CN111219369B - Closed hydraulic circuit double-hydraulic-cylinder actuator system - Google Patents

Closed hydraulic circuit double-hydraulic-cylinder actuator system Download PDF

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Publication number
CN111219369B
CN111219369B CN202010077120.7A CN202010077120A CN111219369B CN 111219369 B CN111219369 B CN 111219369B CN 202010077120 A CN202010077120 A CN 202010077120A CN 111219369 B CN111219369 B CN 111219369B
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China
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motor
hydraulic
oil
hydraulic cylinder
bidirectional constant
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CN111219369A (en
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张树忠
唐一文
练国富
晏岱
陈丙三
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Fujian University of Technology
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Fujian University of Technology
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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
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • 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
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/001—Servomotor systems with fluidic control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F15B2211/20584—Combinations of pumps with high and low capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/765—Control of position or angle of the output member
    • F15B2211/7656—Control of position or angle of the output member with continuous position control

Abstract

The invention provides a closed hydraulic circuit double-hydraulic-cylinder actuator system, which comprises a first hydraulic cylinder and a second hydraulic cylinder acting on a load, wherein 2 hydraulic cylinders are connected to a bidirectional constant delivery pump/motor, and the bidirectional constant delivery pump/motor is connected with a variable speed motor through a clutch; the small-displacement bidirectional constant delivery pump is connected with the bidirectional constant delivery pump/motor through a clutch; the rod cavities of the 2 hydraulic cylinders are all connected to a bidirectional fixed displacement pump/motor; the speed change motor, the clutch and each electromagnetic valve are controlled by signals of the host controller.

