CN109578391B - Electro-hydraulic proportional integrated controller and control method thereof - Google Patents
Electro-hydraulic proportional integrated controller and control method thereof Download PDFInfo
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- CN109578391B CN109578391B CN201811457385.9A CN201811457385A CN109578391B CN 109578391 B CN109578391 B CN 109578391B CN 201811457385 A CN201811457385 A CN 201811457385A CN 109578391 B CN109578391 B CN 109578391B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
Abstract
An electro-hydraulic proportional integrated controller and a control method thereof are disclosed, wherein the controller comprises a two-way cartridge valve V1, a two-way cartridge valve V2, a two-way cartridge valve V3, a two-way cartridge valve V4, an operational amplification module MK, a two-way working hydraulic motor MT, a two-position four-way electromagnetic directional valve V5, a two-position four-way electromagnetic directional valve V8, a two-position four-way electromagnetic directional valve V11, a two-position four-way electromagnetic directional valve V14, a three-position four-way electromagnetic proportional directional valve V6, a three-position four-way electromagnetic proportional directional valve V9, a three-position four-way electromagnetic proportional directional valve V10, a three-position four-way electromagnetic proportional directional valve V13, an overflow valve V7, an; control strategy when the present controller enters the working state, the hydraulic pumps PUx and PUy work, and at this time, the bidirectional hydraulic motor MT has three working conditions of stop, rise and fall. The remote control, automation and intelligent control are easy to realize.
Description
Technical Field
The invention relates to a controller, in particular to an electro-hydraulic proportional integrated controller and a control method thereof, and belongs to the technical field of hydraulic control valves.
Background
The hydraulic integrated controller is used as a core control part of a hydraulic system, is generally used for flow distribution and pressure control of the system, and maintains the stability of the system under the condition that external loads are changed. The hydraulic integrated controller is generally required to be compact and simple in structure, accurate and sensitive in control, simple to operate, energy-saving, environment-friendly and rich in control interfaces.
At present, the existing hydraulic system integrated controller usually uses a multi-way valve bank or a reversing valve bank for controlling flow distribution to perform flow distribution and pressure compensation of the system; meanwhile, in order to ensure the stable operation and safety of the system, a back pressure or balance valve bank and an oil supplementing valve bank are required to be configured. The existing hydraulic system integrated controller has the following defects: 1. the hydraulic control system is formed by combining a plurality of hydraulic components, so that the system has a plurality of connecting pipelines, is complex and large in size, and has poor economy. 2. Because of adopting the back pressure valve and the throttle valve, the energy consumption of the system is high; in addition, with the control requirements of automation and intellectualization oriented by the host system, the interface conversion is very complex. Therefore, with the increasing demand for automation and intelligent control, the existing integrated controller cannot well meet the use demand; the demand for the electro-hydraulic proportional integrated controller with simple structure, energy conservation, environmental protection and rich interfaces is more and more urgent at present.
Disclosure of Invention
The invention provides an electro-hydraulic proportional integrated controller and a control method thereof, aiming at the problems in the prior art.
In order to achieve the purpose, the technical solution of the invention is as follows: an electro-hydraulic proportional integrated controller comprises a two-way cartridge valve V1, a two-way cartridge valve V2, a two-way cartridge valve V3, a two-way cartridge valve V4, an operational amplification module MK, a two-way working hydraulic motor MT, a two-position four-way electromagnetic directional valve V5, a two-position four-way electromagnetic directional valve V8, a two-position four-way electromagnetic directional valve V11, a two-position four-way electromagnetic directional valve V14, a three-position four-way electromagnetic directional valve V6, a three-position four-way electromagnetic directional valve V9, a three-position four-way electromagnetic proportional directional valve V10, a three-position four-way electromagnetic directional valve V13, an overflow valve V7, an overflow valve V12, a hydraulic pump pux and a hydraulic pump puy, wherein an input port of a working signal of the integrated controller is an R port, an inlet of a hydraulic system hydraulic oil source of the integrated controller is a P port, an oil return port of the hydraulic system hydraulic oil source of the integrated controller is a T port, an outlet of the overflow valve V7 is provided with an energy accumulator x1, and an outlet of the overflow valve V12 is provided with an energy accumulator x 2;
the K oil port of the two-way cartridge valve V1 and the K oil port of the two-way cartridge valve V2 are connected with a high-pressure port P port of a hydraulic system through oil paths, the H oil port of the two-way cartridge valve V1 and the H oil port of the two-way cartridge valve V3 are connected with an A port of a two-way working hydraulic motor MT through hydraulic oil paths, the H oil port of the two-way cartridge valve V2 and the H oil port of the two-way cartridge valve V4 are connected with a B port of the two-way working hydraulic motor MT through hydraulic oil paths, and the K oil port of the two-way cartridge valve V3 and the K oil port of the two-way cartridge valve V4 are connected with a high-pressure port;
the two-way cartridge valve V1 and the two-way cartridge valve V2 are provided with a pressure sensor PX3 for monitoring the pressure of a valve port, the signal output by the pressure sensor PX3 is PX3, the H port of the two-way cartridge valve V1 is provided with a pressure sensor PX1 for monitoring the pressure of the valve port, the signal output by the pressure sensor PX1 is PX1, the H port of the two-way cartridge valve V2 is provided with a pressure sensor PX2 for monitoring the pressure of the valve port, the signal output by the pressure sensor PX2 is PX2, the K ports of the two-way cartridge valve V3 and the two-way cartridge valve V4 are provided with a pressure sensor PX4 for monitoring the pressure of the valve port, the signal output by the pressure sensor PX4 is PX4, and the pressure sensor PX3, the pressure sensor PX1, the pressure sensor PX2 and the pressure sensor PX4 are connected with an operational amplification module;
an electromagnet DT1 is arranged in the two-position four-way electromagnetic directional valve V5, an electromagnet DT2 is arranged in the two-position four-way electromagnetic directional valve V8, an electromagnet DT12 is arranged in the two-position four-way electromagnetic directional valve V11, an electromagnet DT11 is arranged in the two-position four-way electromagnetic directional valve V14, and the two-position four-way electromagnetic directional valve V5, the two-position four-way electromagnetic directional valve V8, the two-position four-way electromagnetic directional valve V11 and the two-position four-way electromagnetic directional valve V14 are respectively connected with an operational amplification module MK;
the three-position four-way electromagnetic proportional reversing valve V6 is provided with electromagnets DT3 and DT4, the three-position four-way electromagnetic proportional reversing valve V9 is provided with electromagnets DT5 and DT6, the three-position four-way electromagnetic proportional reversing valve V10 is provided with electromagnets DT9 and DT10, the three-position four-way electromagnetic proportional reversing valve V13 is provided with electromagnets DT7 and DT8, and the three-position four-way electromagnetic proportional reversing valve V6, the three-position four-way electromagnetic proportional reversing valve V10 and the three-position four-way electromagnetic proportional reversing valve V13 are respectively connected with the operational amplification module MK;
