CN114412856A - Hydro-electric parameter calibration system and method for pump-valve cooperative control hydraulic system - Google Patents
Hydro-electric parameter calibration system and method for pump-valve cooperative control hydraulic system Download PDFInfo
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- 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
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- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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- 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
- F15B2211/40—Flow control
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
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- F15B2211/6306—Electronic controllers using input signals representing a pressure
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Abstract
The invention discloses a system and a method for calibrating hydraulic and electric parameters of a pump-valve cooperative control hydraulic system, wherein the system comprises the pump-valve cooperative control hydraulic system and a calibration element, the pump-valve cooperative control hydraulic system comprises an electric proportional pump, an electric proportional multi-way valve and a hydraulic oil cylinder, the electric proportional multi-way valve is connected between the electric proportional pump and the hydraulic oil cylinder and comprises a main overflow valve, an electric proportional reversing valve and a secondary overflow valve which are arranged on a hydraulic pipeline; the calibration element comprises a controller, a pressure sensor and a displacement sensor, and the controller finishes the calibration of the hydraulic parameters of the hydraulic system by respectively controlling the working currents of the electric proportional pump and the electric proportional reversing valve. The calibration method disclosed by the invention can realize automatic calibration of parameters such as a main overflow valve pressure value, a secondary overflow valve pressure value, a minimum control current and a maximum control current of an electric proportional pump, a minimum control current and a maximum control current of an electric proportional valve and the like in a hydraulic system, so that the calibration result is more accurate, the efficiency is higher, and the consistency of the performance of batch products is improved.
Description
Technical Field
The invention relates to the technical field of hydraulic pressure, in particular to a system and a method for calibrating hydraulic and electric parameters of a pump-valve cooperative control hydraulic system.
Background
Along with the development of a hydraulic system towards the direction of electric control, more and more electric control elements are used in a product, the matching requirement on control parameters is higher and higher, the parameter is influenced by the consistency of the elements in the actual production process of the product, and the parameters are difficult to ensure to be completely consistent even if the elements of the same type are used.
When the product is delivered to a factory for debugging, an electro-hydraulic system parameter calibration test is required, and unmatched electro-hydraulic parameter values are adjusted to meet design requirements; after a product enters the market, due to the influence of abrasion or fatigue of elements in use, the performance of the elements may decay, the original system performance may not be maintained continuously according to factory parameter setting, the element parameters also need to be calibrated and corrected again, and the system performance is ensured to meet the design requirements.
At present, a manual calibration method is generally adopted for calibrating control parameters of hydraulic elements, namely, an operator operates corresponding actions, looks up related parameter information, judges whether parameters to be calibrated are qualified or not, and adjusts the parameters according to experience, so that the operator is required to be familiar with how to execute the calibration actions, and certain experience is required for judging whether the evaluation parameters are qualified or not, and the problems that the calibration process is difficult in technology, long in time consumption and the calibration result cannot be guaranteed exist.
A small part of methods adopting automatic calibration of a controller cannot be directly applied to calibration of electric control parameters of a pump valve cooperative control hydraulic cylinder hydraulic system, for example, a pressure grade calibration detection system and a control method thereof which are disclosed in patent publication No. CN110702305A published in 1 month and 17 days 2020, a crane and a hydraulic system pressure online automatic calibration system and a method which are disclosed in patent publication No. CN103994128B published in 1 month and 18 days 2017, both of which only aim at calibration of the pressure grade of the hydraulic system, and realize calibration of the system pressure by adjusting the current of a proportional overflow valve until the proportional overflow valve is matched with the target pressure, and cannot be directly used for calibration of control current parameters; some methods which can be directly used for calibrating the control current parameters are not suitable for the pump valve cooperative control hydraulic cylinder hydraulic systems, for example, the invention patent publication No. CN109236799B published in 2020, "a calibration method for the control current of an electromagnetic valve of an engineering machinery traveling system", which realizes the calibration of threshold current and cutoff current of a hydraulic pump and a hydraulic motor by fixing one current and adjusting the other current, is not suitable for the pump valve cooperative control hydraulic cylinder hydraulic systems.
Therefore, a calibration system and a calibration method for a hydraulic system of a pump-valve cooperative control hydraulic cylinder are needed to solve the problems of large pressure adjustment error of a hydraulic overflow valve, complex electric control parameter setting process, inaccurate calibration and the like in the manual calibration process.
