CN113669332B - Hydraulic electric control integrated control device based on waterlogging drainage vehicle - Google Patents
Hydraulic electric control integrated control device based on waterlogging drainage vehicle Download PDFInfo
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- CN113669332B CN113669332B CN202110781023.0A CN202110781023A CN113669332B CN 113669332 B CN113669332 B CN 113669332B CN 202110781023 A CN202110781023 A CN 202110781023A CN 113669332 B CN113669332 B CN 113669332B
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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
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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
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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
-
- 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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- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to a hydraulic electric control integrated control device based on a drainage vehicle, which comprises the drainage vehicle, an oil pipe winch and a water hose winch, wherein the drainage vehicle comprises a large vehicle for transportation, a small vehicle and a drainage pump set, wherein the small vehicle is arranged in the large vehicle and used for on-site drainage; the hydraulic control unit is connected with the trolley, the drainage pump set, the oil pipe winch and the water hose winch, and is used for driving the drainage vehicle to finish drainage operation, the hydraulic control unit is provided with a PLC control unit and a detection unit, the detection unit is used for detecting pressure parameters of the hydraulic control unit in real time, an analog input end of the PLC control unit is connected with the detection unit, and the PLC control unit adjusts working states of the hydraulic control unit by adopting a PID control method according to the detection parameters input by the detection unit. The hydraulic control is adopted to improve the applicability of the equipment, the PID control method is adopted in combination with the PLC control unit to realize intelligent centralized control, the rescue efficiency is improved, and the risk of waterlogging operation is reduced.
Description
Technical Field
The invention belongs to the field of special vehicles, and particularly relates to a hydraulic electric control integrated control device based on a drainage vehicle.
Background
Along with the continuous development of the automobile market, the types of special vehicles are also increasing, the types of fire-fighting rescue vehicles are also being updated increasingly, and various rescue scenes are covered, wherein the flood drainage vehicle is one of the fire-fighting rescue vehicles, flood rescue is used as the rescue type with larger fire-fighting rescue difficulty coefficient, personal safety of rescue workers is guaranteed to the greatest extent, and the flood drainage vehicle is developed rapidly in recent years.
The existing drainage vehicle comprises a vehicle body and a drainage pump set, wherein the drainage vehicle is a truck or a truck, the drainage pump set is arranged in a carriage or a rear bucket, the drainage vehicle is sent to a drainage position during operation, a water belt is placed in water, and power is supplied through the water supply and drainage pump set, so that the drainage operation is completed, and the manual drainage operation is avoided;
however, the existing drainage vehicles still have some problems in use, firstly, the drainage vehicles are fuel vehicles or new energy vehicles, the driving of drainage pump sets of the drainage vehicles depends on electric energy generated by fuel engines or motors, the drainage vehicles cannot operate in a water environment for a long time, particularly in a scene of being partially immersed in water, the drainage performance of the existing drainage vehicles is severely limited under the condition of complex field environment, and secondly, the existing drainage vehicles at least need more than two workers to cooperate for operation, and the operation danger coefficient is larger due to drainage operation and danger.
Disclosure of Invention
The invention aims to solve the problems, and provides a hydraulic electric control integrated control device based on a waterlogging drainage vehicle, which is provided with a trolley for drainage and a waterlogging drainage pump set, wherein the trolley drives the waterlogging drainage pump set to a drainage position, the trolley and the waterlogging pump set are controlled hydraulically, so that the applicability of the device is improved, and a PID control method is adopted by combining a PLC control unit to realize intelligent centralized control, so that the rescue efficiency is improved, and the danger of waterlogging drainage operation is reduced.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the hydraulic electric control integrated control device based on the waterlogging drainage vehicle comprises the waterlogging drainage vehicle, an oil pipe winch and a water hose winch, wherein the waterlogging drainage vehicle comprises a large vehicle for transportation, a small vehicle and a drainage pump set, wherein the small vehicle and the drainage pump set are arranged in the large vehicle and used for on-site drainage;
the hydraulic control unit is used for driving the waterlogging drainage vehicle to finish waterlogging drainage operation, the hydraulic control unit is provided with a PLC control unit and a detection unit, the detection unit is used for detecting pressure parameters of the hydraulic control unit in real time, an analog input end of the PLC control unit is connected with the detection unit, and the PLC control unit adjusts the working state of the hydraulic control unit by adopting a PID control method according to the detection parameters input by the detection unit;
the cart comprises an engine and an engine control module, wherein the engine control module is in communication connection with the PLC control unit through a CAN bus, and the engine control module is used for providing kinetic energy for the drainage pump set by controlling the rotation speed of the engine.
