CN112901574A - Boom amplitude control system and control method and aerial work vehicle - Google Patents

Boom amplitude control system and control method and aerial work vehicle Download PDF

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Publication number
CN112901574A
CN112901574A CN202110308210.7A CN202110308210A CN112901574A CN 112901574 A CN112901574 A CN 112901574A CN 202110308210 A CN202110308210 A CN 202110308210A CN 112901574 A CN112901574 A CN 112901574A
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CN
China
Prior art keywords
control
control valve
valve group
pressure
boom
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Pending
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CN202110308210.7A
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Chinese (zh)
Inventor
卢超
徐蕾
张勇
卢良卫
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XCMG Fire Fighting Safety Equipment Co Ltd
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XCMG Fire Fighting Safety Equipment Co Ltd
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Priority to CN202110308210.7A priority Critical patent/CN112901574A/en
Publication of CN112901574A publication Critical patent/CN112901574A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/166—Controlling a pilot pressure in response to the load, i.e. supply to at least one user is regulated by adjusting either the system pilot pressure or one or more of the individual pilot command pressures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The disclosure provides an arm support amplitude variation control system, an arm support amplitude variation control method and an aerial work vehicle. The boom amplitude control system comprises: a hydraulic source; a variable amplitude oil cylinder; the control valve group comprises a first control valve group arranged between the hydraulic source and the first working cavity of the amplitude-variable oil cylinder and a second control valve group arranged between the hydraulic source and the second working cavity of the amplitude-variable oil cylinder, the first control valve group and the second control valve group are respectively connected with the first working cavity and the second working cavity through a first working port and a second working port, the first control valve group is configured to control the pressure and/or flow of the first working port, and the second control valve group is configured to control the pressure and/or flow of the second working port; and the controller is configured to send variable amplitude control instructions to the first control valve group and the second control valve group respectively according to the variable amplitude action information of the arm support and the pressure and/or flow in the arm support variable amplitude control system. The cantilever crane can improve the phenomena of sinking, rebounding and vibration of the cantilever crane in amplitude variation action.

Description

Boom amplitude control system and control method and aerial work vehicle
Technical Field
The disclosure relates to the technical field of hydraulic control, in particular to an arm support amplitude variation control system, an amplitude variation control method and an aerial work vehicle.
Background
The working process of the aerial work vehicle often involves the amplitude variation of the arm support. In the variable amplitude motion process of the cantilever crane, the vibration phenomenon of the cantilever crane can be caused by the deflection, gravity, inertia, unstable pressure of a hydraulic system and other factors of the cantilever crane. When the amplitude variation action of the arm support is started or stopped, the sinking or rebounding phenomenon of the arm support can be generated due to the opening or closing action of the related control valve.
In order to control the amplitude of the boom, in the related art, the controller adjusts the analog signal for amplitude control according to the angle and length of the boom to serve as a control signal for controlling the opening of the valve, so as to adapt to the amplitude movement speed under different working conditions. Due to the limitation of the control precision of the analog signal, although the control mode can complete the basic action of the amplitude variation of the arm support, the control mode has limited effect on relieving the vibration phenomenon of the arm support in the amplitude variation action process and the sinking or rebounding phenomenon of the arm support when the amplitude variation action is started or stopped.
Disclosure of Invention
A first aspect of the disclosure provides an arm support luffing control system, including:
a hydraulic source;
the amplitude variation oil cylinder is configured to drive the arm support to amplitude;
the control valve group comprises a first control valve group arranged between the hydraulic source and a first working cavity of the luffing cylinder and a second control valve group arranged between the hydraulic source and a second working cavity of the luffing cylinder, the first control valve group is connected with the first working cavity through a first working port, the second control valve group is connected with the second working cavity through a second working port, the first control valve group is configured to control the pressure and/or flow of the first working port, and the second control valve group is configured to control the pressure and/or flow of the second working port; and
and the controller is in signal connection with the first control valve group and the second control valve group and is configured to send amplitude variation control instructions for adjusting the pressure and/or flow of the first working port and the second working port to the first control valve group and the second control valve group respectively according to amplitude variation action information of the boom and the pressure and/or flow in the boom amplitude variation control system.
