CN113803310B - Synchronous control system and control method for double hydraulic cylinders - Google Patents

Synchronous control system and control method for double hydraulic cylinders Download PDF

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Publication number
CN113803310B
CN113803310B CN202111059286.7A CN202111059286A CN113803310B CN 113803310 B CN113803310 B CN 113803310B CN 202111059286 A CN202111059286 A CN 202111059286A CN 113803310 B CN113803310 B CN 113803310B
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China
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valve
port
hydraulic cylinder
oil
servo
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CN113803310A (en
Inventor
汤波
周虎
方敏
叶建
刘琥铖
刘杰
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Wuhan Marine Machinery Plant Co Ltd
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Wuhan Marine Machinery Plant Co Ltd
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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
    • F15B11/22—Synchronisation of the movement of 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/26—Supply reservoir or sump assemblies
    • 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
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • 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
    • F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The utility model provides a two pneumatic cylinder synchronous control system, including coupling mechanism, pneumatic cylinder and with this pneumatic cylinder matched with a valves, no. two pneumatic cylinders and this pneumatic cylinder matched with valves, coupling mechanism's one side bottom and hinge swing joint, its opposite side bottom, middle part bottom respectively with a pneumatic cylinder, the piston rod telescopic end fixed connection of No. two pneumatic cylinders, this system supports coupling mechanism middle part through No. two pneumatic cylinders, avoid coupling mechanism middle part to take place deformation, the control logic of this system is through first the accurate location of a pneumatic cylinder piston rod in the initiative synchronous control state, the rough location of a pneumatic cylinder piston rod in the floating state, then pin a pneumatic cylinder and to the accurate location of a pneumatic cylinder piston rod in the initiative synchronous control state, finally pin a pneumatic cylinder, accomplish the proportional synchronous control of two pneumatic cylinders, synchronous control logic has been simplified, synchronous control precision has been improved.

Description

Synchronous control system and control method for double hydraulic cylinders
Technical Field
The invention belongs to the technical field of hydraulic pressure, and particularly relates to a synchronous control system and a control method for double hydraulic cylinders, which are suitable for realizing synchronous control of double hydraulic cylinders, simplify control logic and improve control precision.
Background
The synchronous movement of a plurality of hydraulic cylinders is usually controlled by mechanical passive synchronization or electric control active synchronization. The working principle of the mechanical passive synchronization is that the cylinder bodies and the piston rods of a plurality of hydraulic cylinders are rigidly connected through a mechanical structure, and the rodless cavity and the rod cavity of each hydraulic cylinder are respectively communicated, so that the working pressure and the output force of each hydraulic cylinder are basically consistent. In order to ensure better synchronous precision, the requirement on mechanical structure rigidity is larger, the mechanical structure rigidity is improved by adding the hydraulic cylinder piston rod guide device, and the structure is complicated and the occupied space is large. The working principle of the electric control active synchronous control is that the displacement of the piston rod of each hydraulic cylinder is always controlled within the required precision range by configuring an independent high-precision control valve, a controller, a displacement sensor and the like for each hydraulic cylinder. Therefore, a synchronous control system with multiple hydraulic cylinders and a control method thereof with simple control logic and high control precision are needed.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a double-hydraulic-cylinder synchronous control system and a control method thereof, which can simplify control logic and improve control precision.
In order to achieve the above object, the present invention provides the following technical solutions:
the double-hydraulic-cylinder synchronous control system comprises a connecting mechanism, a first hydraulic cylinder, a second hydraulic cylinder, a first valve group, a second valve group, a pump group, a controller and an oil tank, wherein one side bottom end of the connecting mechanism is movably connected with a hinge point, and the other side bottom end and the middle bottom end of the connecting mechanism are respectively fixedly connected with piston rod telescopic ends of the first hydraulic cylinder and the second hydraulic cylinder;
the first valve group comprises a first servo valve, a first valve and a second valve, the second valve group comprises a second servo valve, a third valve, a fourth valve, a fifth valve and a sixth valve, the pump group comprises a main pump and a supplementary oil pump, oil inlets of the main pump and the supplementary oil pump are communicated with an oil tank, an oil outlet of the main pump is simultaneously communicated with a P port of the first servo valve and a P port of the second servo valve, an A port, a B port and a T port of the first servo valve are respectively communicated with an A port of the first valve, an A port of the second valve and an oil tank, a B port of the first valve and a B port of the second valve are respectively communicated with a rodless cavity and a rod cavity of a first hydraulic cylinder, an A port of the second servo valve and an A port of the fourth valve are respectively communicated with an A port of the third valve and an oil tank, a B port of the fourth valve are respectively communicated with a rodless cavity and a rod cavity of the second hydraulic cylinder, and a B port of the fourth valve and a rod cavity of the fourth valve are respectively communicated with an oil outlet of the fourth valve and a rod cavity of the fourth valve;
The controller is used for controlling reversing and/or switching of the first servo valve, the second servo valve, the first valve, the second valve, the third valve, the fourth valve, the fifth valve and the sixth valve.
The valve group II further comprises a shuttle valve and a valve No. seven, the rodless cavity and the rod cavity of the hydraulic cylinder No. two are respectively communicated with an oil inlet No. one and an oil inlet No. two of the shuttle valve, an oil outlet of the shuttle valve is communicated with an opening B of the valve No. seven, an opening A of the valve No. seven is communicated with an oil tank, and the controller is further used for controlling on-off of the valve No. seven.
The first valve group further comprises a first electromagnetic directional valve, the second valve group further comprises a second electromagnetic directional valve and a third electromagnetic directional valve, the first valve, the second valve, the third valve, the fourth valve, the fifth valve, the sixth valve and the seventh valve are all hydraulic control one-way valves, the pump group further comprises a control pump, an oil outlet of the control pump is simultaneously communicated with an oil inlet of the first electromagnetic directional valve, an oil inlet of the second electromagnetic directional valve and an oil inlet of the third electromagnetic directional valve, an oil outlet of the first electromagnetic directional valve is simultaneously communicated with an X port of the first valve and an X port of the second valve, an oil outlet of the second electromagnetic directional valve is simultaneously communicated with an X port of the third valve and an X port of the fourth valve, an oil outlet of the third electromagnetic directional valve is simultaneously communicated with an X port of the fifth valve, an X port of the sixth valve, an oil return port of the fourth electromagnetic directional valve, an oil return port of the third electromagnetic directional valve, a Y port of the third valve, a Y port of the fourth valve and a Y port of the fourth valve;
The signal output end of the controller is connected with the signal input ends of the first servo valve, the second servo valve, the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve.
The hydraulic cylinder I and the hydraulic cylinder II are respectively provided with a piston rod displacement sensor and a piston rod displacement sensor, and signal output ends of the piston rod displacement sensor I and the piston rod displacement sensor II are connected with a signal input end of the controller.
The rodless cavity and the rod-containing cavity of the first hydraulic cylinder, the rodless cavity and the rod-containing cavity of the second hydraulic cylinder are respectively communicated with the oil tank through a first overflow valve, a second overflow valve, a third overflow valve and a fourth overflow valve, the oil outlet of the oil supplementing pump is also communicated with the oil tank through a fifth overflow valve, and the oil outlet of the control pump is also communicated with the oil tank through a sixth overflow valve.
And an oil outlet of the shuttle valve is communicated with a port B of the seventh valve through a speed regulating valve.