Disclosure of Invention
The invention provides a system and a method for calibrating hydraulic and electric parameters of a pump-valve cooperative control hydraulic system, which can at least solve some problems mentioned in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme: a hydraulic-electric parameter calibration system of a pump-valve cooperative control hydraulic system comprises a pump-valve cooperative control hydraulic system and a calibration element;
the pump-valve cooperative control hydraulic system comprises an electric proportional pump, an electric proportional multi-way valve and a hydraulic oil cylinder, wherein the electric proportional multi-way valve is connected between the electric proportional pump and the hydraulic oil cylinder and comprises a main overflow valve, an electric proportional reversing valve and a secondary overflow valve which are arranged on a hydraulic pipeline;
the calibration element comprises a controller, a pressure sensor and a displacement sensor, the pressure sensor is arranged in an oil inlet pipeline of the hydraulic system, and the displacement sensor is arranged on a piston rod of the hydraulic oil cylinder;
the electric proportional pump, the electric proportional reversing valve, the pressure sensor and the displacement sensor are all connected with the controller through electric signals, the controller finishes the calibration of the hydraulic parameters of the hydraulic system by respectively controlling the working currents of the electric proportional pump and the electric proportional reversing valve, and the controller is further connected with a display used for displaying the pressure value and the electric control parameter value of the hydraulic element.
Preferably, a port P of the electric proportional reversing valve is connected with an oil inlet pipeline of a hydraulic system, a port T is connected with an oil return pipeline of the hydraulic system, a port A is connected with a rodless cavity of the hydraulic oil cylinder, and a port B is connected with a rod cavity of the hydraulic oil cylinder;
the secondary overflow valve comprises an A-port secondary overflow valve and a B-port secondary overflow valve, the A-port secondary overflow valve is arranged on a hydraulic pipeline between the A port and a rodless cavity of the hydraulic oil cylinder, and the B-port secondary overflow valve is arranged on a hydraulic pipeline between the B port and a rod cavity of the hydraulic oil cylinder;
and a balance valve is also arranged on a hydraulic pipeline between the port A and a rodless cavity of the hydraulic oil cylinder.
Preferably, the calibration method is executed by a controller and comprises a minimum control current calibration method and a maximum control current calibration method of the electric proportional pump, a minimum control current calibration method and a maximum control current calibration method of the electric proportional reversing valve, a pressure calibration method of the main overflow valve and a calibration method of the secondary overflow valve; the controller is used for outputting electric control signals to the electric proportional pump and the electric proportional reversing valve and processing signals collected by the displacement sensor and the pressure sensor in real time.
Preferably, the method for calibrating the minimum control current of the electric proportional pump comprises the following steps:
step S1, the controller judges whether the electric proportional pump is in a lift range or a return range, if the electric proportional pump is in the lift range, the step S101 is executed, and if the electric proportional pump is in the return range, the step S106 is executed;
step S101, setting a maximum current value by the electric proportional directional valve;
step S102, setting the control current value of the electric proportional pump to be 0 or the lower limit value of the theoretically designed minimum control current;
step S103, gradually increasing the control current value of the electric proportional pump;
step S104, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S103 is returned to;
step S105, the controller repeats the step S102 to the step S104, control current values of the x electric proportional pumps are obtained, an average value is taken as a pump minimum control current calibration value, and x is larger than or equal to 2; completing the calibration and ending;
step S106, setting a maximum current value by the electric proportional directional valve;
step S107, setting the control current value of the electric proportional pump as the minimum control current upper limit value of theoretical design;
step S108, gradually reducing the control current value of the electric proportional pump;
step S109, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S108 is returned;
step S110, the controller repeats the step S107 to the step S109, control current values of the x electric proportional pumps are obtained, an average value is taken as a pump minimum control current calibration value, and x is larger than or equal to 2; and finishing the calibration.
