CN108895049A - A kind of Feedback Oil accurate positioning stabilization control device and method of hydraulic cylinder - Google Patents
A kind of Feedback Oil accurate positioning stabilization control device and method of hydraulic cylinder Download PDFInfo
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- CN108895049A CN108895049A CN201810984818.XA CN201810984818A CN108895049A CN 108895049 A CN108895049 A CN 108895049A CN 201810984818 A CN201810984818 A CN 201810984818A CN 108895049 A CN108895049 A CN 108895049A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000006641 stabilisation Effects 0.000 title claims abstract description 24
- 238000011105 stabilization Methods 0.000 title claims abstract description 24
- 239000003921 oil Substances 0.000 claims abstract description 359
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims abstract description 5
- 239000007788 liquid Substances 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 16
- 230000007423 decrease Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000010727 cylinder oil Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004540 process dynamic Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- 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
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
-
- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6653—Pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention provides a kind of Feedback Oils of hydraulic cylinder to be accurately positioned stabilization control device, including：Pressure oil-source, charged piston cylinder, pressure charging valve, executes oil cylinder, oil pressure detection module, controller module and accumulator at directional control valve；Pressure oil-source is connect with directional control valve, accumulator, is executed oil cylinder and is connect with directional control valve, pressure charging valve, charged piston cylinder is connect with pressure charging valve, accumulator；Oil pressure detection module is connect with 2 oil pockets for executing oil cylinder, detects its oil pressure situation of change respectively；Controller module controls pressure charging valve and realizes that executing the first working oil chamber of oil cylinder or the second working oil chamber is pressurized according to actual job operating condition.Technical solution provided by the invention can be realized the hydraulic reversed jitter phenomenon being quickly accurately positioned and effectively prevent during being accurately positioned for executing oil cylinder.Meanwhile the present invention also provides the Feedback Oils for including a kind of hydraulic cylinder that the Feedback Oil is accurately positioned stabilization control device to be accurately positioned stabilization control method.
Description
Technical field
It is anti-more particularly, to a kind of oil pressure of hydraulic cylinder the present invention relates to mechanical equipment hydraulic cylinder control technology field
Feedback formula is accurately positioned stabilization control device and method.
Background technique
With the high speed development of national economy, mechanical equipment industry development is swift and violent, and the good ring of executing agency's runnability
Directly influence the performance and safety of mechanical equipment.It is held currently, a large amount of mechanical equipment all uses hydraulic execution oil cylinder driving
Row mechanism works, i.e., goes the every operation for realizing executing agency living using the hydraulic oil cylinder that executes of the pressure-driven of hydraulic oil
It is dynamic.
In the prior art, the positioning braking process of mechanical equipment hydraulic cylinder actuators mainly passes through directional control valve
In returning when position, the hydraulic oil back chamber oil circuit for executing oil cylinder is closed, and executing agency is since inertia also will continue to movement of taking advantage of a situation, so that liquid
The oil back chamber oil pressure that pressure executes oil cylinder increases and produces plugging power, to realize the positioning braking of executing agency.?
That is executing agency be using it is hydraulic execute oil cylinder oil back chamber back pressure braked, back pressure be by hydraulic execution oil cylinder after
Reforwarding is dynamic and generates, and back pressure value needs the time greatly from small rise to, so as to cause hydraulic cylinder actuators positioning inaccurately, make
It moves not in time.Meanwhile when the speed of service of executing agency is braked to zero, at this time it is hydraulic execute oil cylinder two working oil chambers it
Between oil pressure difference it is still very big, prevent hydraulic cylinder actuators are from stop motion immediately, but carried out reversed shake.Hydraulic
In the positioning braking process of cylinder executing agency, this reversed jitter phenomenon can generally repeat repeatedly, so as to cause the machine of execution
Structure runs unstable in positioning braking process, has seriously affected the performance and operating efficiency of equipment, also to equipment operation and work
Journey construction brings very big security risk.Therefore, inaccurate for the positioning of hydraulic cylinder actuators, braking is too late
When, and there is the phenomenon that reversed shake in positioning braking process, there is an urgent need to find a kind of technology to can be realized hydraulic execution
The quick positioning of oil cylinder brakes and effectively prevent quickly positioning the reversed jitter phenomenon in braking process.
