CN114352588A - Overwater hydraulic transmission system, control method and amphibious vehicle comprising system - Google Patents
Overwater hydraulic transmission system, control method and amphibious vehicle comprising system Download PDFInfo
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Abstract
The overwater hydraulic transmission system, the control method and the amphibious vehicle comprising the system comprise a variable pump, a main control hydraulic valve, a quantitative motor, an electromagnetic directional valve, a controller and an electric control handle; the variable pump is connected with the free end of the engine, converts mechanical energy into hydraulic energy, and converts the hydraulic energy into mechanical energy through the main control hydraulic valve and the quantitative motor, and transmits the mechanical energy to the two waterborne propelling devices symmetrically arranged at the tail part of the vehicle body and enables the waterborne propelling devices to run; the controller controls the reversing of the main control hydraulic valve in an electro-hydraulic proportional control mode, and the flow entering the quantitative motor is controlled by changing the opening amount of the valve core; the controller controls the generated feedback signal to be transmitted to the variable pump so as to dynamically adjust the displacement of the variable pump according to the feedback signal. The invention adopts the electro-hydraulic proportional control technology to ensure simple, convenient and accurate control of operation; the controller carries out logic control on the action of each executing mechanism, and the coordination and the safety are ensured; and the system is communicated with a vehicle information system through a bus technology to realize human-computer interaction.
Description
Technical Field
The invention relates to a multifunctional waterborne hydraulic transmission system for an amphibious vehicle and a control method thereof, belonging to the technical field of hydraulic pressure.
Background
The amphibious vehicle combines the dual performance of the vehicle and the ship, has good amphibious traffic performance, and is an important transportation tool. In order to realize different working conditions (forward, backward, steering, different vehicle speeds and the like) of the vehicle running on water, a water hydraulic transmission system is required.
At present, most of the traditional overwater hydraulic transmission systems are pilot-operated hydraulic transmission systems, and the following defects mainly exist: (1) the maximum speed of the vehicle on the water is low; (2) the yaw phenomenon occurs when the vehicle sails on water; (3) the eccentric steering phenomenon occurs when the vehicle steers on water; (4) the operating handles are two hydraulic control handles, and micro-motion and accurate control on the actuating mechanism cannot be realized.
The electro-hydraulic proportional control strategy is generally adopted in the technical field of engineering, such as applied to the prior art of an excavator: publication No.: CN112127400A, be applied to the hydraulic control system that running gear prevents the swift current car field and adopt: CN111946681A, mining head applied to deep sea mining: CN209603999U, be applied to crawler-type independent a steering system of dummy car: CN 109552414A, be applied to the hydraulic system of special long-range electric liquid proportional control platform of fishing boat winch: CN 106115527 a, for a multi-field amphibious vehicle: CN101961974A and specially designed novel integrated electro-hydraulic proportional control system: CN203653186U, however, due to the particularity of amphibious vehicles, the above prior art does not suggest applying the above prior art to amphibious vehicles, and meanwhile, due to the difference of electro-hydraulic proportional control strategies in different fields, the prior art does not realize that the above-water hydraulic transmission system simultaneously drives the air intake and exhaust shutters to open, close and self-lock, and drives the breakwater control cylinder to extend and retract, so as to provide power for the air conditioning motor.
Disclosure of Invention
The invention relates to a multifunctional waterborne hydraulic transmission system for an amphibious vehicle, which adopts electro-hydraulic proportional control to overcome the defects and can drive an air inlet and exhaust shutter to act simultaneously to realize opening, closing and self-locking of the air inlet and exhaust shutter; driving the breakwater to control the stretching out and retracting of the oil cylinder; providing power for the air conditioner motor.
The technical scheme of the invention is as follows:
multi-functional hydraulic transmission system on water, it includes: the device comprises a variable pump 1, a main control hydraulic valve 2, a quantitative motor 3, an electric control handle 4, a controller 5, an oil tank 6, an electromagnetic directional valve 7, a control valve group 8, an air conditioning motor 9, a breakwater oil cylinder 10, an air inlet shutter oil cylinder 11 and an exhaust shutter oil cylinder 12; it is characterized in that: the variable pump 1 is connected with the free end of an engine through an elastic coupling, an S port of the variable pump 1 absorbs oil from an oil tank 6, a P port of the variable pump 1 is connected with a P port of a main control hydraulic valve 2, an LS port of the main control hydraulic valve 2 is connected with an LS port of the variable pump 1, and T ports of the variable pump 1, the main control hydraulic valve 2 and a quantitative motor 3 are respectively connected with the oil tank 6; a, B ports of a first link and a second link of a main control hydraulic valve 2 are respectively connected with A, B ports of a quantitative motor 3, an A port of a third link of the main control hydraulic valve 2 is connected with a P port of a first electromagnetic directional valve 7, the A port of the first electromagnetic directional valve 7 is connected with the A port of an air-conditioning motor 9, the B port of the first electromagnetic directional valve 7 is connected with the P port of a second electromagnetic directional valve 7 which is connected in series, the A port of the second electromagnetic directional valve 7 is connected with the P port of a wave-proof plate control valve group, the B port of the second electromagnetic directional valve 7 is connected with the P1 port of a control valve group 8, and the T port of the control valve group 8 is connected with the B port of the third link of the main control hydraulic valve 2 after being converged with the T port of the wave-proof plate control valve group and the B port of the air-conditioning motor 9; an A, B port of the control valve group 8 is respectively connected with A, B ports of the air inlet shutter cylinder 11 and the air outlet shutter cylinder 12; the electric control handle 4 is connected with the controller 5, the controller 5 is connected with the electromagnet of each link (one electromagnet is connected with each link) on the main control hydraulic valve 2, and the controller 5 is connected with the driver terminal through cables.
