CN112265911A - Electro-hydraulic proportional adjusting device and method for lorry-mounted crane - Google Patents
Electro-hydraulic proportional adjusting device and method for lorry-mounted crane Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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Abstract
The invention provides an electro-hydraulic proportional adjusting device and method of a lorry-mounted crane, which sequentially determine an electro-hydraulic flow adjusting value of the lorry-mounted crane and opening degree adjusting information of an electro-hydraulic proportional valve on the basis of actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, form a proper adjusting electric signal according to the opening degree adjusting information, drive the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action, thereby obtaining a corresponding electro-hydraulic proportional adjusting effect, determine an adjusting electric signal directly applied to the electro-hydraulic proportional valve in a closed-loop adjusting mode, and form a closed-loop feedback adjusting loop from the hydraulic action parameters to the adjusting electric signal, so that the influence of external factors on the electro-hydraulic proportional adjustment can be effectively reduced, and the accuracy and the stability of the electro-hydraulic proportional adjustment can be improved.
Description
Technical Field
The invention relates to the technical field of lorry-mounted cranes, in particular to an electro-hydraulic proportional adjusting device and method of a lorry-mounted crane.
Background
At present, a lorry-mounted crane usually adopts a hydraulic mode to carry out lifting adjustment, wherein the hydraulic mode can adopt an electro-hydraulic proportional valve to adjust hydraulic strength, the opening degree of the valve is changed by the electro-hydraulic proportional valve through receiving a control signal from the outside, and then the hydraulic action state is changed by changing the flow of the electro-hydraulic proportional valve. The opening degree of the valve is in direct proportion to the strength of the control signal, namely the hydraulic action state can be conveniently adjusted by directly changing the opening degree of the valve, but the normal execution of the above method is based on the premise of accurately determining the opening degree of the valve, but the prior art determines the opening degree of the valve by a manual judgment method, which can seriously affect the precision casting of the subsequent electro-hydraulic proportional adjustment. Therefore, in the prior art, the electro-hydraulic proportion of the lorry-mounted crane needs to be adjusted in a closed-loop feedback mode so as to improve the adjustment accuracy and reliability of the electro-hydraulic proportion.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an electro-hydraulic proportion adjusting device and method of a lorry-mounted crane, which are used for detecting the hydraulic action process of the lorry-mounted crane so as to obtain actual hydraulic action parameters corresponding to the hydraulic action process, determining an electro-hydraulic flow adjusting value of the lorry-mounted crane according to the difference between the actual hydraulic action parameters and expected hydraulic action parameters, determining opening degree adjusting information of an electro-hydraulic proportion valve according to the electro-hydraulic flow adjusting value and the current actual electro-hydraulic flow value of the lorry-mounted crane, and applying a corresponding adjusting electric signal to the electro-hydraulic proportion valve according to the opening degree adjusting information so as to drive the electro-hydraulic proportion valve to act, thereby realizing the corresponding electro-hydraulic proportion adjustment; therefore, the electro-hydraulic proportional adjusting device and the electro-hydraulic proportional adjusting method of the lorry-mounted crane sequentially determine the electro-hydraulic flow adjusting value of the lorry-mounted crane and the opening degree adjusting information of the electro-hydraulic proportional valve on the basis of the actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, form a proper adjusting electric signal according to the opening degree adjusting information, drive the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action, and further obtain a corresponding electro-hydraulic proportional adjusting effect.