Summary of the invention
In order to solve above-mentioned technical problem present in existing hydraulic cylinder actuators positioning braking process, the present invention is provided
A kind of Feedback Oil of hydraulic cylinder is accurately positioned stabilization control device and method, it is intended to realize and hydraulic execute the quick of oil cylinder
Positioning brakes and effectively prevent quickly positioning the reversed jitter phenomenon in braking process.
In order to achieve the above object, present invention employs following technical solutions：
The hydraulic Feedback Oil for executing oil cylinder of mechanical equipment is accurately positioned stabilization control device and method, including：Pressure oil-source,
Directional control valve, charged piston cylinder, pressure charging valve, execution oil cylinder, oil pressure detection module, controller module and accumulator etc.；Wherein,
The high pressure oil that the pressure oil-source provides is connected to the high pressure oil oil inlet of the directional control valve, the oil of the directional control valve
Liquid oil return opening is connected to oil return line, 2 actuator ports of the directional control valve and 2 working oil chambers for executing oil cylinder point
It is not connected to；The high pressure oil that the pressure oil-source provides also is connected to the accumulator, the accumulator and the charged piston cylinder
Pressurization rodless cavity connection, the pressurization rod chamber of the charged piston cylinder is connected to the supercharging oil inlet of the pressure charging valve, described
2 actuator ports of pressure charging valve are also respectively communicated with 2 working oil chambers for executing oil cylinder, and the pressure charging valve is held for described
The first working oil chamber or the second working oil chamber of row oil cylinder are connected to or cut off with the pressurization rod chamber of the charged piston cylinder, described
Charged piston cylinder is used to the oil liquid pressure of the accumulator carrying out raising pressurization；The oil pressure detection module executes oil with described
2 working oil chambers of cylinder are separately connected, and the oil pressure detection module is used to detect 2 working oil chambers for executing oil cylinder respectively
Oil pressure condition；The controller module is connect with the directional control valve, pressure charging valve and oil pressure detection module, the controller
Module can pass through according to the control for brake information of the directional control valve and the oil pressure change information of the oil pressure detection module
Switch the working condition of the pressure charging valve, controls first working oil chamber for executing oil cylinder or the second working oil chamber and the increasing
Press piston cylinder pressurization rod chamber connection or cutting, thus realize hydraulic cylinder actuators quick accurate positioning brake and it is effective
Prevent the reversed jitter phenomenon being quickly accurately positioned in braking process.
In the above-mentioned technical solutions, it is preferable that manual release ball valve and safety are additionally provided on the oil circuit of the accumulator
Overflow valve, the manual release ball valve are used to carry out the oil circuit manual release, and the safety overflow valve is used to set the oil circuit
Safe pressure；Be additionally provided with check valve between the pressure oil-source and the accumulator, the entrance of the check valve with it is described
Pressure oil-source connection, the outlet of the check valve is connected to the accumulator.
In the above-mentioned technical solutions, it is preferable that the oil pressure detection module includes first pressure sensor and second pressure
Sensor, the first pressure sensor and second pressure sensor are respectively arranged at first working oil chamber for executing oil cylinder
With the second working oil chamber.
In the above-mentioned technical solutions, it is preferable that the pressure charging valve is 3-position-3-way solenoid directional control valve, the of the pressure charging valve
One working condition by it is described execute oil cylinder the first working oil chamber be connected to the pressurization rod chamber of the charged piston cylinder, second
The pressurization rod chamber of working oil chamber and the charged piston cylinder is cut off；The second working condition of the pressure charging valve is by the execution
Second working oil chamber of oil cylinder is connected to the pressurization rod chamber of the charged piston cylinder, the first working oil chamber and the charged piston
The pressurization rod chamber of cylinder is cut off；The middle position state of the pressure charging valve works first working oil chamber for executing oil cylinder and second
Oil pocket is all cut off with the pressurization rod chamber of the charged piston cylinder.
