oil outlet of the hydraulic control one-way valve is connected with the rod chamber of the hydraulic cylinder, the fluid-control one-way
The oil inlet of valve is connected with corresponding digital throttle, and the control oil circuit of the hydraulic control one-way valve is connected to the nothing of the hydraulic cylinder
On fluid pressure line between rod cavity and the first working port of reversal valve；Connected in the rod chamber of each Slave cylinder
Fluid pressure line between hydraulic control one-way valve and digital throttle is bypassed equipped with a hydraulic pressure, the other end of hydraulic pressure bypass with it is described
The oil inlet of reversal valve is connected；And it is serially connected with a servo valve in hydraulic pressure bypass；Institute's displacement sensors, number
Byte stream valve and servo valve are connected with the controller.
As a preferred embodiment, the reversal valve is three-position four-way electromagnetic directional valve, the 3-position 4-way electromagnetic switch
The Median Function of valve is M types.
As a preferred embodiment, institute's displacement sensors are grating scale.
A kind of control method using multi-hydraulic-cylinder control system of the present invention, includes the following steps：
The displacement information of the hydraulic stem of the correspondence hydraulic cylinder monitored is transferred to control by S1, each displacement sensor
Device；
S2, when each hydraulic cylinder rapid increase with decline feed motion when, controller is according to the displacement monitoring signal received
The shift differences between active hydraulic cylinder and each Slave cylinder are judged respectively whether in default first synchronous shift deviation,
If judging result is no, the first displacement commands are exported to corresponding driven digital throttle；Driven digital throttle obtains the
After one displacement commands, the flow for the rod chamber for flowing in or out corresponding Slave cylinder is adjusted, and so on, so as to fulfill actively
Coarse synchronization movement between hydraulic cylinder and each Slave cylinder；
S3, when each hydraulic cylinder drops to operating position, controller is distinguished again according to the displacement monitoring signal that receives
The shift differences between active hydraulic cylinder and each Slave cylinder are judged whether in default second synchronous shift deviation, if sentencing
Disconnected result is no, then exports second displacement and instruct to corresponding servo valve；After servo valve obtains second displacement instruction, make it is corresponding from
The rod chamber of hydrodynamic cylinder pressure carries out repairing or drains the oil, until the Slave cylinder is run with active hydraulic cylinder synchronous, and so on,
So as to fulfill the precise synchronization movement between active hydraulic cylinder and each Slave cylinder.
As a preferred embodiment, the displacement sensor is grating scale.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：The present invention is by monitoring actively
Whether the shift differences between hydraulic cylinder and each Slave cylinder are in default synchronous shift deviation range, by controlling numeral
Throttle valve adjustment, which flows in or out the flow of the rod chamber of corresponding Slave cylinder and control servo valve, makes corresponding Slave cylinder
Rod chamber repairing or drain the oil, conveniently and efficiently realize between active hydraulic cylinder and each Slave cylinder it is rough with it is smart
True two kinds are synchronized with the movement, and avoid the complexity of existing multi-hydraulic-cylinder synchronous control system and the triviality of operation, Er Qieke
Synchronization accuracy is regulated and controled according to application requirement, can be avoided due to influence of the hydraulic cylinder accuracy of manufacture to synchronization accuracy.It is in addition, of the invention
The multi-hydraulic-cylinder synchronous control system also has the simple in structure, fast response time, stable and reliable operation, security good etc. excellent
Point, has wide popularization and application value.
Brief description of the drawings
It is a kind of structure diagram of multi-hydraulic-cylinder synchronous control system provided by the invention shown in Fig. 1；
It is the operation principle block diagram of multi-hydraulic-cylinder synchronous control system of the present invention shown in Fig. 2；
Fig. 3 is that the present invention realizes that the hydraulic stem of multi-hydraulic-cylinder declines synchronous work flow diagram；
Fig. 4 is the work flow diagram for the hydraulic stem rising synchronous that the present invention realizes multi-hydraulic-cylinder.
In figure：1st, controller；2nd, reversal valve；21st, the first working port of reversal valve；22nd, the second working end of reversal valve
Mouthful；23rd, the oil inlet of reversal valve；24th, the 4th port of reversal valve；3rd, hydraulic cylinder；3a, active hydraulic cylinder；3b, from hydrodynamic pressure
Cylinder；31st, the rodless cavity of hydraulic cylinder；32nd, the rod chamber of hydraulic cylinder；33rd, hydraulic stem；4th, fluid pressure line；5th, displacement sensor；5a、
Active displacement sensor；5b, driven displacement sensor；6th, hydraulic control one-way valve；61st, the oil outlet of hydraulic control one-way valve；62nd, hydraulic control list
To the oil inlet of valve；63rd, the control oil circuit of hydraulic control one-way valve；7th, digital throttle；7a, active digital throttle；7b, driven number
Byte stream valve；8th, hydraulic pressure bypasses；9th, servo valve；10th, fuel tank.