In accordance with some embodiments of the present disclosure,
the first control valve group comprises a first pilot valve and a first hydraulic control valve, the first pilot valve is in signal connection with the controller and is connected with a control port of the first hydraulic control valve, and the first control valve group controls the valve core position of the first hydraulic control valve through the first pilot valve so as to control the pressure and/or flow of the first working port;
the second control valve group comprises a second pilot valve and a second hydraulic control valve, the second pilot valve is in signal connection with the controller and is connected with a control port of the second hydraulic control valve, and the second control valve group controls the valve core position of the second hydraulic control valve through the second pilot valve so as to control the pressure and/or flow of the second working port.
According to some embodiments of the present disclosure, the control valve group further includes a balance valve disposed between the first control valve group and the first working chamber of the luffing cylinder, and a control port of the balance valve is connected to the second working chamber of the luffing cylinder.
According to some embodiments of the disclosure, a load feedback oil path is provided between the hydraulic source and the luffing cylinder.
According to some embodiments of the disclosure, when the boom starts a luffing action, if the pressure of the first working port is lower than the pressure of the first working chamber, the controller is configured to send a first control command to the first control valve group to increase the pressure of the first working port until a difference between the pressure of the first working port and the pressure of the first working chamber is smaller than or equal to an error allowable range, where the luffing control command includes the first control command.
According to some embodiments of the disclosure, the controller is configured to send a second control instruction to the first control valve group and the second control valve group to keep the flow rate of the first working port and the flow rate of the second working port stable when the boom performs a luffing action, where the luffing control instruction includes the second control instruction.
According to some embodiments of the disclosure, the controller is configured to send a third control command to the second control valve group to gradually reduce the pressure of the second working port when the boom stops luffing action, where the luffing control command includes the third control command.
According to some embodiments of the present disclosure, the controller is configured to allow the luffing control command to be sent to the first and second control valve groups if the outlet pressure of the hydraulic pressure source is greater than or equal to the actuation threshold of the control valve group.
According to some embodiments of the disclosure, the controller is configured to send a standby control instruction to the second control valve group to communicate the second working port with the oil return pipeline in a state that the boom luffing control system is started, before boom luffing is started, or after boom luffing is stopped.
A second aspect of the disclosure provides an aerial work vehicle, which includes the boom luffing control system of the first aspect of the disclosure.
A third aspect of the present disclosure provides a boom variable amplitude control method based on the boom variable amplitude control system in the first aspect of the present disclosure, including: and sending a variable amplitude control command for adjusting the pressure and/or flow of the first working port and the second working port to the first control valve group and/or the second control valve group according to a variable amplitude control signal for representing the variable amplitude action information of the arm support and the pressure and/or flow in the arm support variable amplitude control system.
According to some embodiments of the present disclosure, sending the luffing control command to the first control valve block and/or the second control valve block comprises:
if the pressure of the first working port is lower than the pressure of the first working chamber, sending the first control instruction to the first control valve group according to a starting control signal for indicating that the boom starts amplitude variation action, the pressure of the first working port and the pressure of the first working chamber, and enabling the pressure of the first working port to be increased until the difference value between the pressure of the first working port and the pressure of the first working chamber is smaller than or equal to an error allowable range;
sending a second control instruction to the first control valve group and the second control valve group according to an operation control signal for indicating that the boom performs amplitude variation action, the pressure and the flow of the first working chamber and the pressure and the flow of the second working chamber, so that the flow of the first working port and the flow of the second working port are kept stable;
and sending a third control command to the second control valve group according to a stop control signal for indicating that the boom stops amplitude variation and the pressure of the second working port, so that the pressure of the second working port is gradually reduced.
According to some embodiments of the present disclosure, before sending the variable amplitude control command to the first control valve group and/or the second control valve group, if the outlet pressure of the hydraulic source is greater than or equal to the action threshold of the control valve group, the variable amplitude control command is allowed to be sent to the first control valve group and the second control valve group.