In the above-mentioned technical solutions, it is preferable that the directional control valve is three-position four-way electromagnetic directional valve, the direction control
First working condition and second working condition of valve processed control execution oil cylinder driving executing agency respectively and carry out to the right
With move downward；The directional control valve controls the execution oil cylinder and carries out positioning braking in middle position state.
In the above-mentioned technical solutions, it is preferable that positioning braking process of the controller module in hydraulic cylinder actuators
The middle brake signal for being switched to middle position state by first working condition or second working condition according to the directional control valve
The pressure charging valve is immediately controlled the pressurization rod chamber of back pressure the braking oil pocket and the charged piston cylinder for executing oil cylinder is short
Shi Liantong is pressurized to highest oil pressure, so that the braking moment of hydraulic cylinder actuators reaches maximum, realizes fast braking；When hydraulic
The movement velocity of cylinder executing agency is quickly positioned braking to zero, when heterodromous jitter phenomenon will occur, the control
The oil pressure for the execution oil cylinder back pressure braking oil pocket that device module is detected according to the oil pressure detection module immediately declines conduct
Signal come control the pressure charging valve by it is described execute oil cylinder another working oil chamber and the charged piston cylinder pressurization rod chamber
Also connection is pressurized to highest oil pressure in short-term so that the oil pressure poor moment of 2 working oil chambers for executing oil cylinder be reduced to it is close
In zero, the heterodromous driving moment of the execution oil cylinder substantially reduces, to realize the quick accurate of hydraulic cylinder actuators
Positioning brakes and effectively prevent the reversed jitter phenomenon being quickly accurately positioned in braking process.
The significant beneficial effect that technical solution provided by the present invention has：
During hydraulic cylinder actuators carry out positioning braking, when hydraulic cylinder actuators are switched to progress by operating status
The pressure charging valve is immediately controlled by the back pressure braking oil pocket for executing oil cylinder and institute in the starting point of braking, the controller module
The pressurization rod chamber for stating charged piston cylinder is connected in short-term, and the charged piston cylinder is used to carry out the oil liquid pressure of the accumulator
Pressurization is increased, so that the oil pressure for executing oil cylinder back pressure braking oil pocket is set as highest immediately, braking moment reaches maximum, has
Effect realizes the quick positioning braking of hydraulic cylinder actuators；
When the movement velocity of hydraulic cylinder actuators by fast braking to zero, heterodromous jitter phenomenon will occur when, institute
State oil pressure detection module be immediately detected it is described execution oil cylinder back pressure braking oil pocket oil pressure declining, and as signal pass
The controller module is passed, signal controls rapidly the pressure charging valve for the another of the execution oil cylinder to the controller module according to this
One working oil chamber is connected in short-term with the pressurization rod chamber of the charged piston cylinder, the oil pressure for executing another working oil chamber of oil cylinder
Also it is set as highest immediately, the oil pressure of 2 working oil chambers for executing oil cylinder poor moment is reduced to close to zero, so that the liquid
Cylinder pressure executing agency just significantly loses heterodromous driving moment in the initial stage for occurring reversely shaking, to realize
Quick be accurately positioned of hydraulic cylinder actuators brakes and effectively prevents quickly to be accurately positioned reversely trembling in braking process
Dynamic phenomenon.
Detailed description of the invention
Fig. 1 is that the Feedback Oil of hydraulic cylinder of the present invention is accurately positioned stabilization control device structure diagram.
Fig. 2 is that the Feedback Oil of hydraulic cylinder of the present invention is accurately positioned stabilization control device control block diagram.
Corresponding relationship in figure between appended drawing reference and component names is：
1- pressure oil-source；
2- directional control valve, 201- high pressure oil oil inlet, the first actuator port of 202-, the second actuator port of 203-, 204- oil liquid
Oil return opening, first working condition of 21-, 22- second working condition, position state in 23-；
3- charged piston cylinder, 31- are pressurized rodless cavity, and 32- is pressurized rod chamber；
4- pressure charging valve, 401- supercharging oil inlet, the first actuator port of 402-, the second actuator port of 403-, first work shape of 41-
State, 42- second working condition, position state in 43-；
5- executes oil cylinder, the first working oil chamber of 51-, the second working oil chamber of 52-；
6- oil pressure detection module, 61- first pressure sensor, 62- second pressure sensor；
7- controller module；
8- accumulator；
The manual release ball valve of 9-；
10- safety overflow valve；
11- check valve.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other modes described herein are different from, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
Fig. 1 is that the Feedback Oil of hydraulic cylinder of the present invention is accurately positioned stabilization control device structure diagram；Fig. 2 is this
The Feedback Oil for inventing the hydraulic cylinder is accurately positioned stabilization control device control block diagram.