the two-position four-way electromagnetic reversing valve V5, the two-position four-way electromagnetic reversing valve V8, the two-position four-way electromagnetic reversing valve V11 and the two-position four-way electromagnetic reversing valve V14 are respectively provided with P, T, A, B four oil ports at working positions, the three-position four-way electromagnetic proportional reversing valve V6, the three-position four-way electromagnetic proportional reversing valve V9, the three-position four-way electromagnetic proportional reversing valve V10 and the three-position four-way electromagnetic proportional reversing valve V13 are respectively provided with P, T, a and b four oil ports at working positions, the P port of the two-position four-way electromagnetic reversing valve V5, the P port of the two-position four-way electromagnetic reversing valve V8, the P port of the three-position four-way electromagnetic proportional reversing valve V6, the P port of the three-position four-way electromagnetic proportional reversing valve V9 are connected through a hydraulic pipeline and are connected with an outlet of an overflow valve V7, the T port of the two-position four-way electromagnetic reversing valve V, A T port of the three-position four-way electromagnetic proportional directional valve V9 is connected with an oil drainage port of the overflow valve V7 and an oil tank through a hydraulic pipeline, a P port of the two-position four-way electromagnetic directional valve V11, a P port of the two-position four-way electromagnetic directional valve V14, a P port of the three-position four-way electromagnetic proportional directional valve V10 and a P port of the three-position four-way electromagnetic proportional directional valve V13 are connected with an outlet of the overflow valve V12 through hydraulic pipelines, a T port of the two-position four-way electromagnetic directional valve V11, a T port of the two-position four-way electromagnetic directional valve V14, a T port of the three-position four-way electromagnetic proportional directional valve V10 and a T port of the three-position four-way electromagnetic proportional directional valve V13 are connected with hydraulic pipelines and are connected with an; the inlet of the overflow valve V7 is connected with the outlet of a hydraulic pump pux, and the inlet of the overflow valve V12 is connected with the outlet of a hydraulic pump puy;
the control ports of the two-way cartridge valve V1 are V1x and V1y, the control ports of the two-way cartridge valve V2 are V2x and V2y, the control ports of the two-way cartridge valve V3 are V3x and V3y, and the control ports of the two-way cartridge valve V4 are V4x and V4 y; the V1x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V6 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V5 through a hydraulic oil path; the V1y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V6 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V5 through a hydraulic oil path; the V2x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V13 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V14 through a hydraulic oil path; the V2y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V13 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V14 through a hydraulic oil path; the V3x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V9 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V8 through a hydraulic oil path; the V3y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V9 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V8 through a hydraulic oil path; the V4x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V10 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V11 through a hydraulic oil path; the V3y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V10 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V11 through a hydraulic oil path;
the valve core of the two-way cartridge valve V1 is provided with a displacement sensor DX1 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX1 is DX1, the valve core of the two-way cartridge valve V2 is provided with a displacement sensor DX2 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX2 is DX2, the valve core of the two-way cartridge valve V3 is provided with a displacement sensor DX3 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX3 is DX3, the valve core of the two-way cartridge valve V4 is provided with a displacement sensor DX4 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX4 is DX4, and the displacement sensor DX1, the displacement sensor DX2, the displacement sensor DX3 and the displacement sensor DX4 are all connected with the operational amplifier module MK.
When the controller enters a working state, hydraulic pumps pux and puy work to output hydraulic oil sources, and a bidirectional working hydraulic motor MT has three working conditions, which specifically comprise the following contents:
s1, bidirectional hydraulic motor MT stop condition: under the working condition, an input port R signal of an integrated controller working signal is a middle position signal, a bidirectional working hydraulic motor MT stops running, hydraulic pumps pux and puy work to output hydraulic oil sources, electromagnets DT1, DT2, a hydraulic oil source sets working pressure through a relief valve V2 and a relief valve V2, the hydraulic oil sources respectively enter a two-way cartridge valve V2, a two-way cartridge valve V2 and the two-way cartridge valve V2 through the two-way four-way electromagnetic valve V2, a control port V12, a control port V2 2, a control port V3 2 and a control port V4 2 of the two-way cartridge valve V2, the MT cartridge valve V2 and the hydraulic plug valve V2 are closed, and the inlet and outlet and inlet and outlet of the two-way hydraulic oil cores of the two-way hydraulic motor are closed, cutting off a P port of a hydraulic oil source inlet of the hydraulic system;
s2, raising the operating condition to the working hydraulic motor MT: at the moment, an oil inlet at an inlet A and an oil outlet at an outlet B of the bidirectional working hydraulic motor MT are performed, an input port R signal of a working signal of the integrated controller is positive, at the moment, the integrated arithmetic unit MK sends out a signal to enable the DT1 and the DT12 to be electrified, the hydraulic pumps pux and puy work to output a hydraulic oil source, the two-position four-way electromagnetic reversing valve V5 and the two-position four-way electromagnetic reversing valve V11 to reverse, the three-position four-way electromagnetic proportional reversing valve V6 and the three-position four-way electromagnetic proportional reversing valve V10 work simultaneously, the two-position two-way valve V1 and the two-way valve V4, the two-position four-way electromagnetic reversing valve V8, the two-position four-way electromagnetic reversing valve V14, the three-position four-way electromagnetic proportional reversing valve V9 and the three-position four-way electromagnetic proportional reversing valve V13 are gradually opened according to the R signal, currents and flow rates corresponding to different opening degrees of R are set, calculating an inlet pressure signal px3, an inlet pressure signal px4, a displacement signal dx1 and a displacement signal dx4 to obtain a corresponding flow relation;
s3, bidirectional hydraulic motor MT drop condition: at the moment, oil is fed from a port B and oil is discharged from a port A of the bidirectional working hydraulic motor MT, a port R signal of an input port of a working signal of the integrated controller is negative, at the moment, the integrated arithmetic unit MK sends out a signal to enable the DT2 and the DT11 to be electrified, the hydraulic pumps pux and puy work to output a hydraulic oil source, the two-position four-way electromagnetic directional valve V8 and the two-position four-way electromagnetic directional valve V14 to be switched, the three-position four-way electromagnetic proportional directional valve V9 and the three-position four-way electromagnetic proportional directional valve V13 work simultaneously, the two-way cartridge valve V2 and the two-way cartridge valve V3 are gradually opened according to the port R signal, the two-way cartridge valve V1, the two-way cartridge valve V4, the three-position four-way electromagnetic proportional directional valve V6 and the three-position four-way electromagnetic proportional directional valve V10 are kept unchanged in the original state, currents and flow rates corresponding to different opening degrees of R are set, and at the, And calculating the inlet pressure signal px4, the displacement signal dx2 and the displacement signal dx3 to obtain a corresponding flow relation.
