CN112555236A - Potential energy recovery system, control method thereof and engineering equipment - Google Patents
Potential energy recovery system, control method thereof and engineering equipment Download PDFInfo
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- CN112555236A CN112555236A CN202011375884.0A CN202011375884A CN112555236A CN 112555236 A CN112555236 A CN 112555236A CN 202011375884 A CN202011375884 A CN 202011375884A CN 112555236 A CN112555236 A CN 112555236A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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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
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
Abstract
The application provides a potential energy recovery system, a control method thereof and engineering equipment, and solves the problem of poor stability caused by motor rotation direction switching in the working process of the potential energy recovery system. The potential energy recovery system includes: the device comprises a storage battery, a motor, a variable pump, a displacement control unit, a lifting oil cylinder and an oil tank. The storage battery, the motor and the variable pump are electrically connected in sequence. The variable pump comprises a first oil port and a second oil port, the first oil port is communicated with the oil tank, and the second oil port is communicated with a rodless cavity of the lifting oil cylinder. The displacement control unit is used for controlling the variable displacement pump to switch between a positive displacement working state and a negative displacement working state; when the variable pump is in a positive displacement working state, the motor drives the variable pump to drive a piston rod of the lifting oil cylinder to ascend; when the variable pump is in a negative displacement working state, hydraulic oil in the lifting oil cylinder descends under the action of gravity to drive the variable pump to drive the motor to rotate, and the motor charges the storage battery.
Description
Technical Field
The application relates to the technical field of equipment with a potential energy recovery function, in particular to a potential energy recovery system, a control method thereof and engineering equipment.
Background
Many devices (such as stacking machines) with potential energy recovery function use a hydraulic system to drive a lifting component to lift, and use the hydraulic system to recover gravitational potential energy of the lifting component and convert the gravitational potential energy into other energy (such as electric energy) for storage. In order to realize the process, the equipment with the potential energy recovery function needs to realize two working modes by switching the rotation direction of the motor, namely, the working mode of the motor and the working mode of the generator, and the change of the rotation direction of the motor causes adverse effects on the stability of the system.
Content of application
In view of this, embodiments of the present application provide a potential energy recovery system, a control method thereof, and an engineering device, so as to solve a problem in the prior art that a device with a potential energy recovery function is poor in stability due to switching of a rotation direction of a motor.
The present application provides in a first aspect a potential energy recovery system comprising: the device comprises a storage battery, a motor, a variable pump, a displacement control unit, a lifting oil cylinder and an oil tank. The storage battery, the motor and the variable pump are electrically connected in sequence; the variable pump comprises a first oil port and a second oil port, the first oil port is communicated with the oil tank, and the second oil port is communicated with a rodless cavity of the lifting oil cylinder. The displacement control unit is used for controlling the variable displacement pump to switch between a positive displacement working state and a negative displacement working state; when the variable pump is in a positive displacement working state, the motor drives the variable pump to drive a piston rod of the lifting oil cylinder to ascend; when the variable pump is in a negative displacement working state, pressure oil in the lifting oil cylinder descends under the action of gravity to drive the variable pump to drive the motor to rotate, and the motor charges the storage battery.
In one possible implementation, the variable displacement pump includes a swash plate, and the displacement control unit is configured to control an inclination angle of the swash plate to control the variable displacement pump to switch between a positive displacement operating state and a negative displacement operating state.
In a possible implementation manner, the variable pump further comprises a first variable control cylinder and a second variable control cylinder; the swash plate comprises a first end and a second end which are arranged oppositely, a piston rod of the first variable control oil cylinder is connected with the first end, and a piston rod of the second variable control oil cylinder is connected with the second end. The displacement control unit comprises a controller, and a proportional valve and an angle sensor which are electrically connected with the controller; the angle sensor is fixed on the swash plate; the controller is used for calculating the target displacement and the target rotating speed of the variable pump according to the lifting command; controlling a valve core of the proportional valve to move to a working position corresponding to the rated displacement, and finely adjusting the position of the valve core by combining a real-time inclination angle of a swash plate uploaded by an angle sensor so as to enable the plunger pump to output the target displacement; and controlling the motor to run at the target rotating speed. The heave command includes a rise speed and a fall speed, and accordingly, the rated displacement includes a rated positive displacement and a rated negative displacement.
In one possible implementation, the controller for calculating the target displacement and the target rotation speed of the variable displacement pump according to the lift command includes: when the current rotating speed and the rated positive displacement of the variable displacement pump meet the requirement of the rising speed, taking the current rotating speed as the target rotating speed, and calculating the target displacement according to the rising speed and the target rotating speed; and/or when the current rotating speed and the rated positive displacement of the variable displacement pump do not meet the requirement of the rising speed, taking the rated positive displacement as the target displacement, and calculating the target displacement according to the rising speed and the rated positive displacement.
In one possible implementation, the fine-tuning the position of the spool in combination with the real-time inclination angle of the swash plate uploaded by the angle sensor comprises: and determining the fine adjustment displacement of the valve core according to the difference value of the real-time inclination angle and the target inclination angle corresponding to the target displacement.
In one possible implementation, the proportional valve includes a first operating position corresponding to a nominal positive displacement and a second operating position corresponding to a nominal negative displacement. When the proportional valve is at the first working position, the proportional valve communicates a second oil port of the variable pump with a rodless cavity of the first variable control oil cylinder and a rodless cavity of the second variable control oil cylinder; when the proportional valve is at the second working position, the proportional valve communicates the second oil port of the variable pump with the rodless cavity of the second variable control oil cylinder, and communicates the rodless cavity of the first variable control oil cylinder with the oil tank.