The oil outlet of the first overflow valve, the oil outlet of the second overflow valve, the oil outlet of the third overflow valve, the oil outlet of the fourth overflow valve, the T port of the first servo valve, the T port of the second servo valve and the A port of the seventh valve are all communicated with the oil tank through coolers.
The control method of the double-hydraulic-cylinder synchronous control system comprises synchronous lifting, and the synchronous lifting sequentially comprises the following steps:
the hydraulic oil output by a main pump sequentially passes through a port P of the first servo valve, a port A of the first valve and a port B of the first valve and then enters a rodless cavity of the first hydraulic cylinder, oil in the rod cavity of the first hydraulic cylinder sequentially passes through a port B of the second valve, a port A of the second valve, a port B of the first servo valve and a port T of the first servo valve and then flows back to an oil tank, so that a piston rod of the first hydraulic cylinder extends out, a connecting mechanism is driven to rotate upwards around a hinge point, and then a piston rod of the second hydraulic cylinder is driven to extend, and hydraulic oil output by an oil supplementing pump sequentially passes through a port A of the third valve and a port B of the third valve and then enters the rodless cavity of the second hydraulic cylinder in the extending process of the piston rod of the second hydraulic cylinder;
s2, when a piston rod of the first hydraulic cylinder extends out of a target position, the controller controls the middle position of the first servo valve, the right position of the second servo valve, the first valve and the second valve to be closed, the third valve and the fourth valve to be opened, the fifth valve and the sixth valve to be closed, and then hydraulic oil output by a main pump sequentially passes through a P port of the second servo valve, an A port of the third valve and a B port of the third valve and then enters a rodless cavity of the second hydraulic cylinder, and oil in the rod cavity of the second hydraulic cylinder sequentially passes through a B port of the fourth valve, an A port of the fourth valve, a B port of the second servo valve and a T port of the second servo valve and then flows back to an oil tank, so that the piston rod of the second hydraulic cylinder extends further;
And S3, when the piston rod of the second hydraulic cylinder extends out to the target position, the controller controls the middle position, the third valve and the fourth valve at the second servo valve to be closed, and synchronous lifting control is completed.
The synchronous control method further comprises synchronous landing, and the synchronous landing sequentially comprises the following steps:
a1, firstly, the controller controls the left position of the first servo valve, the middle position of the second servo valve, the first valve and the second valve to be opened, the third valve and the fourth valve to be closed, the fifth valve and the sixth valve to be opened, hydraulic oil output by the main pump sequentially passes through the P port of the first servo valve, the B port of the first servo valve, the A port of the second valve and the B port of the second valve and then enters a rod cavity of the first hydraulic cylinder, oil in the rodless cavity of the first hydraulic cylinder sequentially passes through the B port of the first valve, the A port of the first servo valve and the T port of the first servo valve and then flows back to the oil tank, so that a piston rod of the first hydraulic cylinder is retracted, a connecting mechanism is driven to rotate downwards around a hinge point, further a piston rod of the second hydraulic cylinder is driven to retract, and in the retraction process of the piston rod of the second hydraulic cylinder, the redundant oil in the rodless cavity of the second hydraulic cylinder sequentially passes through the A port of the third valve and the B port of the third valve and then flows back to the oil tank;
A2, when the piston rod of the first hydraulic cylinder is retracted to a target position, the controller controls the middle position of the first servo valve, the left position of the second servo valve, the first valve and the second valve to be closed, the third valve and the fourth valve to be opened, the fifth valve and the sixth valve to be closed, and then hydraulic oil output by the main pump sequentially passes through the P port of the second servo valve, the B port of the second servo valve, the A port of the fourth valve and the B port of the fourth valve and then enters a rod cavity of the second hydraulic cylinder, and oil in the rod cavity of the second hydraulic cylinder sequentially passes through the B port of the third valve, the A port of the second servo valve and the T port of the second servo valve and then flows back to the oil tank, so that the piston rod of the second hydraulic cylinder is further retracted;
a3, when the piston rod of the second hydraulic cylinder is retracted to the target position, the controller controls the middle position, the third valve and the fourth valve at the second servo valve to be closed, and synchronous landing control is completed.
The second valve group further comprises a shuttle valve and a seventh valve, the rodless cavity and the rod cavity of the second hydraulic cylinder are respectively communicated with a first oil inlet and a second oil inlet of the shuttle valve, an oil outlet of the shuttle valve is communicated with a port B of the seventh valve, a port A of the seventh valve is communicated with an oil tank, and the controller is further used for controlling on-off of the seventh valve;
In the step S1, the controller also controls a valve No. seven to be opened, the shuttle valve is in right position for working, the oil supplementing quantity of the oil supplementing pump is larger than the required oil quantity of a rodless cavity of a hydraulic cylinder No. two, and the oil in the rod cavity of the hydraulic cylinder No. two flows back to the oil tank after sequentially passing through an oil inlet No. two of the shuttle valve and an oil outlet of the shuttle valve;
in the step A2, the controller also controls the valve No. seven to be opened, the shuttle valve works in the left position, and the oil in the rodless cavity of the hydraulic cylinder No. two also flows back to the oil tank after sequentially passing through the oil inlet No. one of the shuttle valve and the oil outlet of the shuttle valve.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a double-hydraulic-cylinder synchronous control system, which comprises a connecting mechanism, a first hydraulic cylinder, a second hydraulic cylinder, a first valve bank, a second valve bank, a pump group, a controller and an oil tank, wherein the bottom of one side of the connecting mechanism is movably connected with a hinge point, the bottom end of the other side and the bottom end of the middle part of the connecting mechanism are respectively fixedly connected with the telescopic ends of piston rods of the first hydraulic cylinder and the second hydraulic cylinder, the pump group comprises a main pump and an oil supplementing pump, the first valve bank comprises a first servo valve, a first valve and a second valve, the second valve bank comprises a second servo valve, a third valve, a fourth valve, a fifth valve and a sixth valve, the controller is used for controlling the reversing and/or on-off of the first servo valve, the second servo valve, the first valve, the second valve, the third valve and the sixth valve, the control system supports the middle part of the connecting mechanism through the second hydraulic cylinder, so that the middle part of the connecting mechanism is prevented from deforming, when synchronous lifting is carried out, firstly, the controller controls the first valve and the second valve to be opened so that the first hydraulic cylinder is in an active synchronous control state, controls the third valve and the fourth valve to be closed, controls the fifth valve and the sixth valve to be opened, enables the rod cavity of the second hydraulic cylinder to be communicated with the rodless cavity of the second hydraulic cylinder, enables the second hydraulic cylinder to be in a floating state, simultaneously, controls the right position of the first servo valve and the middle position of the second servo valve, hydraulic oil output by the main pump sequentially passes through the P port of the first servo valve, the A port of the first valve and the B port of the first valve and then enters the rodless cavity of the first hydraulic cylinder, oil in the rod cavity of the first hydraulic cylinder sequentially passes through the B port of the second valve, the A port of the first servo valve and the T port of the first servo valve and then flows back to the oil tank, so that the piston rod of the first hydraulic cylinder stretches out, the platform is driven to rotate upwards around the hinge point, a piston rod of a second hydraulic cylinder in a floating state passively and synchronously stretches out, then when the piston rod of the first hydraulic cylinder stretches out to a target position, the first valve and the second valve are controlled by the controller to be closed to enable the first hydraulic cylinder to be in a locking state, the third valve and the fourth valve are controlled to be opened, and the fifth valve and the sixth valve are controlled to be closed to enable the second hydraulic cylinder to be in an active synchronous control state, meanwhile, the controller controls the middle position at the first servo valve and the right position at the second servo valve, hydraulic oil output by the main pump sequentially passes through a P port of the second servo valve, an A port of the third valve and a B port of the third valve and then enters a rodless cavity of the second hydraulic cylinder, oil in the second hydraulic cylinder has a rod cavity sequentially passes through a B port of the fourth valve, an A port of the second servo valve and a T port of the second servo valve and then flows back to an oil tank, and finally, when the piston rod of the second hydraulic cylinder extends to a target position, namely when the piston rod displacement of the second hydraulic cylinder is matched with the piston rod displacement of the first hydraulic cylinder, the controller controls the middle position of the second servo valve and controls the third valve and the fourth valve to be closed, so that the second hydraulic cylinder is in a locking state, and synchronous lifting control of the first hydraulic cylinder and the second hydraulic cylinder is completed. Therefore, the invention not only can avoid the deformation of the middle part of the connecting mechanism, but also can simplify the synchronous control logic and improve the synchronous control precision.
