CN110529465A - Engineering machinery load port independent control hydraulic analog experimental system and control method - Google Patents
Engineering machinery load port independent control hydraulic analog experimental system and control method Download PDFInfo
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- CN110529465A CN110529465A CN201910729753.9A CN201910729753A CN110529465A CN 110529465 A CN110529465 A CN 110529465A CN 201910729753 A CN201910729753 A CN 201910729753A CN 110529465 A CN110529465 A CN 110529465A
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/007—Simulation or modelling
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Abstract
The present invention discloses a kind of engineering machinery load port independent control hydraulic analog experimental system and control method, pass through opening or closing for control throttle valve, it can be realized the experimental study of executive component load port individual control loop, experimental data is acquired using pressure sensor, displacement sensor, speed probe, dynamometer, and it is stored and is analyzed by controller, the openings of sizes of throttle valve is controlled, to improve conventional efficient, experimental cost is reduced, the research and development for engineering machinery load port autonomous control system provide experiment porch.
Description
Technical field
The present invention relates to a kind of hydraulic analog experimental system, specifically a kind of engineering machinery load port independent control fluid die
Draft experiment system and control method belong to simulating experiment technique field.
Background technique
Engineering machinery is the important component of Chinese equipment manufacturing industry.In summary, all restoration in earth-rock construction engineerings, road surface are built
If with machine necessary to comprehensive mechanized construction engineering needed for maintenance, the operation of flow-type lift and various architectural engineerings
Tool equipment, referred to as engineering machinery.It is mainly used for national defense construction engineering, communications and transportation construction, energy industry construction and production, mine
The fields such as the construction of the raw and semifinished materials industries such as mountain and production, agriculture, forestry, water conservancy construction, industry and civil buildings, urban construction, environmental protection.
Hydraulic drive refers to a kind of kind of drive that energy transmission and control are carried out using liquid as working media.Hydraulic drive is to utilize liquid
Body pressure can be carried out the kind of drive of energy conversion.Hydraulic transmission technology is mechanically used, the structure of machine is can simplify, subtracts
Light machine mass reduces material consumption, reduces manufacturing cost, reduces labor intensity, and improves the reliability of working efficiency and work.
The general power of engineering machinery is big, and experimental study is carried out on real vehicle, and energy consumption is high, exists by place restriction, working environment
The problems such as bad, therefore, laboratory simulation construction machinery hydraulic system, which carries out research, has many advantages, such as that low energy consumption, and it is convenient to test.
Generally there are engineering machinery multiple executive components and multiple executive components to carry out the needs of composite move, in this way could be flexible
Realize the movement of complicated coordination.Therefore, carrying out effective motion control to executive component is engineering machinery hydraulic drive technology
Important research content.The valve of existing engineering machinery hydraulic control system usually imports and exports lotus root connection, i.e., only there are two certainly
By spending, oil inlet and oil return opening are machinery associations, flexibly cannot carry out independent control to oil inlet and oil return opening, because
This, the control existed to executive component is not flexible, and control performance is poor, simultaneously because passively increasing the choke pressure damage of hydraulic fluid port
It loses, hydraulic fluid temperature is caused to increase, the efficiency of Hydraulic Power Transmission System reduces.Current load-sensitive hydraulic system increases additionally
Choke pressure loss.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of engineering machinery load port independent control fluid dies
Draft experiment system and control method can be realized the experimental study to load port independent control technology, be able to carry out data acquisition
And storage, additionally it is possible to be extended to the experimental study in other circuits, improve the efficiency of loop switch, improve engineering machinery hydraulic
The efficiency of system research, flexibility reduce the cost of experimental study.
A kind of engineering machinery load port independent control hydraulic analog experimental system of the present invention, including hydraulic power system, electricity
Control system and at least one executive component, hydraulic power system include throttle valve, hydraulic oil pump, filter and overflow valve；Electricity
Control system includes pressure sensor, frequency converter, motor, dynamometer, control handle and controller；
Frequency converter passes sequentially through motor, dynamometer connection quantitative hydraulic oil pump, and quantitative hydraulic oil pump suction mouth passed through
Filter connects hydraulic oil tank, and oil discharge outlet passes sequentially through overflow valve, damper connection hydraulic oil tank；
Quantitative hydraulic oil pump oil discharge outlet is connected with pressure sensor, for monitoring the pressure value of oil discharge outlet；
Executive component oil inlet connects two throttle valves, and one of throttle valve connects quantitative hydraulic oil pump oil discharge outlet, another
A throttle valve connects hydraulic oil tank by damper；
Executive component oil return opening connects two throttle valves, and one of throttle valve connects quantitative hydraulic oil pump oil discharge outlet, another
A throttle valve connects hydraulic oil tank by damper；
Executive component oil inlet and oil return opening are respectively connected with pressure sensor, for monitoring the pressure of oil inlet and oil return opening
Value；
Executive component load end is connected with load simulation module, and displacement sensor/revolving speed is also connected on executive component and is passed
Sensor, for monitoring displacement signal/tach signal of load simulation module on executive component；
It is respectively connected with pressure sensor on oil circuit between each throttle valve and damper, for monitoring throttle valve and damping
The pressure value on oil circuit between device；
It is connected with pressure sensor on oil circuit between overflow valve and damper, for monitoring between overflow valve and damper
Oil circuit on pressure value；
Control handle is electrically connected with the controller；
Controller storage inside has several calculation formula, for receiving the signal of control handle input, and according to receiving
Signal control executive component movement；For receiving the electric signal of above-mentioned each sensor and dynamometer transmission, at analysis
Manage the electric signal received, and the openings of sizes of flow regulating valve and converter power supply frequency based on the analysis results.
A kind of control method of engineering machinery load port independent control hydraulic analog experimental system,
If executive component is hydraulic cylinder, control method is as follows:
When controlling handle control hydraulic cylinder stretching, the Setting signal that controller is inputted according to control handle is controlled hydraulic
The throttle valve connecting at cylinder oil return opening with quantitative hydraulic oil pump is closed, another throttle valve maximum is opened；Meanwhile controller according to
The displacement signal of displacement sensor transmission on hydraulic cylinder, after asking first derivative to obtain feedback speed signal the time, will receive
To Setting signal be compared with feedback signal, if Setting signal is greater than feedback signal, controller control at oil inlet with it is fixed
The throttle valve opening increase of amount hydraulic oil pump connection, the throttle valve opening connecting with hydraulic oil tank reduce；If Setting signal etc.