Preferably: the controller 5 controls the main control hydraulic valve at the same time, integrates the air conditioner motor 9, the surfboard oil cylinder 10 and the air inlet and outlet shutter oil cylinders 11 and 12, and divides the three into three parts to flow out from the main control hydraulic valve, and distributes power to the air inlet and outlet shutter and the surfboard working oil cylinder as required through a logic control valve group consisting of the electromagnetic directional valve 7 and the hydraulic lock, so as to realize the opening and closing of the air inlet and outlet shutters and the folding and unfolding of the surfboard.
Preferably: the quantitative motors 3 are two, a driver operates an electric control handle to be in different angles and directions, the action and stepless speed regulation of the two quantitative motors 3 are achieved, electric signals are transmitted to the controller 5, the controller has different rotating speeds, forward rotation and reverse rotation to the two quantitative motors, and different working conditions of the vehicle on water are achieved.
Preferably: the electric control handle 4 has a function of preventing misoperation, and the action of the handle is effective only when the hydraulic main switch is turned on and the enable switch on the handle is pressed down at the same time.
Preferably: the electric control handle is a double-shaft handle, only one executing mechanism acts when the handle moves along the axial direction, and the two executing mechanisms are linked when the handle moves between the two shafts.
The invention also discloses an amphibious vehicle, which is characterized in that: the multifunctional waterborne hydraulic transmission system comprises a hydraulic transmission system, wherein the system comprises the multifunctional waterborne hydraulic transmission system.
The invention also discloses a control method of the multifunctional waterborne hydraulic transmission system, which is applied to the multifunctional waterborne hydraulic transmission system for the amphibious vehicle.
Advantageous effects
The shutter can be driven to move simultaneously, and the opening, closing and self-locking of the shutter are realized; driving the breakwater to control the stretching out and retracting of the oil cylinder; providing power for the air conditioner motor.
Drawings
FIG. 1 is a schematic diagram of a multifunctional waterborne hydraulic transmission system for an amphibious vehicle;
FIG. 2 is a schematic view of an operation direction of an electric control handle of the multifunctional waterborne hydraulic transmission system for the amphibious vehicle;
FIG. 3 is a quadrant view of an electric control handle of the multifunctional waterborne hydraulic transmission system for the amphibious vehicle;
FIG. 4 shows the rotation direction of the propellers in forward straight travel, with the same rotation speed of the propellers on both sides;
FIG. 5 shows the direction of rotation of the left propeller when the left propeller is moving forward and turning left, the left propeller is rotating slower than the right propeller, and the left propeller is reversing midway;
FIG. 6 represents the direction of rotation of the propellers with the same rotational speed of the bilateral propellers when the left center is turned;
FIG. 7 is a graph showing the direction of rotation of the left propeller during reverse left turn, with the left propeller rotating faster than the right, and the right propeller reversing midway;
FIG. 8 represents the direction of rotation of the propellers during reverse, straight forward, with the same rotational speed of the bilateral propellers;
FIG. 9 shows the direction of rotation of the left propeller during reverse and right turn, with the left propeller rotating slower than the right and the left propeller reversing midway;
FIG. 10 represents the direction of rotation of the propellers with the same rotational speed of the bilateral propellers during right-center steering;
FIG. 11 shows the direction of rotation of the propeller when moving forward and turning right, with the left propeller rotating faster than the right, and the right propeller reversing midway;
FIG. 12 shows the rotation direction of the propellers in forward straight travel, with the same rotation speed of the propellers on both sides;
FIG. 13 shows two signals output by the controller and corresponding propeller speeds when the electric control handle is at different positions;
fig. 14 shows that when the position angle of the electric control handle is 0 °, the proportional amplification signals obtained by the first and second proportional electromagnets of the main control hydraulic valve are the same, the rotating speed of the left propeller and the right propeller is as fast as the rotating speed of the left propeller, and the vehicle is in a straight-going state;
fig. 15 shows that when the position angle of the electric control handle is 90 °, the proportional amplification signal obtained by the first proportional electromagnet of the main control hydraulic valve is positive and maximum, the proportional amplification signal obtained by the propeller of the second proportional electromagnet of the main control hydraulic valve is negative and maximum, the propeller rotation speed is reflected as the maximum rotation speed of the right propeller, the rotation speed of the left propeller is maximum, but the steering direction is reverse, and the vehicle operating condition is left center steering;