The flow relationship in S2 specifically includes:
q (R) is theoretical target flow corresponding to the R signal, Q is actual flow entering the electro-hydraulic proportional integrated controller, Cd (DX1) is test data of the two-way cartridge valve V1, Cd (DX4) is test data of the two-way cartridge valve V4, A (DX1) is test data of the two-way cartridge valve V1, and A (DX4) is test data of the two-way cartridge valve V4; rho is the density of the hydraulic oil and is a known value; delta Q is a flow precision judgment value and is a given value; Δ p is a pressure accuracy determination value, which is a given value;
at the moment, according to real-time monitoring data, the integrated arithmetic unit MK compares the calculated actual flow with the theoretical target flow on one hand, and sends out an instruction according to the given flow judgment precision to control the electromagnets DT3 and DT4 in the three-position four-way electromagnetic proportional directional valve V6 to lose power and control the valve core to change the displacement signal DX1, thereby realizing the approximation of the actual flow of the control system flow and the theoretical target flow, namely controlling the speed of the bidirectional working hydraulic motor MT to change to the target value; on the other hand, the pressure difference between PX2 and PX4 is subjected to back calculation, check and comparison by using the calculated actual flow or theoretical flow, the proportional electromagnets DT9 and DT10 of the three-position four-way electromagnetic proportional directional valve V10 are controlled to be de-energized according to the pressure precision judgment value, and the main valve spool displacement signal DX4 of the two-way cartridge valve V4 is controlled, so that the pressure at the outlet of the two-way working hydraulic motor MT is ensured to be stable.
The flow relationship in S3 specifically includes:
PXMIN≤PX2≤PXMAX(6)
wherein E is the elastic modulus of oil, and V is the effective volume between the two-way working hydraulic motor MT and the two-way cartridge valve V2; PXMIN、PXMAXIs a constant, given the control range of PX2 at descent; cd (DX2) is test data of the two-way cartridge valve V2, Cd (DX3) is test data of the two-way cartridge valve V3, A (DX2) is test data of the two-way cartridge valve V2 and A (DX3) is test data of the two-way cartridge valve V3;
at the moment, the integrated arithmetic unit MK adjusts according to equations (3), (4), (5), (6) and (7) according to real-time monitoring data, compares the calculated actual flow with the theoretical target flow in the aspect, and sends out an instruction according to the given flow judgment precision to control the electromagnets DT3 and DT4 in the three-position four-way electromagnetic proportional directional valve V6 to lose power and control the valve core to change the displacement signal DX3 so as to change the flow of the control system, namely control the change of the speed of the two-way working hydraulic motor MT; on the other hand, according to the control of the loss of power of the proportional electromagnets DT7 and DT8 in the three-position four-way electromagnetic proportional reversing valve V13, the valve core is controlled to change the displacement signal DX2, the pressure of the PX2 is controlled in a proper range, the two-way working hydraulic motor MT is not sucked empty, the output power of the system is reduced as much as possible, and the stable operation of the two-way working hydraulic motor MT is ensured.
Compared with the prior art, the invention has the beneficial effects that:
1. the four two-way cartridge valves V1, V2, V3 and V4 are combined to realize multiple functions of flow distribution, pressure compensation, load balance and the like; the oil source pipeline of the hydraulic system only needs to directly reach the controller, and then the control valve group is connected with the bidirectional working hydraulic motor MT, so that external control pipelines and auxiliary pipelines are greatly reduced, and the simplification of the whole hydraulic system is realized.
2. According to the invention, the real-time monitoring of parameters such as a pressure sensor px3, a pressure sensor px4, a pressure sensor px1, a pressure sensor px2, a displacement sensor dx1, a displacement sensor dx2, a displacement sensor dx3 and a displacement sensor dx4 is adopted, so that unnecessary energy consumption is controlled to the maximum extent, and the energy consumption of the system is reduced; and the control is carried out by adopting an electric signal, so that the control interface is greatly enriched, and the remote control, automation and intelligent control are easy to realize.
Drawings
Fig. 1 is a hydraulic schematic of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following description of the drawings and the detailed description.
The first embodiment is as follows:
referring to fig. 1, an electro-hydraulic proportional integrated controller includes a two-way cartridge valve V1, a two-way cartridge valve V2, a two-way cartridge valve V3, a two-way cartridge valve V4, an operational amplification module MK, a two-way working hydraulic motor MT, a two-position four-way electromagnetic directional valve V5, a two-position four-way electromagnetic directional valve V8, a two-position four-way electromagnetic directional valve V11, a two-position four-way electromagnetic directional valve V14, a three-position four-way electromagnetic proportional directional valve V6, a three-position four-way electromagnetic proportional directional valve V9, a three-position four-way electromagnetic proportional directional valve V10, a three-position four-way electromagnetic proportional directional valve V13, an overflow valve V7, an overflow valve V12, a hydraulic pump pux, and a hydraulic pump puy, that is, V1. An input port of a working signal of the integrated controller is an R port, an inlet of a hydraulic system hydraulic oil source of the integrated controller is a P port, an oil return port of the hydraulic system hydraulic oil source of the integrated controller is a T port, and oil ports corresponding to the two-way working hydraulic motor MT are respectively an A port and a B port. In order to ensure the safety and redundancy of the control system and the stability of the control pressure, an accumulator x1 is arranged at the outlet of the overflow valve V7, and an accumulator x2 is arranged at the outlet of the overflow valve V12.
Referring to fig. 1, the two-way cartridge valve V1, the two-way cartridge valve V2, the two-way cartridge valve V3 and the two-way cartridge valve V4 all have oil inlets and oil outlets, and oil ports of V1, V2, V3 and V4 in the vertical direction in fig. 1 are set as K ports, and oil ports on the side are set as H ports. The K oil port of the two-way cartridge valve V1 and the K oil port of the two-way cartridge valve V2 are connected with a high-pressure port P port of a hydraulic system through oil paths, the H oil port of the two-way cartridge valve V1 and the H oil port of the two-way cartridge valve V3 are connected with a port A of a two-way working hydraulic motor MT through hydraulic oil paths, the H oil port of the two-way cartridge valve V2 and the H oil port of the two-way cartridge valve V4 are connected with a port B of the two-way working hydraulic motor MT through hydraulic oil paths, and the K oil port of the two-way cartridge valve V3 and the K oil port of the two-way cartridge valve V4 are connected with a port T of the.
Referring to fig. 1, the two-way cartridge valve V1 and the two-way cartridge valve V2 have pressure sensors PX3 for monitoring the pressure of the valve ports, and the signal output by the pressure sensors PX3 is PX 3; an H oil port of the two-way cartridge valve V1 is provided with a pressure sensor PX1 for monitoring the pressure of a valve port, and a signal output by the pressure sensor PX1 is PX 1; a pressure sensor PX2 is arranged at an H oil port of the two-way cartridge valve V2 to monitor the pressure of a valve port, and a signal output by the pressure sensor PX2 is PX 2; and pressure sensors PX4 are arranged at K oil ports of the two-way cartridge valve V3 and the two-way cartridge valve V4 to monitor the pressure of the valve ports, and a signal output by the pressure sensor PX4 is PX 4. The pressure sensor PX3, the pressure sensor PX1, the pressure sensor PX2 and the pressure sensor PX4 are respectively connected with the operational amplifier module MK, and transmit pressure signals PX1, PX2, PX3 and PX4 to the operational amplifier module MK.
