CN110388342A - A control method for reducing overflow protection time in hydraulic system - Google Patents
A control method for reducing overflow protection time in hydraulic system Download PDFInfo
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- CN110388342A CN110388342A CN201910661653.7A CN201910661653A CN110388342A CN 110388342 A CN110388342 A CN 110388342A CN 201910661653 A CN201910661653 A CN 201910661653A CN 110388342 A CN110388342 A CN 110388342A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
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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
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- F15B21/087—Control strategy, e.g. with block diagram
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Abstract
Description
【技术领域】【Technical field】
本发明涉及一种用于液压系统减少溢流保护时间的控制方法，本发明还涉及一种后装压缩式垃圾车的压缩机构的液压系统的控制方法。The invention relates to a control method for reducing overflow protection time of a hydraulic system, and also relates to a control method of a hydraulic system of a compression mechanism of a rear-mounted compression garbage truck.
【背景技术】【Background technique】
液压缸作为液压系统中十分重要的执行机构，其应用十分广泛，对于液压系统而已，液压缸“启动—停止--换向—缩回—停止”的控制直接影响液压缸动作的效率，同时换向的时间直接影响高压溢流(高压溢流指液压缸的活塞杆移动至极限位置，继续供油，也没有换向，由于液压系统的保护机制，高压油通过溢流阀溢流的现象)时间，高压溢流时间越长，发热量越大，液压系统无用功越大，液压系统的效率越低；同时作业循环时会加长，降低节拍，机构作业效率也随之降低。As a very important actuator in the hydraulic system, the hydraulic cylinder is widely used. For the hydraulic system only, the control of the hydraulic cylinder "start-stop-reverse-retract-stop" directly affects the efficiency of the hydraulic cylinder action. The time of the direction directly affects the high-pressure overflow (high-pressure overflow refers to the phenomenon that the piston rod of the hydraulic cylinder moves to the limit position, continues to supply oil, and does not change direction. Due to the protection mechanism of the hydraulic system, the high-pressure oil overflows through the overflow valve) Time, the longer the high-pressure overflow time, the greater the calorific value, the greater the useless work of the hydraulic system, and the lower the efficiency of the hydraulic system; at the same time, the operating cycle will be lengthened, the beat will be reduced, and the operating efficiency of the mechanism will also decrease.
对于采用行程开关控制换向的液压系统，基本上无高压溢流的现象，因为活塞运动到位即换向，高压溢流的时间极短，但是有些情况不能使用行程开关，比如执行机构承受较大的载荷，时间长出现变形，导致行程开关失效；为此人们发明了采用压力继电器控制液压缸换向。For hydraulic systems that use travel switches to control reversing, there is basically no high-pressure overflow phenomenon, because the piston moves in place and the direction is reversed, and the time for high-pressure overflow is extremely short, but in some cases the travel switch cannot be used, such as the actuator bears a large The load will be deformed for a long time, resulting in the failure of the travel switch; for this reason, people have invented the use of pressure relays to control the reversing of hydraulic cylinders.
附图7为现有的后装压缩式垃圾车的压缩机构的液压系统工作过程中的系统压力与时间的关系图，压缩机构包含刮板的张开和刮合以及滑块的上行和下行四个动作的综合运动，并按照“刮板张开--滑板下行--刮板刮合--滑板上行”的顺序循环执行，现在结合附图7说明现有的压缩机构的控制原理：Accompanying drawing 7 is the relationship diagram of system pressure and time during the working process of the hydraulic system of the compression mechanism of the existing post-loading compression garbage truck. The compression mechanism includes the opening and scraping of the scraper and the up and down of the slider. The comprehensive movement of the two actions is executed cyclically in the order of "scraper opening--slider going down--scraper scraping--sliding board going up".
第一步：电磁铁DT1带电，刮板开始张开，过了0.3秒之后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时(对应时间T1)，延迟0.6秒后电磁铁DT1不带电，电磁阀A复位，刮板张开至最大位置；Step 1: The electromagnet DT1 is charged, and the scraper starts to open. After 0.3 seconds, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay. When Pt is greater than the set value P2 (corresponding to time T1 ), after a delay of 0.6 seconds, the electromagnet DT1 is de-energized, the solenoid valve A is reset, and the scraper opens to the maximum position;
第二步：电磁铁DT4带电(对应时间T1+0.6秒)，滑板开始下行，过了0.3秒之后(对应时间T1+0.9秒)，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时(对应时间T2)，延迟0.6秒后电磁铁DT4不带电，电磁阀B复位，滑板下行至最大位置；Step 2: The electromagnet DT4 is electrified (corresponding to time T1+0.6 seconds), the skateboard starts to go down, and after 0.3 seconds (corresponding to time T1+0.9 seconds), the PLC electronic control unit starts to receive and process the system pressure value detected by the pressure relay Pt, when Pt is greater than the set value P2 (corresponding to time T2), after a delay of 0.6 seconds, the electromagnet DT4 is de-energized, the solenoid valve B is reset, and the slide plate goes down to the maximum position;
第三步：电磁铁DT2带电(对应时间T2+0.6秒)，刮板开始刮合，过了0.3秒之后(对应时间T2+0.9秒)，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时(对应时间T3)，延迟0.6秒后电磁铁DT2不带电，电磁阀A复位，刮板开始刮合至初始位置；Step 3: The electromagnet DT2 is electrified (corresponding to time T2+0.6 seconds), and the scraper starts to scrape together. After 0.3 seconds (corresponding to time T2+0.9 seconds), the PLC electronic control unit starts to receive and process the detection system of the pressure relay The pressure value Pt, when Pt is greater than the set value P2 (corresponding to time T3), after a delay of 0.6 seconds, the electromagnet DT2 is de-energized, the solenoid valve A is reset, and the scraper starts to scrape to the initial position;
第四步：电磁铁DT3带电(对应时间T3+0.6秒)，滑板开始下行，过了0.3秒之后(对应时间T3+0.9秒)，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时(对应时间T4)，延迟0.6秒后电磁铁DT3不带电，电磁阀B复位，滑板上行至初始位置。Step 4: The electromagnet DT3 is electrified (corresponding to time T3+0.6 seconds), the skateboard starts to go down, and after 0.3 seconds (corresponding to time T3+0.9 seconds), the PLC electronic control unit starts to receive and process the system pressure value detected by the pressure relay Pt, when Pt is greater than the set value P2 (corresponding to time T4), after a delay of 0.6 seconds, the electromagnet DT3 is de-energized, the solenoid valve B is reset, and the slide plate moves up to the initial position.