Description

Closed hydraulic circuit double-hydraulic-cylinder actuator system
Technical Field
The invention relates to the field of automatic control, in particular to a closed hydraulic loop double-hydraulic-cylinder actuator system.
Background
Hydraulic systems have developed to date, there are mainly three major classes of mature hydraulic systems classified by control modality: a common control system, a proportional control system and a servo control system. The proportional control system and the servo control system are automatic hydraulic control systems with good stability, fast dynamic response and high accuracy, are mainly applied to various medium-high-grade hydraulic machines and devices, naturally have high manufacturing cost and difficult maintenance, and have strict requirements on the use environment. In industrial production, the manufacturability of the hydraulic system of a plurality of production equipment from product manufacturing does not fully obtain the performances of response time, speed and the like, but the closed-loop automatic control on the operation position of the hydraulic system is required; the common hydraulic control system is difficult to meet the control characteristic requirements, and the existing hydraulic control system cannot well meet the characteristic requirements of the hydraulic system of the production equipment.
A closed hydraulic loop double-hydraulic-cylinder actuator system is a pump-controlled hydraulic motor or a pump-controlled hydraulic cylinder system without a servo valve, and a digital controller is applied to implement pulse width modulation on a motor so as to drive a hydraulic pump. The working principle is that the controller sends out a control signal according to a control instruction and sensor feedback to control the rotating speed of the motor, so that the constant delivery pump is driven to change the rotating speed and the rotating direction, or the output displacement and the torque of the hydraulic cylinder are controlled by changing the output flow of the variable delivery pump.
1. The existing hydraulic actuator needs to use valve control, so that energy waste such as overflow loss exists, energy cannot be recovered, and switching between speed and hydraulic pressure according to requirements cannot be realized.
2. The single pump system has high requirements on the performance of the servo motor, insufficient self-adaptability and high maintenance cost.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a hydraulic system for closed-loop position control, which can meet the performance process requirements of the hydraulic system of production equipment on response time, speed and the like during product manufacturing according to the control principle of a servo control system.
The invention is realized by adopting the following technical scheme:
a closed hydraulic circuit double-hydraulic-cylinder actuator system comprises a first hydraulic cylinder and a second hydraulic cylinder which act on a load, wherein 2 hydraulic cylinders are connected to a bidirectional constant delivery pump/motor which is connected with a variable speed motor through a clutch; the small-displacement bidirectional constant delivery pump is connected with the bidirectional constant delivery pump/motor through a clutch;
the rod cavities of the 2 hydraulic cylinders are all connected to a bidirectional fixed displacement pump/motor;
the oil supplementing unit is provided with four branches, and the first branch is connected to rod cavities of the two hydraulic cylinders through a first check valve; the second branch is connected to the rod cavities of the two hydraulic cylinders through a two-position two-way electromagnetic valve;
a third branch of the oil supplementing unit is connected to a piston cavity of the first hydraulic cylinder through a two-position three-way electromagnetic valve; a piston cavity of the second hydraulic cylinder is also connected to the two-position three-way electromagnetic valve, and the second hydraulic cylinder is also connected with the bidirectional constant displacement pump/motor; a fourth branch of the oil supplementing unit is connected to a piston cavity of the second hydraulic cylinder through a second check valve;
the speed change motor, the clutch and each electromagnetic valve are controlled by signals of the host controller.
Furthermore, the first check valve and the second check valve are connected with overflow valves in parallel.
Further, the system includes a load up, fast low force mode: oil in rod cavities of the 2 hydraulic cylinders is sent to a piston cavity of a second hydraulic cylinder through a bidirectional constant displacement pump/motor; and the hydraulic oil is supplemented to the first hydraulic cylinder piston cavity from the oil supplementing unit through the two-position three-way electromagnetic valve.
Further, the system comprises a load ascending mode, a slow-speed large-force mode: after the oil in the rod cavities of the 2 hydraulic cylinders is converged with the oil output by the first branch of the oil supplementing unit, the converged oil is conveyed to the piston cavities of the 2 hydraulic cylinders through a bidirectional constant delivery pump/motor.
Further, the system comprises a load descending mode, a slow-speed large-force mode: the clutch disconnects the power connection between the 7 bidirectional constant delivery pump/motor and the 9 small-displacement bidirectional constant delivery pump, and the oil in the piston cavities of the 2 hydraulic cylinders is respectively sent to the rod cavities and the oil supplementing units of the 2 hydraulic cylinders through the bidirectional constant delivery pump/motor and a two-position two-way electromagnetic valve; the oil entering the oil supplementing unit returns to the 11 energy accumulators through the overflow valve, so that the bidirectional constant displacement pump/motor operates under the working condition of the motor to realize the recovery of potential energy and braking energy.
Further, the system comprises a load descending, fast low-force mode: the clutch disconnects the power connection between the bidirectional constant displacement pump/motor and the small-displacement bidirectional constant displacement pump; the oil liquid in the piston cavity of the second hydraulic cylinder is delivered to the rod cavities of the two hydraulic cylinders through a main pump; the oil in the piston cavity of the first hydraulic cylinder returns to the energy accumulator through the overflow valve of the oil supplementing unit by the two-position two-way electromagnetic valve, so that the bidirectional constant displacement pump/motor operates under the working condition of the motor to realize the recovery of potential energy and braking energy.
Compared with the prior art, the invention has the following advantages:
1. the flow balance of the asymmetric cylinder is carried out without measures such as a hydraulic control one-way valve and the like, and the problem of oscillation of the potential hydraulic control one-way valve under the four-quadrant critical working condition is avoided.
2. The system has no throttling energy loss, can perform energy recovery with high efficiency, and realizes double differential flow balance.
3. The device has two modes of fast small force and slow large force.
4. The volume of the oil tank is reduced, and the installation displacement of the main pump is reduced. The working performance of the hydraulic actuator is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a closed hydraulic circuit dual hydraulic cylinder actuator system.
FIG. 2 is a schematic diagram of the mode;
FIG. 3 is a schematic view of mode two;
FIG. 4 is a schematic diagram of the third embodiment;
fig. 5 is a schematic diagram of mode four.
Detailed description of the preferred embodiments
The technical scheme of the invention is as shown in figure 1:
1. a load; 2. 16, a hydraulic cylinder; 2. a one-way valve; 3. an overflow valve; 4. a two-position two-way solenoid valve; 5. a variable speed motor; 6. 8, a clutch; 7. a bidirectional fixed displacement pump/motor; 9. a small displacement bidirectional fixed displacement pump; 10. a hydraulic bridge rectifier circuit; 11. an accumulator; 12. an overflow valve; 13. an overflow valve; 14. a one-way valve; 15. a two-position three-way electromagnetic valve;
as shown in fig. 1, the hydraulic system includes two hydraulic cylinders, and the oil supplementing unit is composed of a small-displacement bidirectional fixed displacement pump 9, a hydraulic bridge rectifier circuit 10, an energy accumulator 11, and an overflow valve 12. Oil outlets of two check valves in a 10 hydraulic bridge type rectification loop consisting of four hydraulic check valves in the oil supplementing unit are connected together and then connected with an 11 energy accumulator; an oil outlet of one check valve in the 10 hydraulic bridge type rectifying circuit is connected with an oil inlet of the other check valve and then is connected with an oil port at one end of the 9 small-displacement bidirectional constant delivery pump, and similarly, an oil outlet of the other check valve is connected with an oil inlet of the other check valve and then is connected with an oil port at the other end of the 9 small-displacement bidirectional constant delivery pump; the clutches 6 and 8 are used for mechanically and dynamically connecting the variable speed motor 5, the bidirectional constant delivery pump/motor 7 and the small-displacement bidirectional constant delivery pump 9; the rod cavities of the two hydraulic cylinders 2 and 16 are connected in parallel with a unit consisting of a one-way valve 2 and an overflow valve 3 and then connected in series with a two-position two-way electromagnetic valve 4 and a two-way constant delivery pump/motor 7; a two-position two-way electromagnetic valve 4 is connected between the rod cavity parallel ports of the two hydraulic cylinders 2 and 16 and the bidirectional constant delivery pump/motor 7; the other end of the two-position two-way electromagnetic valve 4 is connected with an oil supplementing unit; a piston cavity of the hydraulic cylinder 16 is connected with the bidirectional constant displacement pump/motor 7 in series; a safety valve group consisting of overflow valves 13 and check valves 14 is connected in series between a piston cavity of the hydraulic cylinder 16 and the oil supplementing unit; a piston cavity of the hydraulic cylinder 2 is connected in series with a single oil way port at one end of a two-position three-way electromagnetic valve 15; the other end of the two-position three-way electromagnetic valve 15 is provided with two oil way ports which are respectively connected with one end of an oil supplementing unit composed of a piston cavity end of the hydraulic cylinder 2, an overflow valve 12 and the like; the motor, the clutch and the electromagnetic valve are all controlled by signals of the host controller.
The working principle is as follows:
the two hydraulic cylinders are differential oil cylinders, and the area of piston cavities of the hydraulic cylinders is 2 times of that of rod cavities, so that the hydraulic cylinder is used for flow balance in a closed system. When the closed loop works, oil must be supplemented into the loop and discharged out of the loop.
The working process is as follows: the computer controller sets a set value of the required movement stroke of the hydraulic cylinder, the controller compares the set value with the detected current expansion value of the hydraulic rod to judge whether the hydraulic cylinder needs to be pushed out or contracted, the controller instructs the frequency converter to operate at a certain frequency to control the rotating speed of the variable speed motor, the variable speed motor drives the bidirectional hydraulic pump to supply oil to a system according to the current rotating speed, and the controller instructs the corresponding electromagnetic directional valve to open or close the corresponding oil way to push out or contract the hydraulic rod. The system continuously detects the current value and transmits the current value to the controller, the controller continuously compares the set value with the detected current value, and according to the comparison result, the controller continuously instructs the frequency converter to change the operation frequency, along with the change of the operation frequency of the frequency converter, the rotating speed of the variable speed motor is correspondingly changed, and the oil supply amount of the hydraulic pump is continuously changed according to the rotating speed. When the hydraulic cylinder approaches the set stop position at a higher speed, the controller instructs the frequency converter to stop running, the variable-speed motor stops running, and the system controls the hydraulic rod to stop locking the set position. The check valve, the overflow valve and the check valve are respectively combined into a module to set the highest load pressure, and the overload protection effect is realized on the system.
The first mode is as follows:
when a load ascends and in a fast low-force mode, oil in rod cavities of the two hydraulic cylinders 2 and 16 is conveyed to a piston cavity 16 of the left hydraulic cylinder through the bidirectional constant delivery pump/motor 7; the hydraulic oil is supplemented to the piston cavity 2 of the right hydraulic cylinder from the oil supplementing unit through the two-position three-way electromagnetic valve 15.
And a second mode:
when the load goes upward and in a slow-speed and large-force mode, oil in rod cavities of the two hydraulic cylinders 2 and 16 and oil output by the oil supplementing unit are converged by the right oil supplementing one-way valve and then are conveyed to the piston cavities 2 and 16 of the two hydraulic cylinders by the bidirectional constant delivery pump/motor 7.
And a third mode:
when a load descends and in a low-speed and high-force mode, oil in piston cavities of the two hydraulic cylinders 2 and 16 is respectively sent to rod cavities of the two hydraulic cylinders 2 and 16 and an overflow valve 12 of an oil supplementing unit through a two-position two-way electromagnetic valve 4 through a main pump two-way constant delivery pump/motor 7 to return to an energy accumulator 11, and a clutch 8 disconnects the mechanical connection between the two-way constant delivery pump/motor 7 and a small-displacement two-way constant delivery pump 9, so that the power connection between the small-displacement two-way constant delivery pump and a variable speed motor 5 is disconnected. Meanwhile, the bidirectional constant displacement pump/motor 7 operates under the working condition of the motor to realize the recovery of potential energy and braking energy.
And a fourth mode:
when the load descends and in a fast low-force mode, oil in the piston cavity of the right hydraulic cylinder 2 overflows back to the energy accumulator 11 through an overflow valve 12 of the oil supplementing unit by a two-position three-way electromagnetic valve 15 (lower position function).
The oil in the piston cavity 16 of the left hydraulic cylinder is delivered to the rod cavities of the two hydraulic cylinders through a main pump; the clutch 8 disconnects the mechanical connection of the bidirectional constant delivery pump/motor 7 and the small-displacement bidirectional constant delivery pump 9, and further realizes the disconnection of the power connection 5 of the small-displacement bidirectional constant delivery pump 9 and the variable speed motor. Meanwhile, the bidirectional constant displacement pump/motor operates under the working condition of the motor to recover potential energy and braking energy to generate electric energy.