The invention provides an electro-hydraulic proportional adjusting device of a lorry-mounted crane, which is characterized by comprising a hydraulic action parameter acquisition module, an electro-hydraulic flow adjusting value determination module, an opening degree adjusting information determination module and an electro-hydraulic proportional adjusting module; wherein,
the hydraulic action parameter acquisition module is used for detecting a hydraulic action process of the lorry-mounted crane so as to acquire an actual hydraulic action parameter corresponding to the hydraulic action process;
the electro-hydraulic flow adjustment value determining module is used for determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter;
the opening degree adjustment information determination module is used for determining opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane;
the electro-hydraulic proportional adjustment module is used for applying a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjustment information so as to drive the electro-hydraulic proportional valve to act, and therefore corresponding electro-hydraulic proportional adjustment is achieved;
further, the detecting the hydraulic action process of the lorry-mounted crane by the hydraulic action parameter acquiring module so as to acquire the actual hydraulic action parameter corresponding to the hydraulic action process specifically comprises the following steps:
shooting a hydraulic action process of the lorry-mounted crane to obtain a corresponding hydraulic action image, and analyzing and processing the hydraulic action image to obtain an actual hydraulic action speed corresponding to the hydraulic working process;
and the number of the first and second groups,
the electro-hydraulic flow adjustment value determining module specifically determines the electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter, and includes:
determining a speed difference value between the actual hydraulic action speed and an expected hydraulic action speed, and determining a hydraulic strength difference value between the hydraulic action process and the expected hydraulic action process according to the speed difference value;
determining an electro-hydraulic flow adjusting value of the lorry-mounted crane according to the hydraulic strength difference value;
further, the determining module for the opening degree adjustment information determines the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane, and specifically comprises:
acquiring a current actual electro-hydraulic flow value of the lorry-mounted crane, and determining the current actual opening degree value of the electro-hydraulic proportional valve by combining an empirical curve between the opening degree of the electro-hydraulic proportional valve and the electro-hydraulic flow;
determining an opening degree size adjusting value of the electro-hydraulic proportional valve by combining the electro-hydraulic flow adjusting value and the empirical curve;
determining the opening degree adjusting direction of the electro-hydraulic proportional valve according to the magnitude relation between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value;
further, the electro-hydraulic proportional adjustment module applies a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjustment information to drive the electro-hydraulic proportional valve to act, so that the corresponding electro-hydraulic proportional adjustment specifically comprises:
determining the duty ratio of a PWM (pulse-width modulation) adjusting electric signal applied to the electro-hydraulic proportional valve according to the opening degree size adjusting value and the opening degree adjusting direction;
and generating corresponding driving current according to the PWM adjusting electric signal, and applying the driving current to the electro-hydraulic proportional valve so as to change the opening degree state of the electro-hydraulic proportional valve, thereby realizing corresponding electro-hydraulic proportional adjustment.
The invention also provides an electro-hydraulic proportion adjusting method of the lorry-mounted crane, which is characterized by comprising the following steps of:
step S1, detecting a hydraulic action process of the lorry-mounted crane so as to obtain an actual hydraulic action parameter corresponding to the hydraulic action process, and determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and an expected hydraulic action parameter;
step S2, determining opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane;
step S3, applying a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjusting information, so as to drive the electro-hydraulic proportional valve to act, thereby realizing corresponding electro-hydraulic proportional adjustment;
further, in step S1, detecting a hydraulic action process of the lorry-mounted crane to obtain an actual hydraulic action parameter corresponding to the hydraulic action process, and determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to a difference between the actual hydraulic action parameter and an expected hydraulic action parameter specifically includes:
step S101, shooting a hydraulic action process of the lorry-mounted crane to obtain a corresponding hydraulic action image, and analyzing and processing the hydraulic action image to obtain an actual hydraulic action speed corresponding to the hydraulic working process;
step S102, determining a speed difference value between the actual hydraulic action speed and the expected hydraulic action speed, and determining a hydraulic strength difference value between the hydraulic action process and the expected hydraulic action process according to the speed difference value;
step S103, determining an electro-hydraulic flow adjusting value of the lorry-mounted crane according to the hydraulic intensity difference value;
further, in step S2, determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane specifically includes:
step S201, obtaining a current actual electro-hydraulic flow value of the lorry-mounted crane, and determining a current actual opening degree value of the electro-hydraulic proportional valve by combining an empirical curve between the opening degree of the electro-hydraulic proportional valve and the electro-hydraulic flow;
step S202, determining an opening degree size adjusting value of the electro-hydraulic proportional valve by combining the electro-hydraulic flow adjusting value and the empirical curve;
step S203, determining the opening degree adjusting direction of the electro-hydraulic proportional valve according to the size relation between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value;
further, in step S3, applying a corresponding adjustment electrical signal to the electro-hydraulic proportional valve according to the opening degree adjustment information, so as to drive the electro-hydraulic proportional valve to operate, thereby implementing a corresponding electro-hydraulic proportional adjustment specifically including:
step S301, determining the duty ratio of a PWM (pulse-width modulation) adjusting electric signal applied to the electro-hydraulic proportional valve according to the opening degree adjustment value and the opening degree adjustment direction;
step S302, generating corresponding driving current according to the PWM adjusting electric signal and applying the driving current to the electro-hydraulic proportional valve so as to change the opening degree state of the electro-hydraulic proportional valve, thereby realizing corresponding electro-hydraulic proportional adjustment;
further, in step S1, the method includes detecting a hydraulic action process of the lorry-mounted crane to obtain an actual hydraulic action parameter corresponding to the hydraulic action process, and specifically includes, according to a difference between the actual hydraulic action parameter and an expected hydraulic action parameter:
acquiring a hydraulic action image of the liquid action process, and determining a difference value W between the actual hydraulic action parameter and the expected hydraulic action parameter according to the following formula (1):
in the above formula (1), n represents the number of hydraulic motion images, n is greater than 3, L represents the total length of the hydraulic rod of the lorry-mounted crane, and LnThe scale value l of the liquid rod corresponding to the nth hydraulic action imagen-1Shows the (n-1) th hydraulic pressure operation imageCorresponding scale value of liquid rod, sub (l)n,ln-1) Indicating a hydraulic pressure scale difference between the nth hydraulic pressure action image and the (n-1) th hydraulic pressure action image, sub (l)n-1,ln-2) Representing the difference value of the hydraulic scales between the (n-1) th hydraulic action image and the (n-2) th hydraulic action image, t representing the corresponding total duration of the liquid action process, v0Representing a desired hydraulic action speed value;
in step S2, determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane specifically includes:
firstly, determining an opening degree adjusting value R of the electro-hydraulic proportional valve according to the following formula (2):
in the above formula (2), PwAn actual hydraulic pressure value, P, representing a correspondence of a difference value W between the actual hydraulic actuation parameter and the desired hydraulic actuation parameter0Indicates a desired fluid pressure value, Sim (P), corresponding to the desired hydraulic actionw,P0) Representing the ratio between the actual liquid pressure value and the desired liquid pressure value, i.e. Pw/P0Rho represents the electro-hydraulic density, S represents the total cross-sectional area of the electro-hydraulic proportional valve, SwRepresenting the actual opening area S of the electro-hydraulic proportional valve corresponding to the actual liquid pressure value0Representing the actual opening area, v, of the electro-hydraulic proportional valve corresponding to the expected liquid pressure valuemAnd the opening degree of the electro-hydraulic proportional valve corresponding to the difference value W between the actual hydraulic action parameter and the expected hydraulic action parameter is represented.