综上所述，两个液压缸的每一段行程(伸出或者缩回)，只有当继电器检测的系统压力值Pt大于设定值P2后，并且延迟一段时间，才停止对液压缸供油，并作为下一步骤的时间起点，延迟的时间为经验数据。采用该控制方法，当垃圾比较轻、且稀疏(即轻负载，比如树叶)时，系统压力迅速上升，很快就到达了高压溢流，这种情况下高压溢流时间长；当垃圾比较重、且密集(即重负载，比如泥土和石子)时，系统压力缓慢上升，较难达到高压溢流，甚至处于运动不到位的情况。To sum up, for each stroke of the two hydraulic cylinders (extend or retract), only when the system pressure value Pt detected by the relay is greater than the set value P2, and after a delay for a period of time, the oil supply to the hydraulic cylinder is stopped. And as the time starting point of the next step, the delayed time is empirical data. With this control method, when the garbage is relatively light and sparse (that is, light load, such as leaves), the system pressure rises rapidly and reaches the high-pressure overflow soon. In this case, the high-pressure overflow takes a long time; when the garbage is heavy , and dense (that is, heavy loads, such as mud and stones), the system pressure rises slowly, it is difficult to achieve high-pressure overflow, and even the movement is not in place.
本发明即是针对现有技术的不足而研究提出。The present invention researches and proposes aiming at the deficiencies in the prior art.
【发明内容】【Content of invention】
本发明要解决的技术问题是提供一种用于液压系统减少溢流保护时间的控制方法，克服了现有技术中的液压系统，轻负载高压溢流时间长，重负载运动不到位的情况。The technical problem to be solved by the present invention is to provide a control method for reducing the overflow protection time of the hydraulic system, which overcomes the problems of the hydraulic system in the prior art, such as the long overflow time of light load and high pressure, and the insufficient movement of heavy load.
为解决上述技术问题，本发明的一种用于液压系统减少溢流保护时间的控制方法，所述的液压系统包含油箱、与油箱连接的液压泵、与液压泵连接的主进油路、与油箱连接的主回油路、动作油缸、控制动作油缸换向的电磁阀、以及PLC电控单元，所述的动作油缸通过电磁阀连接在主进油路和主回油路之间，所述的电磁阀包含用于控制动作油缸的活塞杆伸出的电磁铁DT01和用于控制动作油缸的活塞杆缩回的电磁铁DT02，所述的主进油路和主回油路之间连接有当系统压力值到达P1时开始溢流的溢流阀，所述的主进油路连接有用于检测系统压力的压力继电器，所述的控制方法包含顺序进行如下步骤：In order to solve the above technical problems, the present invention provides a control method for reducing the overflow protection time of a hydraulic system. The hydraulic system includes a fuel tank, a hydraulic pump connected to the fuel tank, a main oil inlet circuit connected to the hydraulic pump, and The main oil return circuit connected to the oil tank, the action oil cylinder, the solenoid valve for controlling the reversing of the action oil cylinder, and the PLC electronic control unit. The action oil cylinder is connected between the main oil inlet circuit and the main return oil circuit through the solenoid valve. The solenoid valve includes an electromagnet DT01 for controlling the extension of the piston rod of the action cylinder and an electromagnet DT02 for controlling the retraction of the piston rod of the action cylinder. The main oil inlet circuit and the main oil return circuit are connected with When the system pressure value reaches P1, the overflow valve starts to overflow, the main oil inlet line is connected with a pressure relay for detecting system pressure, and the control method includes the following steps in sequence:
S01：PLC电控单元发出指令使电磁铁DT01带电，动作油缸的活塞杆开始伸出；S01: The PLC electronic control unit issues a command to electrify the electromagnet DT01, and the piston rod of the action cylinder begins to extend;
S02：经过时间t1后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S02: After time t1, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay, and when Pt is greater than the set value P2, execute the next step;
S03：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S03: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S04：PLC电控单元发出指令使电磁铁DT01不带电，动作油缸的活塞杆停止伸出；S04: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT01, and the piston rod of the action cylinder stops extending;
S05：PLC电控单元发出指令使电磁铁DT02带电，动作油缸的活塞杆开始缩回；S05: The PLC electronic control unit issues a command to electrify the electromagnet DT02, and the piston rod of the action cylinder starts to retract;
S06：经过时间t2后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S06: After time t2, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay, and when Pt is greater than the set value P2, execute the next step;
S07：PLC电控单元计算系统压力值Pt的瞬时变化率At，当瞬时变化率At小于设定值A0时，执行下一步；S07: The PLC electronic control unit calculates the instantaneous rate of change At of the system pressure value Pt, and when the instantaneous rate of change At is less than the set value A0, execute the next step;
S08：PLC电控单元发出指令使电磁铁DT02不带电，动作油缸的活塞杆回到初始位置并停止。S08: The PLC electronic control unit issues a command to de-energize the electromagnet DT02, and the piston rod of the action cylinder returns to the initial position and stops.
