CN112936972A - Hydraulic control device and control method for hydraulic machine - Google Patents
Hydraulic control device and control method for hydraulic machine Download PDFInfo
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- CN112936972A CN112936972A CN202110180007.6A CN202110180007A CN112936972A CN 112936972 A CN112936972 A CN 112936972A CN 202110180007 A CN202110180007 A CN 202110180007A CN 112936972 A CN112936972 A CN 112936972A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/16—Control arrangements for fluid-driven presses
- B30B15/166—Electrical control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/26—Programme control arrangements
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Abstract
The invention discloses a hydraulic control device and a hydraulic control method for a hydraulic machine. The processing module is used for receiving displacement data acquired by the displacement sensor and generating a first control instruction when the displacement data is a preset value; the inverter is used for controlling the asynchronous motor to rotate according to a preset rotation strategy according to the first control instruction and the rotation speed data acquired by the rotation speed detection sensor, and the preset rotation strategy comprises the step of servo-controlling the rotation speed of the asynchronous motor when the hydraulic pressure detection device is in standby or pressure maintaining. Because when hydraulic means standby or pressurize, servo control asynchronous machine output torque, during servo control, asynchronous machine can not rotate or rotate with low-speed to can improve among the prior art because of the motor continuously rotates and make the liquid of carrying need the backward flow and lead to the technical problem that the system generates heat, equipment inefficiency.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a hydraulic control device and a hydraulic control method for a hydraulic machine.
Background
Hydraulic presses are an important class of press processing equipment. The traditional hydraulic machine adopts a common asynchronous motor directly connected with a power grid as a hydraulic power source, and controls the flow direction of liquid through a valve bank, so that the position and pressure of a sliding block are controlled.
In the prior art, when the hydraulic machine is in standby or pressure maintaining, the oil pump needs to operate continuously, and in the process of the continuous operation of the oil pump, liquid can be continuously conveyed to the hydraulic cylinder so as to realize standby or pressure maintaining of the hydraulic machine, and the capacity of the hydraulic cylinder in the hydraulic machine is limited, namely, the excess liquid needs to be returned to a container for containing the liquid through the overflow valve by controlling the opening and closing of the valve bank of the liquid pipe. As the liquid is discharged from a high pressure state to a low pressure state, heat is released, which may cause the system to heat up, resulting in inefficient equipment.
Disclosure of Invention
The invention provides a hydraulic control device and a hydraulic control method of a hydraulic machine, aiming at making up for the defects of the prior art.
The invention is realized by the following technical scheme: a hydraulic control device of a hydraulic machine comprises a hydraulic control device, wherein the hydraulic control device comprises an asynchronous motor, a processing module, an inverter, an asynchronous motor, a rotating speed detection sensor for detecting the rotating speed of the asynchronous motor and a displacement sensor for detecting the displacement of a sliding block of the hydraulic device, and the asynchronous motor is connected with the hydraulic device; the processing module is used for receiving displacement data acquired by the displacement sensor and generating a first control instruction when the displacement data is a preset value; the inverter is used for controlling the asynchronous motor to rotate according to a preset rotation strategy according to the first control instruction and the rotation speed data acquired by the rotation speed detection sensor, and the preset rotation strategy comprises the step of servo-controlling the rotation speed of the asynchronous motor when the hydraulic pressure detection device is in standby or pressure maintaining.
Preferably, the inverter includes a power amplifier connected to the asynchronous motor, and the power amplifier is configured to control a value of current and/or voltage supplied to the asynchronous motor to a value corresponding to the preset rotational speed according to a preset control algorithm.
Preferably, the inverter further includes an algorithm controller for implementing decoupling control of torque and excitation of the asynchronous motor according to a preset control algorithm, and a speed controller for receiving the processing module and controlling the rotating speed.
Preferably, the hydraulic control device further comprises an acquisition module for acquiring the electric parameters of the asynchronous motor.
Preferably, the displacement sensor includes a displacement scale, and the rotation speed detection sensor includes a rotary encoder.