Compared with the prior art, the electro-hydraulic proportional adjusting device and the method of the lorry-mounted crane detect the hydraulic action process of the lorry-mounted crane, so that actual hydraulic action parameters corresponding to the hydraulic action process are obtained, an electro-hydraulic flow adjusting value of the lorry-mounted crane is determined according to the difference between the actual hydraulic action parameters and expected hydraulic action parameters, opening degree adjusting information of an electro-hydraulic proportional valve is determined according to the electro-hydraulic flow adjusting value and the current actual electro-hydraulic flow value of the lorry-mounted crane, and then a corresponding adjusting electric signal is applied to the electro-hydraulic proportional valve according to the opening degree adjusting information so as to drive the electro-hydraulic proportional valve to act, so that corresponding electro-hydraulic proportional adjustment is achieved; therefore, the electro-hydraulic proportional adjusting device and the electro-hydraulic proportional adjusting method of the lorry-mounted crane sequentially determine the electro-hydraulic flow adjusting value of the lorry-mounted crane and the opening degree adjusting information of the electro-hydraulic proportional valve on the basis of the actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, form a proper adjusting electric signal according to the opening degree adjusting information, drive the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action, and further obtain a corresponding electro-hydraulic proportional adjusting effect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an electro-hydraulic proportional adjusting device of a lorry-mounted crane provided by the invention.
Fig. 2 is a schematic flow chart of the electro-hydraulic proportional adjustment method of the lorry-mounted crane provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of an electro-hydraulic proportional adjusting device of a lorry-mounted crane according to an embodiment of the present invention is shown. The electro-hydraulic proportional adjusting device of the lorry-mounted crane comprises a hydraulic action parameter acquisition module, an electro-hydraulic flow adjusting value determination module, an opening degree adjusting information determination module and an electro-hydraulic proportional adjusting module; wherein,
the hydraulic action parameter acquisition module is used for detecting a hydraulic action process of the lorry-mounted crane so as to acquire an actual hydraulic action parameter corresponding to the hydraulic action process;
the electro-hydraulic flow adjustment value determining module is used for determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter;
the opening degree adjustment information determining module is used for determining opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane;
the electro-hydraulic proportional adjusting module is used for applying a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjusting information so as to drive the electro-hydraulic proportional valve to act, and therefore corresponding electro-hydraulic proportional adjustment is achieved.
The beneficial effects of the above technical scheme are: the electro-hydraulic proportional adjusting device of the lorry-mounted crane sequentially determines an electro-hydraulic flow adjusting value of the lorry-mounted crane and opening degree adjusting information of an electro-hydraulic proportional valve according to actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, and then forms a proper adjusting electric signal according to the opening degree adjusting information to drive the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action, so that a corresponding electro-hydraulic proportional adjusting effect is obtained.
Preferably, the detecting the hydraulic action process of the lorry-mounted crane by the hydraulic action parameter acquiring module so as to acquire the actual hydraulic action parameter corresponding to the hydraulic action process specifically includes:
shooting the hydraulic action process of the lorry-mounted crane to obtain a corresponding hydraulic action image, and analyzing and processing the hydraulic action image to obtain an actual hydraulic action speed corresponding to the hydraulic working process;
and the number of the first and second groups,
the electro-hydraulic flow adjustment value determining module specifically determines the electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter, and comprises the following steps:
determining a speed difference value between the actual hydraulic action speed and the expected hydraulic action speed, and determining a hydraulic strength difference value between the hydraulic action process and the expected hydraulic action process according to the speed difference value;
and determining the electro-hydraulic flow adjusting value of the lorry-mounted crane according to the hydraulic strength difference value.
