CN113911974A - New forms of energy high altitude platform energy-saving control device - Google Patents
New forms of energy high altitude platform energy-saving control device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a new energy high-altitude platform energy-saving control device, which adopts the technical scheme that: the electric control operation device is respectively connected with the control unit, the power conversion device and the power battery device through a CAN bus, the power battery device is connected with the power conversion device, the power conversion device is respectively connected with the power unit assembly, the sensor detection device and the control unit, the sensor detection device is connected with the control unit, and the system CAN match the pressure of each action and the required flow, namely the power, so that the power provided by the power unit is matched with the load.
Description
Technical Field
The invention relates to the technical field of high-altitude platforms, in particular to a new energy high-altitude platform energy-saving control device.
Background
With the popularization of new energy technology in recent years, many applications have been made to construction machines in recent years. At present, new energy mainly comprises a direct current driving mode and an alternating current driving mode, but the direct current driving mode is limited by the power of a motor, the protection level and the like and generally cannot work continuously. With the development of power electronic technology, alternating current transmission is well developed, but the high-altitude platform is limited by electric quantity due to frequent outdoor operation, and the operation time of the platform is generally limited. In the existing products, the utilization rate of the battery is generally improved by means of increasing the capacity of the storage battery pack or reducing the dead weight, so that the operation time is prolonged, and the scheme has higher cost and poorer economy.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a new energy high-altitude platform energy-saving control device, which solves the problem that the operation time of a platform is limited.
The technical purpose of the invention is realized by the following technical scheme:
a new energy high-altitude platform energy-saving control device comprises a power battery device, a power supply conversion device, a control unit, an electric control operation device, a power unit, a crawler belt, a rotary table, a first arm, a second arm, a supporting leg structure, a hydraulic system, a proportional valve, a walking handle, a proportional handle and a sensor detection device, wherein the sensor detection device can detect load pressure and calculate flow;
the electric control operation device is respectively connected with the control unit, the power conversion device and the power battery device through a CAN bus, the power battery device is connected with the power conversion device, the power conversion device is respectively connected with the power unit assembly, the sensor detection device and the control unit, and the sensor detection device is connected with the control unit.
By adopting the technical scheme, the system can match the pressure of each action and the required flow, namely the power, and avoids the waste of energy caused by useless power when the power unit provides constant power and executes actions with smaller power, so that the control system automatically adjusts the output power of the power unit according to each action to enable the power provided by the power unit to be matched with the load. Therefore, power matching is realized on the premise of meeting the function, and the electric energy loss is reduced.
Preferably, the power battery device comprises a power storage battery pack and an electric quantity detection device, the power storage battery pack provides power for the whole power system and the control system, the electric quantity detection device is used for detecting the electric quantity of the power storage battery in real time, and the power storage battery pack is a direct current energy storage device.
By adopting the technical scheme, the electric quantity detection device is used for detecting the electric quantity of the power storage battery pack in real time and executing different control strategies according to different electric quantity sections.
Preferably, the power conversion device comprises a DC/AC and a DC/DC conversion device, and the DC/AC is used for converting a direct current power supply of the power battery device into an alternating current for driving the power unit, and receiving a driving instruction of the control unit to perform voltage regulation and frequency conversion.
By adopting the technical scheme, the DC/DC converts high-voltage direct current into low-voltage direct current to provide a power supply for the control system.
Preferably, the power unit assembly includes a permanent magnet synchronous motor and a hydraulic pump, the hydraulic pump and the control unit drive the hydraulic system together, wherein the hydraulic system can control all actions of the high-altitude platform, the permanent magnet synchronous motor is connected with the hydraulic pump through a key slot, and the permanent magnet synchronous motor is driven by the DC/AC device.
By adopting the technical scheme, the rotating speed of the permanent magnet synchronous motor can be regulated by the DC/AC.
Preferably, the control unit receives the command of the electric control operation device, calculates the power required to be provided by the power unit according to the load pressure and the flow fed back by the sensor device, and communicates with the power conversion device.
Preferably, the new energy high-altitude platform energy-saving control device can correspondingly execute walking control, supporting leg control and arm support control according to the actions of the high-altitude platform.
By adopting the technical scheme, the electric quantity of the power storage battery pack is more energy-saving, the endurance performance is better, and the heating loss of the hydraulic system is reduced.