fig. 16 shows that when the position angle of the electric control handle is 180 °, the proportional amplification signals obtained by the first and second proportional electromagnets of the main control hydraulic valve are equally large and negative, which are reflected that the rotating speeds of the left and right propellers are the same in the rotating speed of the propellers, and the vehicle is retreated under the working condition;
fig. 17 shows that when the position angle of the electric control handle is 270 °, the proportional amplification signal obtained by the second proportional electromagnet proportional valve of the main control hydraulic valve is positive and maximum, the proportional amplification signal obtained by the first proportional electromagnet of the main control hydraulic valve is negative and maximum, the rotation speed of the propeller is the maximum rotation speed of the right propeller, the rotation speed of the left propeller is maximum, but the steering direction is reverse, and the vehicle operating condition is right center steering;
wherein: 1. a variable displacement pump; 2. a main control hydraulic valve; 3. a quantitative motor; 4. an electric control handle; 5. a controller; 6. an oil tank; 7. an electromagnetic directional valve (comprising a first electromagnetic directional valve and a second electromagnetic directional valve); 8. a control valve group; 9. an air conditioning motor; 10. a breakwater oil cylinder; 11. an air inlet shutter cylinder; 12. an oil cylinder of an exhaust shutter.
Detailed Description
To better illustrate the objects, aspects and advantages of the present invention, the present invention will be further described with reference to the accompanying drawings and specific examples. It will be understood by those skilled in the art that the specific examples described herein are for the purpose of illustration only and are not intended to be limiting.
Multi-functional hydraulic transmission system on water, it includes: the device comprises a variable pump 1, a main control hydraulic valve 2, a quantitative motor 3, an electric control handle 4, a controller 5, an oil tank 6, an electromagnetic directional valve 7, a control valve group 8, an air conditioning motor 9, a breakwater oil cylinder 10, an air inlet shutter oil cylinder 11 and an exhaust shutter oil cylinder 12; it is characterized in that: the variable pump 1 is connected with the free end of an engine through an elastic coupling, an S port of the variable pump 1 absorbs oil from an oil tank 6, a P port of the variable pump 1 is connected with a P port of a main control hydraulic valve 2, an LS port of the main control hydraulic valve 2 is connected with an LS port of the variable pump 1, and T ports of the variable pump 1, the main control hydraulic valve 2 and a quantitative motor 3 are respectively connected with the oil tank 6; a, B ports of a first link and a second link of a main control hydraulic valve 2 are respectively connected with A, B ports of a quantitative motor 3, an A port of a third link of the main control hydraulic valve 2 is connected with a P port of a first electromagnetic directional valve 7, the A port of the first electromagnetic directional valve 7 is connected with the A port of an air-conditioning motor 9, the B port of the first electromagnetic directional valve 7 is connected with the P port of a second electromagnetic directional valve 7 which is connected in series, the A port of the second electromagnetic directional valve 7 is connected with the P port of a wave-proof plate control valve group, the B port of the second electromagnetic directional valve 7 is connected with the P1 port of a control valve group 8, and the T port of the control valve group 8 is connected with the B port of the third link of the main control hydraulic valve 2 after being converged with the T port of the wave-proof plate control valve group and the B port of the air-conditioning motor 9; an A, B port of the control valve group 8 is respectively connected with A, B ports of the air inlet shutter cylinder 11 and the air outlet shutter cylinder 12; the electric control handle 4 is connected with the controller 5, the controller 5 is connected with the electromagnet of each link (one electromagnet is connected with each link) on the main control hydraulic valve 2, and the controller 5 is connected with the driver terminal through cables; the controller 5 controls the multi-way valve simultaneously, integrates the air conditioner motor drive, the breakwater oil cylinder drive and the air intake and exhaust shutter drive, and branches off from the main control hydraulic valve in a third way to ensure the normal operation of the air conditioner motor, and meanwhile, the power is distributed to the air intake and exhaust shutter and the working oil cylinder of the breakwater according to the requirement through a logic control valve group consisting of the electromagnetic directional valve and the hydraulic lock, so that the air intake and exhaust shutters are opened and closed, and the breakwater is folded and unfolded.