2. The invention relates to a valve group II in a synchronous control system of double hydraulic cylinders, which also comprises a shuttle valve and a valve No. seven, wherein a rodless cavity and a rod cavity of the hydraulic cylinder No. two are respectively communicated with a first oil inlet and a second oil inlet of the shuttle valve, an oil outlet of the shuttle valve is communicated with a port B of the valve No. seven, a port A of the valve No. seven is communicated with an oil tank, and a controller is also used for controlling the on-off of the valve No. seven. Therefore, the invention not only can prevent the second hydraulic cylinder from sucking empty, but also can prolong the service life of the second hydraulic cylinder.
3. The invention discloses a valve group in a double-hydraulic-cylinder synchronous control system, which also comprises a first electromagnetic directional valve, a second electromagnetic directional valve, a third electromagnetic directional valve, a first valve, a second valve, a third valve, a fourth valve, a fifth valve, a sixth valve and a seventh valve which are all hydraulically-controlled one-way valves, and a control pump, wherein the control pump is used for providing pilot control oil for the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve. Therefore, the control process of the invention is simple and reliable.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the figure, a connection mechanism 1, a first hydraulic cylinder 2, a first piston rod displacement sensor 21, a second hydraulic cylinder 3, a second piston rod displacement sensor 31, a first valve group 4, a first servo valve 41, a first valve 42, a second valve 43, a first electromagnetic directional valve 44, a second valve group 5, a second servo valve 51, a third valve 52, a fourth valve 53, a fifth valve 54, a sixth valve 55, a shuttle valve 56, a first oil inlet 561, a second oil inlet 562, an oil outlet 563, a seventh valve 57, a second electromagnetic directional valve 58, a third electromagnetic directional valve 59, a pump group 6, a main pump 61, a make-up pump 62, a control pump 63, a controller 7, an oil tank 8, a first overflow valve 81, a second overflow valve 82, a third overflow valve 83, a fourth overflow valve 84, a fifth overflow valve 85, a sixth overflow valve 86, a speed adjusting valve 87, and a cooler 88.
Detailed Description
The invention is further described below in connection with the following detailed description.
Referring to fig. 1, a dual-hydraulic-cylinder synchronous control system comprises a connecting mechanism 1, a first hydraulic cylinder 2, a second hydraulic cylinder 3, a first valve bank 4, a second valve bank 5, a pump set 6, a controller 7 and an oil tank 8, wherein one side bottom end of the connecting mechanism 1 is movably connected with a hinge point, and the other side bottom end and the middle bottom end of the connecting mechanism 1 are respectively fixedly connected with piston rod telescopic ends of the first hydraulic cylinder 2 and the second hydraulic cylinder 3;
the first valve group 4 comprises a first servo valve 41, a first valve 42 and a second valve 43, the second valve group 5 comprises a second servo valve 51, a third valve 52, a fourth valve 53, a fifth valve 54 and a sixth valve 55, the pump group 6 comprises a main pump 61 and a supplementary pump 62, oil inlets of the main pump 61 and the supplementary pump 62 are respectively communicated with the oil tank 8, an oil outlet of the main pump 61 is simultaneously communicated with a port P of the first servo valve 41 and a port P of the second servo valve 51, a port A, a port B and a port T of the first servo valve 41 are respectively communicated with the port A of the first valve 42, the port A of the second valve 43 and the oil tank 8, a port B of the first valve 42 and a port B of the second valve 43 are respectively communicated with a rodless cavity and a rod cavity of the first hydraulic cylinder 2, a port A, a port B and a port T of the second servo valve 51 are respectively communicated with a port A of the third valve 52, a port A of the fourth valve 53 and an oil tank 8, a port B of the third servo valve 52 and a port B of the fourth valve 52 are respectively communicated with a rod cavity and a rod cavity of the second hydraulic cylinder 3 and a rod cavity of the second valve 43 are respectively communicated with a rod cavity B of the second valve 54 and a rod cavity of the fifth valve 3 is respectively communicated with the rod cavity of the fourth valve 55;
The controller 7 is used for controlling the reversing and/or switching of the first servo valve 41, the second servo valve 51, the first valve 42, the second valve 43, the third valve 52, the fourth valve 53, the fifth valve 54 and the sixth valve 55.
The valve group No. two 5 further comprises a shuttle valve 56 and a valve No. seven 57, the rodless cavity and the rod cavity of the hydraulic cylinder No. two 3 are respectively communicated with an oil inlet No. one 561 and an oil inlet No. two 562 of the shuttle valve 56, an oil outlet 563 of the shuttle valve 56 is communicated with an opening B of the valve No. seven 57, an opening A of the valve No. seven 57 is communicated with an oil tank 8, and the controller 7 is further used for controlling the opening and the closing of the valve No. seven 57.
The first valve group 4 further comprises a first electromagnetic directional valve 44, the second valve group 5 further comprises a second electromagnetic directional valve 58 and a third electromagnetic directional valve 59, the first valve 42, the second valve 43, the third valve 52, the fourth valve 53, the fifth valve 54 and the sixth valve 55, and the seventh valve 57 are all hydraulically-controlled one-way valves, the pump group 6 further comprises a control pump 63, an oil outlet of the control pump 63 is simultaneously communicated with an oil inlet of the first electromagnetic directional valve 44, an oil inlet of the second electromagnetic directional valve 58 and an oil inlet of the third electromagnetic directional valve 59, an oil outlet of the first electromagnetic directional valve 44 is simultaneously communicated with an X port of the first valve 42 and an X port of the second valve 43, an oil outlet of the second electromagnetic directional valve 58 is simultaneously communicated with an X port of the third valve 52 and an X port of the fourth valve 53, an oil outlet of the third electromagnetic directional valve 59 is simultaneously communicated with an X port of the fifth valve 54, an X port of the sixth valve 55 and an X port of the seventh valve 57, and an oil outlet of the first electromagnetic directional valve 44 is simultaneously communicated with an X port of the fourth valve 52, an oil outlet of the fourth electromagnetic directional valve 58 is simultaneously communicated with an X port of the fourth valve 43, an X port of the fourth valve 53, an oil outlet of the fourth electromagnetic directional valve 44 is simultaneously communicated with an X port of the fourth valve 55, an electromagnetic directional valve 59 is simultaneously communicated with an X port of the fourth valve 55;
The signal output end of the controller 7 is connected with the signal input ends of a first servo valve 41, a second servo valve 51, a first electromagnetic directional valve 44, a second electromagnetic directional valve 58 and a third electromagnetic directional valve 59.