Preferably, when the walking control is executed, the walking speed of the crawler is controlled by the speed of the permanent magnet synchronous motor and the proportional valve at the same time, the walking handle signal controls the rotating speed of the permanent magnet synchronous motor through the communication between the control unit and the AC/DC module, and the walking handle signal drives the walking proportional valve through the control unit.
Preferably, when the leg control is executed, when the leg is extended, the permanent magnet synchronous motor is controlled to work at a higher speed before the leg is not grounded, so as to increase the system flow, when the leg is grounded, the rotating speed of the permanent magnet synchronous motor is automatically reduced, so as to reduce the system flow, when the leg is retracted to a ground-off state without being grounded, the permanent magnet synchronous motor works at a lower speed, and when the leg is retracted to a ground-off state, the motor works at a higher rotating speed.
Preferably, when the boom control is executed, the control unit automatically controls the rotation speed of the permanent magnet synchronous motor according to the executed action to match the rotation speed with the load, when the boom amplitude variation is executed, the sensor detection device transmits the pressure to the control unit, the control unit limits the maximum current value of the amplitude-variation proportional valve and the rotation speed of the motor according to the feedback pressure and the theoretical maximum speed flow value and a table look-up method, so that the proportional valve is fully opened when the permanent magnet synchronous motor reaches the maximum speed, the proportional handle simultaneously controls the rotation speed of the permanent magnet synchronous motor and the opening degree of the proportional valve, the proportional handle adopts a remote control bus mode of 0x0-0x7F-0xFF, when the boom amplitude variation is executed, the control unit receives data of 0x7F-0xFF, and utilizes the sectional linear relation handle data of 0x7F-0x 8F-0 xAF-0 xDF-0 xFF to correspond to the rotation speed of the permanent magnet synchronous motor of 0-V1-V2-V3-V4 and the corresponding valve core current 0-a 1-a 2-A3-a 4;
v4 and A4 are the maximum motor speed and the maximum current of the valve core corresponding to the amplitude of one arm;
in order to meet the requirement that the speed is slow when the amplitude of one arm is started, the speed is slow when the amplitude of one arm is just started, the speed and the current ratio calibrated by V1 and A1 are small, when one arm is at a limit point at a certain position, such as a maximum stroke or a minimum stroke, at the moment, the permanent magnet synchronous motor is automatically and linearly aligned to the states of V1 and A1 by the current speed and the current of a proportional valve, and other functional actions circulate the control step.
In summary, the invention mainly has the following beneficial effects:
the new energy high-altitude platform mainly comprises arm support actions, walking actions, supporting leg actions and the like, wherein the arm support actions mainly comprise arm support amplitude variation, arm support expansion, turntable rotation, platform leveling and the like, and the walking mainly comprises speed, direction and steering control of a crawler or walking wheels; the leg movement mainly includes the extension/contraction movement of the leg. The system can match the pressure of each action and the required flow, namely the power, and avoids the waste of energy caused by useless work when the power unit provides constant power and executes actions with smaller power. The control system automatically adjusts the output power of the power unit such that the power provided by the power unit matches the load. Therefore, power matching is realized on the premise of meeting the function, and the electric energy loss is reduced.
Drawings
FIG. 1 is a schematic flow diagram of the system of the present invention;
fig. 2 is a schematic diagram of the system architecture of the present invention.
Reference numerals: 10. a turntable; 11. a crawler belt; 12. an electrically controlled operating device; 13. an arm; 14. two arms; 20. a control unit; 21. a support leg; 22. an AC/DC module; 23. a power battery pack; 24. a permanent magnet synchronous motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, a new energy high-altitude platform energy-saving control device comprises a power battery device, a power conversion device, a control unit 20, an electric control operating device 12, a power unit, a crawler 11, a rotary table 10, a first arm 13, a second arm 14, a support leg 21, a hydraulic system, a proportional valve, a walking handle, a proportional handle and a sensor detection device, wherein the sensor detection device can detect load pressure and calculate flow;
the electric control operation device 12 is connected with the control unit 20, the power conversion device and the power battery device through a CAN bus respectively, the power battery device is connected with the power conversion device, the power conversion device is connected with the power unit assembly, the sensor detection device and the control unit 20 respectively, and the sensor detection device is connected with the control unit 20.