Preferably, the hydraulic device comprises a hydraulic cylinder mechanism, a liquid pipe and a container for containing liquid, a slide block is arranged in the hydraulic cylinder mechanism, a cylinder body in the hydraulic cylinder mechanism is communicated with the container through the liquid pipe, and one end of the asynchronous motor, which outputs mechanical energy, is arranged in the liquid pipe and used for providing power for the hydraulic cylinder mechanism when the asynchronous motor rotates.
The invention also provides a control method of the hydraulic control device of the hydraulic machine, which comprises the following steps:
s310: the processing module receives displacement data acquired by the displacement sensor and generates a first control instruction when the displacement data is a preset value;
s320: and the inverter controls the asynchronous motor to rotate according to a preset rotation strategy according to a preset control algorithm and based on the first control instruction and the rotation speed data acquired by the rotation speed detection sensor, wherein the preset rotation strategy comprises the step of servo-controlling the rotation speed of the asynchronous motor when the hydraulic device is in standby or pressure maintaining.
Preferably, the preset rotation strategy includes: and controlling the asynchronous motor to start, or controlling the asynchronous motor to stop, or controlling the rotating speed of the asynchronous motor to be a preset rotating speed.
Compared with the prior art, the invention has the advantages that: the processing module in the hydraulic control device is used for receiving displacement data acquired by a displacement sensor and generating a first control instruction when the displacement data is a preset value; the inverter is used for controlling the asynchronous motor to rotate according to a preset rotation strategy according to the first control instruction and the rotation speed data acquired by the rotation speed detection sensor, and the preset rotation strategy comprises the step of servo-controlling the rotation speed of the asynchronous motor when the hydraulic pressure detection device is in standby or pressure maintaining. Because when hydraulic means standby or pressurize, servo control asynchronous machine output torque, during servo control, asynchronous machine can not rotate or rotate with low-speed to can improve among the prior art because of the motor continuously rotates and make the liquid of carrying need the backward flow and lead to the technical problem that the system generates heat, equipment inefficiency.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram showing the construction of a hydraulic control apparatus according to the present invention;
FIG. 2 is a block diagram showing the connection between the hydraulic control apparatus and the hydraulic apparatus according to the present invention;
FIG. 3 is a block diagram of the inverter of the present invention in conjunction with an asynchronous motor;
FIG. 4 is a flow chart illustrating a control method of the hydraulic control apparatus according to the present invention
In the figure, 10-hydraulic system, 100-hydraulic control device, 110-processing module, 120-inverter, 121-algorithm controller, 122-power amplifier, 123-speed controller, 130-asynchronous motor, 140-rotating speed detection sensor, 150-displacement sensor and 200-hydraulic device.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
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, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As shown in fig. 1 and 2, the hydraulic control apparatus 100 according to the embodiment of the present invention may be used to servo-control the rotation of the asynchronous motor 130, and then to deliver fluid to the hydraulic cylinder of the hydraulic apparatus 200 through the rotation of the asynchronous motor 130, so as to push the slider drivingly connected to the piston in the hydraulic cylinder to move. The sliding block may be configured to apply pressure to a target object to be pressed or stamped, and the target object may be a product part to be stamped, such as a steel plate, a plastic part, and the like, where the target object is not specifically limited.
In the embodiment, the hydraulic control device of the hydraulic press comprises a hydraulic control device 100, wherein the hydraulic control device 100 comprises an asynchronous motor 130, a processing module 110, an inverter 120, the asynchronous motor 130, a rotation speed detection sensor 140 for detecting the rotation speed of the asynchronous motor 130, and a displacement sensor 150 for detecting the displacement of a slide block of a hydraulic device 200, the asynchronous motor 130 is connected with the hydraulic device 200, the displacement sensor 150 comprises a displacement ruler, and the rotation speed detection sensor 140 comprises a rotary encoder.
The processing module 110 is configured to receive displacement data acquired by the displacement sensor 150, and generate a first control instruction when the displacement data is a preset value; the inverter 120 is configured to control the asynchronous motor 130 to rotate according to a preset rotation strategy according to the first control instruction and the rotation speed data collected by the rotation speed detection sensor 140, where the preset rotation strategy includes servo-controlling the rotation speed of the asynchronous motor 130 when the hydraulic pressure measurement device 200 is in standby or pressure maintaining.