Referring to fig. 1, an electromagnet DT1 is arranged in the two-position four-way electromagnetic directional valve V5, and when the DT1 is powered off, the right position works, and when the DT1 is powered on, the left position works. The two-position four-way electromagnetic reversing valve V8 is provided with an electromagnet DT2, the right position works when DT2 is powered off, and the left position works when DT2 is powered on. The two-position four-way electromagnetic reversing valve V11 is provided with an electromagnet DT12, the right position works when DT12 is powered off, and the left position works when DT12 is powered on. The two-position four-way electromagnetic reversing valve V14 is provided with an electromagnet DT11, the right position works when DT11 is powered off, and the left position works when DT11 is powered on. The two-position four-way electromagnetic directional valve V5, the two-position four-way electromagnetic directional valve V8, the two-position four-way electromagnetic directional valve V11 and the two-position four-way electromagnetic directional valve V14 are respectively connected with the operational amplification module MK, and specifically control the power-on and power-off actions of the electromagnets according to the instruction of the operational amplification module MK.
Referring to fig. 1, the three-position four-way electromagnetic proportional directional valve V6 is provided with electromagnets DT3 and DT4, and when both DT3 and DT4 are de-energized, the neutral position works; when the DT3 is electrified and the DT4 is simultaneously de-electrified, the left position works, and the opening size of the reversing valve is controlled according to the current size; when the DT4 is electrified and the DT3 is simultaneously de-electrified, the right position works, and the opening size of the reversing valve is controlled according to the current size; and DT3 and DT4 cannot be energized simultaneously. The three-position four-way electromagnetic proportional reversing valve V9 is provided with electromagnets DT5 and DT6, the three-position four-way electromagnetic proportional reversing valve V10 is provided with electromagnets DT9 and DT10, and the three-position four-way electromagnetic proportional reversing valve V13 is provided with electromagnets DT7 and DT 8; the working principle of the three-position four-way electromagnetic proportional reversing valve V6, the three-position four-way electromagnetic proportional reversing valve V10 and the three-position four-way electromagnetic proportional reversing valve V13 is the same as that of the three-position four-way electromagnetic proportional reversing valve V6. The three-position four-way electromagnetic proportional reversing valve V6, the three-position four-way electromagnetic proportional reversing valve V10 and the three-position four-way electromagnetic proportional reversing valve V13 are respectively connected with the operational amplification module MK, and specifically, the power-on and power-off actions of the electromagnets are controlled according to the instruction of the operational amplification module MK.
Referring to fig. 1, the two-position four-way electromagnetic directional valve V5, the two-position four-way electromagnetic directional valve V8, the two-position four-way electromagnetic directional valve V11 and the two-position four-way electromagnetic directional valve V14 all have P, T, A, B oil ports at the working positions, and the three-position four-way electromagnetic proportional directional valve V6, the three-position four-way electromagnetic proportional directional valve V9, the three-position four-way electromagnetic proportional directional valve V10 and the three-position four-way electromagnetic proportional directional valve V13 all have p, t, a and b oil ports at the working positions. The P port of the two-position four-way electromagnetic directional valve V5, the P port of the two-position four-way electromagnetic directional valve V8, the P port of the three-position four-way electromagnetic proportional directional valve V6 and the P port of the three-position four-way electromagnetic proportional directional valve V9 are connected through hydraulic pipelines and are connected with the outlet of the overflow valve V7. The T port of the two-position four-way electromagnetic directional valve V5, the T port of the two-position four-way electromagnetic directional valve V8, the T port of the three-position four-way electromagnetic proportional directional valve V6 and the T port of the three-position four-way electromagnetic proportional directional valve V9 are connected through hydraulic pipelines and are connected with an oil drainage port of the overflow valve V7 and an oil tank. The P port of the two-position four-way electromagnetic directional valve V11, the P port of the two-position four-way electromagnetic directional valve V14, the P port of the three-position four-way electromagnetic proportional directional valve V10 and the P port of the three-position four-way electromagnetic proportional directional valve V13 are connected through hydraulic pipelines and are connected with the outlet of the overflow valve V12. The T port of the two-position four-way electromagnetic directional valve V11, the T port of the two-position four-way electromagnetic directional valve V14, the T port of the three-position four-way electromagnetic proportional directional valve V10 and the T port of the three-position four-way electromagnetic proportional directional valve V13 are connected through hydraulic pipelines and are connected with an oil drainage port of the overflow valve V12 and an oil tank.
Referring to fig. 1, the inlet of the relief valve V7 is connected to the outlet of the hydraulic pump pux, and the hydraulic pump pux controls the pressure setting through the relief valve V7; the inlet of the relief valve V12 is connected to the outlet of the hydraulic pump puy, and the control pressure of the hydraulic pump puy is set by the relief valve V12.
Referring to fig. 1, the control ports of the two-way cartridge valve V1 are V1x and V1y, the control ports of the two-way cartridge valve V2 are V2x and V2y, the control ports of the two-way cartridge valve V3 are V3x and V3y, and the control ports of the two-way cartridge valve V4 are V4x and V4 y. The V1x is connected with the port a of the three-position four-way electromagnetic proportional directional valve V6 through a hydraulic oil path, and is connected with the port B of the two-position four-way electromagnetic directional valve V5 through a hydraulic oil path. The V1y is connected with a port b of the three-position four-way electromagnetic proportional directional valve V6 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic directional valve V5 through a hydraulic oil path. The V2x is connected with the port a of the three-position four-way electromagnetic proportional directional valve V13 through a hydraulic oil path, and is connected with the port B of the two-position four-way electromagnetic directional valve V14 through a hydraulic oil path. The V2y is connected with a port b of the three-position four-way electromagnetic proportional directional valve V13 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic directional valve V14 through a hydraulic oil path. The V3x is connected with the port a of the three-position four-way electromagnetic proportional directional valve V9 through a hydraulic oil path, and is connected with the port B of the two-position four-way electromagnetic directional valve V8 through a hydraulic oil path. The V3y is connected with a port b of the three-position four-way electromagnetic proportional directional valve V9 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic directional valve V8 through a hydraulic oil path. The V4x is connected with the port a of the three-position four-way electromagnetic proportional directional valve V10 through a hydraulic oil path, and is connected with the port B of the two-position four-way electromagnetic directional valve V11 through a hydraulic oil path. The V3y is connected with a port b of the three-position four-way electromagnetic proportional directional valve V10 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic directional valve V11 through a hydraulic oil path.