According to some embodiments of the disclosure, the boom variable amplitude control method further includes:
before sending the amplitude variation control instruction to the first control valve group and/or the second control valve group, sending a standby control instruction to the second control valve group to enable the second working port to be communicated with the oil return pipeline;
and after the amplitude variation control instruction is sent to the first control valve group and/or the second control valve group, a standby control instruction is sent to the second control valve group, so that the second working port is communicated with the oil return pipeline.
In the boom luffing control system provided by the embodiment of the disclosure, a first working chamber and a second working chamber of a luffing cylinder are respectively and independently connected with a first working port of a first control valve group and a second working port of a second control valve group, the pressure and flow of the first working chamber and the second working chamber of the luffing cylinder can be independently controlled by adjusting the pressure and flow of the first working port and the second working port, a controller sends a luffing control instruction to the control valve group according to the requirement of luffing action of a boom in combination with the pressure and/or flow in the boom luffing control system, so that closed-loop control of the pressure and flow can be realized, the boom of an aerial work vehicle is controlled to carry out luffing motion by the luffing control instruction, and the boom sinking or rebounding phenomenon caused by sudden change of the pressure of the working chamber of the luffing cylinder when the boom starts luffing action and stops luffing action can be relieved, and the vibration phenomenon generated by the deflection, gravity and inertia of the arm support and the unstable pressure of a hydraulic system in the variable amplitude motion process improves the smoothness of the variable amplitude motion of the arm support.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:
fig. 1 is a hydraulic schematic diagram of a boom luffing control system according to some embodiments of the present disclosure.
Fig. 2 is a schematic flow chart of a boom variable amplitude control method according to some embodiments of the present disclosure.
In fig. 1 and 2, the respective reference numerals denote:
1. a control valve group; 111. a first pilot valve; 112. a first hydraulic control valve; 121. a second pilot valve; 122. a second hydraulic control valve; 2. a variable amplitude oil cylinder; 21. a first working chamber; 22. a second working chamber; 3. a balancing valve; 4. a load feedback oil path; A. a first working port; B. and a second working port.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.
In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
As shown in fig. 1, some embodiments of the present disclosure provide a boom variable amplitude control system, including: the hydraulic control system comprises a hydraulic source, a variable amplitude oil cylinder 2, a control valve group 1 and a controller.
The luffing cylinder 2 is configured to drive the arm support to luff, and a plurality of luffing cylinders 2 are provided, and each luffing cylinder 2 is arranged in parallel.
The control valve group 1 comprises a first control valve group arranged between the hydraulic source and the first working chamber 21 of the luffing cylinder 2 and a second control valve group arranged between the hydraulic source and the second working chamber 22 of the luffing cylinder 2. The first control valve group is connected with the first working cavity 21 through a first working port A, and the second control valve group is connected with the second working cavity 22 through a second working port B. The first set of control valves is configured to control the pressure and/or flow of the first working port a and the second set of control valves is configured to control the pressure and/or flow of the second working port B. According to the arrangement, the first working chamber 21 and the second working chamber 22 of the luffing cylinder 2 are respectively and independently connected with the first working port A of the first control valve group and the second working port B of the second control valve group, and the pressure and the flow of the first working chamber 21 and the second working chamber 22 of the luffing cylinder 2 can be independently controlled by adjusting the pressure and the flow of the first working port A and the second working port B. In order to increase the control accuracy, the control valve assembly 1 may take the form of a digitally controlled cartridge valve.