The beneficial effects of the above technical scheme are: because the actual liquid state action speed of the lorry-mounted crane is determined by the electro-hydraulic proportion of the lorry-mounted crane, when the electro-hydraulic proportion reaches an optimal value, the actual liquid state action speed of the lorry-mounted crane also correspondingly reaches an optimal state, namely the expected hydraulic action speed is reached, wherein the expected hydraulic action speed is set by the performance parameters of the lorry-mounted crane, the actual liquid state intensity of the lorry-mounted crane and the actual hydraulic action speed form a known positive correlation relationship, the positive correlation relationship can be obtained in advance by detecting the lorry-mounted crane, so that the hydraulic intensity difference can be quickly and accurately determined by determining the speed difference between the actual liquid state action speed and the expected liquid state action speed and integrating the positive correlation relationship, and the hydraulic intensity difference is in a known function relationship with the electro-hydraulic flow, therefore, the corresponding electro-hydraulic flow adjustment value can be determined through the functional relationship, wherein the functional relationship can be obtained through fluid mechanics calculation, and the electro-hydraulic flow adjustment value is a target value to which the electro-hydraulic flow needs to be adjusted.
Preferably, the determining module for the opening degree adjustment information determines the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane, and specifically includes:
acquiring the current actual electro-hydraulic flow value of the lorry-mounted crane, and determining the current actual opening degree value of the electro-hydraulic proportional valve by combining an empirical curve between the opening degree of the electro-hydraulic proportional valve and the electro-hydraulic flow;
determining an opening degree size adjusting value of the electro-hydraulic proportional valve by combining the electro-hydraulic flow adjusting value and the empirical curve;
and determining the opening degree adjusting direction of the electro-hydraulic proportional valve according to the magnitude relation between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value.
The beneficial effects of the above technical scheme are: because the electro-hydraulic proportional valve in the lorry-mounted crane is used for adjusting the flow value of the electro-hydraulic, when the opening degree of the electro-hydraulic proportional valve is larger, the electro-hydraulic flow is also larger, the electro-hydraulic flow is in positive correlation integrally, and the positive correlation can be determined through a known empirical curve, so that the empirical curve can be used for accurately obtaining an actual opening degree value and an opening degree size adjusting value, the opening degree size adjusting value is a target value to which the opening degree of the electro-hydraulic proportional valve needs to be adjusted, the opening degree adjusting direction of the electro-hydraulic proportional valve can be determined by determining the size relationship between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value, specifically, when the actual electro-hydraulic flow value is smaller than the electro-hydraulic flow adjusting value, the opening degree needs to be adjusted in the increasing direction, and when the actual electro-hydraulic flow value is larger than the electro-hydraulic flow, the opening degree needs to be adjusted in a decreasing direction.
Preferably, the electro-hydraulic proportional adjustment module applies a corresponding adjustment electric signal to the electro-hydraulic proportional valve according to the opening degree adjustment information, so as to drive the electro-hydraulic proportional valve to act, thereby implementing corresponding electro-hydraulic proportional adjustment specifically comprising:
determining the duty ratio of a PWM (pulse-width modulation) adjusting electric signal applied to the electro-hydraulic proportional valve according to the opening degree size adjusting value and the opening degree adjusting direction;
and then, according to the PWM adjusting electric signal, generating a corresponding driving current and applying the driving current to the electro-hydraulic proportional valve so as to change the opening degree state of the electro-hydraulic proportional valve, thereby realizing the corresponding electro-hydraulic proportional adjustment.
The beneficial effects of the above technical scheme are: when PWM adjusting electric signals with different duty ratios are applied to the electro-hydraulic proportional valve, the electro-hydraulic proportional valve increases or decreases the opening degrees with different amplitudes, so that the duty ratios of the PWM adjusting electric signals applied to the electro-hydraulic proportional valve can be accurately determined according to the opening degree adjustment value and the opening degree adjustment direction, and corresponding driving currents are generated to drive the electro-hydraulic proportional valve to change the opening degree state, so that the accuracy and the stability of electro-hydraulic proportional adjustment are improved.
Referring to fig. 2, a schematic flow chart of an electro-hydraulic proportional adjustment method for a lorry-mounted crane according to an embodiment of the present invention is shown. The electro-hydraulic proportion adjusting method of the lorry-mounted crane comprises the following steps:
step S1, detecting the hydraulic action process of the lorry-mounted crane so as to obtain the actual hydraulic action parameter corresponding to the hydraulic action process, and determining the electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter;
step S2, determining opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane;
and step S3, applying a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjusting information, so as to drive the electro-hydraulic proportional valve to act, thereby realizing corresponding electro-hydraulic proportional adjustment.