如上所述的一种用于液压系统减少溢流保护时间的控制方法，所述的80％·P1≤P2≤95％·P1。As mentioned above, a control method for reducing overflow protection time in a hydraulic system, said 80%·P1≤P2≤95%·P1.
如上所述的一种用于液压系统减少溢流保护时间的控制方法，t1满足：0.25秒≤t1≤0.35秒，t2满足：0.25秒≤t2≤0.35秒。According to the above-mentioned control method for reducing the overflow protection time of a hydraulic system, t1 satisfies: 0.25 seconds ≤ t1 ≤ 0.35 seconds, and t2 satisfies: 0.25 seconds ≤ t2 ≤ 0.35 seconds.
如上所述的一种用于液压系统减少溢流保护时间的控制方法，A0满足：2.8(MPa/s)≤A0≤3.2(MPa/s)。As mentioned above, a control method for reducing overflow protection time in a hydraulic system, A0 satisfies: 2.8 (MPa/s)≤A0≤3.2 (MPa/s).
基于上述液压系统控制方法的构想下，本发明的一种后装压缩式垃圾车的压缩机构的液压系统的控制方法，所述后装压缩式垃圾车的压缩机构的液压系统的包含油箱、与油箱连接的液压泵、与液压泵连接的主进油路、与油箱连接的主回油路、控制刮板张开或者闭合的刮板油缸、控制滑板上行或者下行的滑板油缸、控制刮板油缸换向的电磁阀A、控制滑板油缸换向的电磁阀B、以及PLC电控单元，所述的刮板油缸通过电磁阀A连接在主进油路和主回油路之间，所述的电磁阀A包含用于控制刮板张开的电磁铁DT1和用于控制刮板闭合的电磁铁DT2，所述的滑板油缸通过电磁阀B连接在主进油路和主回油路之间，所述的电磁阀B包含用于控制滑板上行的电磁铁DT3和用于控制滑板下行的电磁铁DT4，所述的主进油路和主回油路之间连接有当系统压力值到达P1时开始溢流的溢流阀，所述的主进油路连接有用于检测系统压力的压力继电器，所述压缩机构的控制方法包含顺序进行如下步骤：Based on the idea of the above-mentioned hydraulic system control method, a method for controlling the hydraulic system of the compression mechanism of the rear-mounted compression garbage truck according to the present invention, the hydraulic system of the compression mechanism of the rear-mounted compression garbage truck includes an oil tank, and The hydraulic pump connected to the oil tank, the main oil inlet line connected to the hydraulic pump, the main oil return line connected to the oil tank, the scraper cylinder to control the opening or closing of the scraper, the slide cylinder to control the upward or downward movement of the slide, and the control scraper cylinder The solenoid valve A for reversing, the solenoid valve B for controlling the reversing of the slide cylinder, and the PLC electronic control unit, the scraper cylinder is connected between the main oil inlet circuit and the main return oil circuit through the solenoid valve A, and the The solenoid valve A includes an electromagnet DT1 for controlling the opening of the scraper and an electromagnet DT2 for controlling the closing of the scraper. The slide cylinder is connected between the main oil inlet circuit and the main oil return circuit through the solenoid valve B. The solenoid valve B includes an electromagnet DT3 for controlling the upward movement of the sliding plate and an electromagnet DT4 for controlling the downward movement of the sliding plate. The main oil inlet circuit and the main return oil circuit are connected with The relief valve that begins to overflow, the main oil inlet circuit is connected with a pressure relay for detecting system pressure, and the control method of the compression mechanism includes the following steps in sequence:
S01：PLC电控单元发出指令使电磁铁DT1带电，刮板开始张开；S01: The PLC electronic control unit issues an instruction to electrify the electromagnet DT1, and the scraper starts to open;
S02：经过时间t1后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S02: After time t1, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay, and when Pt is greater than the set value P2, execute the next step;
S03：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S03: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S04：PLC电控单元发出指令使电磁铁DT1不带电，刮板张开至最大位置后停止并保持；S04: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT1, and the scraper opens to the maximum position and then stops and holds;
S05：PLC电控单元发出指令使电磁铁DT4带电，滑板开始下行；S05: The PLC electronic control unit issues an instruction to electrify the electromagnet DT4, and the skateboard starts to descend;
S06：经过时间t2后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S06: After time t2, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay, and when Pt is greater than the set value P2, execute the next step;