In feedback signal, it is constant that controller controls two throttle valve openings of sizes at oil inlet；If Setting signal is less than feedback signal, control
The throttle valve opening reduction connecting at device control oil inlet processed with quantitative hydraulic oil pump, the throttle valve connecting with hydraulic oil tank are opened
Mouth increases；
When controlling handle control hydraulic cylinder retraction, the Setting signal that controller is inputted according to control handle is controlled hydraulic
The throttle valve maximum unlatching that the throttle valve connecting at cylinder oil inlet with quantitative hydraulic oil pump is closed, connect with hydraulic oil tank；Together
When, the displacement signal that controller is transmitted according to the displacement sensor on hydraulic cylinder asks first derivative to obtain velocity feedback the time
After signal, the Setting signal received is compared with feedback signal, if Setting signal is greater than feedback signal, controller control
The throttle valve opening reduction that the throttle valve opening connecting at oil return opening with quantitative hydraulic oil pump increases, connect with hydraulic oil tank；
If Setting signal is equal to feedback signal, it is constant that controller controls two throttle valve openings of sizes at oil return opening；If Setting signal is small
The throttle valve opening connecting at feedback signal, controller control oil return opening with quantitative hydraulic oil pump reduces and hydraulic oil tank
The throttle valve of connection, which is open, to be increased；
If executive component is hydraulic motor, control method is as follows:
When controlling handle control hydraulic motor dextrorotation, control method is identical as the method that control hydraulic cylinder stretches out, wherein
Feedback signal is the tach signal of the speed probe transmission in hydraulic motor upper shaft；
When control handle control hydraulic motor is left-handed, control method is identical as the method that control hydraulic cylinder retracts, wherein
Feedback signal is the tach signal of the speed probe transmission in hydraulic motor upper shaft.
Compared with prior art, the invention has the following advantages that
1) present invention realizes the simulated experiment of load port independent control, does not need the disassembly for carrying out pipeline, avoids liquid
The leakage of pressure oil.The invention also achieves the flexibility switchings of the differential circuit of hydraulic cylinder, realize and store to experimental data
And analysis, the service life of experimental system for simulating is improved, conventional efficient and effect are improved.The present invention can use scaled down
Micro hydraulic element, than the experimental study on engineering machinery real vehicle have flexibility, energy loss is smaller, experimental study at
This is lower.
2) present invention load independent control experimental system also achieve to traditional engineering machinery multichannel valve control system into
Row comparative experimental research is realized the test of traditional valve control mode by the control of controller, realizes system performance
The efficiency characteristic of control performance and drive circuit is studied in comparative study.It analyzes, realizes by the fusion of multisensor and data
Comprehensive study power match characteristic, according to the data of test, by data analysis can deeper into embodiments system transmission effect
Rate, load characteristic etc..
Detailed description of the invention
Fig. 1 is electric functional block diagram of the invention；
Fig. 2 is Hydraulic System Principle schematic diagram of the embodiment of the present invention；
Fig. 3 is experimental system layout drawing of the present invention；
Fig. 4 is that present invention control handle defines schematic diagram.
In figure: 1. first pressure sensors, 2. second pressure sensors, the first control cabinet of 2-1., 2-2. experiment porch, 2-
8. mounting bracket, 2-13. display, the second control cabinet of 2-14., 3. first dampers, 4. second dampers, 5. third pressure pass
Sensor, 6. the 4th pressure sensors, 7. third dampers, 8. the 4th dampers, 9. the 5th dampers, 11. hydraulic oil containers, 12.
Filter, 13. quantitative hydraulic oil pumps, 14 dynamometers, 15 motor, 16. frequency converters, 17. the 5th pressure sensors, 18. the 6th
Pressure sensor, 19. first throttle valves, 20. second throttle, 21. third throttle valves, 22. the 7th pressure sensors, 23.
Four throttle valves, 24. first hydraulic cylinders, 25. first displacement sensors, 26. first mass blocks, 27. first load on spring, 28.
Eight pressure sensors, 29. the 5th throttle valves, 30. the 9th pressure sensors, 31. the 6th throttle valves, 32. second hydraulic cylinders, 33.
Second displacement sensor, 34. second mass blocks, the load of 35. second springs, 36. the 7th throttle valves, 37. the 8th throttle valves, 38.
Tenth pressure sensor, 39. the 9th throttle valves, 40. protelum stream valves, 40. the 11st pressure sensors, 42. the 11st throttlings
Valve, 43. first hydraulic motors, 44. first speed probes, 45. first rotary inertia mass blocks, 46. the 12nd pressure sensings
Device, 47. the 12nd throttle valves, 48. the 13rd pressure sensors, 49. the 6th dampers, 50. the 14th pressure sensors, 51.