The beneficial effects of the above technical scheme are: the electro-hydraulic proportional adjusting method of the lorry-mounted crane sequentially determines an electro-hydraulic flow adjusting value of the lorry-mounted crane and opening degree adjusting information of the electro-hydraulic proportional valve on the basis of actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, forms a proper adjusting electric signal according to the opening degree adjusting information, drives the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action, and accordingly obtains a corresponding electro-hydraulic proportional adjusting effect.
Preferably, in step S1, the detecting the hydraulic action process of the lorry-mounted crane to obtain an actual hydraulic action parameter corresponding to the hydraulic action process, and determining the electro-hydraulic flow adjustment value of the lorry-mounted crane according to a difference between the actual hydraulic action parameter and an expected hydraulic action parameter specifically includes:
step S101, shooting a hydraulic action process of the lorry-mounted crane to obtain a corresponding hydraulic action image, and analyzing and processing the hydraulic action image to obtain an actual hydraulic action speed corresponding to the hydraulic working process;
step S102, determining a speed difference value between the actual hydraulic action speed and the expected hydraulic action speed, and determining a hydraulic strength difference value between the hydraulic action process and the expected hydraulic action process according to the speed difference value;
and S103, determining an electro-hydraulic flow adjusting value of the lorry-mounted crane according to the hydraulic strength difference value.
The beneficial effects of the above technical scheme are: because the actual liquid state action speed of the lorry-mounted crane is determined by the electro-hydraulic proportion of the lorry-mounted crane, when the electro-hydraulic proportion reaches an optimal value, the actual liquid state action speed of the lorry-mounted crane also correspondingly reaches an optimal state, namely the expected hydraulic action speed is reached, wherein the expected hydraulic action speed is set by the performance parameters of the lorry-mounted crane, the actual liquid state intensity of the lorry-mounted crane and the actual hydraulic action speed form a known positive correlation relationship, the positive correlation relationship can be obtained in advance by detecting the lorry-mounted crane, so that the hydraulic intensity difference can be quickly and accurately determined by determining the speed difference between the actual liquid state action speed and the expected liquid state action speed and integrating the positive correlation relationship, and the hydraulic intensity difference is in a known function relationship with the electro-hydraulic flow, therefore, the corresponding electro-hydraulic flow adjustment value can be determined through the functional relationship, wherein the functional relationship can be obtained through fluid mechanics calculation, and the electro-hydraulic flow adjustment value is a target value to which the electro-hydraulic flow needs to be adjusted.
Preferably, in step S2, the determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane specifically includes:
step S201, obtaining a current actual electro-hydraulic flow value of the lorry-mounted crane, and determining a current actual opening degree value of the electro-hydraulic proportional valve by combining an empirical curve between the opening degree of the electro-hydraulic proportional valve and the electro-hydraulic flow, wherein the empirical curve can be, but is not limited to, the current actual opening degree value of the electro-hydraulic proportional valve
R1The opening degree adjustment value of the current actual electro-hydraulic proportional valve is represented;
step S202, determining an opening degree size adjusting value of the electro-hydraulic proportional valve by combining the electro-hydraulic flow adjusting value and the empirical curve;
and step S203, determining the opening degree adjusting direction of the electro-hydraulic proportional valve according to the magnitude relation between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value.
The beneficial effects of the above technical scheme are: because the electro-hydraulic proportional valve in the lorry-mounted crane is used for adjusting the flow value of the electro-hydraulic, when the opening degree of the electro-hydraulic proportional valve is larger, the electro-hydraulic flow is also larger, the electro-hydraulic flow is in positive correlation integrally, and the positive correlation can be determined through a known empirical curve, so that the empirical curve can be used for accurately obtaining an actual opening degree value and an opening degree size adjusting value, the opening degree size adjusting value is a target value to which the opening degree of the electro-hydraulic proportional valve needs to be adjusted, the opening degree adjusting direction of the electro-hydraulic proportional valve can be determined by determining the size relationship between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value, specifically, when the actual electro-hydraulic flow value is smaller than the electro-hydraulic flow adjusting value, the opening degree needs to be adjusted in the increasing direction, and when the actual electro-hydraulic flow value is larger than the electro-hydraulic flow, the opening degree needs to be adjusted in a decreasing direction.
Preferably, in step S3, applying a corresponding adjusting electrical signal to the electro-hydraulic proportional valve according to the opening degree adjusting information, so as to drive the electro-hydraulic proportional valve to operate, so as to implement a corresponding electro-hydraulic proportional adjustment specifically includes:
step S301, determining the duty ratio of a PWM (pulse-width modulation) adjusting electric signal applied to the electro-hydraulic proportional valve according to the opening degree adjustment value and the opening degree adjustment direction;
step S302, generating corresponding driving current according to the PWM adjusting electric signal and applying the driving current to the electro-hydraulic proportional valve so as to change the opening degree state of the electro-hydraulic proportional valve, thereby realizing corresponding electro-hydraulic proportional adjustment.