The hydraulic device 200 comprises a hydraulic cylinder mechanism, a liquid pipe and a container for containing liquid, a slide block is arranged in the hydraulic cylinder mechanism, a cylinder body in the hydraulic cylinder mechanism is communicated with the container through the liquid pipe, and one end, used for outputting mechanical energy, of the asynchronous motor 130 is arranged in the liquid pipe and used for providing power for the hydraulic cylinder mechanism when the asynchronous motor rotates.
In this embodiment, the preset values may be set by a manager according to actual situations, the number of the preset values may be one, or two or more, and the size and the number of the preset values are not specifically limited herein.
For example, if it is assumed that the distance between the slide block and the hydraulic cylinder, which is acquired by the displacement sensor 150 when the piston moves to the uppermost side of the hydraulic cylinder mechanism, is 0 cm, and the distance between the slide block and the hydraulic cylinder is 5 cm, if the slide block needs to move down by 3 cm, the preset value may be set to 8 cm. When the processing module 110 controls the asynchronous motor 130 to drive the slider to move down, the processing module 110 may continuously receive the distance of the slider, which is acquired by the displacement sensor 150, and when the acquired distance value is 8 cm, the processing module 110 may generate a control instruction for stopping driving the slider 211 to move, and after receiving the control instruction, the inverter 120 may control the asynchronous motor 130 to be in a pressure maintaining state or in a standby state according to an actual situation, so that the slider 211 stays at the position of 8 cm.
In this embodiment, when the hydraulic apparatus 200 is in standby or pressure maintaining, the servo control asynchronous motor 130 outputs torque, and during servo control, the asynchronous motor 130 may not rotate or rotate at a low speed, so as to solve the technical problems of system heating and low equipment efficiency caused by backflow of the delivered liquid due to continuous rotation of the motor in the prior art.
Specifically, in servo-controlling the asynchronous motor 130, the asynchronous motor 130 may output a torque, and the rotating shaft of the motor may not rotate or may rotate at a lower speed. If the pivot of motor does not rotate, just then can not be to the pneumatic cylinder transport liquid in the pneumatic cylinder mechanism, just also can not have unnecessary liquid in the liquid pipe and need flow back to the container in, just also can avoid appearing because of the problem that the heat that releases reduces system efficiency when needing to flow back high-pressure liquid to the container. If the rotating shaft of the motor rotates at a low speed, the amount of liquid delivered to the hydraulic cylinder in the hydraulic cylinder mechanism is small, and even if redundant liquid in the liquid pipe needs to flow back, the amount of liquid is small, so that the released heat is small, and the technical problem that in the prior art, a large amount of high-pressure liquid needs to flow back to a container, so that the released heat is large, and the system efficiency is reduced can be solved.
Optionally, the preset rotation strategy includes: controlling the asynchronous motor 130 to start; alternatively, the asynchronous motor 130 is controlled to stop; alternatively, the rotation speed of the asynchronous motor 130 is controlled to a preset rotation speed.
Understandably, if it is necessary to control the start of the asynchronous motor 130, the motor start control may be implemented by a corresponding button switch, or a trigger signal for starting the asynchronous motor 130 may be generated by the inverter 120, so that the asynchronous motor 130 is started. If it is necessary to control the asynchronous motor 130 to stop operating, it may be implemented by collecting a distance value of the slider based on the displacement sensor 150, for example, if it is collected that the slider moves to a preset distance, the asynchronous motor is stopped operating. If the rotation speed of the asynchronous motor 130 is to be the preset rotation speed, the rotation speed detection sensor 140 may acquire the real-time rotation speed of the asynchronous motor 130.
For example, if a rapid sliding of the slider or a large pressure is required, the asynchronous motor 130 needs to output a large torque or a large rotation speed. The manager can establish the functional relation between the torque and the rotating speed and the moving speed of the sliding block and the output pressure of the sliding block in advance. Within the rated range of the slider output pressure, if the user needs to output the designated pressure to the target object by the slider, the inverter 120 may determine the output torque or the rotational speed of the asynchronous motor 130 according to the designated pressure, and then control the torque of the asynchronous motor 130 to be the determined torque or control the rotational speed of the asynchronous motor 130 to be the determined rotational speed according to the determined output torque or rotational speed.