The first hydraulic cylinder 2 and the second hydraulic cylinder 3 are respectively provided with a first piston rod displacement sensor 21 and a second piston rod displacement sensor 31, and signal output ends of the first piston rod displacement sensor 21 and the second piston rod displacement sensor 31 are connected with a signal input end of the controller 7.
The rodless cavity and the rod-containing cavity of the first hydraulic cylinder 2, the rodless cavity and the rod-containing cavity of the second hydraulic cylinder 3 are respectively communicated with the oil tank 8 through a first overflow valve 81, a second overflow valve 82, a third overflow valve 83 and a fourth overflow valve 84, the oil outlet of the oil supplementing pump 62 is also communicated with the oil tank 8 through a fifth overflow valve 85, and the oil outlet of the control pump 63 is also communicated with the oil tank 8 through a sixth overflow valve 86.
The outlet 563 of the shuttle valve 56 communicates with port B of valve number seven 57 via a speed valve 87.
The oil outlet of the first overflow valve 81, the oil outlet of the second overflow valve 82, the oil outlet of the third overflow valve 83, the oil outlet of the fourth overflow valve 84, the T port of the first servo valve 41, the T port of the second servo valve 51 and the A port of the seventh valve 57 are all communicated with the oil tank 8 through a cooler 88.
The control method of the double-hydraulic-cylinder synchronous control system comprises synchronous lifting, and the synchronous lifting sequentially comprises the following steps:
s1, firstly, the controller 7 controls the right position of the first servo valve 41, the middle position of the second servo valve 51, the first valve 42 and the second valve 43 to be opened, the third valve 52 and the fourth valve 53 to be closed, the fifth valve 54 and the sixth valve 55 to be opened, then hydraulic oil output by the main pump 61 sequentially passes through the P port of the first servo valve 41, the A port of the first valve 42 and the B port of the first valve 42 and then enters the rodless cavity of the first hydraulic cylinder 2, oil in the rod cavity of the first hydraulic cylinder 2 sequentially passes through the B port of the second valve 43, the A port of the second valve 43, the B port of the first servo valve 41 and the T port of the first servo valve 41 and then flows back to the oil tank 8, so that the piston rod of the first hydraulic cylinder 2 stretches out, the connecting mechanism 1 is driven to rotate upwards around a hinge point, and further the piston rod of the second hydraulic oil 3 is driven to stretch out, and the hydraulic oil output by the oil supplementing pump 62 sequentially passes through the A port of the third valve 54 and the B port of the third valve 54 and then enters the rodless cavity of the second hydraulic cylinder 3 in the stretching process of the second hydraulic cylinder 3;
s2, when the piston rod of the first hydraulic cylinder 2 extends to a target position, the controller 7 controls the middle position of the first servo valve 41, the right position of the second servo valve 51, the first valve 42 and the second valve 43 to be closed, the third valve 52 and the fourth valve 53 to be opened, the fifth valve 54 and the sixth valve 55 to be closed, and then hydraulic oil output by the main pump 61 sequentially passes through the P port of the second servo valve 51, the A port of the third valve 52 and the B port of the third valve 52 and then enters the rodless cavity of the second hydraulic cylinder 3, and oil in the rod cavity of the second hydraulic cylinder 3 sequentially passes through the B port of the fourth valve 53, the A port of the fourth valve 53, the B port of the second servo valve 51 and the T port of the second servo valve 51 and then flows back to the oil tank 8, so that the piston rod of the second hydraulic cylinder 3 extends further;
And S3, when the piston rod of the second hydraulic cylinder 3 extends to the target position, the controller 7 controls the middle position, the third valve 52 and the fourth valve 53 at the second servo valve 51 to be closed, and synchronous lifting control is completed.
The synchronous control method further comprises synchronous landing, and the synchronous landing sequentially comprises the following steps:
a1, firstly, the controller 7 controls the left position of the first servo valve 41, the middle position of the second servo valve 51, the first valve 42 and the second valve 43 to be opened, the third valve 52 and the fourth valve 53 to be closed, the fifth valve 54 and the sixth valve 55 to be opened, then hydraulic oil output by the main pump 61 sequentially passes through the P port of the first servo valve 41, the B port of the first servo valve 41, the A port of the second valve 43 and the B port of the second valve 43 and then enters a rod cavity of the first hydraulic cylinder 2, oil in a rodless cavity of the first hydraulic cylinder 2 sequentially passes through the B port of the first valve 42, the A port of the first servo valve 41 and the T port of the first servo valve 41 and then flows back to the oil tank 8, so that a piston rod of the first hydraulic cylinder 2 is retracted, a connecting mechanism 1 is driven to rotate downwards around a hinge point, and further the piston rod of the second hydraulic cylinder 3 is driven to retract, and in the retracting process of the second hydraulic cylinder 3, oil in the rodless cavity of the second hydraulic cylinder 3 sequentially passes through the A port of the third valve 52 and the B port of the third valve 52 and the third port of the third valve 52 and then flows back to the oil tank 8;
A2, when the piston rod of the first hydraulic cylinder 2 is retracted to the target position, the controller 7 controls the middle position of the first servo valve 41, the left position of the second servo valve 51, the first valve 42 and the second valve 43 to be closed, the third valve 52 and the fourth valve 53 to be opened, the fifth valve 54 and the sixth valve 55 to be closed, and then hydraulic oil output by the main pump 61 sequentially passes through the P port of the second servo valve 51, the B port of the second servo valve 51, the A port of the fourth valve 53 and the B port of the fourth valve 53 and then enters the rod cavity of the second hydraulic cylinder 3, and oil in the rodless cavity of the second hydraulic cylinder 3 sequentially passes through the B port of the third valve 52, the A port of the second servo valve 51 and the T port of the second servo valve 51 and then flows back to the oil tank 8, so that the piston rod of the second hydraulic cylinder 3 is further retracted;
a3, when the piston rod of the second hydraulic cylinder 3 is retracted to the target position, the controller 7 controls the middle position of the second servo valve 51, the third valve 52 and the fourth valve 53 to be closed, and synchronous landing control is completed.
The second valve group 5 further comprises a shuttle valve 56 and a seventh valve 57, the rodless cavity and the rod cavity of the second hydraulic cylinder 3 are respectively communicated with a first oil inlet 561 and a second oil inlet 562 of the shuttle valve 56, an oil outlet 563 of the shuttle valve 56 is communicated with a port B of the seventh valve 57, a port A of the seventh valve 57 is communicated with the oil tank 8, and the controller 7 is further used for controlling the on-off of the seventh valve 57;
In step S1, the controller 7 further controls the valve No. 57 to open, the shuttle valve 56 is in the right position for operation, the oil supplementing amount of the oil supplementing pump 62 is greater than the required oil amount of the no-rod cavity of the no-rod hydraulic cylinder 3, and the oil in the no-rod cavity of the no-rod hydraulic cylinder 3 flows back to the oil tank 8 after sequentially passing through the no-two oil inlet 562 of the shuttle valve 56 and the oil outlet 563 of the shuttle valve 56;
in step A1, the controller 7 further controls the valve No. 57 to open, the shuttle valve 56 is in the left position for operation, and the oil in the rodless cavity of the hydraulic cylinder No. 2 3 also flows back to the oil tank 8 after passing through the oil inlet No. 561 of the shuttle valve 56 and the oil outlet 563 of the shuttle valve 56 in sequence.