In one possible implementation, the potential energy recovery system further comprises a gate valve, a first pressure sensor and a second pressure sensor; the gate valve is connected between the second end of the variable pump and the lifting oil cylinder; the first pressure sensor is connected between a first oil port of the variable pump and the gate valve; the second pressure sensor is connected between the gate valve and the lift cylinder. When the controller receives the descending instruction, the controller is also used for controlling the gate valve to be opened when the difference value of the pressure values detected by the first pressure sensor and the second pressure sensor is smaller than the preset difference value.
In one possible implementation manner, the potential energy recovery system further comprises a pilot gear pump, a pilot pressure reducing valve and a pilot check valve which are sequentially connected between the oil tank and the second oil port of the variable pump; and a pilot overflow valve connected between the oil tank and the pilot pressure reducing valve.
In one possible implementation, the potential energy recovery system further comprises a cylinder overflow valve connected between the lift cylinder and the oil tank.
In a second aspect, the present application provides an engineering plant including the potential energy recovery system provided in any one of the above embodiments.
A third aspect of the present application provides a control method for controlling a potential energy recovery system provided in any one of the embodiments above. The control method comprises the following steps: when the lifting oil cylinder rises, the displacement control unit controls the variable pump to output positive displacement, and the motor drives the variable pump to drive a piston rod of the lifting oil cylinder to rise; when the lifting oil cylinder descends, the displacement control unit controls the variable pump to output negative displacement, pressure oil in the lifting oil cylinder descends under the action of gravity to drive the variable pump to drive the motor to rotate, and the motor charges the storage battery.
According to the potential energy recovery system, the control method thereof and the engineering equipment, when the motor is switched between the motor mode and the generator mode, the rotating direction does not need to be switched, the system is stable, and the response is fast.
Drawings
Fig. 1 is a schematic structural diagram of a potential energy recovery system according to a first embodiment of the present application.
Fig. 2 is a schematic structural diagram of a potential energy recovery system according to a second embodiment of the present application.
Fig. 3 is a flowchart of a control method of a potential energy recovery system according to a first embodiment of the present application.
Fig. 4 is a flowchart of a control method of a potential energy recovery system according to a second embodiment of the present application.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Fig. 1 is a schematic structural diagram of a potential energy recovery system according to a first embodiment of the present application. As shown in fig. 1, the potential energy recovery system 10 includes a storage battery 1, a motor 2, a variable displacement pump 3, a displacement control unit 100, a lift cylinder 16, and a tank. The electric machine 2 has a motor mode and a generator mode. The storage battery 1, the motor 2 and the variable pump 3 are electrically connected in sequence. The variable displacement pump 3 comprises a first oil port and a second oil port, the first oil port is communicated with the oil tank, and the second oil port is communicated with the lifting oil cylinder 16. The displacement control unit 100 is used to control the variable displacement pump 3 to switch between a positive displacement operating state and a negative displacement operating state. When the variable pump 3 is in a positive displacement working state, the motor 2 is in a motor mode, and the motor 2 drives the variable pump 3 to drive a piston rod of the lifting oil cylinder 16 to ascend. When the variable pump 3 is in a negative displacement working state, the piston rod of the lifting oil cylinder 16 descends to drive the variable pump 3 to drive the motor to rotate, and the motor 2 is in a generator mode to charge the storage battery 1.
The variable displacement pump 3 refers to a pump whose displacement is variable between a positive displacement operating state and a negative displacement operating state according to a varying flow rate and pressure, such as a radial piston pump, a vane pump, an axial piston pump, or the like. In one embodiment, the variable displacement pump 3 is a plunger pump. In this case, the variable displacement pump 3 includes a swash plate, and the displacement control unit can control the variable displacement pump 3 to switch between the positive displacement operating state and the negative displacement operating state by controlling the inclination angle of the swash plate.
According to the potential energy recovery system provided by the embodiment, when the motor is switched between the motor mode and the generator mode, the rotating direction does not need to be switched, the system is stable, and the response is fast.
Fig. 2 is a schematic structural diagram of a potential energy recovery system according to a second embodiment of the present application. As shown in fig. 2, the variable pump 3 includes a first variable control cylinder 31 and a second variable control cylinder 32. The swash plate comprises a first end and a second end which are oppositely arranged, a piston rod of the first variable control oil cylinder 31 is connected with the first end, and a piston rod of the second variable control oil cylinder 32 is connected with the second end. The displacement control unit includes a controller 11, and a proportional valve 10 and an angle sensor 4 electrically connected to the controller 11. The angle sensor 4 is fixed to the swash plate. When the variable pump 3 is in a positive displacement working state, the proportional valve 10 communicates the second port of the variable pump 3 with the rodless chamber of the first variable control cylinder 31 and the rodless chamber of the second variable control cylinder 32. When the variable pump 3 is in a negative displacement working state, the proportional valve 10 communicates the second oil port of the variable pump 3 with the rodless cavity of the second variable control cylinder 32, and communicates the rodless cavity of the first variable control cylinder 32 with the oil tank. In one embodiment, the proportional valve 10 is a two-position, four-way solenoid valve.
In one embodiment, as shown in fig. 2, the potential energy recovery system 10 further includes a pilot gear pump 5, a pilot pressure reducing valve 7 and a pilot check valve 9 sequentially connected between the oil tank and the second oil port of the variable displacement pump 3. The combination of the pilot gear pump 5, the pilot pressure reducing valve 7 and the pilot check valve 9 is used for providing pilot pressure for the second port of the variable pump 3, so that the proportional valve 10 can control the inclination angle of the swash plate by using pressure oil of the second port of the variable pump 3. In this case, in one embodiment, the potential energy recovery system 10 further comprises a pilot excess flow valve 6 connected between the tank and the pilot pressure reducing valve 7. The pilot overflow valve 6 can ensure that the pressure oil pumped out by the pilot gear pump 5 flows back to the oil tank through the pilot overflow valve 6 in the process of lifting the piston rod of the lifting oil cylinder 16, thereby playing the unloading role. In one embodiment, the pilot pressure reducing valve 7, the pilot check valve 9 and the pilot relief valve 6 may be replaced by gate valves, i.e., gate valves are provided between the second ports of the pilot gear pump 5 and the variable displacement pump 3. The gate valve functions as a switch, and may be, for example, an on-off solenoid valve, a proportional control balance valve, a proportional flow valve, or the like.