The beneficial effects of the above technical scheme are: when PWM adjusting electric signals with different duty ratios are applied to the electro-hydraulic proportional valve, the electro-hydraulic proportional valve increases or decreases the opening degrees with different amplitudes, so that the duty ratios of the PWM adjusting electric signals applied to the electro-hydraulic proportional valve can be accurately determined according to the opening degree adjustment value and the opening degree adjustment direction, and corresponding driving currents are generated to drive the electro-hydraulic proportional valve to change the opening degree state, so that the accuracy and the stability of electro-hydraulic proportional adjustment are improved.
Preferably, in step S1, the method includes detecting a hydraulic operation process of the lorry-mounted crane to obtain an actual hydraulic operation parameter corresponding to the hydraulic operation process, and specifically includes, according to a difference between the actual hydraulic operation parameter and an expected hydraulic operation parameter:
acquiring a hydraulic action image of the liquid action process, and determining a difference value W between the actual hydraulic action parameter and the expected hydraulic action parameter according to the following formula (1):
in the above formula (1), n represents the number of hydraulic motion images, n is greater than 3, L represents the total length of the hydraulic rod of the lorry-mounted crane, and LnThe scale value l of the liquid rod corresponding to the nth hydraulic action imagen-1The scale value of the liquid rod corresponding to the (n-1) th hydraulic action image, sub (l)n,ln-1) Indicating a hydraulic pressure scale difference between the nth hydraulic pressure action image and the (n-1) th hydraulic pressure action image, sub (l)n-1,ln-2) Representing the difference of hydraulic scales between the (n-1) th hydraulic action image and the (n-2) th hydraulic action image, t representing the total duration corresponding to the liquid action process, v0Representing a desired hydraulic action speed value;
in step S2, determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane specifically includes:
firstly, determining an opening degree adjusting value R of the electro-hydraulic proportional valve according to the following formula (2):
in the above formula (2), PwAn actual hydraulic pressure value, P, representing the difference value W between the actual hydraulic operating parameter and the desired hydraulic operating parameter0Indicates a desired fluid pressure value, Sim (P), corresponding to the desired hydraulic actionw,P0) Representing the ratio between the actual liquid pressure value and the desired liquid pressure value, i.e. Pw/P0Rho represents the electro-hydraulic density, S represents the total cross-sectional area of the electro-hydraulic proportional valve, SwThe actual opening area S of the electro-hydraulic proportional valve corresponding to the actual liquid pressure value is shown0The actual opening area, v, of the electro-hydraulic proportional valve corresponding to the expected liquid pressure value is shownmAnd the opening degree of the electro-hydraulic proportional valve corresponding to the difference value W between the actual hydraulic action parameter and the expected hydraulic action parameter is represented.
The beneficial effects of the above technical scheme are: the electro-hydraulic proportional adjusting method comprises the steps of sequentially determining an electro-hydraulic flow adjusting value of the lorry-mounted crane and opening degree adjusting information of an electro-hydraulic proportional valve on the basis of actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, and driving the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action according to a preset adjusting experience curve adjusting rate, so that a corresponding electro-hydraulic proportional adjusting effect is obtained, a closed-loop feedback adjusting loop from the hydraulic action parameters to adjusting electric signals can be realized accurately, and the accuracy and the stability of electro-hydraulic proportional adjusting are improved.
According to the content of the embodiment, the electro-hydraulic proportional adjusting device and the method of the lorry-mounted crane detect the hydraulic action process of the lorry-mounted crane, so that actual hydraulic action parameters corresponding to the hydraulic action process are obtained, an electro-hydraulic flow adjusting value of the lorry-mounted crane is determined according to the difference between the actual hydraulic action parameters and expected hydraulic action parameters, opening degree adjusting information of an electro-hydraulic proportional valve is determined according to the electro-hydraulic flow adjusting value and the current actual electro-hydraulic flow value of the lorry-mounted crane, and then a corresponding adjusting electric signal is applied to the electro-hydraulic proportional valve according to the opening degree adjusting information so as to drive the electro-hydraulic proportional valve to act, so that the corresponding electro-hydraulic proportional adjustment is realized; therefore, the electro-hydraulic proportional adjusting device and the electro-hydraulic proportional adjusting method of the lorry-mounted crane sequentially determine the electro-hydraulic flow adjusting value of the lorry-mounted crane and the opening degree adjusting information of the electro-hydraulic proportional valve on the basis of the actual hydraulic action parameters of the current hydraulic action process of the lorry-mounted crane, form a proper adjusting electric signal according to the opening degree adjusting information, drive the electro-hydraulic proportional valve to perform adaptive opening degree adjusting action, and further obtain a corresponding electro-hydraulic proportional adjusting effect.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. The electro-hydraulic proportional adjusting device of the lorry-mounted crane is characterized by comprising a hydraulic action parameter acquisition module, an electro-hydraulic flow adjusting value determination module, an opening degree adjusting information determination module and an electro-hydraulic proportional adjusting module; wherein,
the hydraulic action parameter acquisition module is used for detecting a hydraulic action process of the lorry-mounted crane so as to acquire an actual hydraulic action parameter corresponding to the hydraulic action process;
the electro-hydraulic flow adjustment value determining module is used for determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter;
the opening degree adjustment information determination module is used for determining opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane; the electro-hydraulic proportional adjusting module is used for applying a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjusting information so as to drive the electro-hydraulic proportional valve to act, and therefore corresponding electro-hydraulic proportional adjustment is achieved.