The principle of the invention is explained as follows:
when the driving connecting mechanism 1 rotates around the hinge point, because the distances between the first hydraulic cylinder 2 and the second hydraulic cylinder 3 and the hinge point are different, the piston rods of the first hydraulic cylinder 2 and the second hydraulic cylinder 3 move synchronously in proportion, so that the synchronous control difficulty is high, and the accurate synchronous control is difficult to realize. According to the control method of the double-hydraulic-cylinder synchronous control system, firstly, the piston rod of the first hydraulic cylinder 2 in an active synchronous control state is precisely positioned, the piston rod of the second hydraulic cylinder 3 in a floating state is roughly positioned, then the first hydraulic cylinder 2 is locked, the piston rod of the second hydraulic cylinder 3 in the active synchronous control state is precisely positioned, so that the micro displacement (within 0.5 mm) of the piston rod of the second hydraulic cylinder 3 is adjusted, finally the second hydraulic cylinder 3 is locked, the proportional synchronous control of the double hydraulic cylinders is completed, and the synchronous control difficulty is reduced. The position information of the piston rods of the first hydraulic cylinder 2 and the second hydraulic cylinder 3 is fed back to the controller 7 through the first piston rod displacement sensor 21 and the second piston rod displacement sensor 31 respectively, and the controller 7 controls the openings and the flow of the first servo valve 41 and the second servo valve 51 according to the feedback information.
The first servo valve 41 and the second servo valve 51 are respectively used for accurately controlling the positions of piston rods of the first hydraulic cylinder 2 and the second hydraulic cylinder 3, the first servo valve 41 and the second servo valve 51 are three-position four-way valves, and when a control system is powered off, a P port is blocked, and an A port and a B port are communicated with a T port so as to provide power-failure protection.
The first electromagnetic directional valve 44, the second electromagnetic directional valve 58 and the third electromagnetic directional valve 59 are two-position three-way switch valves, and only have the power-off and power-on states, the first electromagnetic directional valve 44 simultaneously controls the first valve 42 and the second valve 43 to be opened when power is obtained, so that the first hydraulic cylinder 2 is unlocked, the first valve 42 and the second valve 43 are simultaneously controlled to be closed when power is obtained, the first hydraulic cylinder 2 is locked, the second electromagnetic directional valve 58 simultaneously controls the third valve 52 and the fourth valve 53 to be opened when power is obtained, so that the second hydraulic cylinder 3 is unlocked, the third valve 52 and the fourth valve 53 are simultaneously controlled to be closed when power is obtained, the second electromagnetic directional valve 59 simultaneously controls the fifth valve 54, the sixth valve 55 and the seventh valve 57 to be opened when power is obtained, so that a rod cavity of the second hydraulic cylinder 3 is communicated with a rodless cavity, and the fifth valve 54, the sixth valve 55 and the seventh valve 57 are simultaneously controlled to be closed when power is obtained when power is lost.
The shuttle valve 56 is used for replacing hot oil in the rod cavity and the rodless cavity of the second hydraulic cylinder 3 back to the oil tank 8 when the second hydraulic cylinder 3 is in a floating state, and the shuttle valve 56 is a three-position three-way switch valve.
The speed regulating valve 87 is used for regulating the oil flow of the oil tank 8 replaced in the rod cavity and the rodless cavity of the second hydraulic cylinder 3.
The cooler 88 is used for cooling the oil flowing back to the oil tank 8.
Example 1:
referring to fig. 1, a dual hydraulic cylinder synchronous control system comprises a connecting mechanism 1, a first hydraulic cylinder 2, a second hydraulic cylinder 3, a first valve bank 4, a second valve bank 5, a pump set 6, a controller 7 and an oil tank 8, wherein the pump set 6 comprises a main pump 61, a supplemental pump 62 and a control pump 63, the first valve bank 4 comprises a first servo valve 41, a first valve 42, a second valve 43 and a first electromagnetic directional valve 44, the second valve bank 5 comprises a second servo valve 51, a third valve 52, a fourth valve 53, a fifth valve 54, a sixth valve 55, a second electromagnetic directional valve 58 and a third electromagnetic directional valve 59, the first valve 42, the second valve 43, the third valve 52, the fourth valve 53, the fifth valve 54 and the sixth valve 55 are all hydraulic control one-way valves, one side bottom ends of the connecting mechanism 1 are movably connected with hinge points, the other side bottom ends and the middle bottom ends of the connecting mechanism 1 are fixedly connected with the piston rod ends of the first hydraulic cylinder 2 and the second hydraulic cylinder 3 respectively, the hydraulic cylinder 2 and the hydraulic cylinder 3 are respectively provided with a piston rod displacement sensor 21 and a piston rod displacement sensor 31, oil inlets of the main pump 61 and the oil supplementing pump 62 are respectively communicated with the oil tank 8, an oil outlet of the main pump 61 is simultaneously communicated with a port P of the servo valve 41 and a port P of the servo valve 51, a port A, a port B and a port T of the servo valve 41 are respectively communicated with a port A of the valve 42, a port A of the valve 43 and an inlet of the cooler 88, a port B of the valve 42 and a port B of the valve 43 are respectively communicated with a rodless cavity and a rod cavity of the hydraulic cylinder 2, the rodless cavity of the hydraulic cylinder 2 is also respectively communicated with an inlet of the cooler 88 through an overflow valve 81 and a overflow valve 82, and the mouth A of the servo valve 51, the port B and the port T are respectively communicated with the port A of the valve 52, the port A of the valve 53 and the inlet of the cooler 88, the port B of the valve 52 and the port B of the valve 53 are respectively communicated with the rodless cavity and the rod cavity of the hydraulic cylinder 3, the oil outlet of the oil supplementing pump 62 is simultaneously communicated with the port A of the valve 54, the port A of the valve 55 and the inlet of the valve 85, the port B of the valve 54, the port B of the valve 55 and the outlet of the valve 85 are respectively communicated with the rodless cavity of the hydraulic cylinder 3, the rod cavity of the hydraulic cylinder 3 and the oil tank 8, the rodless cavity of the hydraulic cylinder 3 is also respectively communicated with the inlet of the cooler 88 through the overflow valve 83 and the overflow valve 84, the outlet of the cooler 88 is communicated with the oil tank 8, the oil outlet of the control pump 63 is simultaneously communicated with the oil inlet of the first electromagnetic directional valve 44, the oil inlet of the second electromagnetic directional valve 58, the oil inlet of the third electromagnetic directional valve 59 and the inlet of the sixth overflow valve 86, the oil outlet of the first electromagnetic directional valve 44 is simultaneously communicated with the X port of the first valve 42 and the X port of the second valve 43, the oil outlet of the second electromagnetic directional valve 58 is simultaneously communicated with the X port of the third valve 52 and the X port of the fourth valve 53, the oil outlet of the third electromagnetic directional valve 59 is simultaneously communicated with the X port of the fifth valve 54 and the X port of the sixth valve 55, the outlet of the sixth overflow valve 86 is communicated with the oil tank 8, the oil return port of the first electromagnetic directional valve 44, the oil return port of the second electromagnetic directional valve 58, the oil return port of the third electromagnetic directional valve 59, the Y port of the first valve 42, the Y port of the second valve 43, the Y port of the third valve 52, the Y port of the fourth valve 53, the Y port of the fifth valve 54 and the Y port of the sixth valve 55 are all communicated with the oil tank 8, the signal input end of the controller 7 is connected with the signal output ends of the first piston rod displacement sensor 21 and the second piston rod displacement sensor 31, and the signal output end of the controller 7 is connected with the signal input ends of the first servo valve 41, the second servo valve 51, the first electromagnetic directional valve 44, the second electromagnetic directional valve 58 and the third electromagnetic directional valve 59;