In one embodiment, as shown in fig. 2, the potential energy recovery system 10 further comprises a gate valve 14 connected between the second end of the variable displacement pump 3 and the lift cylinder 16. The gate valve 14 functions as a switch, and may be, for example, an on-off solenoid valve, a proportional control balance valve, a proportional flow valve, or the like. The gate valve 14 serves to cut off an oil path between the lift cylinder 16 and the variable displacement pump 3 to maintain a piston rod of the lift cylinder 16 at a predetermined height. In one embodiment, the gate valve is fixed to the lift cylinder 16. In this case, in one embodiment, as shown in fig. 2, the potential energy recovery system 10 further includes a first pressure sensor 13 and a second pressure sensor 15, the first pressure sensor 13 is connected between the first port of the variable displacement pump 3 and the gate valve 14, and the second pressure sensor 15 is connected between the gate valve 14 and the lift cylinder 16. The controller 11 controls the gate valve 14 to open according to the difference between the pressures detected by the first pressure sensor 13 and the second pressure sensor 15, so as to ensure that the impact of the descending process of the lift cylinder 16 is as small as possible.
In one embodiment, the installation position of the gate valve 14 is changed at the second port of the variable displacement pump 3 while omitting the first pressure sensor 13 and the second pressure sensor 15. In this case, during the lowering of the lift cylinder 16, the variable displacement pump 3 does not need to output a positive displacement to balance the pressure difference between both sides of the gate valve 14, but directly opens the gate valve 14 to output a negative displacement.
In one embodiment, as shown in FIG. 2, the potential energy recovery system 10 further includes a cylinder spill valve 8 connected between the lift cylinder 16 and the tank. The cylinder relief valve 8 is used to ensure that relief is performed when the pressure of the lift cylinder 16 exceeds a predetermined value to ensure safety of the lift cylinder 16.
In one embodiment, as shown in fig. 2, the potential energy recovery system 10 further includes a safety valve 17 connected between the second port of the variable pump 3 and the first variable control cylinder 31. When the pressure of the second port of the variable pump 3 exceeds a predetermined value, the relief valve 17 controls the variable pump 3 to reduce the displacement to release the pressure.
The control process of the potential energy recovery system is specifically described in the embodiment shown in fig. 2.
First, system standby
1, the controller 11 sends a standby command to the motor 2, and the motor 2 obtains electric energy from the storage battery 1 to maintain low-speed operation. The motor 2 runs at a low rotating speed to drive the pilot gear pump 5, the pilot gear pump 5 pumps out pressure oil in the oil tank, and the pressure oil reaches the oil outlet of the variable pump 3 through the pilot reducing valve 7 and the pilot oil supply one-way valve 9 in sequence so as to maintain pilot pressure at the oil outlet of the variable pump 3. The pilot pressure at the oil outlet of the variable displacement pump 3 is used for ensuring that the proportional valve 10 can output pressure oil to push the swash plate after receiving a control command, so as to change the displacement of the variable displacement pump 3.
2, the controller 11 sends a zero displacement command to the proportional valve 10, and the proportional valve 10 executes the zero displacement command. A zero displacement command refers to a command to control the swash plate to move to a zero displacement operating position. In one embodiment, the zero displacement command includes a position of a valve spool of the proportional valve 10 when the variable displacement pump 3 is in the zero displacement operating state, and for convenience of description, the position of the valve spool is referred to as a third operating position. Specifically, after the proportional valve 10 receives the zero displacement command, the spool moves to the third working position to communicate the oil outlet of the variable pump 3 with the rodless cavities of the first variable control cylinder 31 and the second variable control cylinder 32, so that the pressure oil at the oil outlet of the variable pump 3 is output to the rodless cavities of the first variable control cylinder 31 and the rodless cavities of the second variable control cylinder 32. Since the volume of the rodless chamber of the first variable control cylinder 31 is larger than the volume of the rodless chamber of the second variable control cylinder 32, that is, the pressure of the rodless chamber of the first variable control cylinder 31 is larger than the pressure of the rodless chamber of the second variable control cylinder 32, the swash plate rotates counterclockwise under the combined action of the piston rod of the first variable control cylinder 31 and the piston rod of the second variable control cylinder 32.
When the proportional valve 10 executes the zero displacement instruction, the angle sensor 4 collects the inclination angle of the swash plate in real time and feeds the inclination angle back to the controller 11, the controller 11 calculates the moving direction and distance of the spool of the proportional valve 10 according to the real-time inclination angle of the swash plate, and the zero displacement instruction is updated by using the moving direction and distance of the spool and is sent to the proportional valve 10. The proportional valve 10 executes the updated zero displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate. This fine adjustment step is repeated to finally position the swash plate in the zero displacement operating position.
It can be seen that in this embodiment, the controller 11, the proportional valve 10, the swash plate and the angle sensor 4 form a closed loop control, and the flow rate of the proportional valve 10 is adjusted in real time based on the real-time feedback from the angle sensor 4 to maintain the swash plate at the zero displacement operating position.