7th damper, 52. controllers, 53. first handles, 54. second handles.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figure 1, a kind of engineering machinery load port independent control hydraulic analog experimental system of the present invention, including it is hydraulic dynamic
Force system, electric-control system and at least one executive component, hydraulic power system include throttle valve, quantitative hydraulic oil pump 13, mistake
Filter 12 and overflow valve 10；Electric-control system include pressure sensor, frequency converter 16, motor 15, dynamometer 14, control handle and
Controller 52；
Frequency converter 16 passes sequentially through motor 15, dynamometer 14 connects quantitative hydraulic oil pump 13, and quantitative hydraulic oil pump 13 is inhaled
Hydraulic fluid port connects hydraulic oil tank 11 by filter 12, and oil discharge outlet passes sequentially through overflow valve 10, the 4th damper 8 connection hydraulic oil
Fuel tank 11；
13 oil discharge outlet of quantitative hydraulic oil pump is connected with pressure sensor, for monitoring the pressure value of oil discharge outlet；
Executive component oil inlet connects two throttle valves, and one of throttle valve connects 13 oil discharge outlet of quantitative hydraulic oil pump, separately
One throttle valve connects hydraulic oil tank 11 by damper；
Executive component oil return opening connects two throttle valves, and one of throttle valve connects quantitative hydraulic oil pump oil discharge outlet, another
A throttle valve connects hydraulic oil tank 11 by damper；
Executive component oil inlet and oil return opening are respectively connected with pressure sensor, for monitoring executive component oil inlet and oil return
The pressure value of mouth；
Executive component load end is connected with load simulation module, and displacement sensor/revolving speed is also connected on executive component and is passed
Sensor, for monitoring displacement signal/tach signal of load simulation module on executive component；
It is respectively connected with pressure sensor on oil circuit between each throttle valve and damper, for monitoring throttle valve and damping
The pressure value on oil circuit between device；
It is connected with pressure sensor on oil circuit between overflow valve 10 and damper, for monitoring overflow valve 10 and damper
Between oil circuit on pressure value；
Control handle is electrically connected with controller 52；
52 storage inside of controller, which has, calculates hydraulic cylinder output power PC, hydraulic motor output power Pm, quantitative hydraulic pump it is defeated
Power P outpAnd the transmission efficiency η and pressure criteria value of hydraulic system, hydraulic cylinder output hydraulic pressure flow, hydraulic motor/
The formula of quantitative hydraulic oil pump output hydraulic pressure flow, for receiving the Setting signal of control handle input, and according to receiving
Setting signal controls executive component movement；The electric signal transmitted for receiving above-mentioned each sensor and dynamometer 14, for analyzing
The electric signal received is handled, and adjusts 16 supply frequency of openings of sizes and frequency converter of flow valve based on the analysis results.
The Setting signal is that angle signal is sent to control after control handle movement by the angle signal for controlling handle
Device 52, controller 52 convert corresponding speed signal for the angle signal received again, are preset in controller 52
Control the corresponding speed signal of handle all angles signal.
Wherein, the output power of hydraulic cylinder are as follows:
Pc=(p1A1-p2A2) v formula (1)
Wherein, p1It is the rodless cavity pressure of hydraulic cylinder, p2It is the rod chamber pressure of hydraulic cylinder, A1It is the rodless cavity of hydraulic cylinder
Area, A2It is the rod chamber area of hydraulic cylinder, v is the movement velocity of hydraulic cylinder.
The output power of hydraulic motor are as follows:
Pm=n (pin-pou) V formula (2)
Wherein, pinIt is the inlet pressure of hydraulic motor, pouIt is the outlet pressure of hydraulic motor, V is the row of hydraulic motor
Amount, n is the revolving speed of hydraulic motor.
The output power of hydraulic pump are as follows:
Pp=fpppFormula (3)
Wherein, ppIt is the outlet pressure of hydraulic pump, fpIt is the output flow of quantitative hydraulic pump, it can be according to the pressure in circuit
It is calculated with the speed of hydraulic cylinder and the product of area, it can also be according to the discharge capacity of hydraulic pump and the rotation meter of motor
It obtains, due to having selected quantitative hydraulic oil pump 13, the output flow substantially constant of quantitative hydraulic oil pump 13.
Executive component be hydraulic cylinder or hydraulic motor, if executive component be hydraulic cylinder, load simulation module be mass block and
Spring is used for fictitious load；Executive component oil inlet is provided at hydraulic cylinder rodless cavity, and oil return opening is arranged in hydraulic cylinder rod chamber
Place；Mass block is mounted at the top of hydraulic cylinder piston rod, is equipped with mounting bracket 2-8, displacement sensing by spring above mass block
Device is mounted on mounting bracket 2-8, for monitoring the displacement signal for holding hydraulic cylinder.If executive component is hydraulic motor, mould is loaded
Quasi- module is rotary inertia mass block, and executive component oil inlet is hydraulic motor inlet port, and oil return opening is hydraulic motor oil discharge outlet；
Speed probe is installed in the shaft of hydraulic motor, for monitoring the tach signal of hydraulic motor；Rotary inertia mass block peace
At the top of hydraulic motor shaft.
Straight line of the present invention, which loads, uses mass block and spring fictitious load, and the quality of spring rate and mass block can root
Factually test needs flexibly replacement.Rotary load is provided with rotary inertia and simulates inertia load, and rotary inertia mass block can also root
It factually tests to need flexibly more to bring and simulates different loads.
Embodiment: as shown in Fig. 2, the present embodiment includes hydraulic power system, electric-control system and executive component, hydraulic power
System includes several throttle valves, 13, one, quantitative hydraulic oil pump, 10, three load simulations of overflow valve of filter 12, one
Module；Electric-control system includes several pressure sensors, two displacement sensors, a speed probe, a frequency converter 16, one
15, one, a motor dynamometer 14, two control handle and a controller 52；Three executive components be two hydraulic cylinders and
One hydraulic motor, two control handles are first handle 53 and second handle 54, and specific structure is as follows:
Hydraulic power system includes frequency converter 16, motor 15, dynamometer 14, quantitative hydraulic oil pump 13, filter 12, overflows
Flow valve 10, hydraulic oil tank 11, first throttle valve 19, second throttle 20, third throttle valve 21, the 4th throttle valve the 23, the 5th
Throttle valve 29, the 6th throttle valve 31, the 7th throttle valve 36, the 8th throttle valve 37, the 9th throttle valve 39, protelum stream valve 40,
11 throttle valves 42, the 12nd throttle valve 47, the first spring 27, the first mass block 26, first hydraulic cylinder 24, second hydraulic cylinder
32, second spring 35, the second mass block 34, the first hydraulic motor 43, the first rotary inertia mass block 45, the first damper 3,
Two dampers 4, third damper 7, the 4th damper 8, the 5th damper 9, the 6th damper 49 and the 7th damper 51.