As shown in fig. 3, in the present embodiment, the inverter 120 may include a power amplifier 122 connected to the asynchronous motor 130, and the power amplifier 122 is configured to control a value of current and/or voltage supplied to the asynchronous motor 130 to a value corresponding to a preset rotational speed according to a preset control algorithm. The preset rotation speed may be set according to actual conditions, and the preset control algorithm includes, but is not limited to, a magnetic field orientation control algorithm, a direct torque control algorithm, or other motor control algorithms, which is not specifically limited herein. The Field Oriented Control (FOC) algorithm may be referred to as the FOC algorithm for short.
The inverter 120 may further include an algorithm controller 121 for implementing decoupling control of torque and excitation of the asynchronous motor 130 according to a preset control algorithm (e.g., a magnetic field orientation control algorithm), and a speed controller 123 for rotational speed control for receiving the processing module 110, where the algorithm controller 121 or the speed controller 123 may be one of the various processors described above, such as an STM32 series single chip microcomputer. Of course, in other real-time modes, the algorithm controller 121 and the speed controller 123 may be integrated on one processor.
In this embodiment, the FOC algorithm can ensure that the asynchronous motor 130 exerts a dynamic response speed that can be achieved by its own characteristics, thereby enabling the start and stop to be completed within several tens of milliseconds. The asynchronous motor 130 is a motor suitable for variable frequency speed applications. The rotary encoder may be an incremental encoder that can be connected to a rotating shaft of the induction motor.
In this embodiment, the hydraulic control apparatus 100 may further include an oil pump, and the processing module 110 provides a torque command (e.g., T command shown in fig. 3) to the field oriented FOC algorithm based on an external rotational speed command from the central controller and a feedback rotational speed given by the rotary encoder when the asynchronous motor 130 drives the oil pump to rotate at or above a rated speed. The algorithm controller 121 calculates a control voltage of the motor according to the measured motor voltage and current signals and the flux linkage command, and outputs electric energy of corresponding current and voltage to the asynchronous motor 130 through the power amplifier 122 to complete speed servo of the motor. Based on the FOC algorithm, the rotation speed of the asynchronous motor 130 can be rapidly switched between zero and the rated rotation speed. Of course, in other embodiments, the asynchronous motor 130 may also directly act as an oil pump to output fluid to the hydraulic cylinder.
The FOC algorithm may also switch to a torque control mode upon command of the processing module 110. At this time, the FOC algorithm directly outputs the required torque in accordance with an external torque command (such as the T command shown in fig. 3). Since the response speed is high, high-precision pressure holding control of the hydraulic system 10 can be realized. During the dwell, the rotational speed of the asynchronous motor 130 is generally close to zero. The processing module 110 may simultaneously output a speed command (e.g., a v command shown in fig. 3) as a limiting value of the maximum speed of the motor to prevent the motor from over-running during light load.
In this embodiment, the inverter 120 may further include a flux linkage controller and a torque controller, and the flux linkage controller, the torque controller, and the algorithm controller 121 and the speed controller 123 may be respectively provided as independent processors or may be integrated into one processor. The FOC algorithm controls the flux linkage and the torque of the motor through a flux linkage controller and a torque controller respectively. The motor flux linkage current and the torque current required by the algorithm can be calculated by using the three-phase measured current of the asynchronous motor 130 under the premise of knowing the flux linkage angle through an 3/2 coordinate transformation method. The 3/2 coordinate transformation method can transform the three-phase current of the stator of the motor to a two-dimensional orthogonal coordinate system rotating with the flux linkage. Flux linkage voltage and torque voltage commands generated by the flux linkage controller and the torque controller and expressed in a rotating flux linkage coordinate system are also converted into three-phase voltage signals of the stator of the motor through 2/3 coordinate transformation by utilizing the flux linkage angles. Flux linkage parameters in the algorithm are predetermined according to motor data and can be kept constant in the algorithm.