S07：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S07: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S08：PLC电控单元发出指令使电磁铁DT4不带电，滑板下行至最低位置后停止并保持；S08: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT4, and the slide plate goes down to the lowest position to stop and hold;
S09：PLC电控单元发出指令使电磁铁DT2带电，刮板开始刮合；S09: The PLC electronic control unit issues an instruction to electrify the electromagnet DT2, and the scraper starts to scrape together;
S10：经过时间t3后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S10: After time t3, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay, and when Pt is greater than the set value P2, execute the next step;
S11：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S11: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S12：PLC电控单元发出指令使电磁铁DT2不带电，刮板刮合至初始位置后停止并保持；S12: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT2, and the scraper scrapes to the initial position and then stops and holds;
S13：PLC电控单元发出指令使电磁铁DT3带电，滑板开始上行；S13: The PLC electronic control unit issues an instruction to electrify the electromagnet DT3, and the skateboard starts to move upward;
S14：经过时间t4后，PLC电控单元开始接收并处理压力继电器检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S14: After time t4, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay, and when Pt is greater than the set value P2, execute the next step;
S15：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S15: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S16：PLC电控单元发出指令使电磁铁DT3不带电，滑板上行至初始位置后停止。S16: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT3, and the slide plate moves up to the initial position and then stops.
如上所述的后装压缩式垃圾车的压缩机构的液压系统的控制方法，所述的80％·P1≤P2≤95％·P1。In the control method of the hydraulic system of the compression mechanism of the rear-mounted compression garbage truck as described above, 80%·P1≤P2≤95%·P1.
如上所述的后装压缩式垃圾车的压缩机构的液压系统的控制方法，t1满足：0.25秒≤t1≤0.35秒，t2满足：0.25秒≤t2≤0.35秒，t3满足：0.25秒≤t3≤0.35秒，t4满足：0.25秒≤t4≤0.35秒。In the control method of the hydraulic system of the compression mechanism of the rear-mounted compression garbage truck as described above, t1 satisfies: 0.25 seconds ≤ t1 ≤ 0.35 seconds, t2 satisfies: 0.25 seconds ≤ t2 ≤ 0.35 seconds, t3 satisfies: 0.25 seconds ≤ t3 ≤ 0.35 seconds, t4 satisfies: 0.25 seconds ≤ t4 ≤ 0.35 seconds.
如上所述的后装压缩式垃圾车的压缩机构的液压系统的控制方法，A0满足：2.8(MPa/s)≤A0≤3.2(MPa/s)。In the control method of the hydraulic system of the compression mechanism of the rear-mounted compression garbage truck as described above, A0 satisfies: 2.8 (MPa/s)≤A0≤3.2 (MPa/s).
与现有技术相比，本发明具有如下优点：Compared with prior art, the present invention has following advantage:
1、本发明在液压缸的一个工作行程(伸出或者缩回)中，当系统压力值大于设定值P2后，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，即系统压力上升的速度慢(高压溢流的时候Kt＝0)，认定液压缸运动(伸出或者缩回)至最大的行程位置，PLC电控单元发出指令使相应的电磁铁不带电，停止供油，采用这种控制方式，无论负载如何变化，总能使活塞杆运动到位，同时降低高压溢流时间，减少无用功率和发热，提高液压系统效率，降低油温，减少作业循环时间，提高作业节拍，提高作业效率。1. In the present invention, in a working stroke (extending or retracting) of the hydraulic cylinder, when the system pressure value is greater than the set value P2, the PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, when the instantaneous rate of change When Kt is less than the set value A0, that is, the system pressure rises slowly (Kt=0 when the high pressure overflows), it is determined that the hydraulic cylinder moves (extends or retracts) to the maximum stroke position, and the PLC electronic control unit issues a command to make The corresponding electromagnet is not electrified, and the oil supply is stopped. With this control method, no matter how the load changes, the piston rod can always move in place, and at the same time reduce the high pressure overflow time, reduce useless power and heat, improve the efficiency of the hydraulic system, and reduce the oil pressure. Temperature, reduce operation cycle time, increase operation tempo, and improve operation efficiency.