The new energy high-altitude platform mainly comprises arm support actions, walking actions, supporting leg 21 actions and the like, wherein the arm support actions mainly comprise arm support amplitude variation, arm support expansion, rotary table 10 rotation, platform leveling and the like, and the walking mainly comprises speed, direction and steering control of a crawler belt 11 or walking wheels; the leg 21 action mainly includes the extension/contraction action of the leg 21. The system can match the pressure of each action and the required flow, namely the power, and avoids the waste of energy caused by useless work when the power unit provides constant power and executes actions with smaller power. The control system thus automatically adjusts the output power of the power unit in accordance with each action so that the power provided by the power unit matches the load. Therefore, power matching is realized on the premise of meeting the function, and the electric energy loss is reduced.
Further, the power battery device comprises a power battery pack 23 and an electric quantity detection device, wherein the power battery pack 23 provides power for the whole power system and the control system. The electric quantity detection device is used for detecting the electric quantity of the power storage battery in real time, wherein the power storage battery pack 23 is a direct-current energy storage device.
The electric quantity detection device is used for detecting the electric quantity of the power storage battery pack 23 in real time and executing different control strategies according to different electric quantity sections.
Further, the power conversion device includes a DC/AC and a DC/DC conversion device, the DC/AC is used for converting a direct current power supply of the power battery device into an alternating current for driving the power unit, and receiving a driving instruction of the control unit 20 to perform voltage regulation and frequency conversion, and the DC/DC converts a high voltage direct current into a low voltage direct current to provide a power supply for the control system.
Further, the power unit assembly includes a permanent magnet synchronous motor 24 and a hydraulic pump. The hydraulic pump and the control unit 20 drive the hydraulic system together, wherein the hydraulic system can control all actions of the high-altitude platform, the permanent magnet synchronous motor 24 is connected with the hydraulic pump through a key slot, the permanent magnet synchronous motor 24 is driven by the DC/AC device, and the rotating speed of the permanent magnet synchronous motor 24 can be adjusted by the DC/AC device.
Further, the control unit 20 can receive the command from the electric control operation device 12, calculate the power required to be provided by the power unit according to the load pressure and the flow rate fed back by the sensor device, and communicate with the power conversion device.
Further, the new energy high-altitude platform energy-saving control device can correspondingly execute walking control, supporting leg 21 control and arm support control according to the actions of the high-altitude platform.
Further, when the walking control is executed, the walking speed of the crawler 11 is controlled by the speed of the permanent magnet synchronous motor 24 and the proportional valve at the same time, the walking handle signal controls the rotating speed of the permanent magnet synchronous motor 24 through the communication between the control unit 20 and the AC/DC module 22, and the walking handle signal drives the walking proportional valve through the control unit 20.
In order to achieve the ideal effect, the walking proportional valve needs to be calibrated to reach the state that the tail end of the walking handle is just in the full-open state of the walking proportional valve. Meanwhile, in order to ensure that the flow of the system is proper when the walking proportional valve is fully opened, the rotating speed of the permanent magnet synchronous motor 24 needs to be limited during walking.
Further, when the control of the supporting leg 21 is executed, when the supporting leg 21 is extended, the permanent magnet synchronous motor 24 is controlled to work at a higher speed before the supporting leg 21 is not grounded, so that the system flow is increased, when the supporting leg 21 is grounded, the rotating speed of the permanent magnet synchronous motor 24 is automatically reduced, so that the system flow is reduced, when the supporting leg 21 is retracted to a non-grounded state, the permanent magnet synchronous motor 24 works at a lower speed, and when the supporting leg 21 is retracted to a grounded state, the motor works at a higher rotating speed.
Further, when the boom control is executed, the control unit 20 automatically controls the rotation speed of the permanent magnet synchronous motor 24 according to the executed action, so that the rotation speed is matched with the load, when the amplitude of the boom 13 is executed, the sensor detection device transmits the pressure to the control unit 20, the control unit 20 limits the maximum current value of the amplitude-variable proportional valve and the rotation speed of the motor according to the feedback pressure and the theoretical maximum speed flow value, so that the proportional valve is fully opened when the permanent magnet synchronous motor 24 reaches the maximum speed, the proportional handle simultaneously controls the rotation speed of the permanent magnet synchronous motor 24 and the opening degree of the proportional valve, the proportional handle adopts a remote control bus mode and is 0x0-0x7F-0xFF, when the amplitude of the boom 13 is executed, the data received by the control unit 20 is 0x7F-0x 8F-0 xAF-0 xDF-0 xFF, and the rotation speed of the permanent magnet synchronous motor 24 is 0-V1-V2 by utilizing a sectional linear relationship between the handle data 0x7F-0x 8-0 xFF -V3-V4 and corresponding spool currents 0-a 1-a 2-A3-a 4;
wherein V4 and A4 are the maximum motor speed and the maximum current of the valve core corresponding to the amplitude variation of one arm 13;
in order to meet the requirement that the speed is slow when the amplitude of one arm 13 is changed and the arm is just started, the rotation speed and the current ratio calibrated by V1 and A1 are small, when the arm 13 is at a limit point at a certain position, such as a maximum stroke or a minimum stroke, at the moment, the permanent magnet synchronous motor 24 is automatically and linearly aligned with the states of V1 and A1 by the current rotation speed and the current of a proportional valve, and other functional actions circulate the control step.