Referring to fig. 1, a displacement sensor DX1 is arranged on a valve core of the two-way cartridge valve V1 to monitor the displacement of the valve core, and a displacement signal output by the displacement sensor DX1 is DX 1; a valve core of the two-way cartridge valve V2 is provided with a displacement sensor DX2 for monitoring the displacement of the valve core, and a displacement signal output by the displacement sensor DX2 is DX 2; a valve core of the two-way cartridge valve V3 is provided with a displacement sensor DX3 for monitoring the displacement of the valve core, and a displacement signal output by the displacement sensor DX3 is DX 3; a valve core of the two-way cartridge valve V4 is provided with a displacement sensor DX4 for monitoring the displacement of the valve core, and a displacement signal output by the displacement sensor DX4 is DX 4. The displacement sensor DX1, the displacement sensor DX2, the displacement sensor DX3 and the displacement sensor DX4 are all connected with the operational amplification module MK, and displacement signals are transmitted to the operational amplification module MK from DX1, DX2, DX3 and DX 4.
Referring to fig. 1, the electro-hydraulic proportional integral controller mainly controls a bidirectional working hydraulic motor MT in three states of ascending (oil enters from an inlet B of a port a of the bidirectional working hydraulic motor MT), stopping and descending (oil enters from an inlet a of a port B of the bidirectional working hydraulic motor MT); when the two-way cartridge valves are in a neutral working condition, the four two-way cartridge valves are in a closed state, the port A and the port B of the two-way working hydraulic motor MT are independently isolated, and the two-way working hydraulic motor MT cannot run; in order to further ensure the closing state of the valve core of the two-way cartridge valve, all the electromagnetic valves in the drawing can not be electrified at the moment, so that high-pressure control oil enters the oil passages to enter V1y, V2y, V3y and V4y to promote the valve core of the two-way cartridge valve to be closed, the independent isolation of the port A and the port B is ensured, and the two-way working hydraulic motor MT cannot run; besides, because the valve core of the two-way cartridge valve is hollow, the pressure of the K port of the two-way cartridge valve is introduced to the back of the valve core of the two-way cartridge valve, and the valve core of the two-way cartridge valve is closed through area difference, so that the independent isolation of the A port and the B port is ensured, and the two-way working hydraulic motor MT cannot run; this forms a plurality of measures for controlling the stop of the movement of the bidirectional working hydraulic motor MT.
Referring to fig. 1, in the up condition, the two-way cartridge valve V1 and the two-way cartridge valve V4 are opened according to the control signal, so that the oil in the port P of the system enters the port a of the two-way working hydraulic motor MT through the two-way cartridge valve V1, then passes through the two-way working hydraulic motor MT to reach the port B of the two-way working hydraulic motor MT, and finally returns to the port T of the hydraulic system through the two-way cartridge valve V4. In the process, the pressure and the displacement of the valve port are monitored by the system according to the R signal, and the opening degree of the two-way cartridge valve V1 is controlled, so that the movement speed of the two-way working hydraulic motor MT is controlled; by controlling the opening degree of the two-way cartridge valve V4, the pressure of the MTB port of the two-way working hydraulic motor is ensured to be in a proper range.
Referring to fig. 1, in the descending condition, the two-way cartridge valve V2 and the two-way cartridge valve V3 are opened according to the control signal, so that the oil in the port P of the system enters the port B of the two-way working hydraulic motor MT through the two-way cartridge valve V2, then passes through the two-way working hydraulic motor MT to reach the port a of the two-way working hydraulic motor MT, and finally passes through the port a of the two-way working hydraulic motor MT to return to the port T of the hydraulic system through the two-way cartridge valve V3. In the process, the system monitors the pressure and displacement of the valve port according to the R signal and controls the opening degree of the two-way cartridge valve V3 so as to control the movement speed of the two-way working hydraulic motor MT. By controlling the opening of the two-way cartridge valve V2 port, the flow required by the movement of the two-way working hydraulic motor MT provided by the system is ensured, and meanwhile, the B port is ensured not to be sucked empty.
Example two:
referring to fig. 1, a control strategy of an electro-hydraulic proportional integral controller, when the controller enters a working state (at this time, a P port provides a hydraulic oil source, and the controller enters a standby state), hydraulic pumps PUx and PUy work to output the hydraulic oil source, and at this time, a bidirectional working hydraulic motor MT has three working conditions, which specifically include the following:
s1, bidirectional hydraulic motor MT stop condition: in this condition, the input port R of the integrated controller operation signal is a neutral (or zero) signal, and at this time, the bidirectional hydraulic motor MT stops operating regardless of the absence of load on the two-way cartridge valve V1, the two-way cartridge valve V2, the two-way cartridge valve V3, and the two-way cartridge valve V4. Hydraulic pumps pux and puy work to output hydraulic oil sources, electromagnets DT1, DT2 and DT2 of all the electromagnetic valves are not powered, after working pressure of the hydraulic oil sources is set through a relief valve V2 and a relief valve V2, the hydraulic oil sources enter a two-way cartridge valve V2, a control port V12 of the two-way cartridge valve V2, a control port V2 2, a control port V3 2 of the two-way cartridge valve V2, a control port V12 of the two-way cartridge valve V2, a hydraulic port P of a hydraulic motor of the two-way cartridge valve V2 is closed, and a hydraulic pressure inlet and a hydraulic pressure system of the hydraulic oil source is closed; in this way, the bidirectional hydraulic motor MT cannot move in any direction regardless of the presence or absence of a load.
S2, the working hydraulic motor MT rises: at this time, the port a of the bidirectional working hydraulic motor MT takes oil in, and the port B takes oil out, and under this condition, the input port R of the integrated controller working signal is positive (assuming that positive corresponds to motor rising, and negative corresponds to falling). At the moment, the integrated arithmetic unit MK sends out a signal to enable the DT1 and the DT12 to be electrified, the hydraulic pumps pux and puy work to output hydraulic oil sources, and the two-position four-way electromagnetic directional valve V5 and the two-position four-way electromagnetic directional valve V11 are reversed; meanwhile, the three-position four-way electromagnetic proportional directional valve V6 and the three-position four-way electromagnetic proportional directional valve V10 work, the two-way cartridge valve V1 and the two-way cartridge valve V4 are gradually opened according to the R port signal, and the two-position four-way electromagnetic directional valve V8, the two-position four-way electromagnetic directional valve V14, the three-position four-way electromagnetic proportional directional valve V9 and the three-position four-way electromagnetic proportional directional valve V13 are kept unchanged in the original state. And setting the current and flow corresponding to different opening degrees of the R, and calculating by the integrated arithmetic unit MK according to the acquired inlet pressure signal px1, the inlet pressure signal px2, the inlet pressure signal px3, the inlet pressure signal px4, the displacement signal dx1 and the displacement signal dx4 to obtain a corresponding flow relation.