Further, the hydraulic control unit comprises a drainage pump driving module, the drainage pump driving module comprises a hydraulic pump outlet valve group and a control oil way, and the drainage pump group comprises two unidirectional variable hydraulic pumps;
the unidirectional variable hydraulic pump is connected with the outlet valve group of the hydraulic pump, the other side of the unidirectional variable hydraulic pump is connected with the hydraulic oil tank, the control oil way is used for adjusting the pressure parameter of the unidirectional variable hydraulic pump,
the drainage pump driving module is provided with a power takeoff, and the other end of the power takeoff is connected with an engine.
Further, the hydraulic control unit comprises a trolley valve group, wherein the trolley valve group is used for driving the trolley to move autonomously and enabling the drainage pump group to be in a drainage position;
the trolley is a crawler-type trolley and comprises a left motor and a right motor, and the left motor and the right motor Ma Dajun are connected with a trolley valve group;
the trolley is provided with a horizontal pushing mechanism and a lifting mechanism, the horizontal pushing mechanism is used for moving the drainage pump set in the horizontal direction, and the lifting mechanism is used for driving the drainage pump set to turn over so that the water inlet of the drainage pump set is immersed in the water;
the flat pushing mechanism is provided with a flat pushing oil cylinder, the lifting mechanism is provided with a lifting oil cylinder, the flat pushing oil cylinder and the lifting oil cylinder are connected with a trolley valve group, the trolley valve group comprises a plurality of four-way electrohydraulic servo valves, the four-way electrohydraulic servo valves are respectively connected with an oil tank, a left motor, a right motor, the flat pushing oil cylinder and the lifting oil cylinder, and an electrical control end of the four-way electrohydraulic servo valve is connected with a PLC control unit.
Further, the oil pipe winch is arranged in the cart, the oil pipe winch is used for enabling the oil pipe to extend, enabling the oil pipe to extend synchronously along with the cart and supplying oil for the cart and the drainage pump unit, and the oil pipe winch comprises a bidirectional motor;
the hydraulic control unit comprises an oil pipe hinging disc valve group, the oil pipe hinging disc valve group is connected with a bidirectional motor, the oil pipe hinging disc valve group comprises a four-way electrohydraulic servo valve and a reversing valve, the bidirectional motor is connected with the four-way electrohydraulic servo valve through the reversing valve to be connected with a hydraulic oil tank, and the electric control end of the four-way electrohydraulic servo valve is connected with the PLC control unit.
Further, a tail gate is arranged at the tail part of the cart, the tail gate is hinged with the cart, and a tail gate oil cylinder for driving the tail gate to open and close is arranged on the tail gate;
the cart is provided with a plurality of water hose winches, the water hose winches are used for driving the water hose to move along with the cart, and the water hose winches are provided with a second bidirectional motor;
the side part of the cart is provided with a rolling door, the rolling door is provided with a water hose winch landing mechanism for driving the water hose winch and the water outlet end of the water hose to move downwards, the water hose winch landing mechanism comprises a landing oil cylinder,
the hydraulic control unit comprises a water hose winch reversing valve group, and the water hose winch reversing valve group comprises a reversing valve and a four-way electrohydraulic servo valve;
the tail gate oil cylinder and the landing oil cylinder are connected with a reversing valve, are connected with a four-way electrohydraulic servo valve through double-hydraulic control one-way valves, are connected with the same reversing valve in parallel among a plurality of second bidirectional motors, and are connected with the four-way electrohydraulic servo valve through the reversing valve;
the tail gate oil cylinder, the landing oil cylinder and the second bidirectional motor are connected with a hydraulic oil tank through the four-way electrohydraulic servo valve, and the electrical control end of the four-way electrohydraulic servo valve is connected with the PLC control unit.
Further, the detection unit comprises a plurality of pressure sensors, the pressure sensors are respectively arranged at the position of the hydraulic pump outlet valve group and the position of the hydraulic oil tank outlet, and the output end of each pressure sensor is connected with the analog output end of the PLC control unit.
Further, the PLC control unit comprises a PLC controller, a frequency converter and an upper computer, the PLC controller is in communication connection with the engine control module through a CAN bus, the digital output end of the PLC controller is connected with the frequency converter, and the PLC controller is connected with the four-way electrohydraulic servo valve of the trolley valve group, the oil pipe hinged disc valve group and the water hose winch reversing valve group through the frequency converter.