The power consumption of the permanent magnet synchronous motor 24 is large in the starting process, in order to avoid frequent starting of the permanent magnet synchronous motor 24, the permanent magnet synchronous motor 24 does not stop immediately after the supporting legs 21, the tracks 11 and the arm support finish the actions, and the permanent magnet synchronous motor 24 is in a standby running state. When the supporting legs 21, the caterpillar band 11 and the arm support act, the permanent magnet synchronous motor 24 responds to the corresponding rotating speed request.
Compared with the prior art, the power storage battery pack 23 has the advantages of more energy saving and better cruising performance, and reduces the heating loss of a hydraulic system.
The working principle is as follows: the new energy high-altitude platform mainly comprises arm support actions, walking actions, supporting leg 21 actions and the like, wherein the arm support actions mainly comprise arm support amplitude variation, arm support expansion, rotary table 10 rotation, platform leveling and the like, and the walking mainly comprises speed, direction and steering control of a crawler belt 11 or walking wheels; the leg 21 action mainly includes the extension/contraction action of the leg 21. The system can match the pressure of each action and the required flow, namely the power, and avoids the waste of energy caused by useless work when the power unit provides constant power and executes actions with smaller power. The control system thus automatically adjusts the output power of the power unit in accordance with each action so that the power provided by the power unit matches the load. Therefore, power matching is realized on the premise of meeting the function, and the electric energy loss is reduced.
The whole vehicle power is supplied with power by a battery power supply system, in order to realize the optimal utilization of electric energy, a pressure sensor and a flow sensor are added in a hydraulic system and used for measuring the real-time pressure and flow of each action, the time requirement of each action is calculated according to a theory, and the flow of each action is adjusted by adjusting the rotating speed of a pump in real time through an electric control system so as to achieve the optimal matching of the flow. When the rotating speed of the permanent magnet synchronous motor 24 is reduced by load pressure, the electric control system automatically adjusts the rotating speed so as to achieve the purpose of stabilizing the rotating speed. The speed regulation of the pump is primarily commanded by the controller to the DC/AC unit, which regulates the frequency and voltage of the motor.
Because the permanent magnet synchronous motor 24 consumes more energy during each start, in order to reduce the loss during each start, when each action is switched during the execution of the functions of the arm support, the walking and the landing, the permanent magnet synchronous motor 24 cannot be stopped immediately, the motor is cut off after a period of time delay after all actions are stopped, and the permanent magnet synchronous motor 24 is started immediately when the action is operated again.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a new forms of energy high altitude platform energy-saving control device which characterized in that: the device comprises a power battery device, a power conversion device, a control unit (20), an electric control operation device (12), a power unit, a crawler belt (11), a rotary table (10), a first arm (13), a second arm (14), a support leg (21) structure, a hydraulic system, a proportional valve, a walking handle, a proportional handle and a sensor detection device, wherein the sensor detection device can detect load pressure and calculate flow;
the electric control operation device (12) is connected with the control unit (20), the power conversion device and the power battery device through a CAN bus respectively, the power battery device is connected with the power conversion device, the power conversion device is connected with the power unit assembly, the sensor detection device and the control unit (20) respectively, and the sensor detection device is connected with the control unit (20).
2. The new energy high altitude platform energy saving control device according to claim 1, characterized in that: the power battery device comprises a power storage battery pack (23) and an electric quantity detection device, wherein the power storage battery pack (23) provides a power supply for the whole power system and the control system, the electric quantity detection device is used for detecting the electric quantity of the power storage battery in real time, and the power storage battery pack (23) is a direct current energy storage device.