Preferably, the method for calibrating the maximum control current of the electric proportional pump comprises the following steps:
step S2, the controller determines whether the electric proportional pump is in a lift or return stroke, if yes, step S201 is executed, and if yes, step S206 is executed;
step S201, setting a maximum current value by the electric proportional directional valve;
step S202, setting the control current value of the electric proportional pump as the maximum control current lower limit value of theoretical design;
step S203, gradually increasing the control current value of the electric proportional pump;
step S204, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S203 is returned;
step S205, the controller repeatedly executes the steps S202 to S204, obtains the control current values of the n electric proportional pumps, takes the average value as the calibration value of the maximum control current of the pump, and n is more than or equal to 2; completing the calibration and ending;
step S206, setting a maximum current value by the electric proportional directional valve;
step S207, setting the control current value of the electric proportional pump as a maximum value or a theoretically designed maximum control current upper limit value;
step S208, gradually reducing the control current value of the electric proportional pump;
step S209, the controller judges whether the speed of the hydraulic oil cylinder changes through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S208 is returned;
step S210, the controller repeatedly executes the step S207 to the step S209, obtains the control current values of the n electric proportional pumps, takes the average value as the calibration value of the maximum control current of the pump, and n is more than or equal to 2; and finishing the calibration.
Preferably, the method for calibrating the minimum control current of the electric proportional directional valve comprises the following steps:
step S3, the controller judges whether the electric proportional directional valve is lift or return, if yes, step S301 is executed, and if yes, step S306 is executed;
step S301, starting the electric proportional pump;
step S302, setting the control current value of the electric proportional directional valve to be 0 or the lower limit value of the theoretically designed minimum control current;
step S303, gradually increasing the control current value of the electric proportional directional valve;
step S304, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional reversing valve is automatically calibrated, and if not, the step S303 is returned;
step S305, the controller repeatedly executes the step S302 to the step S304, the control current values of the y electric proportional directional valves are obtained, the average value is taken as the minimum control current calibration value of the valve, y is larger than or equal to 2, the calibration is completed, and the operation is finished;
step S306, starting the electric proportional pump;
step S307, setting the control current value of the electric proportional directional valve to be a maximum value or a maximum control current upper limit value designed theoretically;
step S308, gradually reducing the control current value of the electric proportional directional valve;
step S309, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional directional valve is automatically calibrated, and if not, the step S308 is returned;
and S310, the controller repeatedly executes the steps S307 to S309, the control current values of the y electric proportional directional valves are obtained, the average value is taken as the minimum control current calibration value of the valve, y is larger than or equal to 2, the calibration is completed, and the operation is finished.
Preferably, the method for calibrating the maximum control current of the electric proportional directional valve comprises the following steps:
step S4, the controller judges whether the electric proportional directional valve is a lift or a return, if the electric proportional directional valve is the lift, the step S401 is executed, and if the electric proportional directional valve is the return, the step S406 is executed;
step S401, setting a maximum current value by the electric proportional pump;
step S402, setting the control current value of the electric proportional directional valve as the maximum control current lower limit value of theoretical design;
step S403, gradually increasing the control current value of the electric proportional directional valve;
step S404, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional reversing valve is automatically calibrated, and if not, the step S403 is returned;
step S405, the controller repeatedly executes the step S402 to the step S404, the control current values of the m electric proportional directional valves are obtained, the average value is taken as the maximum control current calibration value of the valve, and m is larger than or equal to 2; completing the calibration and ending;
step S406, setting a maximum current value by the electric proportional pump;
step S407, setting the control current value of the electric proportional directional valve as a maximum current value or a theoretically designed maximum control current upper limit value;
step S408, gradually reducing the control current value of the electric proportional directional valve;
step S409, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional reversing valve is automatically calibrated, and if not, the step S408 is returned;
and S410, repeatedly executing the step S407 to the step S409 by the controller, obtaining control current values of the m electric proportional directional valves, taking an average value as a maximum valve control current calibration value, wherein m is more than or equal to 2, completing the calibration, and ending.
Preferably, the pressure calibration method of the main overflow valve comprises the following steps,
step S501, setting the control current value of the electric proportional directional valve to be zero;
step S502, starting the electric proportional pump;
step S503, after the main overflow valve starts to overflow, the controller monitors and judges whether the pump outlet pressure value is not increased and keeps constant through the pressure sensor in real time, if so, the pump outlet pressure value at the moment is automatically calibrated, and if not, the step is repeatedly executed.
Preferably, the pressure calibration method of the secondary overflow valve comprises the following steps,
step S601, extending or retracting the hydraulic oil cylinder to a limit position;
step S602, starting the electric proportional reversing valve and the electric proportional pump;
and S604, after the secondary overflow valve starts to overflow, the controller monitors and judges whether the pump outlet pressure value is not increased and keeps constant through the pressure sensor in real time, if so, the pump outlet pressure value at the moment is automatically calibrated, and if not, the step is repeatedly executed.