Embodiment
All features disclosed in this specification, can be with any in addition to mutually exclusive feature and/or step
Mode combines.
In the following, the present invention is described in further details in conjunction with specific embodiments.
Specific embodiment
As shown in Figure 1：A kind of multi-hydraulic-cylinder control system provided in this embodiment, including controller 1, reversal valve 2 and extremely
Few two hydraulic cylinders 3, one of hydraulic cylinder is main hydrodynamic cylinder pressure 3a, remaining hydraulic cylinder is Slave cylinder 3b；Each liquid
The rodless cavity 31 of cylinder pressure is connected by fluid pressure line 4 with the first working port 21 of the reversal valve, each hydraulic cylinder
Rod chamber 32 be connected by fluid pressure line 4 with the second working port 22 of the reversal valve；And each hydraulic cylinder
Hydraulic stem 33 is all connected with a displacement sensor 5；In the second working port of the rod chamber 32 and reversal valve of each hydraulic cylinder
A hydraulic control one-way valve 6 and a digital throttle 7 are serially connected with fluid pressure line 4 between 22, the hydraulic control one-way valve
Oil outlet 61 is connected with the rod chamber 32 of the hydraulic cylinder, oil inlet 62 and the corresponding digital throttle of the hydraulic control one-way valve
7 are connected, and the control oil circuit 63 of the hydraulic control one-way valve is connected to the rodless cavity 31 of the hydraulic cylinder and the first work of reversal valve
On fluid pressure line between port 21；In the hydraulic control one-way valve 6 that the rod chamber 32 of each Slave cylinder is connected and numeral
Fluid pressure line between throttle valve 7 is equipped with hydraulic pressure bypass 8, the oil inlet of the other end and the reversal valve of hydraulic pressure bypass 8
Mouth 23 is connected；And it is serially connected with a servo valve 9 in hydraulic pressure bypass 8；Institute's displacement sensors 5, digital throttle
Valve 7 and servo valve 9 are connected with the controller 1.
The reversal valve 2 is three-position four-way electromagnetic directional valve, and the Median Function of the three-position four-way electromagnetic directional valve is M
Type；Institute's displacement sensors 5 are grating scale.
In above-mentioned multi-hydraulic-cylinder synchronous control system：The stretching motion of the hydraulic stem of hydraulic cylinder 3 is carried out using reversal valve 2
Switching；Wherein：The oil inlet 23 of reversal valve 2 connects hydraulic oil source, 24 connected tank 10 of the 4th port of reversal valve 2.Hydraulic control one-way valve 6
It can play the role of pressurize and safeguard protection in system work.
As shown in Figure 1：When reversal valve 2 is located at right position, oil inlet and the first working port, the 4th port and the second working end
Mouth is connected, and system pressure oil is entered the rodless cavity 31 of master and slave hydraulic cylinder 3a, 3b by oil inlet and the first working port, is had at the same time
Second working port and fourth port flow oil return box 10 of the hydraulic oil of rod cavity 32 through reversal valve 2, realize the stretching of hydraulic stem 33
Movement., whereas if when reversal valve 2 is located at left position, oil inlet connects with the second working port, the 4th port with the first working port
Logical, system pressure oil is entered the rod chamber 32 of master and slave hydraulic cylinder 3a, 3b, while rodless cavity by oil inlet and the second working port
First working port and fourth port flow oil return box 10 of 31 hydraulic oil through reversal valve 2, realize the retraction movement of hydraulic stem 33.
As shown in Figure 2：Displacement sensor 5a and the 5b collection being connected respectively with the hydraulic stem 33 of master and slave hydraulic cylinder 3a, 3b
The displacement of corresponding hydraulic cylinder, and the displacement signal monitored is transferred to controller 1, controller 1 calculate active hydraulic cylinder 3a with
Shift differences between each Slave cylinder 3b simultaneously judge the displacement between active hydraulic cylinder 3a and each Slave cylinder 3b respectively
Whether difference is in default first synchronous shift deviation, if judging result is no, exports the first displacement commands to corresponding
Driven digital throttle 7b；After driven digital throttle 7b obtains the first displacement commands, adjusting flows in or out corresponding from hydrodynamic
The flow of the rod chamber of cylinder pressure 3b, and so on, above and below between active hydraulic cylinder 3a and each Slave cylinder 3b
Fast feed coarse synchronization is moved；When each hydraulic cylinder drops to operating position, controller 1 is supervised again according to the displacement received
Survey signal and judge whether the shift differences between active hydraulic cylinder 3a and each Slave cylinder 3b are inclined in the second synchronous shift respectively
In difference, if judging result is no, output second displacement is instructed to corresponding servo valve 9；Servo valve 9 obtains second displacement instruction
Afterwards, the rod chamber of corresponding Slave cylinder 3b is made to carry out repairing or drain the oil, until Slave cylinder 3b and active hydraulic cylinder 3a
Synchronous operation, and so on, moved so as to fulfill the work between active hydraulic cylinder 3a and each Slave cylinder 3b into precise synchronization.