Electric control system includes first pressure sensor 1, second pressure sensor 2, third pressure sensor the 5, the 4th
Pressure sensor 6, the 5th pressure sensor 17, the 6th pressure sensor 18, the 7th pressure sensor 22, the 8th pressure sensor
28, the 9th pressure sensor 30, the tenth pressure sensor 38, the 11st pressure sensor 40, the 12nd pressure sensor 46,
13 pressure sensors 48, the 14th pressure sensor 50, the first displacement sensor 25,33, first turns of second displacement sensor
Fast sensor 44, first handle 53, second handle 54 and controller 52.
Frequency converter 16 passes sequentially through motor 15, dynamometer 14 connects quantitative hydraulic oil pump 13；
First mass block 26 is mounted on 24 piston rod part of first hydraulic cylinder, and the first spring 27 is mounted on the first mass block 26
On, mounting bracket 2-8 is connected with above the first spring 27, the first displacement sensor 25 is fixed on mounting bracket 2-8, and first
Displacement sensor 25 is used to acquire the displacement signal of load, and is sent to controller 52.The present invention passes through in first hydraulic cylinder 24
First mass block 26 and the first spring 27, fictitious load, and load velocity of displacement is detected.
Second hydraulic cylinder 32 is identical as 24 structure of first hydraulic cylinder, be equally used for fictitious load and to load velocity of displacement into
Row detection.Second displacement sensor 33 is mounted on mounting bracket 2-8, and is connected with controller, and the second mass block 34 is mounted on
32 piston rod part of second hydraulic cylinder, mounting bracket 2-8 are mounted on the second mass block 34 by second spring load 35.
First rotary inertia mass block 45 is connect with the first hydraulic motor 43 by shaft, the installation of the first speed probe 44
In 43 shaft of the first hydraulic motor, and it is connected with controller, the present invention is used by the first rotation on the first hydraulic motor 43
Measure mass block 45 and the simulation rotatory inertia load of the first speed probe 44.
19 one end of first throttle valve connects the rodless cavity of the first hydraulic cylinder 24, and the other end connects 13 row of quantitative hydraulic oil pump
Hydraulic fluid port, 13 inlet port of quantitative hydraulic oil pump connect hydraulic oil tank 11 by filter 12；20 one end of second throttle connection the
One hydraulic cylinder, 24 rodless cavity, the other end connect hydraulic oil tank 11 by the 5th damper 9；The connection of 21 one end of third throttle valve
First hydraulic cylinder, 24 rod chamber, the other end connect 13 oil discharge outlet of quantitative hydraulic oil pump；4th throttle valve, 23 one end connection first
24 rod chamber of hydraulic cylinder, the other end connect hydraulic oil tank 11 by third damper 7；5th throttle valve, 29 one end connection the
Two hydraulic cylinders, 32 rodless cavity, the other end connect 13 oil discharge outlet of quantitative hydraulic oil pump；6th throttle valve, 31 one end connects the second liquid
32 rodless cavity of compressing cylinder, the other end connect hydraulic oil tank 11 by the second damper 4；7th throttle valve, 36 one end connection second
32 rod chamber of hydraulic cylinder, the other end connect 13 oil discharge outlet of quantitative hydraulic oil pump；The connection second of 8th throttle valve, 37 one end is hydraulic
Oily 32 cylinder rod chambers, the other end connect hydraulic oil tank 11 by the first damper 3；9th throttle valve, 39 one end connects the first liquid
43 inlet port of pressure motor, the other end connect 13 oil discharge outlet of quantitative hydraulic oil pump；40 one end of protelum stream valve connects the first hydraulic horse
Up to 43 inlet ports, the other end connects hydraulic oil tank 11 by the 6th damper 49；11st throttle valve, 42 one end connection first
43 oil discharge outlet of hydraulic motor, the other end connect 13 oil discharge outlet of quantitative hydraulic pump；The connection first of 12nd throttle valve, 47 one end is hydraulic
43 oil discharge outlet of motor, the other end connect hydraulic oil tank 11 by the 7th damper 51；
Overflow valve 10 1 terminates 13 oil discharge outlet of quantitative hydraulic oil pump, and the other end connects hydraulic oil tank by the 4th damper 8
11；
On oil circuit between 1 one the first damper of end Jie 3 of first pressure sensor and hydraulic oil tank 11, another termination
Controller 52, on the oil circuit between the 6th throttle valve 31 of 2 one end Jie of second pressure sensor and the second damper 4, the other end
Connect controller 52；On oil circuit between 5 one end Jie 10 of third pressure sensor and the 4th damper 8, another termination controller
52；On oil circuit between 4th pressure sensor, 6 one end Jie second throttle 20 and the 5th damper 9, another termination control
Device 52；On oil circuit between 5th pressure sensor, 17 1 end Jie first throttle valve 19 and 13 oil discharge outlet of quantitative hydraulic oil pump,
Another termination controller 52；Oil circuit between the 4th throttle valve 23 of 6th pressure sensor, 18 1 end Jie and third damper 7
On, another termination controller 52；7th pressure sensor 22 1 terminates 24 rodless cavity of the first hydraulic cylinder, another termination controller
52；8th pressure sensor 28 1 terminates 24 rod chamber of the first hydraulic cylinder, another termination controller 52；9th pressure sensor
30 1 termination 32 rodless cavities of the second hydraulic cylinder, another termination controller 52；Tenth pressure sensor 38 1 termination second is hydraulic
32 rod chamber of oil cylinder, another termination controller 52；11st pressure sensor 40 1 terminates 43 inlet port of the first hydraulic motor, separately
One termination controller 52；12nd pressure sensor 46 1 terminates 43 oil discharge outlet of the first hydraulic motor, another termination controller 52；
On oil circuit between 13rd pressure sensor, 48 1 end Jie protelum stream valve 40 and the 6th damper 49, another termination control
Device 52；It is another on oil circuit between the 12nd throttle valve 47 of 14th pressure sensor, 50 1 end Jie and the 7th damper 51
Terminate controller 52.
First handle 53 and second handle 54 are electrically connected with controller 52 respectively, and the signal of handle is sent to controller 52,
Controller 52 controls three executive component work according to the signal received.