3. The new energy high altitude platform energy saving control device according to claim 2, characterized in that: the power conversion device comprises a DC/AC (direct current/alternating current) and a DC/DC conversion device, wherein the DC/AC is used for converting a direct current power supply of the power battery device into alternating current for driving the power unit, and receiving a driving instruction of the control unit (20) to carry out voltage regulation and frequency conversion.
4. The new energy high altitude platform energy saving control device according to claim 3, characterized in that: the power unit assembly comprises a permanent magnet synchronous motor (24) and a hydraulic pump, the hydraulic pump and the control unit (20) jointly drive the hydraulic system, the hydraulic system can control all actions of the high-altitude platform, the permanent magnet synchronous motor (24) is connected with the hydraulic pump through a key slot, the permanent magnet synchronous motor (24) is driven by the DC/AC device, and the rotating speed of the permanent magnet synchronous motor (24) can be adjusted by the DC/AC device.
5. The new energy high altitude platform energy saving control device according to claim 4, characterized in that: the control unit (20) can receive the instruction of the electric control operation device (12), calculate the power required to be provided by the power unit according to the load pressure and the flow fed back by the sensor device, and communicate with the power conversion device.
6. The new energy high altitude platform energy saving control device according to claim 5, characterized in that: the new energy high-altitude platform energy-saving control device can correspondingly execute walking control, supporting leg (21) control and arm support control according to the actions of the high-altitude platform.
7. The new energy high altitude platform energy saving control device according to claim 6, characterized in that: when the walking control is executed, the walking speed of the crawler belt (11) is controlled by the speed of the permanent magnet synchronous motor (24) and the proportional valve at the same time, a walking handle signal controls the rotating speed of the permanent magnet synchronous motor (24) through the communication of the control unit (20) and the AC/DC module (22), and meanwhile, the walking handle signal drives the walking proportional valve through the control unit (20).
8. The new energy high altitude platform energy saving control device according to claim 7, characterized in that: when the control of the supporting leg (21) is executed, when the supporting leg (21) extends out, the permanent magnet synchronous motor (24) is controlled to work at a higher speed before the supporting leg (21) is not grounded, the system flow is increased, the rotating speed of the permanent magnet synchronous motor (24) is automatically reduced after the supporting leg (21) is grounded, the system flow is reduced, when the supporting leg (21) retracts to a non-grounded state, the permanent magnet synchronous motor (24) works at a lower speed, and when the supporting leg (21) retracts to a grounded state, the permanent magnet synchronous motor (24) works at a higher rotating speed.
9. The new energy high altitude platform energy saving control device according to claim 8, characterized in that: when the boom control is executed, the control unit (20) automatically controls the rotating speed of the permanent magnet synchronous motor (24) according to the executed action to enable the rotating speed to be matched with the load, when the amplitude of the boom (13) is executed, the sensor detection device transmits pressure to the control unit (20), the control unit (20) limits the maximum current value of the amplitude-variable proportional valve and the rotating speed of the motor according to the feedback pressure and the theoretical maximum speed flow value and a table look-up method, so that the proportional valve is fully opened when the permanent magnet synchronous motor (24) reaches the maximum speed, the proportional handle simultaneously controls the rotating speed of the permanent magnet synchronous motor (24) and the opening degree of the proportional valve, the proportional handle adopts a remote control bus mode and is 0x0-0x7F-0xFF, when the amplitude of the boom (13) is executed, the data received by the control unit (20) is 0x7F-0xFF, the handle data of 0x7F-0x 8F-0 xAF-0 xDF-0 xFF in a sectional linear relationship is used for corresponding to the rotating speed of a permanent magnet synchronous motor (24) of 0-V1-V2-V3-V4 and corresponding to the valve core current of 0-A1-A2-A3-A4;
v4 and A4 are the maximum motor speed and the maximum current of the valve core corresponding to the amplitude variation of one arm (13);
in order to achieve the aim that the speed is slow when the amplitude of one arm (13) is changed and the arm is just started, the rotation speed and the current ratio calibrated by V1 and A1 are small, when the arm (13) is at a limit point at a certain position, such as maximum stroke or minimum stroke, at the moment, the permanent magnet synchronous motor (24) is automatically and linearly aligned to the states of V1 and A1 by the current rotation speed and the current of a proportional valve, and other functions act to circulate the control step.
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