【附图说明】【Description of drawings】
下面结合附图对本发明的具体实施方式作进一步详细说明，其中：The specific embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
图1为本发明实施例1的液压系统的液压原理图；Fig. 1 is the hydraulic principle diagram of the hydraulic system of embodiment 1 of the present invention;
图2为本发明实施例2中后装压缩式垃圾车的液压系统原理图；Fig. 2 is the schematic diagram of the hydraulic system of the post-mounted compression garbage truck in Embodiment 2 of the present invention;
图3为本发明实施例2中后装压缩式垃圾车的液压系统动作状态与电磁铁通电状态对照表；Fig. 3 is a comparison table between the operating state of the hydraulic system and the energized state of the electromagnet in the rear-mounted compression garbage truck in Embodiment 2 of the present invention;
图4为本发明实施例2中后装压缩式垃圾车的压缩机构的液压系统中原理图；Fig. 4 is a schematic diagram of the hydraulic system of the compression mechanism of the post-mounted compression garbage truck in Embodiment 2 of the present invention;
图5为本发明实施例2中后装压缩式垃圾车的压缩机构的液压系统动作状态与电磁铁通电状态对照表；Fig. 5 is a comparison table between the operating state of the hydraulic system and the energized state of the electromagnet of the compression mechanism of the rear-mounted compression garbage truck in Embodiment 2 of the present invention;
图6为本发明实施例2中液压系统的系统压力与时间的关系图；Fig. 6 is the relationship diagram of the system pressure and time of the hydraulic system in the embodiment 2 of the present invention;
图7为现有的后装压缩式垃圾车的液压系统的系统压力与时间的关系图。Fig. 7 is a diagram showing the relationship between system pressure and time of the hydraulic system of the existing rear-mounted compression garbage truck.
【具体实施方式】【Detailed ways】
下面结合附图对本发明的实施方式作详细说明。Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
实施例1：Example 1:
如图1所示，本实施例的一种用于液压系统减少溢流保护时间的控制方法，所述的液压系统包含油箱1、与油箱1连接的液压泵2、与液压泵2连接的主进油路101、与油箱1连接的主回油路102、动作油缸3、控制动作油缸3换向的电磁阀4、以及PLC电控单元，所述的动作油缸3通过电磁阀4连接在主进油路101和主回油路102之间，所述的电磁阀4包含用于控制动作油缸3的活塞杆伸出的电磁铁DT01和用于控制动作油缸3的活塞杆缩回的电磁铁DT02，所述的主进油路101和主回油路102之间连接有当系统压力值到达P1时开始溢流的溢流阀5，所述的主进油路101连接有用于检测系统压力的压力继电器6，所述的控制方法包含顺序进行如下步骤：As shown in Figure 1, a control method for reducing the overflow protection time of a hydraulic system in this embodiment, the hydraulic system includes a fuel tank 1, a hydraulic pump 2 connected to the fuel tank 1, and a main engine connected to the hydraulic pump 2 The oil inlet circuit 101, the main oil return circuit 102 connected to the oil tank 1, the action cylinder 3, the solenoid valve 4 for controlling the reversing of the action cylinder 3, and the PLC electronic control unit, the action cylinder 3 is connected to the main Between the oil inlet circuit 101 and the main oil return circuit 102, the solenoid valve 4 includes an electromagnet DT01 for controlling the extension of the piston rod of the operating cylinder 3 and an electromagnet for controlling the retraction of the piston rod of the operating cylinder 3 DT02, the overflow valve 5 that begins to overflow when the system pressure value reaches P1 is connected between the main oil inlet circuit 101 and the main oil return circuit 102, and the main oil inlet circuit 101 is connected with a For the pressure switch 6, the control method includes the following steps in sequence:
S01：PLC电控单元发出指令使电磁铁DT01带电，动作油缸3的活塞杆开始伸出；S01: The PLC electronic control unit issues an instruction to electrify the electromagnet DT01, and the piston rod of the action cylinder 3 begins to extend;
S02：经过时间t1后，PLC电控单元开始接收并处理压力继电器6检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S02: After the time t1 elapses, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay 6, and when Pt is greater than the set value P2, execute the next step;
S03：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S03: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S04：PLC电控单元发出指令使电磁铁DT01不带电，动作油缸3的活塞杆停止伸出；S04: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT01, and the piston rod of the action cylinder 3 stops extending;
S05：PLC电控单元发出指令使电磁铁DT02带电，动作油缸3的活塞杆开始缩回；S05: The PLC electronic control unit issues an instruction to electrify the electromagnet DT02, and the piston rod of the action cylinder 3 starts to retract;
S06：经过时间t2后，PLC电控单元开始接收并处理压力继电器6检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S06: After the time t2 elapses, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay 6, and when Pt is greater than the set value P2, execute the next step;
S07：PLC电控单元计算系统压力值Pt的瞬时变化率At，当瞬时变化率At小于设定值A0时，执行下一步；S07: The PLC electronic control unit calculates the instantaneous rate of change At of the system pressure value Pt, and when the instantaneous rate of change At is less than the set value A0, execute the next step;
S08：PLC电控单元发出指令使电磁铁DT02不带电，动作油缸3的活塞杆回到初始位置并停止。S08: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT02, and the piston rod of the action cylinder 3 returns to the initial position and stops.