In order to guarantee the normal operation of system, there are control signal all the way to be for first handle 53 or second handle 54 of the present invention
Redundancy setting, for carrying out the extension of executive component, executive component can be further added by, be also used as it is spare, when control handle
Other roads control signal when breaking down, can be switched to by controller 52 on the road redundancy control signal, improve and be
The reliability of system, certain experimenter can freely increase according to demand or combine executive component.
As shown in figure 3, the invention also includes experiments for the ease of the progress of simulated experiment and convenient for observation experiment data
Platform 2-2, the first control cabinet 2-1 and the second control cabinet 2-14 being mounted below experiment porch 2-2, hydraulic power system installation
In the first control cabinet 2-1, wherein it is flat that first hydraulic cylinder 24, second hydraulic cylinder 32 and the first hydraulic motor 43 are mounted on experiment
On platform 2-2, electric control system is in the second control cabinet 2-14；Display 2-13, display are also equipped on experiment porch 2-2
2-13 is electrically connected with the control in electric control system, and display 2-13 is for showing pressure sensor, displacement sensor, revolving speed
The data information that sensor and dynamometer 14 acquire in real time.
As shown in figure 4, defining the tool of first handle 53 and second handle 54 in controller 52 before simulated experiment starts
Body function, the movement that user can freely define control handle according to the habit of specific operating habit and right-hand man are specific
The corresponding movement for controlling which executive component.Two control handles have one movement be it is spare, can continue in systems
Extend executive component.
The present embodiment is defined control handle, and first hydraulic cylinder 24 is controlled on first handle 53 and is stretched out, first handle
53 lower control first hydraulic cylinders 24 retract, and the left control second hydraulic cylinder 32 of first handle 53 is stretched out, and first handle 53 is right to control the
Two hydraulic cylinders 32 retract, and on second handle 54 and second handle 54 is lower as spare, the first hydraulic horse of left control of second handle 54
Turn left up to 43, the first hydraulic motor 43 of right control of second handle 54 is turned right.
The present embodiment during the experiment, first hydraulic cylinder 24 and second hydraulic cylinder 32 is acquired by displacement sensor in real time
On load simulation module displacement signal, and by asking first derivative to obtain speed signal the time in controller 52, and
Be compared with Setting signal, acquire the tach signal of the first hydraulic motor 43 in real time by speed probe, and with given letter
It number is compared, corresponding throttle valve openings of sizes is controlled according to comparison result, is independently controlled to realize executive component load port
The purpose of system.
Specific control method is as follows:
It is moved upwards when stirring first handle 53, after controller 52 receives the Setting signal of the input of first handle 53, control
First hydraulic cylinder 24 processed is stretched out, while controlling the closing of third throttle valve 21, the maximum unlatching of the 4th throttle valve 23, to reduce the first liquid
The choke pressure of 24 rod chamber of cylinder pressure loses.Meanwhile the displacement signal that controller 52 is transmitted according to the first displacement sensor 25, it is right
After time asks first derivative to obtain feedback speed signal, the Setting signal received is compared with feedback signal, according to than
Compared with result real-time control first throttle valve 19, the openings of sizes of second throttle 20, first hydraulic cylinder 24 is realized by given
Signal carries out stretch out motion.
Wherein, it is as follows that first throttle valve 19, the method for the openings of sizes of second throttle 20 are controlled:
When Setting signal is greater than feedback signal, the control opening of first throttle valve 19 increases, the opening of second throttle 20 reduces；
When Setting signal is equal to feedback signal, control first throttle valve 19, the openings of sizes of second throttle 20 are constant；
When Setting signal is less than feedback signal, the opening of control first throttle valve 19 reduces, the opening of second throttle 20
Increase；
It is moved downward when stirring first handle 53, first handle 53 inputs a Setting signal, controller to controller 52
52 retract according to the Setting signal control first hydraulic cylinder 24 received, and control the closing of first throttle valve 19, second throttle
20 maximum unlatchings, to reduce the choke pressure loss of 24 rodless cavity of first hydraulic cylinder.Meanwhile controller 52 is passed according to the first displacement
Sensor 25 transmit displacement signal, after asking first derivative to obtain feedback speed signal the time, by the Setting signal received with
Feedback signal is compared, and according to the openings of sizes of comparison result real-time control third throttle valve 21, the 4th throttle valve 23, is realized
First hydraulic cylinder 24 carries out retraction movement by given signal.
Wherein, the method for controlling the openings of sizes of third throttle valve 21, the 4th throttle valve 23 is as follows:
When Setting signal is greater than feedback signal, the control opening of third throttle valve 21 increases, the opening of the 4th throttle valve 23 subtracts
It is small；
When Setting signal is equal to feedback signal, control third throttle valve 21, the openings of sizes of the 4th throttle valve 23 are constant；
When Setting signal is less than feedback signal, the control opening of third throttle valve 21 reduces, the opening of the 4th throttle valve 23 increases
Greatly；
It is moved downward when stirring first handle 53, first handle 53 inputs a Setting signal, controller to controller 52
52 stretch out according to the Setting signal control second hydraulic cylinder 32 received, and control the closing of the 7th throttle valve 36, the 8th throttle valve
37 maximum unlatchings, to reduce the choke pressure loss of 32 rod chamber of second hydraulic cylinder.Meanwhile controller 52 is passed according to second displacement
The displacement signal that sensor 33 transmits, after asking first derivative to obtain feedback speed signal the time, by Setting signal and feedback signal
It is compared, controls the openings of sizes of the 5th throttle valve 29, the 6th throttle valve 31 according to the result of the comparison, realize and pass through independence
Load port controls second hydraulic cylinder 32 and carries out stretch out motion by given signal.