Further, the upper computer comprises a PC, a key module and a remote control module, wherein the PC is in communication connection with the PLC, and is used for setting an internal program of the PLC;
the PC is in communication connection with the key module, the key module is used for transmitting an external control instruction, the key module comprises a MUC chip and a key set, the MUC chip is provided with a communication module, the communication module is one or a plurality of combinations of a USB serial port, an RS232 serial port, a WIFI module and a Bluetooth module, the MUC chip is in communication connection with the PC through the communication module, and an IO port of the communication module is connected with the key set.
Further, the remote control module comprises a touch screen industrial personal computer, the touch screen industrial personal computer is in communication connection with the PC through one or more combinations of a WIFI module, a Bluetooth module and a radio frequency module, and the remote control module is used for remotely sending external control instructions to the PC.
Through the technical scheme, the invention has the beneficial effects that:
1. the invention adopts hydraulic control, the drainage vehicle comprises a cart for transportation, a cart and a drainage pump set, wherein the cart and the drainage pump set are arranged in the cart for on-site drainage, the cart is used for transporting the cart and the drainage pump set to the vicinity of a drainage point during operation, the cart is used for carrying the drainage pump set to a drainage position, the cart (fuel vehicle and new energy vehicle) is prevented from being damaged by entering water, and the cart and the drainage pump set are driven by hydraulic pressure during the whole operation process, so that the operation is safe.
The drainage vehicle is provided with a hydraulic control unit, the hydraulic control unit is connected with the trolley, the drainage pump set, the oil pipe winch and the water hose winch, and the hydraulic control unit is used for driving the drainage vehicle to finish drainage operation.
The trolley, the drainage pump group, the oil pipe winch and the water hose winch are controlled respectively, so that various action combinations can be realized, and the hydraulic hose winch is flexible to use and can be matched with the field environment.
2. The hydraulic control unit is provided with a PLC control unit and a detection unit, wherein the detection unit is used for detecting the pressure parameter of the hydraulic control unit in real time, the analog input end of the PLC control unit is connected with the detection unit, and the PLC control unit adjusts the working state of the hydraulic control unit by adopting a PID control method according to the detection parameter input by the detection unit;
during operation, the staff is easy and convenient to operate, the internal oil pressure of the hydraulic control unit is automatically adjusted according to the working instruction, manual operation is not needed except for the working instruction during the waterlogging operation, the working flow of the waterlogging vehicle operation is greatly simplified, and the operation safety and the operation efficiency are improved.
Drawings
FIG. 1 is a system schematic diagram of a hydraulic electric control integrated control device based on a drainage vehicle;
FIG. 2 is a hydraulic schematic diagram of a hydraulic electronic control integrated control device based on a drainage vehicle;
reference numerals: 1 is a PLC control unit, 2 is a one-way variable hydraulic pump, 3 is a hydraulic pump outlet valve bank, 4 is a control oil way, 6 is a left-hand motor, 7 is a right-hand motor, 8 is a trolley valve bank, 9 is a flat push cylinder, 10 is a lifting cylinder, 11 is a two-way motor, 12 is an oil pipe hinging disc valve bank, 13 is a tail gate cylinder, 14 is a second two-way motor, 15 is a landing cylinder, 16 is a pressure sensor, 17 is a water hose winch reversing valve bank, 18 is a MUC chip, 19 is a key set, 20 is a communication module, and 21 is a touch screen industrial personal computer.
Detailed Description
The invention is further described with reference to the drawings and detailed description which follow:
example 1
As shown in fig. 1-2, the invention provides a hydraulic electric control integrated control device based on a drainage vehicle, which comprises the drainage vehicle, an oil pipe winch and a water hose winch, wherein the drainage vehicle comprises a cart for transportation, a cart and a drainage pump set, wherein the cart is arranged in the cart and is used for on-site drainage;
the hydraulic control unit is used for driving the drainage vehicle to complete drainage operation, the hydraulic control unit is provided with a PLC control unit 1 and a detection unit, the detection unit is used for detecting pressure parameters of the hydraulic control unit in real time, an analog input end of the PLC control unit 1 is connected with the detection unit, and the PLC control unit 1 adjusts the working state of the hydraulic control unit by adopting a PID control method according to the detection parameters input by the detection unit;
the cart comprises an engine and an engine control module, wherein the engine control module is in communication connection with the PLC control unit 1 through a CAN bus, and the engine control module is used for providing kinetic energy for the drainage pump set by controlling the rotation speed of the engine.