As shown in Figure 1, the Feedback Oil of the hydraulic execution oil cylinder of embodiment according to the present invention is accurately positioned stabilization control
Device processed, including：Pressure oil-source 1, charged piston cylinder 3, pressure charging valve 4, executes oil cylinder 5, oil pressure detection module at directional control valve 2
6, controller module 7 and accumulator 8 etc.；The high pressure oil that pressure oil-source 1 provides is connected to the high pressure oil oil inlet of directional control valve 2
201, the oil liquid oil return opening 204 of directional control valve 2 is connected to oil return line, the first actuator port 202 and the execution of directional control valve 2
First working oil chamber 51 of oil cylinder 5 is connected to, the second actuator port 203 of directional control valve 2 and the second working oil for executing oil cylinder 5
Chamber 52 is connected to；The high pressure oil that pressure oil-source 1 provides also is connected to accumulator 8, and the pressurization of accumulator 8 and charged piston cylinder 3 is without bar
Chamber 31 is connected to, and the pressurization rod chamber 32 of charged piston cylinder 3 is connected to the supercharging oil inlet 401 of pressure charging valve 4, and the first of pressure charging valve 4
Actuator port 402 is connected to the first working oil chamber 51 for executing oil cylinder 5, the second actuator port 403 and the execution oil cylinder of pressure charging valve 4
5 the second working oil chamber 52 connection, pressure charging valve 4 be used to execute oil cylinder 5 the first working oil chamber 51 or the second working oil chamber 52 with
The pressurization rod chamber 32 of charged piston cylinder 3 is connected to or cutting, and charged piston cylinder 3 is for rising the oil liquid pressure of accumulator 8
High pressure-charging；Oil pressure detection module 6 include first pressure sensor 61 and second pressure sensor 62, first pressure sensor 61 with
The first working oil chamber 51 connection of oil cylinder 5 is executed, second pressure sensor 62 and the second working oil chamber 52 for executing oil cylinder 5 connect
It connects, first pressure sensor 61 is used to detect the oil pressure condition for the first working oil chamber 51 for executing oil cylinder 5, second pressure sensor
62 execute the oil pressure condition of the second working oil chamber 52 of oil cylinder 5 for detecting；Controller module 7 and directional control valve 2, pressure charging valve
4 and oil pressure detection module 6 connect, directional control valve 2 by execute oil cylinder 5 control for brake situation pass to controller module 7, oil
Press detection module 6 that will execute the first work of oil cylinder 5 detected by first pressure sensor 61 and second pressure sensor 62
The oil pressure situation of change of oil pocket 51 and the second working oil chamber 52 is also passed to controller module 7, and controller module 7 can be according to side
To the control for brake information of control valve 2 and the oil pressure change information of oil pressure detection module 6, by the work shape for switching pressure charging valve 4
State, to control the pressurization rod chamber of the first working oil chamber 51 for executing oil cylinder 5 or the second working oil chamber 52 and charged piston cylinder 3
32 connections or cutting, the final quick accurate positioning for realizing hydraulic cylinder actuators brake and effectively prevent quickly being accurately positioned system
Reversed jitter phenomenon during dynamic.
In the present embodiment, manual release ball valve 9 and safety overflow valve 10 are additionally provided on the oil circuit of accumulator 8, manually
Release ball valve 9 is used to carry out the oil circuit manual release, and safety overflow valve 10 is used to set the safe pressure of the oil circuit（This implementation
Example is 10MPa）；Check valve 11 is additionally provided between pressure oil-source 1 and accumulator 8, the entrance and pressure oil-source 1 of check valve 11 connect
Logical, the outlet of check valve 11 is connected to accumulator 8, and check valve 11 is for guaranteeing that pressure oil-source 1 can only unidirectionally be supplied to accumulator 8
Oil.