Claims (4)

1. A closed hydraulic circuit double-hydraulic-cylinder actuator system comprises a first hydraulic cylinder and a second hydraulic cylinder which act on a load, wherein 2 hydraulic cylinders are connected to a bidirectional constant delivery pump/motor which is connected with a variable speed motor through a clutch; the small-displacement bidirectional constant delivery pump is connected with the bidirectional constant delivery pump/motor through a clutch;
the rod cavities of the 2 hydraulic cylinders are all connected to a bidirectional fixed displacement pump/motor;
the oil supplementing unit is provided with four branches, and the first branch is connected to rod cavities of the two hydraulic cylinders through a first check valve; the second branch is connected to the rod cavities of the two hydraulic cylinders through a two-position two-way electromagnetic valve;
a third branch of the oil supplementing unit is connected to a piston cavity of the first hydraulic cylinder through a two-position three-way electromagnetic valve; a piston cavity of the second hydraulic cylinder is also connected to the two-position three-way electromagnetic valve, and the second hydraulic cylinder is also connected with the bidirectional constant displacement pump/motor; a fourth branch of the oil supplementing unit is connected to a piston cavity of the second hydraulic cylinder through a second check valve;
the speed change motor, the clutch and each electromagnetic valve are controlled by signals of the host controller;
wherein, the system includes that the load is gone up, quick miniwatt mode: oil in rod cavities of the 2 hydraulic cylinders is sent to a piston cavity of a second hydraulic cylinder through a bidirectional constant displacement pump/motor; the hydraulic oil is supplemented to the piston cavity of the first hydraulic cylinder from the oil supplementing unit through the two-position three-way electromagnetic valve;
the system comprises a load ascending mode and a slow and large force mode: after the oil in the rod cavities of the 2 hydraulic cylinders is converged with the oil output by the first branch of the oil supplementing unit, the converged oil is conveyed to the piston cavities of the 2 hydraulic cylinders through a bidirectional constant delivery pump/motor.
2. The closed hydraulic circuit dual hydraulic cylinder actuator system of claim 1, wherein the first check valve and the second check valve are connected in parallel with a relief valve.
3. The closed hydraulic circuit dual hydraulic cylinder actuator system of claim 1, wherein the system includes a load down, slow high force mode: the clutch disconnects the power connection between the bidirectional constant delivery pump/motor (7) and the small-displacement bidirectional constant delivery pump (9), and oil in the piston cavities of the 2 hydraulic cylinders is respectively sent to the rod cavities and the oil supplementing units of the 2 hydraulic cylinders through the bidirectional constant delivery pump/motor and the two-position two-way electromagnetic valve; the oil entering the oil supplementing unit returns to the energy accumulator (11) through the overflow valve, so that the bidirectional constant displacement pump/motor operates under the working condition of the motor to realize the recovery of potential energy and braking energy.
4. The closed hydraulic circuit dual hydraulic cylinder actuator system of claim 1, wherein the system includes a load down, fast low force mode: the clutch disconnects the power connection between the bidirectional constant displacement pump/motor and the small-displacement bidirectional constant displacement pump; the oil liquid in the piston cavity of the second hydraulic cylinder is sent to the rod cavities of the two hydraulic cylinders through a bidirectional constant displacement pump/motor; the oil in the piston cavity of the first hydraulic cylinder returns to the energy accumulator through the overflow valve of the oil supplementing unit by the two-position three-way electromagnetic valve, so that the bidirectional constant delivery pump/motor operates under the working condition of the motor to realize the recovery of potential energy and braking energy.
CN202010077120.7A 2020-01-23 2020-01-23 Closed hydraulic circuit double-hydraulic-cylinder actuator system Active CN111219369B (en)

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CN115013370B (en) * 2022-07-06 2023-03-31 兰州理工大学 High-speed switch valve matrix digital gear shifting buffer system and control method
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