Secondly, the lifting oil cylinder rises
1, an operator sends a rising speed signal to a controller 11 through a handle 12, and the controller 11 calculates a target positive displacement and a target rotating speed required by a variable pump 3 according to the received rising speed signal; and judges whether the current rotational speed of the motor 2 and the rated positive displacement (i.e., the maximum positive displacement) of the variable displacement pump 3 satisfy the rising speed requirement.
2. If the current rotating speed of the motor 2 and the rated positive displacement of the variable displacement pump 3 meet the requirement of the rising speed, the rotating speed of the motor 2 does not need to be changed, and the current rotating speed is the first target rotating speed. At this time, the displacement of the variable displacement pump 3 is only required to be adjusted to a target positive displacement that can be calculated from the rise speed and the first target rotational speed.
The process of adjusting the displacement of the variable displacement pump 3 to the target positive displacement specifically includes:
the controller 11 generates a positive displacement command according to the rated positive displacement and sends the positive displacement command to the proportional valve 10, and the proportional valve 10 executes the positive displacement command. In one embodiment, the positive displacement command includes a position of a valve spool of the proportional valve 10 corresponding to a rated positive displacement output of the variable displacement pump 3, and for convenience of description, the position of the valve spool is referred to as a first operating position. Specifically, after the proportional valve 10 receives the positive displacement command, the control valve core moves to the first working position, at this time, the oil outlet of the variable pump 3 is still communicated with the rodless cavities of the first variable control cylinder 31 and the second variable control cylinder 32, and the pressure oil at the oil outlet of the variable pump 3 is further output to the rodless cavity of the first variable control cylinder 31 and the rodless cavity of the second variable control cylinder 32. The difference between the pressure of the rodless chamber of the first variable-amount control cylinder 31 and the pressure of the rodless chamber of the second variable-amount control cylinder 32 increases, and the swash plate further rotates counterclockwise.
During the execution of the positive displacement command by the proportional valve 10, the angle sensor 4 collects the inclination angle of the swash plate in real time and feeds the inclination angle back to the controller 11. The controller 11 finely adjusts the position of the spool according to the real-time inclination angle of the swash plate. In one embodiment, the controller 11 determines the fine adjustment displacement of the valve element according to the difference between the real-time inclination angle and the target inclination angle corresponding to the target displacement; and generating a fine adjustment instruction according to the fine adjustment displacement, and sending the fine adjustment instruction to the proportional valve 10. Specifically, the controller 11 makes a difference between the real-time inclination angle uploaded by the angle sensor 4 and a target inclination angle corresponding to the target displacement, determines the moving direction of the valve element according to the positive and negative of the difference, and determines the moving distance of the valve element according to the absolute value of the difference. The positive displacement command is updated based on the direction and distance of movement of the spool and occurs to the proportional valve 10. The proportional valve 10 executes the updated positive displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate. This fine adjustment step is repeatedly performed to cause the swash plate to finally output the target positive displacement.
It can be seen that in the present embodiment, the controller 11, the proportional valve 10, the swash plate and the angle sensor 4 form a closed-loop control, and the flow rate of the proportional valve 10 is adjusted in real time according to the real-time feedback of the angle sensor 4 to finally output the swash plate to the target positive displacement.
After the displacement adjustment process, the variable displacement pump 3 outputs the target positive displacement and rotates at the current rotation speed. The pressure oil output by the variable displacement pump 3 drives the lifting oil cylinder 16 to ascend through the on-off electromagnetic valve 14, and the lifting oil cylinder 16 gradually reaches and maintains the ascending speed output by the handle 12.
3. If the current rotating speed of the motor 2 and the rated positive displacement of the variable pump 3 cannot meet the requirement of the rising speed, the variable pump 3 needs to be controlled to output the rated positive displacement to be used as the target positive displacement, and the actual rotating speed is calculated according to the rising speed and the rated positive displacement to be used as the first target rotating speed of the variable pump 3.
The process of adjusting the displacement of the variable displacement pump 3 to the rated positive displacement includes:
the controller generates a positive displacement command based on the rated positive displacement and sends the positive displacement command to the proportional valve 10, and the proportional valve 10 executes the positive displacement command. In one embodiment, the positive displacement command includes a position of a valve spool of the proportional valve 10 corresponding to a rated positive displacement output of the variable displacement pump 3, and for convenience of description, the position of the valve spool is referred to as a first operating position. Specifically, after the proportional valve 10 receives the positive displacement command, the control valve core moves to the first working position, at this time, the oil outlet of the variable pump 3 is still communicated with the rodless cavities of the first variable control cylinder 31 and the second variable control cylinder 32, and the pressure oil at the oil outlet of the variable pump 3 is further output to the rodless cavity of the first variable control cylinder 31 and the rodless cavity of the second variable control cylinder 32. The difference between the pressure of the rodless chamber of the first variable-amount control cylinder 31 and the pressure of the rodless chamber of the second variable-amount control cylinder 32 increases, and the swash plate further rotates counterclockwise.
During the execution of the positive displacement command by the proportional valve 10, the angle sensor 4 collects the inclination angle of the swash plate in real time and feeds the inclination angle back to the controller 11. The controller 11 finely adjusts the position of the spool according to the real-time inclination angle of the swash plate. In one embodiment, the controller 11 determines the fine adjustment displacement of the valve element according to the difference between the real-time inclination angle and the target inclination angle corresponding to the target displacement; and generating a fine adjustment instruction according to the fine adjustment displacement, and sending the fine adjustment instruction to the proportional valve 10. Specifically, the controller 11 makes a difference between the real-time inclination angle uploaded by the angle sensor 4 and a target inclination angle corresponding to the target displacement, determines the moving direction of the valve element according to the positive and negative of the difference, and determines the moving distance of the valve element according to the absolute value of the difference. The positive displacement command is updated based on the direction and distance of movement of the spool and occurs to the proportional valve 10. The proportional valve 10 executes the updated positive displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate. This fine tuning step is repeated to cause the swash plate to eventually output a nominal positive displacement.