The controller is in signal connection with the first control valve group and the second control valve group. The controller is configured to send variable amplitude control instructions for adjusting the pressure and/or flow of the first working port A and the second working port B to the first control valve group and the second control valve group respectively according to the variable amplitude action information of the boom and the pressure and/or flow in the boom variable amplitude control system. In order to obtain the amplitude variation action information of the arm support, for example, the arm support starts amplitude variation action, the arm support performs amplitude variation action, and the arm support stops amplitude variation action, the amplitude variation action can be realized by acquiring a control signal of a control handle. In order to obtain the pressure and the flow in the boom luffing control system, a pressure detection device and a flow detection device may be arranged at positions in the hydraulic circuit where the pressure and the flow need to be detected, for example, at the positions of the first working port a and the second working port B. The functions of the above controllers CAN be implemented by a valve control system based on a CAN (Controller Area Network) bus.
In the boom luffing control system provided by the embodiment of the disclosure, a first working chamber and a second working chamber of a luffing cylinder are respectively and independently connected with a first working port of a first control valve group and a second working port of a second control valve group, the pressure and flow of the first working chamber and the second working chamber of the luffing cylinder can be independently controlled by adjusting the pressure and flow of the first working port and the second working port, a controller sends a luffing control instruction to the control valve group by combining the pressure and/or flow in the boom luffing control system according to the requirement of the luffing action of the boom, so that the closed-loop control of the pressure and flow can be realized, the boom is controlled to carry out luffing motion by the luffing control instruction, and the boom is favorable for relieving the boom sinking or rebounding phenomenon caused by the sudden change of the pressure of the working chambers of the luffing cylinder when the boom starts to luffing action and stops luffing action, and the self-flexibility of the boom during luf, Gravity, inertia and vibration caused by unstable pressure of a hydraulic system improve the smoothness of the amplitude variation action of the arm support.
In some embodiments, the first pilot valve set includes a first pilot valve 111 and a first pilot controlled valve 112, the first pilot valve 111 is in signal connection with the controller and is in connection with the control port of the first pilot controlled valve 112, and the first pilot valve set controls the valve spool position of the first pilot controlled valve 112 through the first pilot valve 111 to control the pressure and/or flow of the first working port a. The second control valve group comprises a second pilot valve 121 and a second hydraulic valve 122, the second pilot valve 121 is in signal connection with the controller and is connected with a control port of the second hydraulic valve 122, and the second control valve group controls the valve core position of the second hydraulic valve 122 through the second pilot valve 121 to control the pressure and/or flow of the second working port B. According to the above arrangement, the first control valve group includes a first pilot valve and a first pilot valve, the second control valve group includes a second pilot valve and a second pilot valve, when the boom changes the action state, the first pilot valve 111 and the second pilot valve 121 change the spool position according to the amplitude-variable control instruction, the pilot control oil path is switched on, and the pilot control signals corresponding to the amplitude-variable control instruction are respectively output to the first pilot valve 112 and the second pilot valve 122, so that the pressure and the flow of the first working port a and the second working port B are controlled by controlling the spool positions of the first pilot valve 112 and the second pilot valve 122.
In some embodiments, the control valve group 1 further comprises a balancing valve 3 arranged between the first control valve group and the first working chamber 21 of the luffing cylinder 2, and a control port of the balancing valve 3 is correspondingly connected with the second working chamber 22 of the luffing cylinder 2.
In some embodiments, as one of specific ways to adjust the flow rate of the luffing cylinder 2, a load feedback oil path 4 is provided between the hydraulic pressure source and the luffing cylinder 2. The hydraulic source may employ a load-sensitive pump.
In order to meet the control condition of the first control valve group on the first working chamber 21 of the luffing cylinder 2, in some embodiments, the controller is configured to send a first control command to the first control valve group to increase the pressure of the first working port a until the difference between the pressure of the first working port a and the pressure of the first working chamber 21 is smaller than or equal to the error allowable range when the boom starts luffing action, where the luffing control command includes the first control command.
In order to alleviate the vibration phenomenon when the boom performs the luffing action, in some embodiments, the controller is configured to send a second control instruction to the first control valve group and the second control valve group so as to keep the flow rate of the first working port a and the flow rate of the second working port B stable, where the luffing control instruction includes the second control instruction.