In order to avoid the problems that the water-logging of the water-logging truck is damaged, and the water-logging truck is oversized and cannot be matched with the water-logging environment, the water-logging truck is provided with the water-logging pump set to the water-logging position, meanwhile, the water-logging truck and the water-logging pump set are controlled by hydraulic pressure, the water-logging truck and the water-logging pump set are not limited by the water-logging environment, the water-logging operation is safe and reliable, the water-logging operation is improved in efficiency, the water-logging operation intensity is reduced, the water-logging operation process is simplified, and the PLC control unit 1 is arranged, so that the intelligent regulation of the water-logging process is realized.
Example 2
The hydraulic control module is optimized based on the above embodiments, as shown in fig. 1 specifically:
the hydraulic control unit comprises a drainage pump driving module, the drainage pump driving module comprises a hydraulic pump outlet valve group 3 and a control oil way 4, and the drainage pump group comprises two unidirectional variable hydraulic pumps 2;
the unidirectional variable hydraulic pump 2 is connected with a hydraulic pump outlet valve group 3, the other side of the unidirectional variable hydraulic pump 2 is connected with a hydraulic oil tank, the control oil way 4 is used for adjusting the pressure parameter of the unidirectional variable hydraulic pump 2,
the drainage pump driving module is provided with a power takeoff, and the other end of the power takeoff is connected with an engine.
As an embodiment, the hydraulic control unit comprises a trolley valve group 8, wherein the trolley valve group 8 is used for driving the trolley to move autonomously and enabling the drainage pump group to be in a drainage position;
the trolley is a crawler-type trolley and comprises a left-hand motor 6 and a right-hand motor 7, and the left-hand motor 6 and the right-hand motor 7 are connected with a trolley valve group 8;
the trolley is provided with a horizontal pushing mechanism and a lifting mechanism, the horizontal pushing mechanism is used for moving the drainage pump set in the horizontal direction, and the lifting mechanism is used for driving the drainage pump set to turn over so that the water inlet of the drainage pump set is immersed in the water;
the flat pushing mechanism is provided with a flat pushing oil cylinder 9, the lifting mechanism is provided with a lifting oil cylinder 10, the flat pushing oil cylinder 9 and the lifting oil cylinder 10 are connected with a trolley valve group 8, the trolley valve group 8 comprises a plurality of four-way electrohydraulic servo valves, the four-way electrohydraulic servo valves are respectively connected with an oil tank, a left traveling motor 6, a right traveling motor 7, the flat pushing oil cylinder 9 and the lifting oil cylinder 10, and an electrical control end of the four-way electrohydraulic servo valve is connected with the PLC control unit 1.
In this embodiment, the left-hand motor 6 and the right-hand motor 7 are both bi-directional motors.
As an implementation manner, the oil pipe winch is arranged in the cart, and is used for extending the oil pipe, synchronously extending the oil pipe along with the cart, supplying oil to the cart and the drainage pump unit, and comprises a bidirectional motor 11;
the hydraulic control unit comprises an oil pipe hinging disc valve group 12, the oil pipe hinging disc valve group 12 is connected with a bidirectional motor 11, the oil pipe hinging disc valve group 12 comprises a four-way electrohydraulic servo valve and a reversing valve, the bidirectional motor 11 is connected with the four-way electrohydraulic servo valve through the reversing valve to be connected into a hydraulic oil tank, and the electric control end of the four-way electrohydraulic servo valve is connected with the PLC control unit 1.
As an implementation mode, the tail part of the cart is provided with a tail gate, the tail gate is hinged with the cart, and the tail gate is provided with a tail gate oil cylinder 13 for driving the tail gate to open and close;
the cart is provided with a plurality of water hose winches for driving the water hose to move along with the cart, and the water hose winches are provided with a second bidirectional motor 14;
the side part of the cart is provided with a rolling door, the rolling door is provided with a water hose winch landing mechanism for driving the water hose winch and the water outlet end of the water hose to move downwards, the water hose winch landing mechanism comprises a landing oil cylinder 15,
the hydraulic control unit comprises a water hose winch reversing valve group 17, and the water hose winch reversing valve group 17 comprises a reversing valve and a four-way electrohydraulic servo valve;
the tail gate oil cylinder 13 and the landing oil cylinder 15 are connected with a reversing valve, are connected with a four-way electrohydraulic servo valve through double-hydraulic control one-way valves, are connected with the same reversing valve in parallel among a plurality of second bidirectional motors 14, and are connected with the four-way electrohydraulic servo valve through the reversing valve;
the tail gate oil cylinder 13, the floor oil cylinder 15 and the second bidirectional motor 14 are connected with a hydraulic oil tank through the four-way electrohydraulic servo valve, and the electrical control end of the four-way electrohydraulic servo valve is connected with the PLC control unit 1.