Being synchronized with the movement of multi-hydraulic-cylinder, which is divided into hydraulic stem and declines, to be synchronized with the movement and rising synchronous movement, wherein declining synchronous fortune
It is dynamic to be divided into hydraulic stem fast feed again and be synchronized with the movement with work into being synchronized with the movement.
Realize that the course of work that the hydraulic stem decline of multi-hydraulic-cylinder is synchronized with the movement is as follows using the technology of the present invention：
It is shown in Figure 3：The displacement sensor 5a and 5b being connected respectively with the hydraulic stem 33 of master and slave hydraulic cylinder 3a, 3b are adopted
The displacement of the corresponding hydraulic cylinder of collection, and the displacement signal monitored is transferred to controller 1, controller 1 calculates active hydraulic cylinder 3a
Shift differences between each Slave cylinder 3b simultaneously judge the position between active hydraulic cylinder 3a and each Slave cylinder 3b respectively
Difference is moved whether in default first synchronous shift deviation, if judging result is no, exports the first displacement commands to correspondence
Driven digital throttle 7b；After driven digital throttle 7b obtains the first displacement commands, the corresponding Slave cylinder of outflow is adjusted
The flow of the rod chamber of 3b, so as to correct displacement immediately；The rest may be inferred, realize active hydraulic cylinder 3a and each Slave cylinder 3b it
Between fast feed coarse synchronization movement；When each hydraulic cylinder drops to operating position, controller 1 is again according to the position received
Whether move monitoring signals judges shift differences between active hydraulic cylinder 3a and each Slave cylinder 3b in the second sync bit respectively
Move in deviation, if judging result is no, output second displacement is instructed to corresponding servo valve 9；Servo valve 9 obtains second displacement
After instruction, the rod chamber of corresponding Slave cylinder 3b is set to carry out repairing or drain the oil, until Slave cylinder 3b and active hydraulic pressure
Cylinder 3a works are into synchronous operation, and so on, realize work between active hydraulic cylinder 3a and each Slave cylinder 3b into precise synchronization
Movement.
Realize that the course of work that the hydraulic stem rising synchronous of multi-hydraulic-cylinder moves is as follows using the technology of the present invention：
It is shown in Figure 4：The displacement sensor 5a and 5b being connected respectively with the hydraulic stem 33 of master and slave hydraulic cylinder 3a, 3b are adopted
The displacement of the corresponding hydraulic cylinder of collection, and the displacement signal monitored is transferred to controller 1, controller 1 calculates active hydraulic cylinder 3a
Shift differences between each Slave cylinder 3b simultaneously judge the position between active hydraulic cylinder 3a and each Slave cylinder 3b respectively
Difference is moved whether in default first synchronous shift deviation, if judging result is no, exports the first displacement commands to correspondence
Driven digital throttle 7b；After driven digital throttle 7b obtains the first displacement commands, adjust and flow into corresponding Slave cylinder
The flow of the rod chamber of 3b, so as to correct displacement immediately；The rest may be inferred, realize active hydraulic cylinder 3a and each Slave cylinder 3b it
Between rising coarse synchronization movement.
It is visible in summary：Whether the present invention is by monitoring the shift differences between active hydraulic cylinder and each Slave cylinder
In default synchronous shift deviation range, by controlling digital throttle valve regulation to flow in or out having for corresponding Slave cylinder
The flow and control servo valve of rod cavity make the rod chamber of corresponding Slave cylinder carry out repairing or drain the oil, and can conveniently and efficiently realize
Rough between active hydraulic cylinder and each Slave cylinder is synchronized with the movement with accurate two kinds, and it is synchronous to avoid existing multi-hydraulic-cylinder
The complexity of control system and the triviality of operation, and synchronization accuracy can be regulated and controled according to application requirement, it can avoid due to hydraulic pressure
Influence of the cylinder accuracy of manufacture to synchronization accuracy.
It is the embodiment of the present invention as described above.The present invention is not limited to the above-described embodiments, anyone should learn that
The structure change made under the enlightenment of the present invention, the technical schemes that are same or similar to the present invention, each fall within this
Within the protection domain of invention.