In the present embodiment, pressure charging valve 4 is the 3-position-3-way solenoid directional control valve of O-shaped function, first work of pressure charging valve 4
State 41 by execute oil cylinder 5 the first working oil chamber 51 be connected to the pressurization rod chamber 32 of charged piston cylinder 3, the second working oil chamber
52 cut off with the pressurization rod chamber 32 of charged piston cylinder 3；The second working condition 42 of pressure charging valve 4 will execute the second of oil cylinder 5
Working oil chamber 52 is connected to the pressurization rod chamber 32 of charged piston cylinder 3, the pressurization of the first working oil chamber 51 and charged piston cylinder 3 has
Rod cavity 32 is cut off；The middle position state 43 of pressure charging valve 4 by execute oil cylinder 5 the first working oil chamber 51 and the second working oil chamber 52 all with
The pressurization rod chamber 32 of charged piston cylinder 3 is cut off.
In the present embodiment, directional control valve 2 is the three-position four-way electromagnetic directional valve of O-shaped function, when directional control valve 2 exists
When first working condition 21, the high pressure oil that pressure oil-source 1 provides enters the first working oil chamber 51 driving execution for executing oil cylinder 5
Mechanism is moved right；When directional control valve 2 is in second working condition 22, the high pressure oil that pressure oil-source 1 provides enters
The the second working oil chamber 52 driving executing agency for executing oil cylinder 5 is moved downward；When directional control valve 2 is in middle position state 23
When, the oil circuit for executing two working oil chambers of oil cylinder 5 is closed, and executes oil cylinder 5 and executing agency is driven to be braked.
In the present embodiment, charged piston cylinder 3 is using pressurization rodless cavity 31 and to be pressurized the work of rod chamber 32 between the two
It is not pressurized not etc. with area, is pressurized calculation formula：
P31×A31=P32×A32
In formula：P31For the pressure value for being pressurized rodless cavity 31；A31For the active area for being pressurized rodless cavity 31；P32To be pressurized rod chamber
32 pressure value；A32For the active area for being pressurized rod chamber 32.
It is pressurized the active area A of rod chamber 3232Less than the active area A of pressurization rodless cavity 3131, have so as to cause pressurization
The pressure value P of rod cavity 3232Greater than the pressure value P of pressurization rodless cavity 3131, and being pressurized rodless cavity 31 is connected to accumulator 8, i.e.,
The pressurization rod chamber 32 of charged piston cylinder 3 can be realized the pressurization to 8 oil liquid pressure of accumulator.The practical pressurization of charged piston cylinder 3
Size depend on pressurization rodless cavity 31 and be pressurized rod chamber 32 active area ratio A31/ A32（The present embodiment charged piston
The A of cylinder 331/ A32Be 4/1, the oil liquid pressure of accumulator 8 can be amplified to 4 times, due to accumulator 8 oil liquid pressure by
Safety overflow valve 10 is set as 8MPa, then the pressurized oil liquid pressure of pressurization rod chamber 32 of charged piston cylinder 3 reaches 32MPa）.
In the present embodiment, when execution oil cylinder 5 drives executing agency to carry out positioning braking in the state of moving right,
The second working oil chamber 52 for executing oil cylinder 5 is back pressure oil pocket；Drive executing agency in the state of moving downward when executing oil cylinder 5
When carrying out positioning braking, the first working oil chamber 51 for executing oil cylinder 5 is back pressure oil pocket.
In the present embodiment, oil pressure when only carrying out control for brake under the state that moves right with hydraulic cylinder actuators is anti-
Feedback formula is described in detail for being accurately positioned stabilization control process, but the present invention is not limited thereto, and the present invention can be used for
Hydraulic cylinder actuators carry out positioning braking stabilization control under motion state in any direction.
When directional control valve 2 is in first working condition 21, pressure charging valve 4 is in middle position state 43, pressure oil-source 1
High pressure oil is entered by the high pressure oil oil inlet 201 and the first actuator port 202 of directional control valve 2 and executes the first of oil cylinder 5
Working oil chamber 51 drives executing agency to be moved right, and the oil liquid for executing the second working oil chamber 52 of oil cylinder 5 is controlled by direction
The second actuator port 203 and oil liquid oil return opening 204 of valve 2 processed complete oil return.