In this embodiment, the plug of the four-way electrohydraulic servo valve adopts an IP67 waterproof plug.
Example 3
Based on the above embodiment, the PLC control unit 1 and the detection unit are optimized, as shown in fig. 1 to 2:
the detection unit comprises a plurality of pressure sensors 16, the pressure sensors are respectively arranged at the position of the hydraulic pump outlet valve group 3 and the position of the hydraulic oil tank outlet, and the output end of the pressure sensor 16 is connected with the analog output end of the PLC control unit 1.
As an implementation manner, the PLC control unit 1 includes a PLC controller, a frequency converter and an upper computer, the PLC controller is in communication connection with the engine control module through a CAN bus, the digital output end of the PLC controller is connected with the frequency converter, and the PLC controller is connected with the four-way electrohydraulic servo valve of the trolley valve group 8, the oil pipe hinged disc valve group 12 and the water hose winch reversing valve group 17 through the frequency converter.
As an implementation manner, the upper computer comprises a PC, a key module and a remote control module, wherein the PC is in communication connection with the PLC, and is used for setting an internal program of the PLC;
the PC is in communication connection with a key module, the key module is used for transmitting external control instructions, the key module comprises a MUC chip 18 and a key group 19, the MUC chip 18 is provided with a communication module 20, the communication module 20 is one or more combinations of a USB serial port, an RS232 serial port, a WIFI module and a Bluetooth module, the MUC chip 18 is in communication connection with the PC through the communication module 20, and an IO port of the communication module 20 is connected with the key group 19.
As an implementation manner, the remote control module includes a touch screen industrial personal computer 21, where the touch screen industrial personal computer 21 is in communication connection with the PC through one or more combinations of a WIFI module, a bluetooth module, and a radio frequency module, and the remote control module is used to remotely send an external control instruction to the PC.
The water-logging operation will be described with reference to the above embodiments:
firstly, parking a cart at a proper position near a waterlogging point, then turning on a power supply to enable a PLC control unit 1 to be in a power-on state, starting an engine, checking engine rotation speed parameters through an engine control module, enabling the PLC control unit 1 to enable a water hose winch reversing valve group 17 to be electrified corresponding to one four-way electro-hydraulic servo valve of a tail gate oil cylinder 13 according to a program instruction set by a PC, enabling the tail gate oil cylinder 13 to be affected by hydraulic pressure, and pushing the tail gate to fall to form an acute angle with a vehicle body;
secondly, the PLC control unit 1 electrifies four-way electro-hydraulic servo valves of two paths of corresponding left-way motor 6 and right-way motor 7 of the trolley valve group 8 according to a program instruction set by a PC, and the trolley starts to move;
meanwhile, the PLC control unit 1 electrifies the four-way electro-hydraulic servo valve of the oil pipe hinge plate valve group 12 according to a program instruction set by the PC, so that the bidirectional motor 11 is influenced by hydraulic pressure to rotate, at the moment, the oil pipe hinge plate works, and the oil pipe moves along with the trolley to synchronously extend;
meanwhile, the PLC control unit 1 enables the water hose winch reversing valve group 17 to be connected with four-way electro-hydraulic servo valves on a plurality of paths of the second bidirectional motor 14 according to a program instruction set by a PC to enable the four-way electro-hydraulic servo valves to be electrified and work, and at the moment, the water hose winch works, and the water hose moves along with the trolley to stretch synchronously;
and finally, separating the trolley from the cart to reach a drainage point.
In the second step, the operator sends an instruction to the PC through the key module or the remote control module, the PC sends the instruction to the PLC, the PLC executes the instruction to adjust the four-way electrohydraulic servo valve by using the frequency converter, so that the moving speed of the trolley is adjusted corresponding to the pressure of the oil way, and the moving direction is changed by adjusting the differential speed of the left motor 6 and the right motor 7.