S3, bidirectional hydraulic motor MT drop condition: at this time, the two-way working hydraulic motor MT has oil inlet at the B port and oil outlet at the a port, and the input port R of the working signal of the integrated controller has a negative signal (assuming that a positive signal corresponds to the motor rising, and a negative signal corresponds to the falling). At the moment, the integrated arithmetic device MK sends out a signal to enable the DT2 and the DT11 to be electrified, the hydraulic pumps pux and puy work to output hydraulic oil sources, the two-position four-way electromagnetic directional valve V8 and the two-position four-way electromagnetic directional valve V14 are reversed, meanwhile, the three-position four-way electromagnetic proportional reversing valve V9 and the three-position four-way electromagnetic proportional reversing valve V13 work, according to the R port signal, the two-way cartridge valve V2 and the two-way cartridge valve V3 are gradually opened, the two-way cartridge valve V1, the two-way cartridge valve V4, the three-position four-way electromagnetic proportional directional valve V6 and the three-position four-way electromagnetic proportional directional valve V10 are kept unchanged (relative to a neutral state), currents and flow sizes corresponding to different opening degrees of R are set, and at the moment, the integrated arithmetic unit MK calculates and obtains a corresponding flow relation according to the collected inlet pressure signal px1, the inlet pressure signal px2, the inlet pressure signal px3, the inlet pressure signal px4, the displacement signal dx2 and the displacement signal dx 3.
Referring to fig. 1, specifically, the flow relationship in S2 specifically includes:
wherein Q (R) is a theoretical target flow corresponding to the R signal; q is the actual flow entering the electro-hydraulic proportional integral controller, which is the actual flow calculated from the base data and the monitored variables. Cd (DX1) is test data of the two-way cartridge valve V1, namely the two-way cartridge valve V1 corresponds to valve element flow coefficients of different displacement signals DX 1; cd (DX4) is test data of the two-way cartridge valve V4, namely the two-way cartridge valve V4 corresponds to valve element flow coefficients of different displacement signals DX 4; a (DX1) is test data of the two-way cartridge valve V1, namely the flow area of a valve element of the two-way cartridge valve V1 corresponding to different displacement signals DX 1; a (DX4) is test data of the two-way cartridge valve V4, namely the flow area of a valve element of the two-way cartridge valve V4 corresponding to different displacement signals DX 4; rho is the density of the hydraulic oil and is a known value; delta Q is a flow precision judgment value and is a given value; Δ p is a pressure accuracy determination value, which is a given value.
At the moment, according to real-time monitoring data, the integrated arithmetic unit MK compares the calculated actual flow with the theoretical target flow on one hand, and sends out an instruction according to the given flow judgment precision to control the electromagnets DT3 and DT4 in the three-position four-way electromagnetic proportional directional valve V6 to lose power and control the valve core to change the displacement signal DX1, thereby realizing the approximation of the actual flow of the control system flow and the theoretical target flow, namely controlling the speed of the bidirectional working hydraulic motor MT to change to the target value; on the other hand, the pressure difference between PX2 and PX4 is subjected to back calculation, check and comparison by using the calculated actual flow or theoretical flow, the proportional electromagnets DT9 and DT10 of the three-position four-way electromagnetic proportional directional valve V10 are controlled to be de-energized according to the pressure precision judgment value, and the main valve spool displacement signal DX4 of the two-way cartridge valve V4 is controlled, so that the pressure at the outlet of the two-way working hydraulic motor MT is ensured to be stable.
Specifically, the flow relationship in S3 specifically includes:
PXMIN≤PX2≤PXMAX(6)
wherein E is the elastic modulus of oil, and V is the effective volume between the two-way working hydraulic motor MT and the two-way cartridge valve V2; PXMIN、PXMAXIs a constant, given the control range of PX2 at descent; cd (DX2) is test data of the two-way cartridge valve V2, namely the two-way cartridge valve V2 corresponds to valve element flow coefficients of different displacement signals DX 2; cd (DX3) is test data of the two-way cartridge valve V3, namely the two-way cartridge valve V3 corresponds to valve element flow coefficients of different displacement signals DX 3; a (DX2) is test data of the two-way cartridge valve V2, namely the flow area of a valve element of the two-way cartridge valve V2 corresponding to different displacement signals DX 2; a (DX3) is test data of the two-way cartridge valve V3, namely the two-way cartridge valve V3 corresponds to different displacement signals DX3 flow area of the valve element.
At the moment, the integrated arithmetic unit MK adjusts according to equations (3), (4), (5), (6) and (7) according to real-time monitoring data, compares the calculated actual flow with the theoretical target flow in the aspect, and sends out an instruction according to the given flow judgment precision to control the electromagnets DT3 and DT4 in the three-position four-way electromagnetic proportional directional valve V6 to lose power and control the valve core to change the displacement signal DX3 so as to change the flow of the control system, namely control the change of the speed of the two-way working hydraulic motor MT; on the other hand, according to the control of the loss of power of the proportional electromagnets DT7 and DT8 in the three-position four-way electromagnetic proportional reversing valve V13, the valve core is controlled to change the displacement signal DX2, the pressure of the PX2 is controlled in a proper range, the two-way working hydraulic motor MT is not sucked empty, the output power of the system is reduced as much as possible, and the stable operation of the two-way working hydraulic motor MT is ensured.
Referring to fig. 1, the invention reduces the number of pipelines of the hydraulic system and the types of control valves, and can maintain the stable operation of the system only by providing a pressure value for ensuring that the inlet of the bidirectional hydraulic motor MT is not emptied by the hydraulic system under the descending working condition, thereby greatly reducing the energy consumption of the system. In addition, the control signal adopts an electric control signal, so that a foundation is provided for realizing remote control, automation and intellectualization of the equipment.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention relates, several simple deductions or substitutions may be made without departing from the spirit of the invention, and the above-mentioned structures should be considered as belonging to the protection scope of the invention.