2. The electro-hydraulic proportional adjusting device of a lorry-mounted crane according to claim 1, characterized in that:
the hydraulic action parameter acquisition module detects a hydraulic action process of the lorry-mounted crane, and the step of acquiring actual hydraulic action parameters corresponding to the hydraulic action process specifically comprises the following steps:
shooting a hydraulic action process of the lorry-mounted crane to obtain a corresponding hydraulic action image, and analyzing and processing the hydraulic action image to obtain an actual hydraulic action speed corresponding to the hydraulic working process;
and the number of the first and second groups,
the electro-hydraulic flow adjustment value determining module specifically determines the electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and the expected hydraulic action parameter, and includes: determining a speed difference value between the actual hydraulic action speed and an expected hydraulic action speed, and determining a hydraulic strength difference value between the hydraulic action process and the expected hydraulic action process according to the speed difference value;
and determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to the hydraulic strength difference value.
3. The electro-hydraulic proportional adjusting device of a lorry-mounted crane as claimed in claim 2, characterized in that:
the determining module of the opening degree adjustment information specifically comprises the following steps of determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane:
acquiring a current actual electro-hydraulic flow value of the lorry-mounted crane, and determining the current actual opening degree value of the electro-hydraulic proportional valve by combining an empirical curve between the opening degree of the electro-hydraulic proportional valve and the electro-hydraulic flow;
determining an opening degree size adjusting value of the electro-hydraulic proportional valve by combining the electro-hydraulic flow adjusting value and the empirical curve;
and determining the opening degree adjusting direction of the electro-hydraulic proportional valve according to the size relation between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value.
4. The electro-hydraulic proportional adjusting device of a lorry-mounted crane as claimed in claim 3, characterized in that:
the electro-hydraulic proportional adjustment module applies a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjustment information so as to drive the electro-hydraulic proportional valve to act, and accordingly the corresponding electro-hydraulic proportional adjustment is realized by the method which specifically comprises the following steps:
determining the duty ratio of a PWM (pulse-width modulation) adjusting electric signal applied to the electro-hydraulic proportional valve according to the opening degree size adjusting value and the opening degree adjusting direction;
and generating corresponding driving current according to the PWM adjusting electric signal, and applying the driving current to the electro-hydraulic proportional valve so as to change the opening degree state of the electro-hydraulic proportional valve, thereby realizing corresponding electro-hydraulic proportional adjustment.
5. The electro-hydraulic proportion adjusting method of the lorry-mounted crane is characterized by comprising the following steps of:
step S1, detecting a hydraulic action process of the lorry-mounted crane so as to obtain an actual hydraulic action parameter corresponding to the hydraulic action process, and determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to the difference between the actual hydraulic action parameter and an expected hydraulic action parameter;
step S2, determining opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane;
and step S3, applying a corresponding adjusting electric signal to the electro-hydraulic proportional valve according to the opening degree adjusting information, so as to drive the electro-hydraulic proportional valve to act, thereby realizing corresponding electro-hydraulic proportional adjustment.
6. The electro-hydraulic proportional adjustment method of a lorry-mounted crane according to claim 5, characterized in that:
in step S1, detecting a hydraulic action process of the lorry-mounted crane to obtain an actual hydraulic action parameter corresponding to the hydraulic action process, and determining an electro-hydraulic flow adjustment value of the lorry-mounted crane according to a difference between the actual hydraulic action parameter and an expected hydraulic action parameter specifically includes:
step S101, shooting a hydraulic action process of the lorry-mounted crane to obtain a corresponding hydraulic action image, and analyzing and processing the hydraulic action image to obtain an actual hydraulic action speed corresponding to the hydraulic working process;
step S102, determining a speed difference value between the actual hydraulic action speed and the expected hydraulic action speed, and determining a hydraulic strength difference value between the hydraulic action process and the expected hydraulic action process according to the speed difference value;
and S103, determining an electro-hydraulic flow adjusting value of the lorry-mounted crane according to the hydraulic intensity difference value.