In order to alleviate the boom bounce phenomenon caused by the sudden reduction of the pressure of the second working port B when the boom luffing action is finished, in some embodiments, the controller is configured to send a third control instruction to the second control valve group to gradually reduce the pressure of the second working port B when the boom stops luffing action, and the luffing control instruction includes the third control instruction.
In order to prevent the controller from receiving the amplitude variation action information to generate misoperation when the hydraulic system has no pressure or insufficient pressure, in some embodiments, the controller is configured to allow the amplitude variation control command to be sent to the first control valve group and the second control valve group if the outlet pressure of the hydraulic source is greater than or equal to the action threshold value of the control valve group 1.
In some embodiments, the controller is configured to send a standby control instruction to the second control valve group to communicate the second working port B with the oil return pipeline in a state that the boom luffing control system is started, before boom luffing is started, or after boom luffing is stopped. At this time, the pressure of the second working port B is not enough to open the control port of the balance valve 3, and the first working chamber 21 of the luffing cylinder 2 cannot discharge oil through the balance valve 3 under the action of the balance valve 3, which is beneficial to relieving the phenomenon that the piston rod of the luffing cylinder sinks when the jib is in a static state.
In some embodiments, the Controller described above may be implemented as a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.
Some embodiments of the disclosure also provide an aerial working vehicle, which comprises the boom amplitude variation control system. The boom amplitude variation control system can relieve the vibration phenomenon in the amplitude variation action process of the aerial work vehicle and the sinking or rebounding phenomenon of the boom when the amplitude variation action is started or stopped, and improves the smoothness of the amplitude variation action of the aerial work vehicle.
Some embodiments of the present disclosure further provide an arm support amplitude variation control method based on the aforementioned arm support amplitude variation control system, including: and sending a variable amplitude control command for adjusting the pressure and/or flow of the first working port A and the second working port B to the first control valve group and/or the second control valve group according to a variable amplitude control signal for representing the variable amplitude action of the arm support and the pressure and/or flow in the arm support variable amplitude control system. The boom amplitude control method is carried out based on the boom amplitude control system and has the corresponding advantages of the boom amplitude control system.
In some embodiments, sending the luffing control command to the first control valve group and/or the second control valve group comprises: if the pressure of the first working port A is lower than the pressure of the first working chamber 21, sending a first control instruction to a first control valve group according to a starting control signal for indicating that the boom starts amplitude variation action, the pressure of the first working port A and the pressure of the first working chamber 21, and increasing the pressure of the first working port A until the difference value between the pressure of the first working port A and the pressure of the first working chamber 21 is smaller than or equal to an error allowable range; sending a second control instruction to the first control valve group and the second control valve group according to an operation control signal for indicating that the arm support performs amplitude variation action, the pressure and the flow of the first working cavity 21 and the pressure and the flow of the second working cavity 22, so that the flow of the first working port A and the flow of the second working port B are kept stable; and sending a third control command to the second control valve group according to a stop control signal for indicating that the arm support stops amplitude variation and the pressure of the second working port B, so that the pressure of the second working port B is gradually reduced.
In some embodiments, before sending the variable amplitude control command to the first control valve group and/or the second control valve group, if the outlet pressure of the hydraulic source is greater than or equal to the actuation threshold of the control valve group 1, the variable amplitude control command is allowed to be sent to the first control valve group and the second control valve group.
In some embodiments, the boom luffing control method further includes: before sending a variable amplitude control instruction to the first control valve group and/or the second control valve group, sending a standby control instruction to the second control valve group to enable the second working port B to be communicated with an oil return pipeline; and after the amplitude-variable control instruction is sent to the first control valve group and/or the second control valve group, the standby control instruction is sent to the second control valve group, so that the second working port B is communicated with the oil return pipeline.
The boom variable amplitude control method based on the boom variable amplitude control system is further described below by taking fig. 2 as an example. In the following embodiments, the actuation threshold of the control valve group 1 is set to 15Bar, and the tolerance of the difference between the pressures of the first working port a and the first working chamber 21 is set to 5 Bar.