When execution oil cylinder 5 drives executing agency to carry out positioning braking, directional control valve 2 is cut by first working condition 21
Middle position state 23 is changed to, the first actuator port 202 and the second actuator port 203 are all cut off, and execute the first working oil of oil cylinder 4
Chamber 51 and the second working oil chamber 52 are all respectively formed closing chamber, but executing agency also will continue to move right due to inertia, execute
Mechanism carries out positioning braking and needs first to generate reversely（To the left）Braking moment just can be carried out braking, braking moment size depends on
Execute the second working oil chamber 52 of oil cylinder 5（That is back pressure oil pocket）Oil pressure size.Therefore, controller module 7 is at this time（That is hydraulic cylinder
Executing agency is switched to the starting point braked by operating status）Pressure charging valve 4 is immediately controlled and is switched to second working condition
42 a period of times（The present embodiment is about 0.1 second）, the second working oil chamber 52 of oil cylinder 5 will be executed（That is back pressure oil pocket）It lives with pressurization
The pressurization rod chamber 32 of plug cylinder 3 is connected in short-term, since charged piston cylinder 3 is pressurized accumulator 8（Increase in the present embodiment
The pressurized oil liquid pressure of pressurization rod chamber 32 for pressing piston cylinder 3 is about 32MPa）, so that executing the second work of oil cylinder 5
Oil pocket 52（That is back pressure oil pocket）Oil pressure be set as peak immediately（The present embodiment is about 32MPa）, carry out the system of positioning braking
Kinetic moment moment has reached maximum, effectively realizes the quick positioning braking of hydraulic cylinder actuators.
When the movement velocity of hydraulic cylinder actuators is reduced to zero by fast braking, due to executing the of oil cylinder 5 at this time
The oil pressure of two working oil chambers 52 is very high（The present embodiment is about 32MPa）, the oil pressure of the first working oil chamber 51 it is lower, i.e., execution oil cylinder
Oil pressure difference between 5 the second working oil chamber 52 and the first working oil chamber 51 is very big, and executing agency will can be in oil pressure difference institute
Counter motion is carried out under the action of the opposing torque of generation；It drives executing agency counter motion occur once executing oil cylinder 5, then holds
Second working oil chamber 52 of row oil cylinder 5（That is back pressure oil pocket）Oil pressure will decline immediately, the second pressure of oil pressure detection module 6
Sensor 62 will quickly detect the second working oil chamber 52（That is back pressure oil pocket）Oil pressure declining, and by its oil pressure decline make
Controller module 7 is passed to for signal, and signal controls rapidly pressure charging valve 4 and is switched to first work shape controller module 7 according to this
41 a period of time of state（The present embodiment is about 0.08 second）, the increasing of the first working oil chamber 51 and charged piston cylinder 3 of oil cylinder 5 will be executed
It is pressed with rod cavity 32 to be connected in short-term, the oil pressure for executing the first working oil chamber 51 of oil cylinder 5 is also set as peak immediately（The present embodiment
About 32MPa）, execute oil cylinder 5 the second working oil chamber 52 and the first working oil chamber 51 oil pressure difference moment be reduced to close to
Zero（I.e. also moment is reduced to close to zero opposing torque caused by oil pressure difference）, so that the hydraulic cylinder actuators are going out
The initial stage now reversely shaken just significantly loses heterodromous driving moment, and the amplitude reversely shaken obviously is pressed down
System；Process according to this is accurately positioned stabilization control 1 time or multiple as shown in Fig. 2, carrying out Feedback Oil（The present embodiment is 1 time）,
It then may make the hydraulic cylinder actuators can be realized quickly to be accurately positioned to brake and can effectively prevent quickly to be accurately positioned braking
Reversed jitter phenomenon in the process.