While the proportional valve 10 executes the positive displacement instruction, the controller 11 calculates a first target rotating speed when the variable pump 3 outputs the maximum positive displacement according to the rising speed and the rated positive displacement, generates a rotating speed instruction and sends the rotating speed instruction to the motor 2, and the motor 2 executes the rotating speed instruction so as to drive the variable pump 3 to rotate at the first target rotating speed.
When the variable pump 3 runs at the first target speed and outputs the rated positive displacement, the pressure oil pumped out by the oil outlet of the variable pump 3 drives the lifting oil cylinder 16 to ascend through the on-off solenoid valve 14, and the lifting oil cylinder 16 gradually reaches and maintains the ascending speed output by the handle 12.
For the raising process of the lift cylinder 16 in both cases, the pressure of the oil outlet of the variable pump 3 is higher than the pressure of the oil outlet of the pilot pressure reducing valve 7, so that the pressure oil pumped out by the pilot gear pump 5 flows back to the oil tank through the pilot relief valve 6. The variable pump 3 is always in a positive displacement working state, the storage battery 1 supplies power to the motor 2, and the motor 2 drives the variable pump 3 to do work, namely the motor 2 is in a motor mode.
Thirdly, maintaining the lifting oil cylinder at the first preset position
When the lift cylinder 16 is raised to the first predetermined position, the on-off solenoid valve 14 is closed, so that the lift cylinder 16 is maintained in the current state, and the lifted part is stopped at the current position. The system is restored to the standby state, and the specific execution process refers to the above-mentioned "system standby" step.
Fourthly, the lifting oil cylinder descends
1. An operator sends a descending speed signal to the controller 11 through the handle 12, and the controller 11 calculates a target negative displacement and a second target rotating speed required by the variable displacement pump 3 according to the received descending speed signal. Meanwhile, the controller 11 calculates a difference between the pressure values detected by the first pressure sensor 13 and the second pressure sensor 15, and when the difference is greater than a preset difference, the controller 11 sends a positive displacement command to the proportional valve 10, and the proportional valve 10 and the angle sensor 4 perform the positive displacement command of the controller 11 in a closed loop. In this case, the difference in the pressure values gradually decreases, and when the difference is smaller than a preset difference, the controller 11 controls the switching solenoid valve 14 to be electrically conducted.
And 2, if the current rotating speed of the motor 2 and the rated negative displacement of the variable displacement pump 3 meet the requirement of the reduction speed, the current rotating speed does not need to be changed, and the current rotating speed is the second target rotating speed. At this time, the displacement of the variable displacement pump 3 is only required to be adjusted to a target negative displacement, which can be calculated from the descent speed and the second target rotation speed.
The process of adjusting the displacement of the variable displacement pump 3 to the target negative displacement includes:
the controller 11 generates a negative displacement command according to the rated negative displacement and sends the negative displacement command to the proportional valve 10, and the proportional valve 10 executes the negative displacement command. In one embodiment, the negative displacement command includes a position of a valve spool of the proportional valve 10 corresponding to a rated negative displacement output of the variable displacement pump 3, and for convenience of description, the position of the valve spool is referred to as a second working position. Specifically, after the proportional valve 10 receives the negative displacement instruction, the control valve core moves to the second working position, at this time, the oil outlet of the variable pump 3 is communicated with the rodless cavity of the second variable control cylinder 32, and the rodless cavity of the first variable control cylinder 31 is communicated with the oil tank, so that the pressure oil at the oil outlet of the variable pump 3 is output to the rodless cavity of the second variable control cylinder 32, and the pressure oil in the rodless cavity of the first variable control cylinder 31 flows back to the oil tank. The swash plate is rotated clockwise by the combined action of the piston rods of the first variable control cylinder 31 and the piston rods of the second variable control cylinder 32.
During the process of executing the negative displacement instruction by the proportional valve 10, the angle sensor 4 collects the inclination angle of the swash plate in real time and feeds the inclination angle back to the controller 11. The controller 11 finely adjusts the position of the spool according to the real-time inclination angle of the swash plate. In one embodiment, the controller 11 determines the fine adjustment displacement of the valve element according to the difference between the real-time inclination angle and the target inclination angle corresponding to the target displacement; and generating a fine adjustment instruction according to the fine adjustment displacement, and sending the fine adjustment instruction to the proportional valve 10. Specifically, the controller 11 makes a difference between the real-time inclination angle uploaded by the angle sensor 4 and a target inclination angle corresponding to the target displacement, determines the moving direction of the valve element according to the positive and negative of the difference, and determines the moving distance of the valve element according to the absolute value of the difference. The negative displacement command is updated based on the direction and distance of movement of the spool and occurs to the proportional valve 10. The proportional valve 10 executes the updated negative displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate. This fine adjustment step is repeatedly performed to cause the swash plate to finally output the target negative displacement.
After the displacement adjustment process, the variable displacement pump 3 is maintained in the target negative displacement operating state and is rotated at the current rotational speed. The pressure oil in the lifting oil cylinder 16 drives the variable pump 3 to do work through the switch electromagnetic valve 14, the lifting oil cylinder 16 gradually reaches and maintains the descending speed output by the handle 12, the variable pump 3 drives the motor 2 to do work, namely the motor 2 is in a generator mode, and the motor 2 charges the storage battery 1.
3. If the current rotating speed of the motor 2 and the rated negative displacement of the variable pump 3 cannot meet the requirement of the reduction speed, the variable pump 3 needs to be controlled to output the rated negative displacement to be used as the target negative displacement, and the actual rotating speed is calculated according to the reduction speed and the rated negative displacement to be used as the second target rotating speed of the variable pump 3.