Wherein, the method for controlling the openings of sizes of the 5th throttle valve 29, the 6th throttle valve 31 is as follows:
When Setting signal is greater than feedback signal, control the 5th throttle valve 29 opening increases, the 6th throttle valve opening reduces；
When Setting signal is equal to feedback signal, the 5th throttle valve of control, the 6th throttle valve openings of sizes are constant；
When Setting signal is less than feedback signal, control the 5th throttle valve opening reduces, the 6th throttle valve opening increases；
It is moved right when stirring first handle 53, inputs a Setting signal to controller 52, controller 52 is according to reception
The Setting signal control second hydraulic cylinder 32 arrived retracts, and controls the closing of the 5th throttle valve 29 of control, 31 maximum of the 6th throttle valve
It opens, to reduce the choke pressure loss of 32 rodless cavity of second hydraulic cylinder.Meanwhile second displacement sensor 33 is by collected reality
When displacement signal be sent to controller 52, and feedback speed signal is converted by controller 52, then, controller 52 will receive
Setting signal be compared with feedback signal, according to comparison result control the 7th throttle valve 36, the 8th throttle valve 37 opening
Size realizes and controls second hydraulic cylinder 32 by given signal progress retraction movement by individual loads mouth.
Wherein, the method for controlling the openings of sizes of the 7th throttle valve 36, the 8th throttle valve 37 is as follows:
When Setting signal is greater than feedback signal, control the 7th throttle valve 36 opening increases, the 8th throttle valve 37 opening reduces；
When Setting signal is equal to feedback signal, the 7th throttle valve 36 of control, 37 openings of sizes of the 8th throttle valve are constant；
When Setting signal is less than feedback signal, control the 7th throttle valve 36 opening reduces, the 8th throttle valve 37 opening increases；
It is moved right when stirring second handle 54, second handle 54 inputs a Setting signal, controller to controller 52
52 start according to Setting signal control 43 right rotation of the first hydraulic motor received, and the closing of the 11st throttle valve 42 of control,
12nd throttle valve 47 is maximum opens, to reduce the oil back chamber back pressure of hydraulic motor 43, meanwhile, controller 52 will receive to
Signal is determined compared with the feedback signal progress in real time for the first hydraulic motor rotary speed 43 that the first speed probe 44 acquires in real time, and
According to the openings of sizes of the 9th throttle valve 39 of comparison result real-time control, protelum stream valve 41, realize through individual loads mouth
The first hydraulic motor is controlled to rotate by Setting signal.
Wherein, it is as follows that the 9th throttle valve 39, the method for the openings of sizes that protelum stream valve 41 is opened are controlled:
When Setting signal is greater than tach signal, control the 9th throttle valve 39 opening increases, the opening of protelum stream valve 41 reduces；
When Setting signal is equal to tach signal, the 9th throttle valve 39 of control, the openings of sizes of protelum stream valve 41 are constant；
When Setting signal is less than tach signal, control the 9th throttle valve 39 opening reduces, the opening of protelum stream valve 41 increases.
It is moved downward when stirring second handle 54, second handle 54 inputs a Setting signal, controller to controller 52
52 according to Setting signal control 43 anticlockwise of the first hydraulic motor starting received, and controls the 9th throttle valve 39 and close, the
11 throttle valve 42 is maximum to be opened, to reduce the oil back chamber back pressure of hydraulic motor 43, controller 52 will receive Setting signal with
The feedback signal for 43 revolving speed of the first hydraulic motor that first speed probe 44 acquires in real time is compared in real time, is tied according to comparing
The openings of sizes of the 11st throttle valve 42 of fruit real-time control, the 12nd throttle valve 47 is realized through individual loads mouth control the
One hydraulic motor is rotated by Setting signal.
Wherein, the 11st throttle valve 42 is controlled, the method for the openings of sizes of the 12nd throttle valve 47 is as follows:
When Setting signal is greater than tach signal, control the 11st throttle valve 42 opening increases, the 12nd throttle valve 47 is open
Reduce；
When Setting signal be equal to tach signal, control the 11st throttle valve 42, the 12nd throttle valve 47 openings of sizes not
Become；
When Setting signal is less than tach signal, control the 11st throttle valve 42 opening reduces, the 12nd throttle valve 47 is open
Increase.
When carrying out conventional spool valves control 24 exercise testing of first hydraulic cylinder, the control signal of first handle 53 is input to control
In device 52 processed, the displacement signal of the first displacement sensor 25 detection of first hydraulic cylinder 24 is input in controller 52, meanwhile, control
Device processed control second throttle 20, third throttle valve 21 are closed, by controller 52 by first throttle valve 19, the 4th throttle valve 23
It associates, realizes simulation conventional spool valves control experiment.
The present embodiment by first hydraulic cylinder 24, the first displacement sensor, the first load on spring 27, the first mass block 26,
Second hydraulic cylinder 32, second displacement sensor 33, second spring load the 35, second mass block 34, the first hydraulic motor 43, first
Speed probe 44, the first rotary inertia mass block 45 carry out the multi-execution component hydraulic system of model engineering machinery, can control
Different executive component single movements or composite move, user can also select to increase or decrease executive component according to demand,
The connection type of each executive component is identical.
During the experiment, the pressure information that the present embodiment can also be acquired in real time by pressure sensor judges
One hydraulic cylinder 24, second hydraulic cylinder 32 and the first hydraulic motor 43 whether there is compression shock or pressure emptying phenomenon.With first
For hydraulic cylinder 24, the 7th pressure sensor 22, the 8th pressure sensor 28 in real time the rod chamber of acquisition first hydraulic cylinder 24 and
The pressure value of rodless cavity, and it is sent to controller 52, controller analyzes the pressure value received, when the pressure received
Value is greater than pressure criteria value, then judges that there are compression shock phenomenons for first hydraulic cylinder 24 in operational process, when the pressure received
Value is less than pressure criteria value, then judges that there are emptying phenomenon for first hydraulic cylinder 24 in operational process.
Pressure criteria value is obtained by following formula:
PMark=(Pmax-P)/PFormula (4)
Wherein, PmaxFor the Pressure maximum value acquired in pressure sensor setting time, PFor pressure sensor setting time
The pressure mean values of interior acquisition.