Claims (4)
1. An electro-hydraulic proportional integrated controller is characterized in that: the hydraulic system integrated controller comprises a two-way cartridge valve V1, a two-way cartridge valve V2, a two-way cartridge valve V3, a two-way cartridge valve V4, an operational amplification module MK, a two-way working hydraulic motor MT, a two-position four-way electromagnetic directional valve V5, a two-position four-way electromagnetic directional valve V8, a two-position four-way electromagnetic directional valve V11, a two-position four-way electromagnetic directional valve V14, a three-position four-way electromagnetic proportional directional valve V6, a three-position four-way electromagnetic proportional directional valve V9, a three-position four-way electromagnetic proportional directional valve V10, a three-position four-way electromagnetic proportional directional valve V13, an overflow valve V7, an overflow valve V12, a hydraulic pump pux and a hydraulic pump puy, wherein an input port of a working signal of the integrated controller is an R port, an inlet of a hydraulic system hydraulic oil source of the integrated controller is a P port, an oil return port of the hydraulic system of the integrated controller is a T port, corresponding oil return ports of the two, an outlet of the overflow valve V12 is provided with an accumulator x 2;
the K oil port of the two-way cartridge valve V1 and the K oil port of the two-way cartridge valve V2 are connected with a high-pressure port P port of a hydraulic system through oil paths, the H oil port of the two-way cartridge valve V1 and the H oil port of the two-way cartridge valve V3 are connected with an A port of a two-way working hydraulic motor MT through hydraulic oil paths, the H oil port of the two-way cartridge valve V2 and the H oil port of the two-way cartridge valve V4 are connected with a B port of the two-way working hydraulic motor MT through hydraulic oil paths, and the K oil port of the two-way cartridge valve V3 and the K oil port of the two-way cartridge valve V4 are connected with a high-pressure port;
the two-way cartridge valve V1 and the two-way cartridge valve V2 are provided with a pressure sensor PX3 for monitoring the pressure of a valve port, the signal output by the pressure sensor PX3 is PX3, the H port of the two-way cartridge valve V1 is provided with a pressure sensor PX1 for monitoring the pressure of the valve port, the signal output by the pressure sensor PX1 is PX1, the H port of the two-way cartridge valve V2 is provided with a pressure sensor PX2 for monitoring the pressure of the valve port, the signal output by the pressure sensor PX2 is PX2, the K ports of the two-way cartridge valve V3 and the two-way cartridge valve V4 are provided with a pressure sensor PX4 for monitoring the pressure of the valve port, the signal output by the pressure sensor PX4 is PX4, and the pressure sensor PX3, the pressure sensor PX1, the pressure sensor PX2 and the pressure sensor PX4 are connected with an operational amplification module;
an electromagnet DT1 is arranged in the two-position four-way electromagnetic directional valve V5, an electromagnet DT2 is arranged in the two-position four-way electromagnetic directional valve V8, an electromagnet DT12 is arranged in the two-position four-way electromagnetic directional valve V11, an electromagnet DT11 is arranged in the two-position four-way electromagnetic directional valve V14, and the two-position four-way electromagnetic directional valve V5, the two-position four-way electromagnetic directional valve V8, the two-position four-way electromagnetic directional valve V11 and the two-position four-way electromagnetic directional valve V14 are respectively connected with an operational amplification module MK;
the three-position four-way electromagnetic proportional reversing valve V6 is provided with electromagnets DT3 and DT4, the three-position four-way electromagnetic proportional reversing valve V9 is provided with electromagnets DT5 and DT6, the three-position four-way electromagnetic proportional reversing valve V10 is provided with electromagnets DT9 and DT10, the three-position four-way electromagnetic proportional reversing valve V13 is provided with electromagnets DT7 and DT8, and the three-position four-way electromagnetic proportional reversing valve V6, the three-position four-way electromagnetic proportional reversing valve V10 and the three-position four-way electromagnetic proportional reversing valve V13 are respectively connected with the operational amplification module MK;
the two-position four-way electromagnetic reversing valve V5, the two-position four-way electromagnetic reversing valve V8, the two-position four-way electromagnetic reversing valve V11 and the two-position four-way electromagnetic reversing valve V14 are respectively provided with P, T, A, B four oil ports at working positions, the three-position four-way electromagnetic proportional reversing valve V6, the three-position four-way electromagnetic proportional reversing valve V9, the three-position four-way electromagnetic proportional reversing valve V10 and the three-position four-way electromagnetic proportional reversing valve V13 are respectively provided with P, T, a and b four oil ports at working positions, the P port of the two-position four-way electromagnetic reversing valve V5, the P port of the two-position four-way electromagnetic reversing valve V8, the P port of the three-position four-way electromagnetic proportional reversing valve V6, the P port of the three-position four-way electromagnetic proportional reversing valve V9 are connected through a hydraulic pipeline and are connected with an outlet of an overflow valve V7, the T port of the two-position four-way electromagnetic reversing valve V, A T port of the three-position four-way electromagnetic proportional directional valve V9 is connected with an oil drainage port of the overflow valve V7 and an oil tank through a hydraulic pipeline, a P port of the two-position four-way electromagnetic directional valve V11, a P port of the two-position four-way electromagnetic directional valve V14, a P port of the three-position four-way electromagnetic proportional directional valve V10 and a P port of the three-position four-way electromagnetic proportional directional valve V13 are connected with an outlet of the overflow valve V12 through hydraulic pipelines, a T port of the two-position four-way electromagnetic directional valve V11, a T port of the two-position four-way electromagnetic directional valve V14, a T port of the three-position four-way electromagnetic proportional directional valve V10 and a T port of the three-position four-way electromagnetic proportional directional valve V13 are connected with hydraulic pipelines and are connected with an; the inlet of the overflow valve V7 is connected with the outlet of a hydraulic pump pux, and the inlet of the overflow valve V12 is connected with the outlet of a hydraulic pump puy;
the control ports of the two-way cartridge valve V1 are V1x and V1y, the control ports of the two-way cartridge valve V2 are V2x and V2y, the control ports of the two-way cartridge valve V3 are V3x and V3y, and the control ports of the two-way cartridge valve V4 are V4x and V4 y; the V1x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V6 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V5 through a hydraulic oil path; the V1y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V6 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V5 through a hydraulic oil path; the V2x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V13 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V14 through a hydraulic oil path; the V2y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V13 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V14 through a hydraulic oil path; the V3x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V9 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V8 through a hydraulic oil path; the V3y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V9 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V8 through a hydraulic oil path; the V4x is connected with a port a of the three-position four-way electromagnetic proportional reversing valve V10 through a hydraulic oil path, and is connected with a port B of the two-position four-way electromagnetic reversing valve V11 through a hydraulic oil path; the V3y is connected with a port b of the three-position four-way electromagnetic proportional reversing valve V10 through a hydraulic oil path, and is connected with a port A of the two-position four-way electromagnetic reversing valve V11 through a hydraulic oil path;
the valve core of the two-way cartridge valve V1 is provided with a displacement sensor DX1 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX1 is DX1, the valve core of the two-way cartridge valve V2 is provided with a displacement sensor DX2 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX2 is DX2, the valve core of the two-way cartridge valve V3 is provided with a displacement sensor DX3 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX3 is DX3, the valve core of the two-way cartridge valve V4 is provided with a displacement sensor DX4 for monitoring the displacement amount of the valve core, the displacement signal output by the displacement sensor DX4 is DX4, and the displacement sensor DX1, the displacement sensor DX2, the displacement sensor DX3 and the displacement sensor DX4 are all connected with the operational amplifier module MK.