The process of adjusting the displacement of the variable displacement pump 3 to the rated negative displacement includes:
the controller generates a negative displacement command according to the rated negative displacement and sends the negative displacement command to the proportional valve 10, and the proportional valve 10 executes the negative displacement command. In one embodiment, the negative displacement command includes a position of a valve spool of the proportional valve 10 corresponding to a rated negative displacement output of the variable displacement pump 3, and for convenience of description, the position of the valve spool is referred to as a second working position. Specifically, after the proportional valve receives the negative displacement instruction, the control valve core moves to the second working position, at this time, the oil outlet of the variable pump 3 is communicated with the rodless cavity of the second variable control cylinder 32, and the rodless cavity of the first variable control cylinder 31 is communicated with the oil tank, so that the pressure oil at the oil outlet of the variable pump 3 is output to the rodless cavity of the second variable control cylinder 32, and the pressure oil in the rodless cavity of the first variable control cylinder 31 flows back to the oil tank. The swash plate is rotated clockwise by the combined action of the piston rods of the first variable control cylinder 31 and the piston rods of the second variable control cylinder 32.
During the process of executing the negative displacement instruction by the proportional valve 10, the angle sensor 4 collects the inclination angle of the swash plate in real time and feeds the inclination angle back to the controller 11. The controller 11 finely adjusts the position of the spool according to the real-time inclination angle of the swash plate. In one embodiment, the controller 11 determines the fine adjustment displacement of the valve element according to the difference between the real-time inclination angle and the target inclination angle corresponding to the target displacement; and generating a fine adjustment instruction according to the fine adjustment displacement, and sending the fine adjustment instruction to the proportional valve 10. Specifically, the controller 11 makes a difference between the real-time inclination angle uploaded by the angle sensor 4 and a target inclination angle corresponding to the target displacement, determines the moving direction of the valve element according to the positive and negative of the difference, and determines the moving distance of the valve element according to the absolute value of the difference. The positive displacement command is updated based on the direction and distance of movement of the spool and occurs to the proportional valve 10. The proportional valve 10 executes the updated positive displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate. This fine tuning step is repeated to cause the swash plate to eventually output the nominal negative displacement.
In the process that the proportional valve 10 executes the negative displacement instruction, the controller 11 calculates an actual rotating speed according to the decreasing speed and the rated negative displacement to serve as a second target rotating speed of the variable displacement pump 3, generates a second target rotating speed instruction and sends the second target rotating speed instruction to the motor 2, and the motor 2 executes the second target rotating speed instruction to drive the variable displacement pump 3 to rotate at the second target rotating speed.
When the variable displacement pump 3 is operating at the second target speed and outputting the rated negative displacement, the lift cylinder 16 can be controlled to gradually reach and maintain the descent speed of the output of the handle 12. In the execution process, the pressure oil in the lifting oil cylinder 16 drives the variable pump 3 to do work through the switch electromagnetic valve 14 under the action of gravity, the variable pump 3 drives the motor 2 to do work, namely, the motor 2 is in a generator mode, and the motor 2 charges the storage battery 1.
For the descending process of the lifting oil cylinder 16 in the two cases, the pressure of the oil outlet of the variable pump 3 is higher than that of the oil outlet of the pilot reducing valve 7, and the pressure oil pumped by the pilot gear pump 5 flows back to the oil tank through the pilot overflow valve 6. During the descending process of the lifting oil cylinder 16, the variable displacement pump 3 may be in a positive displacement working state or a negative displacement working state. When the variable pump 3 is in a positive displacement working state, the variable pump 3 outputs pressure oil, the storage battery 1 supplies power to the motor 2, the motor 2 drives the variable pump 3 to do work, and at the moment, the motor 2 is in a motor working mode. When the variable pump 3 is in a negative displacement working state, the variable pump 3 drives the motor 2 to do work, the motor 2 charges the storage battery 1, and at the moment, the motor 2 is in a generator working mode.
Fifthly, maintaining the lifting oil cylinder at the second preset position
When the lift cylinder 16 is lowered to the second predetermined position, the solenoid valve 14 is closed, so that the lift cylinder 16 is maintained in the current state, thereby stopping the lifted part at the current position. The system is restored to the standby state, and the specific execution process refers to the above-mentioned "system standby" step.
In the step, the pilot gear pump 5 always ensures that the oil outlet of the variable pump 3 has pilot pressure, so that the variable pump 3 can be prevented from being empty due to non-zero negative displacement when the switch electromagnetic valve 14 is closed, and the service life of the variable pump 3 is prolonged.
It should be understood that one variable displacement pump 3 and one motor 2 may drive one lift cylinder 16 or may drive a plurality of lift cylinders 16 according to actual requirements. A lift cylinder 16 may also be driven by a combination of variable displacement pumps 3 and motors.
According to the potential energy recovery system provided by the embodiment, the following beneficial effects are achieved. First, when the motor 2 is switched between the motor mode and the generator mode, the direction of rotation does not need to be switched, the system is smooth, and the response is fast. Secondly, the whole system can realize the ascending and descending actions of the piston rod of the lifting oil cylinder 16 only by one motor, and the cost is low. Thirdly, the proportional valve 10 and the angle sensor 4 form a closed loop to control the inclination angle of the swash plate of the variable displacement pump 3, and the control precision is high. Fourthly, in the process of changing the displacement of the variable displacement pump 3, the rotating direction does not need to be switched, the action is stable, and the response is fast.
The present application also provides a control method for controlling the potential energy recovery system provided in any of the above embodiments, which may be executed by the controller 11. Fig. 3 is a flowchart of a control method of a potential energy recovery system according to a first embodiment of the present application. As shown in fig. 3, the control method 300 includes:
and step S310, when the displacement is increased, the displacement control unit is used for controlling the variable displacement pump to output positive displacement. In this case, the motor drives the variable displacement pump to drive the piston rod of the lifting oil cylinder to rise.