The present embodiment can also analyze the transmission efficiency curve under different operating conditions, to study the hydraulic pressure system under different operating conditions
The transmission efficiency of system.The output power of hydraulic system is equal to first hydraulic cylinder 24, second hydraulic cylinder 32 and the first hydraulic motor 43
The sum of output power, the transmission efficiency of system is equal to the ratio of 13 output power of power and quantitative hydraulic oil pump of hydraulic system
Value, the transmission efficiency of whole system is calculated by controller 52 by formula (5) to be obtained in real time:
Wherein, pc1It is the output power of first hydraulic cylinder, pc2It is the output power of second hydraulic cylinder；
The present invention can carry out the comparative test of efficiency characteristic under different control loops, can also be to hydraulic cylinder, hydraulic horse
The control performance reached carries out experimental study.
Meanwhile the present embodiment additionally provides a kind of control method for supplying hydraulic oil on demand for experimental system for simulating, realizes
The hydraulic flow of system requirements supplied on demand, the specific method is as follows:
The structural parameters of executive component are stored in controller 52, which includes the diameter and bar diameter of hydraulic cylinder, hydraulic
The discharge capacity of motor, the Setting signal for controlling handle are sent in controller 52, and controller 52 inputs given according to control handle
The structural parameters of signal and corresponding executive component calculate hydraulic cylinder institute by open (6) if executive component is hydraulic cylinder
The flow needed, if executive component is hydraulic motor, flow needed for hydraulic motor is calculated by formula (7) is then controlled
The sum of flow according to needed for the hydraulic cylinder and hydraulic motor that receive of device 52 processed instead releases 15 revolving speed of motor by formula (7),
And controlled according to obtained 15 revolving speed of motor by revolving speed of the frequency converter 16 to motor 15, to control quantitative hydraulic
Flow needed for oil pump 13 provides experimental system.
Wherein, hydraulic cylinder output hydraulic pressure flow formula are as follows:
PStream=hydraulic cylinder area * uniform velocity formula (6)
Hydraulic motor/quantitative hydraulic oil pump output hydraulic pressure flow formula are as follows:
PStream=discharge capacity * revolving speed formula (7)
The present invention passes through frequency converter 16, motor 15, dynamometer 14, quantitative hydraulic oil pump 13, filter 12, hydraulic oil oil
Case 11, pressure sensor, displacement sensor realize the calculating and control of hydraulic system input power, and dynamometer 14 is for real-time
Measure torque, revolving speed, power that motor 15 exports specified rate hydraulic oil pump 13, and the data transmission that measurement is obtained and storage
In controller 52, after controller 52 analyzes the data received, power demand and the torque for obtaining hydraulic system are special
Property, foundation and reference can be provided for torque, the power etc. of matching diesel engine, can be used for model engineering mechanical engine function
The research in terms of power match and energy consumption between rate and load.
The present invention passes through first segment to the motion control of first hydraulic cylinder 24, second hydraulic cylinder 32, the first hydraulic motor 43
Flow valve 19, second throttle 20, third throttle valve 21, the 4th throttle valve 23, the 5th throttle valve 29, the 6th throttle valve the 31, the 7th
Throttle valve 36, the 8th throttle valve 37, the 9th throttle valve 39, protelum stream valve 40, the 11st throttle valve 42, the 12nd throttle valve 47
Realize the simulated experiment function of load port independent control.
Control is arrived in dynamometer 14, pressure sensor, the data transmission of displacement sensor acquisition and storage during the experiment
In device 52, the data of 52 pairs of controller acquisitions carry out operation, processing and analysis, while can be by changing inside controller 52
Control algolithm, to realize the switching in different system function circuits.
Claims (8)
1. a kind of engineering machinery load port independent control hydraulic analog experimental system, including hydraulic power system, electric-control system, with
And at least one executive component, which is characterized in that hydraulic power system includes throttle valve, hydraulic oil pump, filter and overflow valve；
Electric-control system includes pressure sensor, frequency converter, motor, dynamometer, control handle and controller；
Frequency converter passes sequentially through motor, dynamometer connection quantitative hydraulic oil pump, and quantitative hydraulic oil pump suction mouth passes through filter
Hydraulic oil tank is connected, oil discharge outlet passes sequentially through overflow valve, damper connection hydraulic oil tank；
Quantitative hydraulic oil pump oil discharge outlet is connected with pressure sensor, for monitoring the pressure value of oil discharge outlet；
Executive component oil inlet connects two throttle valves, and one of throttle valve connects quantitative hydraulic oil pump oil discharge outlet, another section
It flows valve and hydraulic oil tank is connect by damper；
Executive component oil return opening connects two throttle valves, and one of throttle valve connects quantitative hydraulic oil pump oil discharge outlet, another section
It flows valve and hydraulic oil tank is connect by damper；
Executive component oil inlet and oil return opening are respectively connected with pressure sensor, for monitoring the pressure value of oil inlet and oil return opening；
Executive component load end is connected with load simulation module, and displacement sensor/speed probe is also connected on executive component,
For monitoring displacement signal/tach signal of load simulation module on executive component；
Be respectively connected with pressure sensor on oil circuit between each throttle valve and damper, for monitor throttle valve and damper it
Between oil circuit on pressure value；
It is connected with pressure sensor on oil circuit between overflow valve and damper, for monitoring the oil between overflow valve and damper
The pressure value of road；
Control handle is electrically connected with the controller；
Controller storage inside has several calculation formula, for receiving the signal of control handle input, and according to the letter received
Number control executive component movement；For receiving the electric signal of above-mentioned each sensor and dynamometer transmission, connect for analysis processing
The electric signal received, and the openings of sizes of flow regulating valve and converter power supply frequency based on the analysis results.
2. a kind of engineering machinery load port independent control hydraulic analog experimental system according to claim 1, feature exist
In, it further include experiment porch, the first control cabinet and the second control cabinet being mounted below experiment porch, hydraulic power system installation
In the first control cabinet, wherein hydraulic cylinder and hydraulic motor are mounted on experiment porch, and electric control system is in the second control cabinet
It is interior；Display is also equipped on experiment porch, display is electrically connected with the control in electric control system.
3. a kind of engineering machinery load port independent control hydraulic analog experimental system according to claim 1 or 2, feature
It is, control handle includes first handle and second handle, and there are redundancy control signals all the way for first handle or second handle.