The variable pump 1 is a power element of the system, obtains energy from the free end of an engine through an elastic coupling and is arranged in a power cabin; after the variable displacement pump 1 sucks oil from a passenger compartment oil tank, the oil source is transmitted to a main control hydraulic valve (triple valve) arranged on a bottom deck of the passenger compartment, the main control hydraulic valve belongs to a flow distribution element, and the oil source is transmitted to a quantitative motor 3 or an electromagnetic directional valve 7 of an actuating mechanism through all the triple valves.
The quantitative motor 3 is an element for driving the actuating mechanism to operate, and mainly drives the waterborne propelling devices symmetrically arranged at the left side and the right side of the tail of the vehicle to rotate forwards and backwards; the quantitative motor 1 is two, and the driver is in different angles and direction through operating an automatically controlled handle, realizes two quantitative motor's action and stepless speed regulation, with signal of telecommunication transmission to controller, the controller has different rotational speed and just, the reversal to two quantitative motors, realizes the different operating modes of vehicle on water.
The electric control handle 4 is an operation element and is arranged on the right side of the driver, so that the driver can operate the electric control handle conveniently. When the electric control handle is operated to act, the valve core of the first linkage and the second linkage of the main control hydraulic valve can be controlled to act through the controller, so that the main control hydraulic valve outputs the flow and the pressure required by the aquatic quantitative motor. The reversing of the third valve core of the main control hydraulic valve is realized by controlling the on-off of the electromagnet through a switch; the electric control handle 4 has a function of preventing misoperation, and the action of the handle is effective only when the hydraulic main switch is turned on and the enable switch on the handle is pressed down at the same time. The electric control handle 4 is a double-shaft handle, only one executing mechanism acts when the handle moves along the axial direction, and the two executing mechanisms are linked when the handle moves between the two shafts.
The two electromagnetic directional valves 7 are both installed on a deck of the bottom of the passenger compartment, and an oil source is transmitted to the electromagnetic directional valves 7 through a third hydraulic control valve, namely an air conditioning motor 9, a breakwater oil cylinder 10 and air inlet and outlet shutter oil cylinders 11 and 12.
The air-conditioning motor 9 is arranged on a deck at the bottom of the crew cabin and drives an air-conditioning compressor to operate so as to provide power for the air conditioner.
The control valve group 8 is arranged on a wheel cabin below a fan volute in the power cabin, and the control valve group 8 provides an oil source for the air inlet shutter oil cylinders 11 and 12 and the air outlet shutter oil cylinders 12 and extends out and retracts.
The breakwater and the control valve group 8 thereof are arranged at the vehicle head, and the oil source is transmitted to the breakwater oil cylinder 10 through the electromagnetic directional valve 7, so that the oil cylinder is extended and retracted.
The invention discloses a control method of a multifunctional waterborne hydraulic transmission system, which is based on the structure of the multifunctional waterborne hydraulic transmission system and comprises the following steps:
step 1: the variable pump 1 in the water hydraulic transmission system obtains power from the free end of an engine, converts mechanical energy into hydraulic energy, converts the hydraulic energy into the mechanical energy through a main control hydraulic valve and a quantitative motor, transmits the mechanical energy to two water propelling devices symmetrically arranged at the tail of a vehicle body and enables the water propelling devices to operate. The water hydraulic transmission system arranged on the amphibious vehicle controls the reversing of the main control hydraulic valve in an electro-hydraulic proportional control mode, changes the opening amount of the valve core, namely controls the flow entering the quantitative motor, and ensures that all loads can coordinately work in a balanced manner according to the proportion specified by the design and do not interfere with each other. When the load pressure exceeds the set pressure of the system, the system has an overload protection function. Meanwhile, the overwater hydraulic transmission system adopts a load sensing control technology, a feedback signal generated by control is transmitted to the variable pump, the variable pump dynamically adjusts the displacement of the variable pump according to the feedback signal, and the power of the free end of the engine is fully utilized to enable the work load to be optimally matched with the work speed. Except the water propulsion device, the control scheme of other actuating mechanisms is as follows: the main control hydraulic valve is a triple valve, integrates an air conditioner motor, a surfboard control oil cylinder and an air intake and exhaust shutter drive, and is branched out from the third triple of the main control multi-way valve, power is distributed to the air intake and exhaust shutter and the working oil cylinder of the surfboard according to needs through a logic control valve set consisting of an electromagnetic directional valve and a hydraulic lock, and the air intake and exhaust shutter and the opening and closing of the surfboard are realized. All the actuating mechanisms are controlled electrically, and corresponding switches are arranged on the instrument desk.