Correspondingly, the pressure sensor 16 detects the oil pressure in real time and feeds back to the PLC controller, and the PLC controller adopts a PID control mode to enable the rotation speeds of the second bidirectional motor 14, the bidirectional motor 11, the left-hand motor 6 and the right-hand motor 7 to be matched with each other.
Thirdly, the PLC control unit 1 enables the trolley valve group 8 to correspond to four-way electro-hydraulic servo valves of the horizontal pushing oil cylinder 9 and the lifting oil cylinder 10 to operate according to a program instruction set by the PC, the horizontal pushing oil cylinder 9 acts to push out a drainage pump set to the limit position of the horizontal pushing oil cylinder 9, then the lifting oil cylinder 10 operates to turn over the drainage pump set by a certain angle alpha, the range of the angle alpha is 30-45 degrees, and a water outlet of the drainage pump set is positioned under water at the moment;
then, the PLC control unit 1 enables the hose winch reversing valve group 17 to correspond to the four-way electro-hydraulic servo valve operation of the landing oil cylinder 15 according to the program instruction set by the PC, and the landing oil cylinder 15 works to set the other end of the hose on the ground.
Fourthly, the PLC control unit 1 enables the hydraulic pump outlet valve group 3 to work according to a program instruction set by the PC, at the moment, the engine provides a power takeoff to provide kinetic energy for a drainage pump group, and the unidirectional variable hydraulic pump 2 starts drainage operation;
during the period, the PC is communicated with the engine control module through the key module or the remote control module, the engine speed is regulated through the engine control module, and the drainage power of the unidirectional variable hydraulic pump 2 is regulated through the control oil way 4.
After the water-logging task is completed, the trolley and the water-logging pump set are reset by reversing the steps, so that the water-logging operation is completed.
The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications of the structure, characteristics and principles described in the claims should be included in the scope of the present invention.
Claims (3)
1. The hydraulic electric control integrated control device based on the waterlogging drainage vehicle comprises the waterlogging drainage vehicle, an oil pipe winch and a water hose winch, and is characterized in that the waterlogging drainage vehicle comprises a cart for transportation, a cart and a drainage pump set, wherein the cart is arranged in the cart and used for on-site drainage;
the hydraulic control unit is connected with the trolley, the drainage pump set, the oil pipe winch and the water hose winch, and is used for driving the drainage vehicle to finish drainage operation, the hydraulic control unit is provided with a PLC control unit (1) and a detection unit, the detection unit is used for detecting pressure parameters of the hydraulic control unit in real time, an analog input end of the PLC control unit (1) is connected with the detection unit, and the PLC control unit (1) adopts a PID control method to adjust the working state of the hydraulic control unit according to the detection parameters input by the detection unit;
the cart comprises an engine and an engine control module, wherein the engine control module is in communication connection with the PLC control unit (1) through a CAN bus, and the engine control module is used for providing kinetic energy for the drainage pump set by controlling the rotation speed of the engine;
the hydraulic control unit comprises a drainage pump driving module, the drainage pump driving module comprises a hydraulic pump outlet valve group (3) and a control oil way (4), and the drainage pump group comprises two unidirectional variable hydraulic pumps (2);
the unidirectional variable hydraulic pump (2) is connected with the hydraulic pump outlet valve group (3), the other side of the unidirectional variable hydraulic pump (2) is connected with a hydraulic oil tank, the control oil circuit (4) is used for adjusting the pressure parameter of the unidirectional variable hydraulic pump (2),
the drainage pump driving module is provided with a power takeoff, and the other end of the power takeoff is connected with an engine;
the hydraulic control unit comprises a trolley valve group (8), and the trolley valve group (8) is used for driving the trolley to move autonomously and enabling the drainage pump group to be positioned at a drainage position;
the trolley is a crawler-type trolley and comprises a left motor (6) and a right motor (7), and the left motor (6) and the right motor (7) are connected with a trolley valve group (8);
the trolley is provided with a horizontal pushing mechanism and a lifting mechanism, the horizontal pushing mechanism is used for moving the drainage pump set in the horizontal direction, and the lifting mechanism is used for driving the drainage pump set to turn over so that the water inlet of the drainage pump set is immersed in the water;