It is merely a preferred embodiment of the present invention, is not intended to restrict the invention, come for those skilled in the art
It says, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any modification, equivalent
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of Feedback Oil of hydraulic cylinder is accurately positioned stabilization control device, which is characterized in that including：Pressure oil-source (1),
Directional control valve (2), pressure charging valve (4), executes oil cylinder (5), oil pressure detection module (6), controller module at charged piston cylinder (3)
(7) and accumulator (8)；
The high pressure oil that the pressure oil-source (1) provides is connected to the high pressure oil oil inlet (201) of the directional control valve (2), institute
The oil liquid oil return opening (204) for stating directional control valve (2) is connected to oil return line, 2 actuator ports of the directional control valve (2) with
2 working oil chambers for executing oil cylinder (5) are respectively communicated with；
The high pressure oil that the pressure oil-source (1) provides also is connected to the accumulator (8), the accumulator (8) and the pressurization
The pressurization rodless cavity (31) of piston cylinder (3) is connected to, the pressurization rod chamber (32) and the pressure charging valve of the charged piston cylinder (3)
(4) supercharging oil inlet (401) connection, 2 actuator ports of the pressure charging valve (4) also with it is described execute oil cylinder (5) 2 works
It is respectively communicated with as oil pocket, the pressure charging valve (4) is for first working oil chamber (51) or the second working oil for executing oil cylinder (5)
Chamber (52) is connected to or cuts off with the pressurization rod chamber (32) of the charged piston cylinder (3), and the charged piston cylinder (3) is used for institute
The oil liquid pressure for stating accumulator (8) carries out raising pressurization；
The oil pressure detection module (6) is separately connected with 2 working oil chambers for executing oil cylinder (5), and the oil pressure detects mould
Block (6) is used to detect the oil pressure condition of 2 working oil chambers for executing oil cylinder (5) respectively；
The controller module (7) connect with the directional control valve (2), pressure charging valve (4) and oil pressure detection module (6), described
Controller module (7) can be according to the control for brake information of the directional control valve (2) and the oil of the oil pressure detection module (6)
Change information is pressed, by switching the working condition of the pressure charging valve (4), controls first working oil chamber for executing oil cylinder (5)
(51) or the second working oil chamber (52) is connected to or cuts off with the pressurization rod chamber (32) of the charged piston cylinder (3), to realize
Quick be accurately positioned of hydraulic cylinder actuators brakes and effectively prevent the reversed shake being quickly accurately positioned in braking process existing
As.
2. the Feedback Oil of hydraulic cylinder according to claim 1 is accurately positioned stabilization control device, which is characterized in that institute
It states and is provided with manual release ball valve (9) and safety overflow valve (10) on the oil circuit of accumulator (8)；The pressure oil-source (1) and institute
It states and is provided between accumulator (8) check valve (11), the entrance of the check valve (11) is connected to the pressure oil-source (1), institute
The outlet for stating check valve (11) is connected to the accumulator (8).
3. according to claim 1, the Feedback Oil of hydraulic cylinder as claimed in claim 2 is accurately positioned stabilization control device,
It being characterized in that, the oil pressure detection module (6) includes first pressure sensor (61) and second pressure sensor (62), and described
One pressure sensor (61) and second pressure sensor (62) are respectively arranged at first working oil chamber for executing oil cylinder (5)
(51) and the second working oil chamber (52).
4. according to claim 1, the Feedback Oil of hydraulic cylinder as claimed in claim 2 is accurately positioned stabilization control device,
It is characterized in that, the pressure charging valve (4) is 3-position-3-way solenoid directional control valve, first working condition (41) of the pressure charging valve (4)
First working oil chamber (51) for executing oil cylinder (5) is connected to the pressurization rod chamber (32) of the charged piston cylinder (3), the
Two working oil chambers (52) and the pressurization rod chamber (32) of the charged piston cylinder (3) are cut off；The second work of the pressure charging valve (4)
Make state (42) for the pressurization rod chamber of second working oil chamber (52) for executing oil cylinder (5) and the charged piston cylinder (3)
(32) the pressurization rod chamber (32) of connection, the first working oil chamber (51) and the charged piston cylinder (3) is cut off；The pressure charging valve
(4) middle position state (43) by it is described execute oil cylinder (5) the first working oil chamber (51) and the second working oil chamber (52) all with institute
State pressurization rod chamber (32) cutting of charged piston cylinder (3).