And step S320, when the displacement is reduced, the displacement control unit is used for controlling the variable displacement pump to output negative displacement. Under the condition, the pressure oil in the lifting oil cylinder descends under the action of gravity to drive the variable pump to drive the motor to rotate, and the motor charges the storage battery.
Fig. 4 is a flowchart of a control method of a potential energy recovery system according to a second embodiment of the present application. As shown in fig. 4, in the present embodiment, step S310 is specifically executed as:
in step S410, the controller calculates a target positive displacement and a first target rotational speed of the variable displacement pump according to the increase speed command. Specifically, when the current rotation speed and the rated positive displacement of the variable displacement pump meet the requirement of the rise speed, the current rotation speed is used as a first target rotation speed, and the target displacement is calculated according to the rise speed and the first target rotation speed. And when the current rotating speed and the rated positive displacement of the variable displacement pump do not meet the requirement of the rising speed, taking the rated positive displacement as the target displacement, and calculating the target displacement according to the rising speed and the rated positive displacement.
And step S420, the controller controls the valve core of the proportional valve to move to a working position corresponding to the rated positive displacement, and the position of the valve core is finely adjusted by combining the real-time inclination angle of the swash plate uploaded by the angle sensor, so that the plunger pump outputs the target positive displacement.
The controller is pre-stored with the corresponding relation between the rated positive displacement and the working position of the proportional valve, and the controller can directly control the valve core to move to the working position corresponding to the rated positive displacement. The step of finely adjusting the position of the valve core in combination with the real-time inclination angle of the swash plate uploaded by the angle sensor is specifically implemented as follows: and determining the fine adjustment displacement of the valve core according to the difference value of the real-time inclination angle and the target inclination angle corresponding to the target displacement. For example, the controller 11 makes a difference between the real-time inclination angle uploaded by the angle sensor 4 and a target inclination angle corresponding to the target displacement, determines the moving direction of the valve element according to the positive and negative of the difference, and determines the moving distance of the valve element according to the absolute value of the difference. The positive displacement command is updated based on the direction and distance of movement of the spool and occurs to the proportional valve 10. The proportional valve 10 executes the updated positive displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate.
In step S430, the controller controls the motor to operate at a first target rotation speed.
Step S320 is specifically executed as:
in step S440, the controller calculates a target negative displacement and a second target rotational speed of the variable displacement pump according to the descent speed command. Specifically, when the current rotation speed and the rated negative displacement of the variable displacement pump meet the rising speed requirement, the current rotation speed is used as a second target rotation speed, and the target negative displacement is calculated according to the falling speed and the second target rotation speed. And when the current rotating speed and the rated negative displacement of the variable displacement pump do not meet the requirement of the rising speed, the rated negative displacement is used as the target displacement, and the target displacement is calculated according to the falling speed and the rated negative displacement.
And S450, controlling the valve core of the proportional valve to move to a working position corresponding to the rated negative displacement, and finely adjusting the position of the valve core by combining the real-time inclination angle of the swash plate uploaded by the angle sensor so as to enable the plunger pump to output the target negative displacement.
The corresponding relation between the rated negative displacement and the working position of the proportional valve is stored in the controller in advance, and the controller can directly control the valve core to move to the working position corresponding to the rated negative displacement.
The corresponding relation between the rated negative displacement and the working position of the proportional valve is stored in the controller in advance, and the controller can directly control the valve core to move to the working position corresponding to the rated negative displacement. The step of finely adjusting the position of the valve core in combination with the real-time inclination angle of the swash plate uploaded by the angle sensor is specifically implemented as follows: and determining the fine adjustment displacement of the valve core according to the difference value of the real-time inclination angle and the target inclination angle corresponding to the target displacement. For example, the controller 11 makes a difference between the real-time inclination angle uploaded by the angle sensor 4 and a target inclination angle corresponding to the target displacement, determines the moving direction of the valve element according to the positive and negative of the difference, and determines the moving distance of the valve element according to the absolute value of the difference. The positive displacement command is updated based on the direction and distance of movement of the spool and occurs to the proportional valve 10. The proportional valve 10 executes the updated negative displacement command to finely adjust the position of the spool to achieve fine adjustment of the flow rate of the proportional valve 10, and further achieve fine adjustment of the position of the swash plate.
And step S460, controlling the motor to operate at a second target rotating speed.
It should be understood that step S430 may be performed in synchronization with step S410 or step S420; step S460 may be performed in synchronization with step S440 or step S450.
The control method of the potential energy recovery system provided by the embodiment of the application can be used for controlling the potential energy recovery system provided by any one of the embodiments. For details that are not described in the embodiment of the control method, reference may be made to the embodiment of the potential energy recovery system, and details are not described here.
The application also provides engineering equipment comprising the potential energy recovery system provided by any one of the above embodiments. The engineering equipment comprises a stacking machine, a forklift, a front crane and the like, and the technical effect same as that of the potential energy recovery system can be achieved, and the details are not repeated.
The application also provides an electronic device. Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic device 50 includes one or more processors 51 and a memory 52.
The processor 51 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 50 to perform desired functions.
The memory 52 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc.
One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 51 to implement the control method of the potential energy recovery system provided by any of the embodiments of the present application described above or other desired functions.
In one example, the electronic device 50 may further include: an input device 53 and an output device 55, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 53 may include, for example, a keyboard, a mouse, and the like. The output device 55 may output various information including the determined exercise data and the like to the outside. The output means 55 may comprise, for example, a display, a communication network, a remote output device connected thereto, etc.