上述步骤中，步骤S01至S04,对应的是动作油缸3从“启动-伸出-停止”的过程，其中：0～t1时间段，对应的是启动的过程，该阶段系统压力有较大的冲击会超过设定值P2，所以为了避免干扰，PLC电控单元不处理压力继电器在“0～t1”时间段的系统压力值Pt；当Pt大于设定值P2时，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，PLC电控单元发出指令使电磁铁DT01不带电，动作油缸3的活塞杆停止伸出；步骤S05至S08,对应的是动作油缸3从“启动-缩回-停止”的过程，其控制原理和伸出的过程一样，此外不再赘述。In the above steps, steps S01 to S04 correspond to the process of the actuating cylinder 3 from "start-extend-stop". The impact will exceed the set value P2, so in order to avoid interference, the PLC electronic control unit does not process the system pressure value Pt of the pressure relay in the time period "0~t1"; when Pt is greater than the set value P2, the PLC electronic control unit calculates the system pressure value Pt The instantaneous rate of change Kt of the pressure value Pt, when the instantaneous rate of change Kt is less than the set value A0, the PLC electronic control unit issues an instruction to de-energize the electromagnet DT01, and the piston rod of the action cylinder 3 stops extending; steps S05 to S08 correspond to What is more important is the process of the action cylinder 3 from "start-retract-stop".
与现有技术相比，本发明在液压缸的一个工作行程(伸出或者缩回)中，当系统压力值大于设定值P2后，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，即系统压力上升的速度慢(高压溢流的时候Kt＝0)，认定液压缸运动(伸出或者缩回)至最大的行程位置，PLC电控单元发出指令使相应的电磁铁不带电，停止供油，采用这种控制方式，无论负载如何变化，总能使活塞杆运动到位，同时降低高压溢流时间，减少无用功率和发热，提高液压系统效率，降低油温，减少作业循环时间，提高作业节拍，提高作业效率。Compared with the prior art, in one working stroke (extend or retract) of the hydraulic cylinder, when the system pressure value is greater than the set value P2, the PLC electronic control unit calculates the instantaneous change rate Kt of the system pressure value Pt , when the instantaneous change rate Kt is less than the set value A0, that is, the system pressure rises slowly (Kt=0 when the high pressure overflows), it is determined that the hydraulic cylinder moves (extends or retracts) to the maximum stroke position, and the PLC circuit The control unit issues an instruction to de-energize the corresponding electromagnet and stop the oil supply. With this control method, no matter how the load changes, the piston rod can always move in place, and at the same time reduce the high pressure overflow time, reduce useless power and heat, and improve the hydraulic pressure. Improve system efficiency, reduce oil temperature, reduce operation cycle time, improve operation rhythm, and improve operation efficiency.
本实施例中，P2满足：80％·P1≤P2≤95％·P1；t1满足：0.25秒≤t1≤0.35秒，t2满足：0.25秒≤t2≤0.35秒；A0满足：2.8(MPa/s)≤A0≤3.2(MPa/s)。t1、t2、A0可经过试验分析获得，不同的液压系统采用的数值有所不同。In this embodiment, P2 satisfies: 80% P1 ≤ P2 ≤ 95% P1; t1 satisfies: 0.25 seconds ≤ t1 ≤ 0.35 seconds, t2 satisfies: 0.25 seconds ≤ t2 ≤ 0.35 seconds; )≤A0≤3.2 (MPa/s). t1, t2, and A0 can be obtained through test analysis, and the values adopted by different hydraulic systems are different.
本实施例的，提供了液压缸的通用式的控制方法。In this embodiment, a general control method of a hydraulic cylinder is provided.
实施例2：Example 2:
如图2至图6所示，本实施例的后装压缩式垃圾车的压缩机构的液压系统控制方法，所述后装压缩式垃圾车的压缩机构的液压系统的包含油箱1、与油箱1连接的液压泵2、与液压泵2连接的主进油路101、与油箱1连接的主回油路102、控制刮板张开或者闭合的刮板油缸31、控制滑板上行或者下行的滑板油缸32、控制刮板油缸31换向的电磁阀A41、控制滑板油缸32换向的电磁阀B42、以及PLC电控单元，所述的刮板油缸31通过电磁阀A41连接在主进油路101和主回油路102之间，所述的电磁阀A41包含用于控制刮板张开的电磁铁DT1和用于控制刮板闭合的电磁铁DT2，所述的滑板油缸32通过电磁阀B42连接在主进油路101和主回油路102之间，所述的电磁阀B42包含用于控制滑板上行的电磁铁DT3和用于控制滑板下行的电磁铁DT4，所述的主进油路101和主回油路102之间连接有当系统压力值到达P1时开始溢流的溢流阀5，所述的主进油路101连接有用于检测系统压力的压力继电器6，所述压缩机构的控制方法包含顺序进行如下步骤：As shown in Figures 2 to 6, the hydraulic system control method of the compression mechanism of the rear-mounted compression garbage truck in this embodiment, the hydraulic system of the compression mechanism of the rear-mounted compression garbage truck includes the oil tank 1, and the oil tank 1 The connected hydraulic pump 2, the main oil inlet circuit 101 connected to the hydraulic pump 2, the main oil return circuit 102 connected to the oil tank 1, the scraper cylinder 31 that controls the opening or closing of the scraper, and the slider cylinder that controls the upward or downward movement of the slider 32. The solenoid valve A41 for controlling the reversing of the scraper cylinder 31, the solenoid valve B42 for controlling the reversing of the slide cylinder 32, and the PLC electronic control unit. The scraper cylinder 31 is connected to the main oil inlet circuit 101 and Between the main oil return circuit 102, the solenoid valve A41 includes an electromagnet DT1 for controlling the opening of the scraper and an electromagnet DT2 for controlling the closing of the scraper, and the slide cylinder 32 is connected to the Between the main oil inlet circuit 101 and the main oil return circuit 102, the solenoid valve B42 includes an electromagnet DT3 for controlling the upward movement of the slider and an electromagnet DT4 for controlling the downward movement of the slider. The main oil inlet circuit 101 and The main oil return circuit 102 is connected with a relief valve 5 that begins to overflow when the system pressure value reaches P1. The main oil inlet circuit 101 is connected with a pressure relay 6 for detecting system pressure. The control of the compression mechanism The method includes the following steps in sequence:
S01：PLC电控单元发出指令使电磁铁DT1带电，刮板开始张开；S01: The PLC electronic control unit issues an instruction to electrify the electromagnet DT1, and the scraper starts to open;
S02：经过时间t1后，PLC电控单元开始接收并处理压力继电器6检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S02: After the time t1 elapses, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay 6, and when Pt is greater than the set value P2, execute the next step;
S03：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S03: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S04：PLC电控单元发出指令使电磁铁DT1不带电，刮板张开至最大位置后停止并保持；S04: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT1, and the scraper opens to the maximum position and then stops and holds;
S05：PLC电控单元发出指令使电磁铁DT4带电，滑板开始下行；S05: The PLC electronic control unit issues an instruction to electrify the electromagnet DT4, and the skateboard starts to descend;
S06：经过时间t2后，PLC电控单元开始接收并处理压力继电器6检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S06: After the time t2 elapses, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay 6, and when Pt is greater than the set value P2, execute the next step;
S07：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S07: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S08：PLC电控单元发出指令使电磁铁DT4不带电，滑板下行至最低位置后停止并保持；S08: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT4, and the slide plate goes down to the lowest position to stop and hold;
S09：PLC电控单元发出指令使电磁铁DT2带电，刮板开始刮合；S09: The PLC electronic control unit issues an instruction to electrify the electromagnet DT2, and the scraper starts to scrape together;
S10：经过时间t3后，PLC电控单元开始接收并处理压力继电器6检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S10: After time t3, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay 6, and when Pt is greater than the set value P2, execute the next step;
S11：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S11: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S12：PLC电控单元发出指令使电磁铁DT2不带电，刮板刮合至初始位置后停止并保持；S12: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT2, and the scraper scrapes to the initial position and then stops and holds;
S13：PLC电控单元发出指令使电磁铁DT3带电，滑板开始上行；S13: The PLC electronic control unit issues an instruction to electrify the electromagnet DT3, and the skateboard starts to move upward;
S14：经过时间t4后，PLC电控单元开始接收并处理压力继电器6检测的系统压力值Pt，当Pt大于设定值P2时，执行下一步；S14: After time t4, the PLC electronic control unit starts to receive and process the system pressure value Pt detected by the pressure relay 6, and when Pt is greater than the set value P2, execute the next step;
S15：PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时，执行下一步；S15: The PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, and when the instantaneous rate of change Kt is less than the set value A0, execute the next step;
S16：PLC电控单元发出指令使电磁铁DT3不带电，滑板上行至初始位置后停止。S16: The PLC electronic control unit issues an instruction to de-energize the electromagnet DT3, and the slide plate moves up to the initial position and then stops.
其中，步骤S01至S04，对应的是刮板油缸驱动刮板张开的过程，对应附图6的系统压力与时间关系图(P-T图)的0-T1段；其中：0～t1时间段，对应的是启动的过程，该阶段系统压力有较大的冲击会超过设定值P2，所以为了避免干扰，PLC电控单元不处理压力继电器在“0～t1”时间段的系统压力值Pt；当Pt大于设定值P2时(对应时间G1)，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时(对应时间T1)，PLC电控单元发出指令使电磁铁DT1不带电，刮板油缸停止动作。Among them, steps S01 to S04 correspond to the process of the scraper cylinder driving the scraper to open, corresponding to the 0-T1 period of the system pressure and time relationship diagram (P-T diagram) in Figure 6; wherein: 0-t1 time period, Corresponding to the start-up process, the system pressure will exceed the set value P2 if there is a large impact at this stage, so in order to avoid interference, the PLC electronic control unit does not process the system pressure value Pt of the pressure relay during the "0~t1" time period; When Pt is greater than the set value P2 (corresponding to time G1), the PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, when the instantaneous rate of change Kt is less than the set value A0 (corresponding to time T1), the PLC electronic control unit Issue an instruction to de-energize the electromagnet DT1, and the scraper cylinder stops moving.
步骤S05至S08，对应的是滑板油缸驱动滑板下行的过程，对应附图6的系统压力与时间关系图(P-T图)的T1-T2段；其中：T1～T1+t2时间段，对应的是启动的过程，该阶段系统压力有较大的冲击会超过设定值P2，所以为了避免干扰，PLC电控单元不处理压力继电器在“T1～T1+t2”时间段的系统压力值Pt；当Pt大于设定值P2时(对应时间G2)，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时(对应时间T2)，PLC电控单元发出指令使电磁铁DT4不带电，滑板油缸停止动作。Steps S05 to S08 correspond to the process of the slide cylinder driving the slide downward, corresponding to the T1-T2 section of the system pressure and time relationship diagram (P-T diagram) in Figure 6; where: T1～T1+t2 time period corresponds to During the start-up process, the system pressure will exceed the set value P2 if there is a large impact at this stage, so in order to avoid interference, the PLC electronic control unit does not process the system pressure value Pt of the pressure relay during the "T1~T1+t2" time period; when When Pt is greater than the set value P2 (corresponding to time G2), the PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, when the instantaneous rate of change Kt is less than the set value A0 (corresponding to time T2), the PLC electronic control unit sends The instruction makes the electromagnet DT4 de-energized, and the slide cylinder stops moving.