The FOC algorithm calculates flux linkage angles through a flux linkage estimator using motor data obtained in the algorithm. A motor model is established in the estimator, and the flux linkage angle is calculated in real time through known parameters.
The hydraulic control device 100 also comprises a collection module for collecting electrical parameters of the asynchronous motor 130, in order to bring the current or voltage supplied to the asynchronous motor 130 to a specified value.
That is, the functional relationship between the voltage value/current value supplied to the asynchronous motor 130 and the output torque/rotation speed of the asynchronous motor 130 is stored in the storage module of the hydraulic control apparatus 100 in advance, and the power amplifier 122 may scale the current or voltage supplied to the asynchronous motor 130 according to the current value or voltage value collected by the collection module, so that the collected current or voltage of the asynchronous motor 130 is a specified value.
In the present embodiment, the displacement sensor 150 may be, but is not limited to, a displacement ruler, a laser range finder, a grating ruler, and the like, which are capable of measuring displacement, and the type of the displacement sensor 150 is not particularly limited herein.
In the present embodiment, the rotation speed detecting sensor 140 may be, but is not limited to, a rotary encoder, a laser rotation speed detector, and the like, which may be used for rotation speed detection, and the type of the rotation speed detecting sensor 140 is not particularly limited herein.
In this embodiment, the rotation speed detecting sensor 140 may be configured to detect the rotation speed data of the asynchronous motor 130, so that a user can control the rotation speed of the asynchronous motor 130 within a range corresponding to a preset rotation speed, where the range may be set according to an actual situation, and the displacement sensor 150 may be configured to detect the displacement data of the slider of the hydraulic device 200.
In this embodiment, the asynchronous motor 130 (i.e., an asynchronous motor, also called an induction motor) adopted in the embodiment of the present invention is an alternating current motor that generates electromagnetic torque by interaction between an air gap rotating magnetic field and a rotor winding induction current, thereby converting electromechanical energy into mechanical energy, and the cost is low. Because the stator winding of the asynchronous motor 130 is connected to the ac grid, the rotor winding does not need to be connected to another power source, and if the asynchronous motor 130 is powered off during operation, the rotor does not generate a high voltage, so that the reliability and safety of the asynchronous motor 130 are high.
In this embodiment, the processing module 110 may be an integrated circuit chip having signal processing capability. The processing module 110 may be a general purpose processor. For example, the processor may be a Central Processing Unit (CPU), 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. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. For example, the processing module 110 may be a single chip microcomputer of the STM32 series.
The memory module may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, and the like. In this embodiment, the storage module may be configured to store a preset value of the displacement data, a preset rotation control strategy, and the like. Of course, the storage module may also be used to store a program, and the processing module 110 executes the program after receiving the execution instruction.
As shown in fig. 4, the present invention further provides a control method of a hydraulic control apparatus of a hydraulic machine, including the steps of:
s310: the processing module 110 receives displacement data acquired by the displacement sensor 150, and generates a first control instruction when the displacement data is a preset value;
s320: the inverter 120 controls the asynchronous motor 130 to rotate according to a preset rotation strategy according to a preset control algorithm and based on the first control instruction and the rotation speed data acquired by the rotation speed detection sensor 140, wherein the preset rotation strategy comprises servo-controlling the rotation speed of the asynchronous motor when the hydraulic device is in standby or pressure maintaining.
The preset rotation strategy comprises the following steps: and controlling the asynchronous motor to start, or controlling the asynchronous motor to stop, or controlling the rotating speed of the asynchronous motor to be a preset rotating speed.
It should be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the control algorithm described above may refer to the working process corresponding to each module in the hydraulic control apparatus 100 or the hydraulic system 10, and will not be described in detail herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The hydraulic control device of the hydraulic machine is characterized in that: the hydraulic control system comprises a hydraulic control device (100), wherein the hydraulic control device (100) comprises an asynchronous motor (130), a processing module (110), an inverter (120), the asynchronous motor (130), a rotating speed detection sensor (140) for detecting the rotating speed of the asynchronous motor (130) and a displacement sensor (150) for detecting the displacement of a sliding block of a hydraulic device (200), and the asynchronous motor (130) is connected with the hydraulic device (200);
the processing module (110) is used for receiving displacement data collected by the displacement sensor (150) and generating a first control instruction when the displacement data is a preset value; the inverter (120) is used for controlling the asynchronous motor (130) to rotate according to a preset rotation strategy according to the first control instruction and the rotation speed data acquired by the rotation speed detection sensor (140), and the preset rotation strategy comprises the step of servo-controlling the rotation speed of the asynchronous motor (130) when the hydraulic pressure measuring device (200) is in standby or pressure maintaining.