Of course, for simplicity, only some of the components of the electronic device 50 relevant to the present application are shown in fig. 5, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 5 may include any other suitable components, depending on the particular application.
In addition to the above methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the control method of a potential energy recovery system provided according to any of the embodiments of the present application described in the present specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the control method of the potential energy recovery system according to any of the embodiments of the present application.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (11)
1. A potential energy recovery system, comprising: the device comprises a storage battery, a motor, a variable pump, a displacement control unit, a lifting oil cylinder and an oil tank;
the storage battery, the motor and the variable pump are electrically connected in sequence; the variable pump comprises a first oil port and a second oil port, the first oil port is communicated with the oil tank, and the second oil port is communicated with the rodless cavity of the lifting oil cylinder;
the displacement control unit is used for controlling the variable displacement pump to switch between a positive displacement working state and a negative displacement working state; when the variable pump is in the positive displacement working state, the motor drives the variable pump to drive a piston rod of the lifting oil cylinder to ascend; when the variable pump is in the negative displacement working state, pressure oil in the lifting oil cylinder descends under the action of gravity to drive the variable pump to drive the motor to rotate, and the motor charges the storage battery.
2. The potential energy recovery system of claim 1, wherein the variable displacement pump includes a swash plate, and the displacement control unit is configured to control an inclination angle of the swash plate to control the variable displacement pump to switch between the positive displacement operating state and the negative displacement operating state.
3. The potential energy recovery system of claim 2, wherein the variable pump further comprises a first variable control cylinder and a second variable control cylinder; the swash plate comprises a first end and a second end which are oppositely arranged, a piston rod of the first variable control oil cylinder is connected with the first end, and a piston rod of the second variable control oil cylinder is connected with the second end;
the displacement control unit comprises a controller, and a proportional valve and an angle sensor which are electrically connected with the controller; the angle sensor is fixed on the swash plate; the controller is used for calculating the target displacement and the target rotating speed of the variable pump according to the lifting command; controlling a valve core of the proportional valve to move to a working position corresponding to the rated displacement, and finely adjusting the position of the valve core by combining the real-time inclination angle of the swash plate uploaded by the angle sensor so as to enable the plunger pump to output the target displacement; controlling the motor to operate at the target rotating speed;
wherein the lift command comprises a rise speed and a fall speed, and the rated displacement comprises a rated positive displacement and a rated negative displacement, respectively.
4. The potential energy recovery system of claim 3, wherein the controller to calculate the target displacement and the target rotational speed of the variable displacement pump based on the lift command comprises:
when the current rotating speed and the rated positive displacement of the variable displacement pump meet the requirement of the rising speed, taking the current rotating speed as the target rotating speed, and calculating the target displacement according to the rising speed and the target rotating speed; and/or
And when the current rotating speed and the rated positive displacement of the variable displacement pump do not meet the requirement of the rising speed, taking the rated positive displacement as the target displacement, and calculating the target displacement according to the rising speed and the rated positive displacement.
5. The potential energy recovery system of claim 4, wherein the fine tuning of the position of the spool in conjunction with the real-time inclination angle of the swash plate uploaded by the angle sensor comprises:
and determining the fine adjustment displacement of the valve core according to the difference value of the real-time inclination angle and the target inclination angle corresponding to the target displacement.
6. The potential energy recovery system of any one of claims 3-5, wherein the proportional valve includes a first operating position corresponding to the nominal positive displacement and a second operating position corresponding to the nominal negative displacement;
when the proportional valve is located at the first working position, the proportional valve communicates the second oil port of the variable pump with the rodless cavity of the first variable control oil cylinder and the rodless cavity of the second variable control oil cylinder;
when the proportional valve is located at the second working position, the proportional valve enables the second oil port of the variable pump to be communicated with the rodless cavity of the second variable control oil cylinder, and enables the rodless cavity of the first variable control oil cylinder to be communicated with the oil tank.
7. The potential energy recovery system of any one of claims 3-5, further comprising a gate valve, a first pressure sensor, and a second pressure sensor; the gate valve is connected between the second end of the variable pump and the lifting oil cylinder; the first pressure sensor is connected between the first oil port of the variable pump and the gate valve; the second pressure sensor is connected between the gate valve and the lifting oil cylinder;
when the controller receives the descending instruction, the controller is further used for controlling the gate valve to be opened when the difference value of the pressure values detected by the first pressure sensor and the second pressure sensor is smaller than a preset difference value.
8. The potential energy recovery system of claim 1, further comprising a pilot gear pump, a pilot pressure reducing valve, and a pilot check valve connected in sequence between the oil tank and the second port of the variable displacement pump; and a pilot overflow valve connected between the oil tank and the pilot pressure reducing valve.
9. The potential energy recovery system of claim 1, further comprising a cylinder overflow valve connected between the lift cylinder and the tank.
10. An engineering plant, characterized in that it comprises a potential energy recovery system according to any one of claims 1-9.
11. A method of controlling a potential energy recovery system according to any one of claims 1 to 9, comprising:
when the lifting oil cylinder rises, the displacement control unit controls the variable pump to output positive displacement, and the motor drives the variable pump to drive a piston rod of the lifting oil cylinder to rise;
when descending, the discharge capacity control unit controls the variable pump to output negative discharge capacity, the pressure oil in the lifting oil cylinder descends under the action of gravity to drive the variable pump to drive the motor to rotate, and the motor is used for charging the storage battery.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113513515A (en) * | 2021-06-28 | 2021-10-19 | 三一海洋重工有限公司 | Potential energy recycling control method, controller, utilization system and storage medium |
| CN114505438A (en) * | 2022-04-02 | 2022-05-17 | 太原理工大学 | High-power electro-hydraulic control press machine system |
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