Step 2: when the system is not controlled to work, the variable pump 1 only outputs the flow for lubricating the body;
and step 3: the driver operates an electric control handle to be in different angles and directions, so that the actions and the stepless speed regulation of the two quantitative motors are realized, the electric signals are transmitted to the controller, and the controller performs logic control on the actions of the actuating mechanisms, so that the two quantitative motors have different rotating speeds and forward and backward rotation, and different working conditions of the vehicle on water are realized. The electric control handle has the function of preventing misoperation, and only by simultaneously opening the hydraulic main switch and pressing the enabling switch on the handle, the handle action is effective, and the system safety is further improved.
The intention of an operator is realized by controlling the electric control handle, and the speed of each device is changed in direct proportion with the swing angle of the handle; the electric control handle is a double-shaft handle, only one executing mechanism acts when the handle moves along the axial direction (comprising a transverse shaft and a longitudinal shaft), and the two executing mechanisms are linked when the handle moves between the two shafts. When the electric control handle is operated, the handle action is effective only when the hydraulic main switch is turned on and the enable switch on the handle is pressed down at the same time.
The mounting direction of the electric control handle 4 (based on the position of the driver) is as shown in fig. 2 (in the figure, the forward direction is the same as the direction of the front of the vehicle, and the backward direction is the same as the direction of the rear of the vehicle), and the corresponding operation quadrant graph is as shown in fig. 3. The operating mode of the handle and the water maneuvering state of the vehicle have the following corresponding relation:
referring to fig. 4 to 12, when the vehicle is standing at the tail of the vehicle and looking from the tail of the vehicle to the head of the vehicle, the rotation directions of the marine propulsion devices (propellers) on the left and right sides of the tail of the vehicle are corresponding (the left arrow represents the left propeller, and the right arrow represents the right propeller). The operation mode is that the handle is pushed to the maximum forward position, namely the maximum positive direction of the y axis, and then the handle is slowly rotated anticlockwise for one circle. The legend shows the basic direction of rotation of the propeller with the handle in a counter-clockwise direction, taking care of the directional change between them.
The electric control handle comprises a transverse axis control mechanism and a longitudinal axis control mechanism, and the action of each axis can generate a control analog signal, so that the electric control handle can act independently or in linkage. The linked control signal reaches the controller, the front-end circuit conditions and decouples the two-way analog signal to obtain the control signal of each shaft, and the control signal is operated by the internal proportional operation amplifying circuit and coupled to output the control current to the designated proportional electromagnet. And (3) enabling the valve core of the corresponding main control hydraulic valve to generate different opening degrees according to different currents, and finally controlling the marine propulsion device (propeller) to execute corresponding rated rotation direction and rotation speed.
When a driver operates the electric control handle, the handle is located at any position, two signals are output to the controller, the controller receives the two signals of the electric control handle, the analog adder is used for carrying out addition and subtraction operation to obtain two paths of electric signals, the electric signals are amplified in proportion, driving current is output to the proportional electromagnet of the main control hydraulic valve, electromagnetic acting forces generated by the proportional electromagnet under the action of different driving currents are different, the electromagnetic acting force generated by the electromagnet under the driving current is used for acting with elastic force generated by a reset spring on the proportional electromagnet to generate different valve core opening degrees of the main control hydraulic valve, and the hydraulic system can adjust the flow passing through the proportional valve through the different valve core opening degrees so as to adjust the rotating speed of the water propulsion device (propeller).
As shown in fig. 13, the electric control handle can rotate in a circle, when the handle is at different positions, two signals (an X-axis signal and a Y-axis signal) are output, and after the controller receives the X-axis signal and the Y-axis signal, two paths of output signals (a first link of the main control hydraulic valve, a second link of the left propeller control signal Z1 and the main control hydraulic valve, and a right propeller control signal Z2) are respectively calculated by the two paths of addition calculators on the controller.
After the control signal Z1 is amplified proportionally, a current is output to drive the corresponding proportional electromagnet to act, different currents can lead to different electromagnetic acting forces of the proportional electromagnet, the valve core opening degrees of the corresponding main control hydraulic valves are different, and the rotating speeds of the propellers of the hydraulic circuits.
Similarly, after the control signal Z2 is subjected to proportional amplification, another current is output to drive the corresponding proportional electromagnet to act, different currents lead to different electromagnetic acting forces of the proportional electromagnet, the valve core opening degree of the main control hydraulic valve is different, and the propeller rotating speeds of the hydraulic circuit of the main control hydraulic valve are different due to different flow rates of the main control hydraulic valve.