the horizontal pushing mechanism is provided with a horizontal pushing oil cylinder (9), the lifting mechanism is provided with a lifting oil cylinder (10), the horizontal pushing oil cylinder (9) and the lifting oil cylinder (10) are connected with a trolley valve group (8), the trolley valve group (8) comprises a plurality of four-way electrohydraulic servo valves, the four-way electrohydraulic servo valves are respectively connected with an oil tank, a left motor (6), a right motor (7), the horizontal pushing oil cylinder (9) and the lifting oil cylinder (10), and an electrical control end of the four-way electrohydraulic servo valve is connected with a PLC (programmable logic controller) control unit (1);
the oil pipe winch is arranged in the cart, is used for enabling the oil pipe to extend, enables the oil pipe to extend synchronously along with the cart, supplies oil for the cart and the drainage pump unit, and comprises a bidirectional motor (11);
the hydraulic control unit comprises an oil pipe hinging disc valve group (12), the oil pipe hinging disc valve group (12) is connected with a bidirectional motor (11), the oil pipe hinging disc valve group (12) comprises a four-way electrohydraulic servo valve and a reversing valve, the bidirectional motor (11) is connected with the four-way electrohydraulic servo valve through the reversing valve to be connected with a hydraulic oil tank, and the electric control end of the four-way electrohydraulic servo valve is connected with the PLC control unit (1);
the tail part of the cart is provided with a tail gate, the tail gate is hinged with the cart, and the tail gate is provided with a tail gate oil cylinder (13) for driving the tail gate to open and close;
the cart is provided with a plurality of water hose winches, the water hose winches are used for driving the water hose to move along with the cart, and the water hose winches are provided with a second bidirectional motor (14);
the side part of the cart is provided with a rolling door, the rolling door is provided with a water hose winch landing mechanism for driving the water hose winch and the water outlet end of the water hose to move downwards, the water hose winch landing mechanism comprises a landing oil cylinder (15),
the hydraulic control unit comprises a water hose winch reversing valve group (17), and the water hose winch reversing valve group (17) comprises a reversing valve and a four-way electrohydraulic servo valve;
the tail gate oil cylinder (13) and the landing oil cylinder (15) are connected with a reversing valve, are connected with a four-way electrohydraulic servo valve through double-hydraulic control one-way valves, are connected with the same reversing valve in parallel among a plurality of second bidirectional motors (14), and are connected with the four-way electrohydraulic servo valve through the reversing valve;
the tail gate oil cylinder (13), the floor oil cylinder (15) and the second bidirectional motor (14) are connected with a hydraulic oil tank through the four-way electrohydraulic servo valve, and the electrical control end of the four-way electrohydraulic servo valve is connected with the PLC control unit (1);
the detection unit comprises a plurality of pressure sensors (16), the pressure sensors are respectively arranged at the position of the hydraulic pump outlet valve group (3) and the position of the hydraulic oil tank outlet, and the output end of the pressure sensor (16) is connected with the analog output end of the PLC control unit (1);
the PLC control unit (1) comprises a PLC controller, a frequency converter and an upper computer, the PLC controller is in communication connection with an engine control module through a CAN bus, the digital output end of the PLC controller is connected with the frequency converter, and the PLC controller is connected with the four-way electrohydraulic servo valve of the trolley valve group (8), the oil pipe hinging disc valve group (12) and the water hose winch reversing valve group (17) through the frequency converter.
2. The hydraulic electric control integrated control device based on the waterlogging drainage vehicle according to claim 1, wherein the upper computer comprises a PC, a key module and a remote control module, the PC is in communication connection with the PLC, and the PC is used for setting an internal program of the PLC;
the PC communication connection button module, the button module is used for transmitting external control instruction, the button module includes MUC chip (18) and button group (19), MUC chip (18) are provided with communication module (20), communication module (20) are one or more combination of USB serial ports, RS232 serial ports, WIFI module, bluetooth module, MUC chip (18) are through communication module (20) and PC communication connection, IO mouth connection button group (19) of communication module (20).
3. The hydraulic electric control integrated control device based on the waterlogging drainage vehicle according to claim 1, wherein the remote control module comprises a touch screen industrial personal computer (21), the touch screen industrial personal computer (21) is in communication connection with a PC through one or more combinations of a WIFI module, a Bluetooth module and a radio frequency module, and the remote control module is used for remotely sending an external control instruction to the PC.
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CN116400584B (en) * | 2023-06-05 | 2023-08-11 | 中国空气动力研究与发展中心高速空气动力研究所 | Application method of high-load electrohydraulic position servo system rapid and accurate control system |
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