The control method of the double-hydraulic-cylinder synchronous control system comprises synchronous lifting and synchronous landing, wherein the synchronous lifting specifically comprises the following steps of:
s1, firstly, the controller 7 controls the right position of the first servo valve 41, the middle position of the second servo valve 51, the first electromagnetic directional valve 44 is powered on, the second electromagnetic directional valve 58 is powered off, the third electromagnetic directional valve 59 is powered on, at the moment, the first valve 42 and the second valve 43 are both opened to enable the first hydraulic cylinder 2 to be in an active synchronous control state, the third valve 52 and the fourth valve 53 are both closed, the fifth valve 54 and the sixth valve 55 are both opened to enable a rod cavity of the second hydraulic cylinder 3 to be communicated with a rodless cavity of the second hydraulic cylinder 3, and the second hydraulic cylinder 3 is in a floating state;
subsequently, hydraulic oil output by the main pump 61 sequentially passes through a port P of the first servo valve 41, a port A of the first valve 42 and a port B of the first valve 42 and then enters a rodless cavity of the first hydraulic cylinder 2, oil in the rod cavity of the first hydraulic cylinder 2 sequentially passes through a port B of the second valve 43, a port A of the second valve 43, a port B of the first servo valve 41 and a port T of the first servo valve 41 and then flows back to the oil tank 8, so that a piston rod of the first hydraulic cylinder 2 extends out, the connecting mechanism 1 is driven to rotate upwards around a hinge point, and a piston rod of the second hydraulic cylinder 3 is driven to extend out;
In the process of extending the piston rod of the second hydraulic cylinder 3, because the area of the rodless cavity of the second hydraulic cylinder 3 is larger than the area of the rod cavity of the second hydraulic cylinder, hydraulic oil output by the oil supplementing pump 62 sequentially passes through the port A of the third valve 54 and the port B of the third valve 54 and then enters the rodless cavity of the second hydraulic cylinder 3 to supplement oil for the rodless cavity of the second hydraulic cylinder 3;
s2, firstly, when the controller 7 detects that the piston rod of the first hydraulic cylinder 2 extends to a target position through the first piston rod displacement sensor 21, the controller 7 controls the middle position of the first servo valve 41, the right position of the second servo valve 51, the first electromagnetic directional valve 44 to be powered off, the second electromagnetic directional valve 58 to be powered on and the third electromagnetic directional valve 59 to be powered off, at the moment, the first valve 42 and the second valve 43 are closed to enable the first hydraulic cylinder 2 to be in a locking state, the third valve 52 and the fourth valve 53 are opened, and the fifth valve 54 and the sixth valve 55 are closed to enable the second hydraulic cylinder 3 to be in an active synchronous control state;
subsequently, the hydraulic oil output by the main pump 61 sequentially passes through the port P of the second servo valve 51, the port a of the third valve 52 and the port B of the third valve 52 and then enters the rodless cavity of the second hydraulic cylinder 3, and the oil in the rod cavity of the second hydraulic cylinder 3 sequentially passes through the port B of the fourth valve 53, the port a of the fourth valve 53, the port B of the second servo valve 51 and the port T of the second servo valve 51 and then flows back to the oil tank 8, so that the piston rod of the second hydraulic cylinder 3 further extends;
And S3, when the controller 7 detects that the piston rod of the second hydraulic cylinder 3 extends to the target position through the second piston rod displacement sensor 31, the controller 7 controls the middle position of the second servo valve 51 and the second electromagnetic directional valve 58 to lose power, and at the moment, the third valve 52 and the fourth valve 53 are closed, so that the second hydraulic cylinder 3 is in a locking state, and synchronous lifting control is completed.
The synchronous landing specifically comprises the following steps:
a1, firstly, the controller 7 controls the left position of the first servo valve 41, the middle position of the second servo valve 51, the first electromagnetic directional valve 44 is powered on, the second electromagnetic directional valve 58 is powered off, the third electromagnetic directional valve 59 is powered on, at this time, the first valve 42 and the second valve 43 are both opened to enable the first hydraulic cylinder 2 to be in an active synchronous control state, the third valve 52 and the fourth valve 53 are both closed, the fifth valve 54 and the sixth valve 55 are both opened to enable a rod cavity of the second hydraulic cylinder 3 to be communicated with a rodless cavity of the second hydraulic cylinder 3, and the second hydraulic cylinder 3 is in a floating state;
subsequently, hydraulic oil output by the main pump 61 sequentially passes through a port P of the first servo valve 41, a port B of the first servo valve 41, a port A of the second valve 43 and a port B of the second valve 43 and then enters a rod cavity of the first hydraulic cylinder 2, oil in the rod-free cavity of the first hydraulic cylinder 2 sequentially passes through a port B of the first valve 42, a port A of the first servo valve 41 and a port T of the first servo valve 41 and then flows back to the oil tank 8, so that a piston rod of the first hydraulic cylinder 2 is retracted, the connecting mechanism 1 is driven to rotate downwards around a hinge point, and a piston rod of the second hydraulic cylinder 3 is driven to retract;
In the retraction process of the piston rod of the second hydraulic cylinder 3, as the area of the rodless cavity of the second hydraulic cylinder 3 is larger than that of the rod-containing cavity of the second hydraulic cylinder 3, the redundant oil in the rodless cavity of the second hydraulic cylinder 3 flows back to the oil tank 8 after sequentially passing through the port A of the third valve 52 and the port B of the third valve 52;
a2, firstly, when the controller 7 detects that the piston rod of the first hydraulic cylinder 2 is retracted to a target position through the first piston rod displacement sensor 21, the controller 7 controls the middle position of the first servo valve 41, the left position of the second servo valve 51, the power failure of the first electromagnetic directional valve 44, the power failure of the second electromagnetic directional valve 58 and the power failure of the third electromagnetic directional valve 59, at the moment, the first valve 42 and the second valve 43 are closed to enable the first hydraulic cylinder 2 to be in a locking state, the third valve 52 and the fourth valve 53 are opened, and the fifth valve 54 and the sixth valve 55 are closed to enable the second hydraulic cylinder 3 to be in an active synchronous control state;
subsequently, hydraulic oil output by the main pump 61 sequentially passes through a port P of the second servo valve 51, a port B of the second servo valve 51, a port A of the fourth valve 53 and a port B of the fourth valve 53 and then enters a rod cavity of the second hydraulic cylinder 3, and oil in the rod-free cavity of the second hydraulic cylinder 3 sequentially passes through a port B of the third valve 52, a port A of the second servo valve 51 and a port T of the second servo valve 51 and then flows back to the oil tank 8, so that a piston rod of the second hydraulic cylinder 3 is further retracted;
A3, when the controller 7 detects that the piston rod of the hydraulic cylinder No. 3 is retracted to the target position through the piston rod displacement sensor No. 31, the controller 7 controls the middle position of the servo valve No. 51 and the electromagnetic directional valve No. 58 to lose power, and at the moment, the valve No. 52 and the valve No. 53 are closed, so that the hydraulic cylinder No. 3 is in a locking state, and synchronous landing control is completed.