The calculation formula of the controller can be summarized in principle as follows: z1 ═ Y axis signal + X axis signal (Z1 ═ Y + X); when the controller calculates according to the formula, the X-axis signal ranges from the Z2 (Y-axis signal — X) (Z2 (Y-X)): +/-5V, y-axis signal value range: 5V. After the controller receives the corresponding signals, the signal states obtained by the proportional electromagnets when the electric control handle is at different positions can be obtained through calculation of different positions of the electric control handle, and the flow of the corresponding hydraulic system is adjusted through the proportional electromagnets to further control the rotating speeds of the left and right propellers.
The following control analysis chart is that when the electric control handle is in the positive y-axis direction, the negative x-axis direction, the negative y-axis direction and the positive x-axis direction:
(1) as shown in fig. 14, when the electric control handle is located at the y-axis position (the handle position angle is equal to 0 °), the y-axis signal is greater than 0, and the x-axis signal is equal to 0, at this time, (Z1 is equal to y + x) ═ Z2 is equal to y-x) (Z1 is greater than 0; Z2 is greater than 0), that is, the proportional amplification signals obtained by the first and second proportional electromagnets of the main control hydraulic valve are the same, the rotation speed of the left propeller is as fast as that of the right propeller in response to the rotation speed of the propellers, and the vehicle operating condition is straight.
(2) As shown in fig. 15, when the electric control handle is located at the position (handle position angle is 90 °) in fig. 3 on the X axis, the y-axis signal is 0, and the X-axis signal is <0, at this time, ((Z1 ═ y + X) ═ 0) < (Z2 ═ y-X) (Z1< 0; Z2>0), that is, the proportional amplification signal obtained by the first proportional electromagnet of the main control hydraulic valve is positive and maximum, the proportional amplification signal obtained by the second proportional electromagnet propeller of the main control hydraulic valve is negative and maximum, the reaction is that the right propeller rotates at maximum speed, the left propeller rotates at maximum speed, but the steering direction is reverse, and the vehicle condition is left-center steering.
(3) As shown in fig. 16, when the electric control handle is located at the position of the Y-axis fig. 4 (the handle position angle is 180 °), the Y-axis signal is <0, and the x-axis signal is 0, at this time, ((Z1 ═ Y + x) ═ 0) ((Z2 ═ Y-x) (Z1< 0; Z2<0), that is, the proportional amplification signals obtained by the first and second proportional electromagnets of the main control hydraulic valve are equally large and negative, which reflect that the left and right propeller rotation speeds are the same in the propeller rotation speed, and the vehicle operating condition is reverse.
(4) As shown in fig. 17, when the electric control handle is located at the position (handle position angle is 270 °) in fig. 5 on the X axis, the y axis signal is 0, and the X axis signal is >0, at this time, ((Z1 ═ y + X) ═ 0) > (Z2 ═ y-X) (Z1>0, and Z2<0), that is, the proportional amplification signal obtained by the second proportional solenoid proportional valve of the main control hydraulic valve is positive and maximum, the proportional amplification signal obtained by the first proportional solenoid of the main control hydraulic valve is negative and maximum, the reaction is that the right propeller rotates at maximum speed, the left propeller rotates at maximum speed, but the steering direction is reverse, and the vehicle condition is right center steering.
The overwater hydraulic transmission system takes power from the free end of the engine, the variable pump 1 is driven to operate through the elastic coupling, the variable pump 1 absorbs oil from the oil tank 6, and the provided pressure oil is supplied to the main control hydraulic valve 2. When the system is in non-control operation, the variable pump 1 only outputs the flow for lubricating the body. A driver operates a double-shaft electric control handle 4 to be positioned at different angles and directions, analog quantity electric signals are transmitted to a controller 5 through a control cable to be amplified in proportion, an electromagnet in a main control hydraulic valve 2 is driven to generate magnetic force, a valve core is pushed to move, the valve flow area is adjusted in proportion, the flow and the pressure required by a quantitative motor 3 on water are output, the rotating direction of each quantitative motor is logically controlled, the rotating speed is adjusted in a stepless mode, and finally different working conditions of a vehicle on the water are achieved.