4. a kind of engineering machinery load port independent control hydraulic analog experimental system according to claim 3, feature exist
In executive component is hydraulic cylinder or hydraulic motor；
If executive component is hydraulic cylinder, load simulation module is mass block and spring, and executive component oil inlet is provided with hydraulic cylinder
At rodless cavity, oil return opening is arranged at hydraulic cylinder rod chamber；Mass block is mounted at the top of hydraulic cylinder piston rod, logical above mass block
It crosses spring and mounting bracket is installed, displacement sensor is mounted on mounting bracket；
If executive component is hydraulic motor, load simulation module is rotary inertia mass block, and executive component oil inlet is hydraulic horse
Up to inlet port, oil return opening is hydraulic motor oil discharge outlet；Speed probe is installed in the shaft of hydraulic motor, it is hydraulic for detecting
The tach signal of motor；Rotary inertia mass block is mounted at the top of hydraulic motor shaft.
5. a kind of engineering machinery load port independent control hydraulic analog experimental system according to claim 4, feature exist
In executive component includes two hydraulic cylinders, a hydraulic motor.
6. a kind of engineering machinery load port independent control hydraulic analog experimental system according to claim 1, feature exist
In calculation formula includes hydraulic cylinder output power PC, hydraulic motor output power Pm, quantitative hydraulic pump power output PpAnd liquid
Transmission efficiency η, the pressure criteria value P of pressure systemMark, hydraulic cylinder output hydraulic pressure flow and hydraulic motor/quantitative hydraulic pump output
The formula of hydraulic flow.
7. a kind of control method of engineering machinery load port independent control hydraulic analog experimental system, which is characterized in that if executing
Element is hydraulic cylinder, and control method is as follows:
When controlling handle control hydraulic cylinder stretching, the Setting signal that controller is inputted according to control handle, control hydraulic cylinder is returned
The throttle valve that oil port is connect with quantitative hydraulic oil pump is closed, another throttle valve maximum is opened；Meanwhile controller is according to hydraulic
The displacement signal of displacement sensor transmission on cylinder, after asking first derivative to obtain feedback speed signal the time, by what is received
Setting signal is compared with feedback signal, if Setting signal is greater than feedback signal, controller controls at oil inlet and quantitative liquid
The throttle valve opening reduction that the throttle valve opening of pressure oil pump connection increases, connect with hydraulic oil tank；If Setting signal is equal to anti-
Feedback signal, it is constant that controller controls two throttle valve openings of sizes at oil inlet；If Setting signal is less than feedback signal, controller
The throttle valve opening increasing that the throttle valve opening connecting at control oil inlet with quantitative hydraulic oil pump reduces, connect with hydraulic oil tank
Greatly；
When control handle control hydraulic cylinder retract when, controller according to control handle input Setting signal, control hydraulic cylinder into
The throttle valve maximum unlatching that the throttle valve that oil port is connect with quantitative hydraulic oil pump is closed, connect with hydraulic oil tank；Meanwhile it controlling
Device processed asks first derivative to obtain feedback speed signal the time according to the displacement signal of the displacement sensor transmission on hydraulic cylinder
Afterwards, the Setting signal received is compared with feedback signal, if Setting signal is greater than feedback signal, controller controls oil return
The throttle valve opening reduction that the throttle valve opening connecting at mouthful with quantitative hydraulic oil pump increases, connect with hydraulic oil tank；If giving
Signal is determined equal to feedback signal, and it is constant that controller controls two throttle valve openings of sizes at oil return opening；If Setting signal is less than anti-
Feedback signal, controller control the throttle valve opening connecting at oil return opening with quantitative hydraulic oil pump and reduce, connect with hydraulic oil tank
Throttle valve be open increase；
If executive component is hydraulic motor, control method is as follows:
When controlling handle control hydraulic motor dextrorotation, control method is identical as the method that control hydraulic cylinder stretches out, wherein feedback
Signal is the tach signal of the speed probe transmission in hydraulic motor upper shaft；
When control handle control hydraulic motor is left-handed, control method is identical as the method that control hydraulic cylinder retracts, wherein feedback
Signal is the tach signal of the speed probe transmission in hydraulic motor upper shaft.
8. a kind of controlling party of engineering machinery load port independent control hydraulic analog experimental system according to claim 7
Method, which is characterized in that further include the control method for supplying hydraulic oil on demand for experimental system for simulating, the specific method is as follows:
The structural parameters of executive component are stored in the controller, which includes the diameter and bar diameter of hydraulic cylinder, hydraulic motor
Discharge capacity, the Setting signal for controlling handle are sent in controller, and controller is according to the Setting signal and correspondence for controlling handle input
Executive component structural parameters, flow information needed for hydraulic system is calculated, and pass through according to obtained motor speed
Frequency converter controls the revolving speed of motor, so that controlling hydraulic pump provides the required flow being calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910729753.9A CN110529465A (en) | 2019-08-08 | 2019-08-08 | Engineering machinery load port independent control hydraulic analog experimental system and control method |
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|---|---|---|---|
| CN201910729753.9A CN110529465A (en) | 2019-08-08 | 2019-08-08 | Engineering machinery load port independent control hydraulic analog experimental system and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111022393A (en) * | 2019-12-04 | 2020-04-17 | 安徽爱瑞特新能源专用汽车股份有限公司 | Hydraulic station testing fixture |
| CN111594069A (en) * | 2020-05-19 | 2020-08-28 | 江苏理工学院 | Turnover type elevator control method based on load port independent control |
-
2019
- 2019-08-08 CN CN201910729753.9A patent/CN110529465A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111022393A (en) * | 2019-12-04 | 2020-04-17 | 安徽爱瑞特新能源专用汽车股份有限公司 | Hydraulic station testing fixture |
| CN111594069A (en) * | 2020-05-19 | 2020-08-28 | 江苏理工学院 | Turnover type elevator control method based on load port independent control |
| CN111594069B (en) * | 2020-05-19 | 2021-08-24 | 江苏理工学院 | Turnover type elevator control method based on load port independent control |
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