Example 2:
the valve group II 5 in the control system further comprises a shuttle valve 56 and a valve No. 57, the rodless cavity and the rod cavity of the hydraulic cylinder No. 3 are respectively communicated with an oil inlet 561 and an oil inlet 562 of the shuttle valve 56, an oil outlet 563 of the shuttle valve 56 is communicated with an opening B of the valve No. 57 through a speed regulating valve 87, an opening A of the valve No. 57 is communicated with an inlet of a cooler 88, the valve No. 57 is a hydraulic control one-way valve, an opening X of the valve No. 57 is communicated with an oil outlet of the electromagnetic reversing valve No. 59, and an opening Y of the valve No. 57 is communicated with an oil tank 8;
in the step S1 of synchronous lifting, the controller 7 controls the valve No. 57 to be opened when the electromagnetic directional valve No. 59 is powered on, and since the rod cavity pressure of the hydraulic cylinder No. 3 is greater than the rod cavity pressure thereof, the shuttle valve 56 is in the right position for operation, the oil supplementing amount of the oil supplementing pump 62 is greater than the required oil amount of the rod cavity of the hydraulic cylinder No. 3, and the oil in the rod cavity of the hydraulic cylinder No. 3 flows back to the oil tank 8 after sequentially passing through the oil inlet No. 562 of the shuttle valve 56 and the oil outlet 563 of the shuttle valve 56;
In the step A1 of the synchronous drop, the controller 7 controls the valve No. 57 to be opened when the electromagnetic directional valve No. 59 is powered on, and since the rodless cavity pressure of the hydraulic cylinder No. 3 is greater than the rod cavity pressure thereof, the shuttle valve 56 is in the left position for operation, and the oil in the rodless cavity of the hydraulic cylinder No. 3 also flows back to the oil tank 8 after passing through the oil inlet No. 561 of the shuttle valve 56 and the oil outlet 563 of the shuttle valve 56 in sequence.

Claims (10)

1. A synchronous control system of double hydraulic cylinders is characterized in that:
the control system comprises a connecting mechanism (1), a first hydraulic cylinder (2), a second hydraulic cylinder (3), a first valve group (4), a second valve group (5), a pump group (6), a controller (7) and an oil tank (8), wherein one side bottom end of the connecting mechanism (1) is movably connected with a hinge point, and the other side bottom end and the middle bottom end of the connecting mechanism (1) are respectively fixedly connected with the piston rod telescopic ends of the first hydraulic cylinder (2) and the second hydraulic cylinder (3);
the valve bank (4) comprises a servo valve (41), a valve (42) and a valve (43), the valve bank (5) comprises a servo valve (51), a valve (52), a valve (53) and a valve (54) and a valve (55) respectively, a pump group (6) comprises a main pump (61) and an oil supplementing pump (62), oil inlets of the main pump (61) and the oil supplementing pump (62) are communicated with an oil tank (8), oil outlets of the main pump (61) are simultaneously communicated with a P port of the servo valve (41) and a P port of the servo valve (51), an A port, a B port and a T port of the servo valve (41) are respectively communicated with the A port of the valve (42), the A port of the valve (43) and the oil tank (8), a B port of the valve (42) is respectively communicated with a rodless cavity and a rod cavity of the hydraulic cylinder (2), an oil outlet of the valve (52) is respectively communicated with the B port of the valve (42), the B port of the valve (43), the rod cavity of the valve (52) is respectively communicated with the valve (52), and the oil outlet of the valve (52) is respectively communicated with the valve (52) of the valve (52) The port A of the valve No. six (55) is communicated, and the port B of the valve No. five (54) and the port B of the valve No. six (55) are respectively communicated with a rodless cavity and a rod-containing cavity of the hydraulic cylinder No. two (3);
The controller (7) is used for controlling reversing and/or switching of the first servo valve (41), the second servo valve (51), the first valve (42), the second valve (43), the third valve (52), the fourth valve (53), the fifth valve (54) and the sixth valve (55).
2. The dual hydraulic cylinder synchronization control system of claim 1, wherein:
the valve bank II (5) further comprises a shuttle valve (56) and a valve No. 57, a rodless cavity and a rod cavity of the hydraulic cylinder II (3) are respectively communicated with an oil inlet (561) and an oil inlet (562) of the shuttle valve (56), an oil outlet (563) of the shuttle valve (56) is communicated with a port B of the valve No. 57, a port A of the valve No. 57 is communicated with an oil tank (8), and the controller (7) is further used for controlling on-off of the valve No. 57.
3. The dual hydraulic cylinder synchronization control system of claim 2, wherein:
the valve group I (4) further comprises an electromagnetic directional valve I (44), the valve group II (5) further comprises an electromagnetic directional valve II (58) and an electromagnetic directional valve III (59), the valve I (42), the valve II (43), the valve III (52), the valve IV (53), the valve V (54), the valve VI (55) and the valve IV (57) are all hydraulically-controlled one-way valves, the pump group (6) further comprises a control pump (63), the oil outlet of the control pump (63) is simultaneously communicated with the oil inlet of the electromagnetic directional valve I (44), the oil inlet of the electromagnetic directional valve II (58) and the oil inlet of the electromagnetic directional valve III (59), the oil outlet of the electromagnetic directional valve I (44) is simultaneously communicated with the X port of the electromagnetic directional valve I (42) and the X port of the electromagnetic directional valve II (43), the oil outlet of the electromagnetic directional valve II (58) is simultaneously communicated with the X port of the electromagnetic directional valve III (52) and the X port of the electromagnetic directional valve IV (53), and the electromagnetic directional valve III (58) is simultaneously communicated with the electromagnetic directional valve II (59) and the electromagnetic directional valve IV (59) is simultaneously communicated with the X port of the electromagnetic directional valve II (59) The Y port of the second valve (43), the Y port of the third valve (52), the Y port of the fourth valve (53), the Y port of the fifth valve (54), the Y port of the sixth valve (55) and the Y port of the seventh valve (57) are communicated with the oil tank (8);
The signal output end of the controller (7) is connected with the signal input ends of a first servo valve (41), a second servo valve (51), a first electromagnetic directional valve (44), a second electromagnetic directional valve (58) and a third electromagnetic directional valve (59).
4. A dual hydraulic cylinder synchronous control system according to claim 1 or 2, characterized in that:
the hydraulic cylinder (2) and the hydraulic cylinder (3) are respectively provided with a piston rod displacement sensor (21) and a piston rod displacement sensor (31), and signal output ends of the piston rod displacement sensor (21) and the piston rod displacement sensor (31) are connected with a signal input end of the controller (7).