5. according to claim 1, a kind of Feedback Oil of hydraulic cylinder as claimed in claim 2 is accurately positioned stabilization control dress
Set, which is characterized in that the directional control valve (2) be three-position four-way electromagnetic directional valve, first of the directional control valve (2)
Working condition (21) and second working condition (22) control respectively the execution oil cylinder (5) driving executing agency carry out to the right and
It moves downward；The directional control valve (2) controls the execution oil cylinder (5) and carries out positioning braking at middle position state (23).
6. the Feedback Oil of hydraulic cylinder a kind of is accurately positioned stabilization control method, which is characterized in that contain there is pressure oil
Source (1), charged piston cylinder (3), pressure charging valve (4), executes oil cylinder (5), oil pressure detection module (6), control at directional control valve (2)
The Feedback Oil of device module (7) and accumulator (8) is accurately positioned stabilization control device；The height that the pressure oil-source (1) provides
Pressure oil is connected to the high pressure oil oil inlet (201) of the directional control valve (2), the oil liquid oil return opening of the directional control valve (2)
(204) it is connected to oil return line, 2 actuator ports of the directional control valve (2) and 2 working oils for executing oil cylinder (5)
Chamber is respectively communicated with；The high pressure oil that the pressure oil-source (1) provides also is connected to the accumulator (8), the accumulator (8) and institute
State pressurization rodless cavity (31) connection of charged piston cylinder (3), the pressurization rod chamber (32) of the charged piston cylinder (3) and the increasing
The supercharging oil inlet (401) of pressure valve (4) is connected to, 2 actuator ports of the pressure charging valve (4) also with it is described execute oil cylinder (5) 2
A working oil chamber is respectively communicated with；The oil pressure detection module (6) is separately connected with 2 working oil chambers for executing oil cylinder (5)；
The controller module (7) connect with the directional control valve (2), pressure charging valve (4) and oil pressure detection module (6)；
The Feedback Oil is accurately positioned stabilization control method：
It is carried out in positioning braking process in hydraulic cylinder actuators, the directional control valve (2) is by first working condition (21)
Or second working condition (22), when being switched to middle position state (23), the pressure charging valve is immediately controlled in the controller module (7)
(4) the back pressure braking oil pocket for executing oil cylinder (5) and the pressurization rod chamber (32) of the charged piston cylinder (3) are connected in short-term
Logical, the charged piston cylinder (3) is used to the oil liquid pressure of the accumulator (8) carrying out raising pressurization, so that described execute oil
The oil pressure of cylinder (5) back pressure braking oil pocket is set as highest immediately, and braking moment reaches maximum, realizes fast braking；Work as hydraulic cylinder
The movement velocity of executing agency by fast braking to zero, heterodromous jitter phenomenon will occur when, the oil pressure detects mould
The oil pressure that block (6) is immediately detected execution oil cylinder (4) the back pressure braking oil pocket is declining, and regard the decline of its oil pressure as signal
Pass to the controller module (7), the controller module (7) according to this signal control the pressure charging valve (4) rapidly will be described
Another working oil chamber for executing oil cylinder (5) is connected in short-term with the pressurization rod chamber (32) of the charged piston cylinder (3), the execution
The oil pressure of oil cylinder (5) another working oil chamber is also set as highest, the oil pressure of 2 working oil chambers for executing oil cylinder (5) immediately
Poor moment is reduced to close to zero, so that the hydraulic cylinder actuators just significantly lose in the initial stage for occurring reversely shaking
Heterodromous driving moment, so that the quick accurate positioning for realizing hydraulic cylinder actuators is braked and effectively prevented fast
Speed is accurately positioned the reversed jitter phenomenon in braking process.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810984818.XA CN108895049A (en) | 2018-08-28 | 2018-08-28 | A kind of Feedback Oil accurate positioning stabilization control device and method of hydraulic cylinder |
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| CN201810984818.XA CN108895049A (en) | 2018-08-28 | 2018-08-28 | A kind of Feedback Oil accurate positioning stabilization control device and method of hydraulic cylinder |
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