Claims (4)
- A kind of 1. multi-hydraulic-cylinder control system, it is characterised in that including controller, reversal valve and at least two hydraulic cylinders, wherein One hydraulic cylinder is main hydrodynamic cylinder pressure, remaining hydraulic cylinder is Slave cylinder；The rodless cavity of each hydraulic cylinder passes through hydraulic pressure Pipeline is connected with the first working port of the reversal valve, the rod chamber of each hydraulic cylinder by fluid pressure line with it is described Second working port of reversal valve is connected；And the hydraulic stem of each hydraulic cylinder is all connected with a displacement sensor；Its feature It is：One is serially connected with fluid pressure line between the rod chamber of each hydraulic cylinder and the second working port of reversal valve Hydraulic control one-way valve and a digital throttle, the oil outlet of the hydraulic control one-way valve are connected with the rod chamber of the hydraulic cylinder, institute The oil inlet for stating hydraulic control one-way valve is connected with corresponding digital throttle, and the control oil circuit of the hydraulic control one-way valve is connected to this On fluid pressure line between the rodless cavity of hydraulic cylinder and the first working port of reversal valve；There is bar in each Slave cylinder Fluid pressure line between hydraulic control one-way valve and digital throttle that chamber is connected is bypassed equipped with a hydraulic pressure, which bypasses another One end is connected with the oil inlet of the reversal valve；And it is serially connected with a servo valve in hydraulic pressure bypass；Institute's rheme Displacement sensor, digital throttle and servo valve are connected with the controller.
- 2. the control method of multi-hydraulic-cylinder control system as claimed in claim 1, it is characterised in that：Include the following steps：The displacement information of the hydraulic stem of the correspondence hydraulic cylinder monitored is transferred to controller by S1, each displacement sensor；S2, when each hydraulic cylinder rapid increase with decline feed motion when, controller according to receive displacement monitoring signal difference The shift differences between active hydraulic cylinder and each Slave cylinder are judged whether in default first synchronous shift deviation, if sentencing Disconnected result is no, then exports the first displacement commands to corresponding driven digital throttle；Driven digital throttle obtains first After moving instruction, the flow for the rod chamber for flowing in or out corresponding Slave cylinder is adjusted, and so on, so as to fulfill active hydraulic pressure Coarse synchronization movement between cylinder and each Slave cylinder；S3, when each hydraulic cylinder drops to operating position, controller judges respectively again according to the displacement monitoring signal received Whether the shift differences between active hydraulic cylinder and each Slave cylinder are in default second synchronous shift deviation, if judging knot Fruit is no, then exports second displacement and instruct to corresponding servo valve；After servo valve obtains second displacement instruction, make corresponding from hydrodynamic The rod chamber of cylinder pressure carries out repairing or drains the oil, until the Slave cylinder is run with active hydraulic cylinder synchronous, and so on so that Realize the precise synchronization movement between active hydraulic cylinder and each Slave cylinder.
- 3. multi-hydraulic-cylinder control system according to claim 1, it is characterised in that：The displacement sensor is grating Ruler.
- 4. multi-hydraulic-cylinder control system according to claim 1, it is characterised in that：The reversal valve is 3-position 4-way electromagnetism Reversal valve, the Median Function of the three-position four-way electromagnetic directional valve is M types.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711151211.5A CN107939784A (en) | 2017-11-18 | 2017-11-18 | A kind of multi-hydraulic-cylinder control system and its control method |
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| CN201711151211.5A CN107939784A (en) | 2017-11-18 | 2017-11-18 | A kind of multi-hydraulic-cylinder control system and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110886732A (en) * | 2019-12-10 | 2020-03-17 | 北京北特圣迪科技发展有限公司 | PLC-based multi-stage multi-cylinder hydraulic synchronous control method and system |
| CN113124019A (en) * | 2021-04-30 | 2021-07-16 | 中国重型机械研究院股份公司 | Digital logic valve array hydraulic servo control system, control method and fault diagnosis method |
-
2017
- 2017-11-18 CN CN201711151211.5A patent/CN107939784A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110886732A (en) * | 2019-12-10 | 2020-03-17 | 北京北特圣迪科技发展有限公司 | PLC-based multi-stage multi-cylinder hydraulic synchronous control method and system |
| CN110886732B (en) * | 2019-12-10 | 2021-10-22 | 北京北特圣迪科技发展有限公司 | PLC-based multi-stage multi-cylinder hydraulic synchronous control method and system |
| CN113124019A (en) * | 2021-04-30 | 2021-07-16 | 中国重型机械研究院股份公司 | Digital logic valve array hydraulic servo control system, control method and fault diagnosis method |
| CN113124019B (en) * | 2021-04-30 | 2022-02-11 | 中国重型机械研究院股份公司 | Digital logic valve array hydraulic servo control system, control method and fault diagnosis method |
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