7. The electro-hydraulic proportional adjustment method of a lorry-mounted crane according to claim 6, characterized in that:
in step S2, determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane specifically includes:
step S201, obtaining a current actual electro-hydraulic flow value of the lorry-mounted crane, and determining a current actual opening degree value of the electro-hydraulic proportional valve by combining an empirical curve between the opening degree of the electro-hydraulic proportional valve and the electro-hydraulic flow;
step S202, determining an opening degree size adjusting value of the electro-hydraulic proportional valve by combining the electro-hydraulic flow adjusting value and the empirical curve;
and S203, determining the opening degree adjusting direction of the electro-hydraulic proportional valve according to the size relation between the actual electro-hydraulic flow value and the electro-hydraulic flow adjusting value.
8. The electro-hydraulic proportional adjustment method of a lorry-mounted crane according to claim 7, characterized in that:
in the step S3, according to the opening degree adjustment information, applying a corresponding adjustment electrical signal to the electro-hydraulic proportional valve to drive the electro-hydraulic proportional valve to operate, so as to implement corresponding electro-hydraulic proportional adjustment specifically including:
step S301, determining the duty ratio of a PWM (pulse-width modulation) adjusting electric signal applied to the electro-hydraulic proportional valve according to the opening degree adjustment value and the opening degree adjustment direction;
step S302, generating corresponding driving current according to the PWM adjusting electric signal and applying the driving current to the electro-hydraulic proportional valve so as to change the opening degree state of the electro-hydraulic proportional valve, thereby realizing corresponding electro-hydraulic proportional adjustment.
9. The electro-hydraulic proportional adjustment method of a lorry-mounted crane according to claim 5, characterized in that:
in step S1, the method includes detecting a hydraulic operation process of the lorry-mounted crane to obtain an actual hydraulic operation parameter corresponding to the hydraulic operation process, and specifically includes, according to a difference between the actual hydraulic operation parameter and an expected hydraulic operation parameter:
acquiring a hydraulic action image of the liquid action process, and determining a difference value W between the actual hydraulic action parameter and the expected hydraulic action parameter according to the following formula (1):
in the above formula (1), n represents the number of hydraulic motion images, n is greater than 3, L represents the total length of the hydraulic rod of the lorry-mounted crane, and LnThe scale value l of the liquid rod corresponding to the nth hydraulic action imagen-1The scale value of the liquid rod corresponding to the (n-1) th hydraulic action image, sub (l)n,ln-1) Indicating a hydraulic pressure scale difference between the nth hydraulic pressure action image and the (n-1) th hydraulic pressure action image, sub (l)n-1,ln-2) Representing the difference value of the hydraulic scales between the (n-1) th hydraulic action image and the (n-2) th hydraulic action image, t representing the corresponding total duration of the liquid action process, v0Representing a desired hydraulic action speed value;
in step S2, determining the opening degree adjustment information of the electro-hydraulic proportional valve according to the electro-hydraulic flow adjustment value and the current actual electro-hydraulic flow value of the lorry-mounted crane specifically includes:
firstly, determining an opening degree adjusting value R of the electro-hydraulic proportional valve according to the following formula (2):
in the above formula (2), PwAn actual hydraulic pressure value, P, representing a correspondence of a difference value W between the actual hydraulic actuation parameter and the desired hydraulic actuation parameter0Indicates a desired fluid pressure value, Sim (P), corresponding to the desired hydraulic actionw,P0) Representing the ratio between the actual liquid pressure value and the desired liquid pressure value, i.e. Pw/P0Rho represents the electro-hydraulic density, S represents the total cross-sectional area of the electro-hydraulic proportional valve, SwRepresenting the actual opening area S of the electro-hydraulic proportional valve corresponding to the actual liquid pressure value0Representing the actual opening area, v, of the electro-hydraulic proportional valve corresponding to the expected liquid pressure valuemRepresenting the actual hydraulic operating parameter and the desired hydraulic operating parameterAnd the opening degree of the electro-hydraulic proportional valve corresponding to the difference value W between the two.
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| CN202011159367.XA CN112265911A (en) | 2020-10-26 | 2020-10-26 | Electro-hydraulic proportional adjusting device and method for lorry-mounted crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113102828A (en) * | 2021-04-21 | 2021-07-13 | 北京首钢自动化信息技术有限公司 | Method and device for controlling oil pressure of pinch roll hydraulic valve table of double-sided shear |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113102828A (en) * | 2021-04-21 | 2021-07-13 | 北京首钢自动化信息技术有限公司 | Method and device for controlling oil pressure of pinch roll hydraulic valve table of double-sided shear |
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