5. A dual hydraulic cylinder synchronous control system according to claim 1 or 2, characterized in that:
the hydraulic oil tank is characterized in that a rodless cavity and a rod cavity of the first hydraulic cylinder (2) and a rodless cavity and a rod cavity of the second hydraulic cylinder (3) are respectively communicated with the oil tank (8) through a first overflow valve (81), a second overflow valve (82), a third overflow valve (83) and a fourth overflow valve (84), an oil outlet of the oil supplementing pump (62) is further communicated with the oil tank (8) through a fifth overflow valve (85), and an oil outlet of the control pump (63) is further communicated with the oil tank (8) through a sixth overflow valve (86).
6. The dual hydraulic cylinder synchronization control system of claim 2, wherein:
an oil outlet (563) of the shuttle valve (56) is communicated with a port B of the valve No. 57 through a speed regulating valve (87).
7. The dual hydraulic cylinder synchronization control system of claim 5, wherein:
the oil outlet of the first overflow valve (81), the oil outlet of the second overflow valve (82), the oil outlet of the third overflow valve (83), the oil outlet of the fourth overflow valve (84), the T port of the first servo valve (41), the T port of the second servo valve (51) and the A port of the seventh valve (57) are all communicated with the oil tank (8) through a cooler (88).
8. A control method of the dual hydraulic cylinder synchronous control system according to claim 1, characterized in that:
the synchronous control method comprises synchronous lifting, and the synchronous lifting sequentially comprises the following steps:
s1, firstly, the controller (7) controls the right position of the first servo valve (41), the middle position of the second servo valve (51), the first valve (42) and the second valve (43) to be opened, the third valve (52) and the fourth valve (53) to be closed, the fifth valve (54) and the sixth valve (55) to be opened, then hydraulic oil output by the main pump (61) sequentially passes through the P port of the first servo valve (41), the A port of the first valve (42) and the B port of the first valve (42) and then enters a rodless cavity of the first hydraulic cylinder (2), oil in the rod cavity of the first hydraulic cylinder (2) sequentially passes through the B port of the second valve (43), the A port of the second valve (43), the B port of the first servo valve (41) and the T port of the first servo valve (41) and then flows back to the oil tank (8), so that a piston rod of the first hydraulic cylinder (2) extends out, a connecting mechanism (1) is driven to rotate, a piston rod of the second hydraulic oil is driven to extend upwards around the second piston rod (3) and then passes through the B port of the third valve (54) and then the piston rod (3) extends out of the rod (3) and then passes through the third valve (54);
S2, when a piston rod of the first hydraulic cylinder (2) extends to a target position, the controller (7) controls the middle position of the first servo valve (41), the right position of the second servo valve (51), the first valve (42) and the second valve (43) to be closed, the third valve (52) and the fourth valve (53) to be opened, the fifth valve (54) and the sixth valve (55) to be closed, and then hydraulic oil output by the main pump (61) sequentially passes through a P port of the second servo valve (51), an A port of the third valve (52) and a B port of the third valve (52) and then enters a rodless cavity of the second hydraulic cylinder (3), and oil in the second hydraulic cylinder (3) sequentially passes through a B port of the fourth valve (53), an A port of the fourth valve (53), a B port of the second servo valve (51) and a T port of the second servo valve (51) and then flows back to the oil tank (8), so that the second hydraulic cylinder (3) further extends out;
and S3, when the piston rod of the second hydraulic cylinder (3) extends to the target position, the controller (7) controls the middle position, the third valve (52) and the fourth valve (53) at the second servo valve (51) to be closed, so that synchronous lifting control is completed.
9. The control method of the dual hydraulic cylinder synchronous control system according to claim 8, wherein:
The synchronous control method further comprises synchronous landing, and the synchronous landing sequentially comprises the following steps:
a1, firstly, the controller (7) controls the left position of the first servo valve (41), the middle position of the second servo valve (51), the first valve (42) and the second valve (43) to be opened, the third valve (52) and the fourth valve (53) to be closed, the fifth valve (54) and the sixth valve (55) to be opened, then hydraulic oil output by the main pump (61) sequentially passes through the P port of the first servo valve (41), the B port of the first servo valve (41), the A port of the second valve (43) and the B port of the second valve (43) and then enters a rod cavity of the first hydraulic cylinder (2), oil in the rod cavity of the first hydraulic cylinder (2) sequentially passes through the B port of the first valve (42), the A port of the first servo valve (41) and the T port of the first servo valve (41) and then flows back to the oil tank (8), so that the piston rod of the first hydraulic cylinder (2) is retracted, the connecting mechanism (1) is driven to rotate around the second piston rod (3) and then the piston rod of the second hydraulic cylinder (3) is retracted to the piston rod (52) in turn, and the piston rod (3) is retracted in the rod cavity of the second hydraulic cylinder (3) is retracted;
A2, when the piston rod of the first hydraulic cylinder (2) is retracted to a target position, the controller (7) controls the middle position of the first servo valve (41), the left position of the second servo valve (51), the first valve (42) and the second valve (43) to be closed, the third valve (52) and the fourth valve (53) to be opened, the fifth valve (54) and the sixth valve (55) to be closed, and then hydraulic oil output by the main pump (61) sequentially passes through the P port of the second servo valve (51), the B port of the second servo valve (51), the A port of the fourth valve (53) and the B port of the fourth valve (53) and then enters a rod cavity of the second hydraulic cylinder (3), and oil in the rod cavity of the second hydraulic cylinder (3) sequentially passes through the B port of the third valve (52), the A port of the second servo valve (51) and the T port of the second servo valve (51) and then flows back to the oil tank (8), so that the second hydraulic cylinder (3) is retracted further;
a3, when the piston rod of the second hydraulic cylinder (3) is retracted to the target position, the controller (7) controls the middle position, the third valve (52) and the fourth valve (53) at the second servo valve (51) to be closed, and synchronous landing control is completed.
10. The control method of a dual hydraulic cylinder synchronization control system according to claim 9, characterized by:
The valve group II (5) further comprises a shuttle valve (56) and a valve No. 57, a rodless cavity and a rod cavity of the hydraulic cylinder No. two (3) are respectively communicated with an oil inlet No. one (561) and an oil inlet No. two (562) of the shuttle valve (56), an oil outlet (563) of the shuttle valve (56) is communicated with a port B of the valve No. seven (57), a port A of the valve No. seven (57) is communicated with an oil tank (8), and the controller (7) is further used for controlling the on-off of the valve No. seven (57);
in the step S1, the controller (7) also controls the valve No. seven (57) to be opened, the shuttle valve (56) is in right position for working, the oil supplementing quantity of the oil supplementing pump (62) is larger than the oil quantity required by the rodless cavity of the hydraulic cylinder No. two (3), and the oil in the rod cavity of the hydraulic cylinder No. two (3) sequentially passes through the oil inlet No. two (562) of the shuttle valve (56) and the oil outlet (563) of the shuttle valve (56) and then flows back to the oil tank (8);
in the step A1, the controller (7) also controls the valve No. seven (57) to be opened, the shuttle valve (56) is in left position operation, and oil in the rodless cavity of the hydraulic cylinder No. two (3) also flows back to the oil tank (8) after sequentially passing through the oil inlet No. one (561) of the shuttle valve (56) and the oil outlet (563) of the shuttle valve (56).
CN202111059286.7A 2021-09-10 2021-09-10 Synchronous control system and control method for double hydraulic cylinders Active CN113803310B (en)

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