And 4, step 4: when the overwater hydraulic transmission system drives the air conditioner motor to run, the electromagnet DA4 of the first electromagnetic reversing valve is electrified, and the electromagnet DA5 of the second electromagnetic reversing valve and the electromagnet DA3 of the control valve group 8 are powered off; when oil is supplied to the breakwater control valve group, the electromagnet DA5 is electrified, and the DA4 and the DA3 are powered off; when the overwater hydraulic transmission system drives the air intake and exhaust shutter oil cylinder, the electromagnets DA1 and DA2, and the electromagnets DB1 and DB2 can be electrified simultaneously or independently; however, the electromagnets DA1 and DB1, DA2 and DB2 of the control valve group 8 can only be electrified independently; electromagnets DA1, DA2, DB1, DB2 and DA3 of the control valve group 8 are manually controlled to be on or off; the working processes of the electromagnets DA1, DA2, DBl, DB2 and DA3 of the intake and exhaust shutter electromagnetic control valve are shown in Table 1:
TABLE 1 explain the working process of the magnet of the control valve set of the exhaust shutter
| Electromagnet | Opening of air inlet shutter | Air intake louver closure | Exhaust louver opening | Exhaust shutterClosing device |
| DA1 | + | - | - | - |
| DA2 | - | - | + | - |
| DB1 | - | + | - | - |
| DB2 | - | - | - | + |
| DA3 | + | + | + | + |
When the air inlet shutter is opened, power needs to be supplied to DA1 and DA 3; when the air inlet shutter is closed, power needs to be supplied to DB1 and DA 3; when the exhaust shutter is opened, power needs to be supplied to DA2 and DA 3; when the exhaust shutter is closed, power needs to be supplied to DB2 and DA 3.
The hydraulic transmission system on water adopts a load-sensitive control technology, namely the flow output by a variable pump of the system is determined according to the flow required by an actuating mechanism, a feedback signal generated by the load of the actuating mechanism is transmitted to the variable pump, and the variable pump dynamically adjusts the discharge capacity of the pump according to the feedback signal, so that the flow of the pump is kept constant, the system makes full use of the power of an engine, and the working load and the working speed are optimally matched.
The electric control handle selected by the water hydraulic transmission system has the function of preventing misoperation, and the action of the handle is effective only by simultaneously turning on the hydraulic main switch and pressing the enabling switch on the handle; when the electric control water hydraulic transmission system runs on water, the double-shaft electric control handle of the electric control water hydraulic transmission system is like a steering wheel of a vehicle, and when the vehicle sails on water, a yaw phenomenon and an eccentric steering phenomenon occur during steering on water, so that correction can be performed in time; and the driver can finish all actions of the vehicle on water by one-hand operation, and the operation habit of the driver and the requirement of the man-machine ring of the whole vehicle are better met.
The main control hydraulic valve of the water hydraulic transmission system is a plate valve, can be further expanded to be multi-connected according to user requirements, provides power for various actuating mechanisms, and provides effective guarantee for integration of all hydraulic transmission systems of the whole vehicle.
The invention relates to a multifunctional water hydraulic transmission system for an amphibious vehicle, which is suitable for the amphibious vehicle and is designed for the navigation of the amphibious vehicle on water. When the amphibious vehicle sails on water, the water propulsion device (propeller) is driven to rotate forwards and backwards to have different rotating speeds, so that different working conditions (forward, backward, steering, different vehicle speeds and the like) of the vehicle during sailing on water are realized; simultaneously, the air inlet and outlet shutter is driven to move, so that the opening, closing and self-locking of the shutter are realized; driving the breakwater to control the stretching out and retracting of the oil cylinder; and provides power for the air conditioner motor. The control mode of the water hydraulic transmission system is an electric control mode, and mainly comprises that a driver operates an electric control double-shaft handle to be in different angles and directions to realize the action of one or more actuating mechanisms and the stepless speed regulation to transmit electric signals to a controller, and the controller carries out logic control on the action of each actuating mechanism (as shown in figures 2-12), so that two quantitative motors have different rotating speeds and forward and backward rotation, and different working conditions of a vehicle on water are realized. The overwater hydraulic transmission system adopts an advanced electro-hydraulic proportional control technology, and ensures simple, convenient and accurate control of operation; the central data processing controller carries out logic control on the action of each executing mechanism, so that the coordination and the safety are ensured; by adopting a bus technology, all actions are controlled by a control bus, control pipelines in a hydraulic control scheme are reduced, and overall arrangement is facilitated.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. Multi-functional hydraulic transmission system on water, it includes: the device comprises a variable pump, a main control hydraulic valve, a quantitative motor, an electric control handle, a controller, an oil tank, an electromagnetic directional valve, a control valve group, an air conditioner motor, a breakwater oil cylinder, an air inlet shutter oil cylinder and an exhaust shutter oil cylinder; it is characterized in that: the variable pump is connected with the free end of the engine through an elastic coupling, an S port of the variable pump absorbs oil from an oil tank, a P port of the variable pump is connected with a P port of a main control hydraulic valve, an LS port of the main control hydraulic valve is connected with an LS port of the variable pump, and T ports of the variable pump, the main control hydraulic valve and the quantitative motor are respectively connected with the oil tank; a, B ports of a first link and a second link of a main control hydraulic valve are respectively connected with A, B ports of a quantitative motor, an A port of a third link of the main control hydraulic valve is connected with a P port of a first electromagnetic directional valve, the A port of the first electromagnetic directional valve is connected with the A port of an air-conditioning motor, the B port of the first electromagnetic directional valve is connected with the P port of a second electromagnetic directional valve which is connected in series, the A port of the second electromagnetic directional valve is connected with the P port of a breakwater control valve group, the B port of the second electromagnetic directional valve is connected with the P1 port of the control valve group, and the T port of the control valve group is connected with the B port of the third link of the main control hydraulic valve after being converged with the T port of the breakwater control valve group and the B port of the air-conditioning motor; an A, B port of the control valve group is respectively connected with A, B ports of an air inlet shutter oil cylinder and an air exhaust shutter oil cylinder; the electric control handle and the controller, the electromagnet of each link on the controller and the main control hydraulic valve, the controller and the driver terminal are all connected through cables.