2. The hydraulic control device of a hydraulic machine as claimed in claim 1, characterized in that: the inverter (120) comprises a power amplifier (122) connected to the asynchronous machine (130), the power amplifier (122) being configured to control the value of the current and/or voltage supplied to the asynchronous machine (130) to a value corresponding to the preset rotation speed according to a preset control algorithm.
3. The hydraulic control apparatus of a hydraulic machine as claimed in claim 2, wherein: the inverter (120) further comprises an algorithm controller (121) for implementing a decoupled control of the torque and excitation of the asynchronous machine (130) according to a preset control algorithm, and a speed controller (123) for rotational speed control for the receiving processing module (110).
4. The hydraulic control device of a hydraulic machine as claimed in claim 1, characterized in that: the hydraulic control device (100) further comprises a collection module for collecting electrical parameters of the asynchronous motor (130).
5. The hydraulic control device of a hydraulic machine as claimed in claim 1, characterized in that: the displacement sensor (150) includes a displacement scale, and the rotation speed detection sensor (140) includes a rotary encoder.
6. The hydraulic control device of a hydraulic machine as claimed in claim 1, characterized in that: the hydraulic device (200) comprises a hydraulic cylinder mechanism, a liquid pipe and a container for containing liquid, and a sliding block is arranged in the hydraulic cylinder mechanism.
7. The control method of a hydraulic control apparatus of a hydraulic machine according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
s310: the processing module (110) receives displacement data acquired by the displacement sensor (150) and generates a first control instruction when the displacement data is a preset value;
s320: the inverter (120) controls the asynchronous motor (130) to rotate according to a preset rotation strategy according to a preset control algorithm and based on the first control instruction and the rotation speed data acquired by the rotation speed detection sensor (140), wherein the preset rotation strategy comprises the step of servo-controlling the rotation speed of the asynchronous motor when the hydraulic device is in standby or pressure maintaining.
8. The control method of the hydraulic control device of the hydraulic machine according to claim 7, characterized in that: the preset rotation strategy comprises the following steps: and controlling the asynchronous motor to start, or controlling the asynchronous motor to stop, or controlling the rotating speed of the asynchronous motor to be a preset rotating speed.
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| CN202110180007.6A CN112936972A (en) | 2021-02-08 | 2021-02-08 | Hydraulic control device and control method for hydraulic machine |
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| CN202110180007.6A CN112936972A (en) | 2021-02-08 | 2021-02-08 | Hydraulic control device and control method for hydraulic machine |
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| CN103097746A (en) * | 2010-09-17 | 2013-05-08 | 大金工业株式会社 | Hydraulic energy regeneration device |
| CN109450207A (en) * | 2018-12-29 | 2019-03-08 | 吕言 | Machining equipment and its control method |
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2021
- 2021-02-08 CN CN202110180007.6A patent/CN112936972A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10277791A (en) * | 1997-03-31 | 1998-10-20 | Komatsu Ltd | Controller for plurality of points servo press |
| US20030084794A1 (en) * | 2001-11-02 | 2003-05-08 | Kunio Koyama | Hydraulic press |
| CN1544796A (en) * | 2003-11-21 | 2004-11-10 | 浙江大学 | Frequency conversion hydraulic well pumping unit for reducing installation power |
| CN101132882A (en) * | 2005-03-24 | 2008-02-27 | 小松产业机械股份有限公司 | Hydraulic processing machine, hydraulic press brake, and method of controlling the same |
| CN103097746A (en) * | 2010-09-17 | 2013-05-08 | 大金工业株式会社 | Hydraulic energy regeneration device |
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