步骤S09至S12，对应的是刮板油缸驱动刮板刮合的过程，对应附图6的系统压力与时间关系图(P-T图)的T2-T3段；其中：T2～T2+t3时间段，对应的是启动的过程，该阶段系统压力有较大的冲击会超过设定值P2，所以为了避免干扰，PLC电控单元不处理压力继电器在“T2～T2+t3”时间段的系统压力值Pt；当Pt大于设定值P2时(对应时间G3)，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时(对应时间T3)，PLC电控单元发出指令使电磁铁DT3不带电，刮板油缸停止动作。Steps S09 to S12 correspond to the scraper scraping process driven by the scraper cylinder, corresponding to the T2-T3 section of the system pressure and time relationship diagram (P-T diagram) in Figure 6; wherein: T2～T2+t3 time period, Corresponding to the start-up process, the system pressure at this stage has a large impact and will exceed the set value P2, so in order to avoid interference, the PLC electronic control unit does not process the system pressure value of the pressure relay during the "T2~T2+t3" time period Pt; when Pt is greater than the set value P2 (corresponding to time G3), the PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, when the instantaneous rate of change Kt is less than the set value A0 (corresponding to time T3), the PLC electronic control unit The control unit issues an instruction to de-energize the electromagnet DT3, and the scraper cylinder stops moving.
步骤S13至S16，对应的是滑板油缸驱动滑板上行的过程，对应附图6的系统压力与时间关系图(P-T图)的T3-T4段；其中：T3～T3+t4时间段，对应的是启动的过程，该阶段系统压力有较大的冲击会超过设定值P2，所以为了避免干扰，PLC电控单元不处理压力继电器在“T3～T3+t4”时间段的系统压力值Pt；当Pt大于设定值P2时(对应时间G4)，PLC电控单元计算系统压力值Pt的瞬时变化率Kt，当瞬时变化率Kt小于设定值A0时(对应时间T4)，PLC电控单元发出指令使电磁铁DT3不带电，滑板油缸停止动作。Steps S13 to S16 correspond to the process of the skateboard cylinder driving the skateboard up, and correspond to the T3-T4 section of the system pressure and time relationship diagram (P-T diagram) in Figure 6; where: T3～T3+t4 time period corresponds to During the start-up process, the system pressure will exceed the set value P2 if there is a large impact at this stage, so in order to avoid interference, the PLC electronic control unit does not process the system pressure value Pt of the pressure relay during the "T3~T3+t4" time period; when When Pt is greater than the set value P2 (corresponding to time G4), the PLC electronic control unit calculates the instantaneous rate of change Kt of the system pressure value Pt, when the instantaneous rate of change Kt is less than the set value A0 (corresponding to time T4), the PLC electronic control unit sends The command makes the electromagnet DT3 de-energized, and the slide cylinder stops moving.
本实施例中，P2满足：80％·P1≤P2≤95％·P1；t1满足：0.25秒≤t1≤0.35秒，t2满足：0.25秒≤t2≤0.35秒，t3满足：0.25秒≤t3≤0.35秒，t4满足：0.25秒≤t4≤0.35秒；A0满足：2.8(MPa/s)≤A0≤3.2(MPa/s)。In this embodiment, P2 satisfies: 80% · P1≤P2≤95% · P1; t1 satisfies: 0.25 seconds ≤ t1 ≤ 0.35 seconds, t2 satisfies: 0.25 seconds ≤ t2 ≤ 0.35 seconds, t3 satisfies: 0.25 seconds ≤ t3 ≤ 0.35 seconds, t4 meets: 0.25 seconds ≤ t4 ≤ 0.35 seconds; A0 meets: 2.8 (MPa/s) ≤ A0 ≤ 3.2 (MPa/s).
对比说明书附图6和说明书附图7，可以明显的发现：采用本发明的控制方法，高压溢流的时间缩短了，同时一个动作的时间也缩短了，降低高压溢流时间，减少无用功率和发热，提高液压系统效率，降低油温，减少作业循环时间，提高作业节拍，提高作业效率。Comparing the accompanying drawing 6 of the specification with the accompanying drawing 7 of the specification, it can be clearly found that: adopting the control method of the present invention, the time for high pressure overflow is shortened, and the time for an action is also shortened at the same time, reducing the high pressure overflow time, reducing useless power and Heat generation, improve the efficiency of the hydraulic system, reduce the oil temperature, reduce the operation cycle time, improve the operation rhythm, and improve the operation efficiency.
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| CN111852973B (en) | 2022-07-01 |
| CN111852973A (en) | 2020-10-30 |
| CN110388342B (en) | 2020-09-04 |
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