Acquiring the outlet pressure of the hydraulic source, and judging whether the outlet pressure of the hydraulic source is greater than or equal to 15 Bar;
if the outlet pressure of the hydraulic source is greater than or equal to 15Bar, sending an initialization control command for enabling the valve core position of each control valve in the control valve group 1 to return to the initial position to the control valve group 1, and allowing to send a variable amplitude control command to the first control valve group and the second control valve group;
sending a standby control instruction to a second control valve group to enable a second working port B to be communicated with an oil return pipeline;
judging whether a starting control signal of the control handle is acquired or not;
if the starting control signal is collected, judging whether the pressure of the first working port A is lower than the pressure of the first working cavity 21;
if the pressure of the first working port A is lower than the pressure of the first working cavity 21, sending a first control instruction to the first control valve group to enable the pressure of the first working port A to be increased until the difference value between the pressure of the first working port A and the pressure of the first working cavity 21 is less than or equal to 5 Bar;
collecting an operation control signal of a control handle, and sending a second control instruction to a first control valve group and a second control valve group to keep the flow of a first working port A and the flow of a second working port B stable;
judging whether a stop control signal of the control handle is acquired;
if a stop control signal is acquired, sending a third control instruction to the second control valve group to gradually reduce the pressure of the second working port B;
and sending a standby control instruction to the second control valve group to enable the second working port B to be communicated with the oil return pipeline.
Finally, it should be noted that: the above examples are intended only to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the embodiments of the disclosure or equivalent replacements of parts of the technical features may be made, which are all covered by the technical solution claimed by the disclosure.

Claims (14)

1. A boom variable amplitude control system is characterized by comprising:
a hydraulic source;
the amplitude variation oil cylinder (2) is configured to drive the arm support to amplitude;
the control valve group (1) comprises a first control valve group arranged between the hydraulic source and a first working chamber (21) of the luffing cylinder (2) and a second control valve group arranged between the hydraulic source and a second working chamber (22) of the luffing cylinder (2), the first control valve group is connected with the first working chamber (21) through a first working port (A), the second control valve group is connected with the second working chamber (22) through a second working port (B), the first control valve group is configured to control the pressure and/or flow of the first working port (A), and the second control valve group is configured to control the pressure and/or flow of the second working port (B); and
and the controller is in signal connection with the first control valve group and the second control valve group, and is configured to send variable amplitude control instructions for adjusting the pressure and/or flow of the first working port (A) and the second working port (B) to the first control valve group and the second control valve group respectively according to the variable amplitude action information of the boom and the pressure and/or flow in the boom variable amplitude control system.
2. The boom variable amplitude control system of claim 1,
the first control valve group comprises a first pilot valve (111) and a first hydraulic control valve (112), the first pilot valve (111) is in signal connection with the controller and is connected with a control port of the first hydraulic control valve (112), and the first control valve group controls the valve core position of the first hydraulic control valve (112) through the first pilot valve (111) to control the pressure and/or flow of the first working port (A);
the second control valve group comprises a second pilot valve (121) and a second hydraulic control valve (122), the second pilot valve (121) is in signal connection with the controller and is connected with a control port of the second hydraulic control valve (122), and the second control valve group controls the valve core position of the second hydraulic control valve (122) through the second pilot valve (121) to control the pressure and/or flow of the second working port (B).
3. The boom luffing control system according to claim 1, wherein the control valve block (1) further comprises a balancing valve (3) disposed between the first control valve block and the first working chamber (21) of the luffing cylinder (2), and a control port of the balancing valve (3) is connected with the second working chamber (22) of the luffing cylinder (2).
4. The boom variable amplitude control system according to any one of claims 1 to 3, characterized in that a load feedback oil path (4) is arranged between the hydraulic source and the variable amplitude oil cylinder (2).
5. The boom luffing control system according to claim 3, wherein the controller is configured to send a first control command to the first control valve group to increase the pressure of the first working port (A) until the difference from the pressure of the first working chamber (21) is less than or equal to an error allowance range when the boom starts luffing, wherein the luffing control command comprises the first control command.