2. The method as claimed in claim 1, wherein when the controller enters the working state, the hydraulic pumps pux and puy work to output hydraulic oil source, and the bidirectional hydraulic motor MT has three working conditions, which includes:
s1, bidirectional hydraulic motor MT stop condition: under the working condition, an input port R signal of an integrated controller working signal is a middle position signal, a bidirectional working hydraulic motor MT stops running, hydraulic pumps pux and puy work to output hydraulic oil sources, electromagnets DT1, DT2, a hydraulic oil source sets working pressure through a relief valve V2 and a relief valve V2, the hydraulic oil sources respectively enter a two-way cartridge valve V2, a two-way cartridge valve V2 and the two-way cartridge valve V2 through the two-way four-way electromagnetic valve V2, a control port V12, a control port V2 2, a control port V3 2 and a control port V4 2 of the two-way cartridge valve V2, the MT cartridge valve V2 and the hydraulic plug valve V2 are closed, and the inlet and outlet and inlet and outlet of the two-way hydraulic oil cores of the two-way hydraulic motor are closed, cutting off a P port of a hydraulic oil source inlet of the hydraulic system;
s2, raising the operating condition to the working hydraulic motor MT: at the moment, an oil inlet at an inlet A and an oil outlet at an outlet B of the bidirectional working hydraulic motor MT are performed, an input port R signal of a working signal of the integrated controller is positive, at the moment, the integrated arithmetic unit MK sends out a signal to enable the DT1 and the DT12 to be electrified, the hydraulic pumps pux and puy work to output a hydraulic oil source, the two-position four-way electromagnetic reversing valve V5 and the two-position four-way electromagnetic reversing valve V11 to reverse, the three-position four-way electromagnetic proportional reversing valve V6 and the three-position four-way electromagnetic proportional reversing valve V10 work simultaneously, the two-position two-way valve V1 and the two-way valve V4, the two-position four-way electromagnetic reversing valve V8, the two-position four-way electromagnetic reversing valve V14, the three-position four-way electromagnetic proportional reversing valve V9 and the three-position four-way electromagnetic proportional reversing valve V13 are gradually opened according to the R signal, currents and flow rates corresponding to different opening degrees of R are set, calculating an inlet pressure signal px3, an inlet pressure signal px4, a displacement signal dx1 and a displacement signal dx4 to obtain a corresponding flow relation;
s3, bidirectional hydraulic motor MT drop condition: at the moment, oil is fed from a port B and oil is discharged from a port A of the bidirectional working hydraulic motor MT, a port R signal of an input port of a working signal of the integrated controller is negative, at the moment, the integrated arithmetic unit MK sends out a signal to enable the DT2 and the DT11 to be electrified, the hydraulic pumps pux and puy work to output a hydraulic oil source, the two-position four-way electromagnetic directional valve V8 and the two-position four-way electromagnetic directional valve V14 to be switched, the three-position four-way electromagnetic proportional directional valve V9 and the three-position four-way electromagnetic proportional directional valve V13 work simultaneously, the two-way cartridge valve V2 and the two-way cartridge valve V3 are gradually opened according to the port R signal, the two-way cartridge valve V1, the two-way cartridge valve V4, the three-position four-way electromagnetic proportional directional valve V6 and the three-position four-way electromagnetic proportional directional valve V10 are kept unchanged in the original state, currents and flow rates corresponding to different opening degrees of R are set, and at the, And calculating the inlet pressure signal px4, the displacement signal dx2 and the displacement signal dx3 to obtain a corresponding flow relation.
3. The control method of the electro-hydraulic proportional integral controller according to claim 2, wherein the flow relationship in S2 specifically includes:
q (R) is theoretical target flow corresponding to the R signal, Q is actual flow entering the electro-hydraulic proportional integrated controller, Cd (DX1) is test data of the two-way cartridge valve V1, Cd (DX4) is test data of the two-way cartridge valve V4, A (DX1) is test data of the two-way cartridge valve V1, and A (DX4) is test data of the two-way cartridge valve V4; rho is the density of the hydraulic oil and is a known value; delta Q is a flow precision judgment value and is a given value; Δ p is a pressure accuracy determination value, which is a given value;
at the moment, according to real-time monitoring data, the integrated arithmetic unit MK compares the calculated actual flow with the theoretical target flow on one hand, and sends out an instruction according to the given flow judgment precision to control the electromagnets DT3 and DT4 in the three-position four-way electromagnetic proportional directional valve V6 to lose power and control the valve core to change the displacement signal DX1, thereby realizing the approximation of the actual flow of the control system flow and the theoretical target flow, namely controlling the speed of the bidirectional working hydraulic motor MT to change to the target value; on the other hand, the pressure difference between PX2 and PX4 is subjected to back calculation, check and comparison by using the calculated actual flow or theoretical flow, the proportional electromagnets DT9 and DT10 of the three-position four-way electromagnetic proportional directional valve V10 are controlled to be de-energized according to the pressure precision judgment value, and the main valve spool displacement signal DX4 of the two-way cartridge valve V4 is controlled, so that the pressure at the outlet of the two-way working hydraulic motor MT is ensured to be stable.
4. The control method of the electro-hydraulic proportional integral controller according to claim 2, wherein the flow relationship in S3 specifically includes:
PXMIN≤PX2≤PXMAX(6)
wherein E is the elastic modulus of oil, and V is the effective volume between the two-way working hydraulic motor MT and the two-way cartridge valve V2; PXMIN、PXMAXIs a constant, given the control range of PX2 at descent; cd (DX2) is test data of the two-way cartridge valve V2, Cd (DX3) is test data of the two-way cartridge valve V3, A (DX2) is test data of the two-way cartridge valve V2 and A (DX3) is test data of the two-way cartridge valve V3;
at the moment, the integrated arithmetic unit MK adjusts according to equations (3), (4), (5), (6) and (7) according to real-time monitoring data, compares the calculated actual flow with the theoretical target flow in the aspect, and sends out an instruction according to the given flow judgment precision to control the electromagnets DT3 and DT4 in the three-position four-way electromagnetic proportional directional valve V6 to lose power and control the valve core to change the displacement signal DX3 so as to change the flow of the control system, namely control the change of the speed of the two-way working hydraulic motor MT; on the other hand, according to the control of the loss of power of the proportional electromagnets DT7 and DT8 in the three-position four-way electromagnetic proportional reversing valve V13, the valve core is controlled to change a displacement signal DX2, so that the two-way working hydraulic motor MT is ensured not to be sucked empty, the output power of the system is reduced as much as possible, and the stable operation of the two-way working hydraulic motor MT is ensured.
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| CN201811457385.9A CN109578391B (en) | 2018-11-30 | 2018-11-30 | Electro-hydraulic proportional integrated controller and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1039288A (en) * | 1989-07-24 | 1990-01-31 | 权宇 | Composite control valve of pressure and flow proportional to electric current |
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| DE3539321A1 (en) * | 1985-11-06 | 1987-05-07 | Bosch Gmbh Robert | Hydraulic apparatus for regulating a lifting mechanism |
| CN1223344A (en) * | 1998-01-14 | 1999-07-21 | 杨晓红 | Hydraulic system for broaching machine |
| JP4208352B2 (en) * | 1999-07-06 | 2009-01-14 | 株式会社豊田自動織機 | Forklift tilt control device |
| CN201144909Y (en) * | 2007-12-29 | 2008-11-05 | 江苏国力锻压机床有限公司 | Hydraulic control system of hydraulic machine |
| CN102556599A (en) * | 2011-12-02 | 2012-07-11 | 中煤张家口煤矿机械有限责任公司 | Novel hydraulic driving system for scraper conveyer |
| CN102748335B (en) * | 2012-07-02 | 2016-04-06 | 三一重型装备有限公司 | A kind of hydraulic system and development machine |
| CN106517019B (en) * | 2016-12-26 | 2018-08-28 | 上海豪高机电科技有限公司 | Winch hydraulic control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1039288A (en) * | 1989-07-24 | 1990-01-31 | 权宇 | Composite control valve of pressure and flow proportional to electric current |
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