2. The multifunctional marine hydraulic drive system of claim 1, wherein: the controller simultaneously controls the multi-way valve, integrates the air conditioner motor drive, the surfboard oil cylinder drive and the air intake and exhaust shutter drive, and branches off from the main control hydraulic valve in a third way to ensure the normal operation of the air conditioner motor, and simultaneously distributes power to the air intake and exhaust shutter and the surfboard working oil cylinder as required through a logic control valve group consisting of the electromagnetic directional valve and the hydraulic lock to realize the opening and closing of the air intake and exhaust shutter and the folding and unfolding of the surfboard.
3. The multifunctional marine hydraulic drive system of claim 1, wherein: the quantitative motor is two, and the driver is in different angles and direction through operating an automatically controlled handle, realizes the action and the stepless speed regulation of two quantitative motors, with signal of telecommunication transmission to controller, the controller has different rotational speed and just, the reversal to two quantitative motors, realizes the different operating modes of vehicle on water.
4. A multifunctional marine hydraulic transmission system as claimed in claim 3, wherein: the electric control handle has the function of preventing misoperation, and the action of the handle is effective only by simultaneously opening the hydraulic main switch and pressing the enabling switch on the handle.
5. A multifunctional marine hydraulic transmission system as claimed in claim 3, wherein: the electric control handle is a double-shaft handle, only one executing mechanism acts when the handle moves along the axial direction, and the two executing mechanisms are linked when the handle moves between the two shafts.
6. The multifunctional marine hydraulic drive system of claim 1, wherein: the main control hydraulic valve is a triple valve.
7. A control method of a multifunctional marine hydraulic transmission system comprising the multifunctional marine hydraulic transmission system according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
step 1: the variable pump in the water hydraulic transmission system obtains power from the free end of an engine, the variable pump is driven to operate by an elastic coupling, the variable pump absorbs oil from an oil tank, and provided pressure oil is supplied to a main control hydraulic valve;
step 2: when the system is not controlled to work, the variable pump only outputs the flow for lubricating the body;
and step 3: the driver operates a double-shaft electric control handle to be positioned at different angles and directions, analog quantity electric signals are transmitted to the controller through a control cable to be amplified in proportion, and the controller drives an electromagnet in the main control hydraulic valve to generate magnetic force to push a valve core of the main control hydraulic valve to displace, so that the flow area of the valve is adjusted in proportion, the valve outputs the flow and pressure required by the quantitative motor on water, the rotation direction of each quantitative motor is logically controlled, the rotating speed is steplessly adjusted, and finally different working conditions of the vehicle on the water are realized;
and 4, step 4: when the overwater hydraulic transmission system drives the air conditioner motor to run, the electromagnet DA4 of the first electromagnetic reversing valve is electrified, and the electromagnet DA5 of the second electromagnetic reversing valve and the electromagnet DA3 of the control valve group are powered off; when oil is supplied to the breakwater control valve group, the electromagnet DA5 is electrified, and the DA4 and the DA3 are powered off; when the overwater hydraulic transmission system drives the air intake and exhaust shutter oil cylinder, the electromagnets DA1 and DA2, and the electromagnets DB1 and DB2 can be electrified simultaneously or independently; electromagnets DA1 and DB1, DA2 and DB2 of the control valve group can only be electrified independently; electromagnets DA1, DA2, DB1, DB2 and DA3 of the control valve group are manually controlled to be on or off; when the air inlet shutter is opened, power needs to be supplied to DA1 and DA 3; when the air inlet shutter is closed, power needs to be supplied to DB1 and DA 3; when the exhaust shutter is opened, power needs to be supplied to DA2 and DA 3; when the exhaust shutter is closed, power needs to be supplied to DB2 and DA 3.
8. An amphibious vehicle, characterized in that: comprising a hydraulic transmission system comprising the multifunctional marine hydraulic transmission system of any one of claims 1-6.
9. The multifunctional waterborne hydraulic transmission system control method according to claim 7 is applied to the multifunctional waterborne hydraulic transmission system for the amphibious vehicle.
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