6. The boom luffing control system of claim 3, wherein the controller is configured to send a second control command to the first control valve group and the second control valve group to stabilize the flow of the first working port (A) and the flow of the second working port (B) during luffing of the boom, and the luffing control command comprises the second control command.
7. The boom luffing control system of claim 3, wherein the controller is configured to send a third control command to the second control valve group to gradually reduce the pressure of the second working port (B) when the boom stops luffing operation, wherein the luffing control command comprises the third control command.
8. The boom luffing control system of claim 3, wherein the controller is configured to allow the luffing control command to be sent to the first control valve group and the second control valve group if the outlet pressure of the hydraulic source is greater than or equal to an actuation threshold of the control valve group (1).
9. The boom variable amplitude control system according to claim 3, wherein the controller is configured to send a standby control instruction to the second control valve group to communicate the second working port (B) with the oil return pipeline in a state that the boom variable amplitude control system is started, before boom variable amplitude is started, or after boom variable amplitude is stopped.
10. An aerial work vehicle, characterized by comprising a boom luffing control system according to any one of claims 1 to 9.
11. The boom variable amplitude control method based on the boom variable amplitude control system according to any one of claims 1 to 9, is characterized by comprising the following steps: and sending a variable amplitude control command for adjusting the pressure and/or flow of the first working port (A) and the second working port (B) to the first control valve group and/or the second control valve group according to a variable amplitude control signal for representing the variable amplitude action information of the boom and the pressure and/or flow in the boom variable amplitude control system.
12. The boom luffing control method according to claim 11, wherein sending the luffing control command to the first control valve group and/or the second control valve group comprises:
if the pressure of the first working port (A) is lower than the pressure of the first working chamber (21), sending a first control command to the first control valve group according to a starting control signal for indicating the starting of the amplitude variation action of the arm support, the pressure of the first working port (A) and the pressure of the first working chamber (21), and enabling the pressure of the first working port (A) to be increased until the difference value between the pressure of the first working port (A) and the pressure of the first working chamber (21) is smaller than or equal to an error allowable range;
sending a second control instruction to the first control valve group and the second control valve group according to an operation control signal for representing amplitude variation action of the arm support, the pressure and the flow of the first working chamber (21) and the pressure and the flow of the second working chamber (22), so that the flow of the first working port (A) and the flow of the second working port (B) are kept stable;
and sending a third control command to the second control valve group according to a stop control signal for indicating that the boom stops amplitude variation and the pressure of the second working port (B), so that the pressure of the second working port (B) is gradually reduced.
13. The boom luffing control method according to claim 11, wherein before the luffing control command is sent to the first control valve group and/or the second control valve group, if the outlet pressure of the hydraulic source is greater than or equal to the action threshold of the control valve group (1), the luffing control command is allowed to be sent to the first control valve group and the second control valve group.
14. The boom variable amplitude control method according to claim 11, further comprising:
before sending the amplitude variation control instruction to the first control valve group and/or the second control valve group, sending a standby control instruction to the second control valve group to enable the second working port (B) to be communicated with the oil return pipeline;
and after the amplitude variation control instruction is sent to the first control valve group and/or the second control valve group, a standby control instruction is sent to the second control valve group, so that the second working port (B) is communicated with the oil return pipeline.
CN202110308210.7A 2021-03-23 2021-03-23 Boom amplitude control system and control method and aerial work vehicle Pending CN112901574A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110308210.7A CN112901574A (en) 2021-03-23 2021-03-23 Boom amplitude control system and control method and aerial work vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110308210.7A CN112901574A (en) 2021-03-23 2021-03-23 Boom amplitude control system and control method and aerial work vehicle

Publications (1)

Publication Number Publication Date
CN112901574A true CN112901574A (en) 2021-06-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110308210.7A Pending CN112901574A (en) 2021-03-23 2021-03-23 Boom amplitude control system and control method and aerial work vehicle

Country Status (1)

Country Link
CN (1) CN112901574A (en)

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