In the above, the theoretically designed minimum/large control current lower limit is the theoretical minimum/large control current value of the calibrated parameter minus a preset deviation value, and the theoretically designed minimum/large control current upper limit is the theoretical minimum/large control current value of the calibrated parameter plus a preset deviation value.
The invention has the beneficial effects that:
(1) the calibration result is more accurate: the calibration method of the pressure value of the main overflow valve, the pressure value of the secondary overflow valve and the control current of the electric proportional pump and the electric proportional control valve realizes automatic calibration of parameters through data detected by various sensors, does not depend on the skill and experience of an operator, and is more accurate in calibration result.
(2) The calibration process is efficient: the calibration action is automatically completed through the program, calibration personnel only need to select related items, actions of all systems do not need to be manually executed, the operation is simple and rapid, the calibration result is automatically judged, and the method is rapid and efficient.
(3) The service difficulty and cost are reduced: after the product is used for a period of time, the product is influenced by the use environment and the reliability of elements, the performance of the product is possibly changed, parameter calibration is required to be implemented to improve the performance of the system, service personnel can rapidly and accurately complete system correction by utilizing an automatic calibration function, and even a user can be remotely guided to automatically implement parameter calibration to realize system performance improvement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a hydraulic-electric parameter calibration system of a pump-valve cooperative control hydraulic system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an electro-hydraulic parameter calibration system of another pump-valve cooperative control hydraulic system according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a calibration process of an electro-hydraulic parameter of a pump-valve cooperative control hydraulic system according to an embodiment of the present invention;
FIG. 4 is a graph of a theoretical control current (sample) for an electrically proportional pump according to an embodiment of the present invention;
FIG. 5 is a graph illustrating measured control current of an electric proportional pump according to an embodiment of the present invention;
FIG. 6 is a flow chart of minimum control current calibration for an electro-proportional pump according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating the maximum control current calibration of an electric proportional pump according to an embodiment of the present invention;
FIG. 8 is a flow chart of minimum control current calibration for an electro-proportional directional valve according to an embodiment of the present invention;
fig. 9 is a flowchart of minimum control current calibration of an electro-proportional directional valve according to an embodiment of the present invention.
Description of reference numerals:
the hydraulic control system comprises a 1-electric proportional pump, a 2-electric proportional multi-way valve, a 21-electric proportional reversing valve, a 211-telescopic proportional reversing valve, a 212-variable amplitude proportional reversing valve, a 22-main overflow valve, a 23-secondary overflow valve, a 231-A port secondary overflow valve, a 232-B port secondary overflow valve, a 3-hydraulic oil cylinder, a 4-balance valve, a 5-controller, a 51-pressure sensor, a 52-displacement sensor and a 53-display.
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 of the present invention, which can be obtained by a person skilled in the art without inventive step, are within the scope of the present invention.
Examples
As shown in fig. 1 to 9, a hydraulic-electric parameter calibration system of a pump-valve cooperative control hydraulic system includes a pump-valve cooperative control hydraulic system and a calibration element;
the pump-valve cooperative control hydraulic system comprises an electric proportional pump 1, an electric proportional multi-way valve 2 and a hydraulic oil cylinder 3, wherein the electric proportional multi-way valve 2 is connected between the electric proportional pump 1 and the hydraulic oil cylinder 3 and comprises a main overflow valve 22, an electric proportional reversing valve 21 and a secondary overflow valve 23 which are arranged on a hydraulic pipeline;
the calibration element comprises a controller 5, a pressure sensor 51 and a displacement sensor 52, wherein the pressure sensor 51 is arranged in an oil inlet pipeline of the hydraulic system and is used for monitoring the pressure of the outlet of the pump; the displacement sensor 52 is arranged on a piston rod of the hydraulic oil cylinder 3 and is used for acquiring a displacement change signal of the piston rod;
the electric proportional pump 1, the electric proportional reversing valve 21, the pressure sensor 51 and the displacement sensor 52 are all connected with the controller 5 through electric signals, and the controller 5 finishes automatic calibration of electric control parameters by outputting electric control signals and processing signals acquired by the sensors in real time. Specifically, the controller 5 outputs control currents of the electric proportional pump 1 and the electric proportional directional valve 21, collects pressure values and piston rod displacement amounts of the pressure sensor 51 and the displacement sensor 52, and converts the piston rod displacement amounts into oil cylinder speed values; the controller 5 is also connected with a display 53 for displaying the hydraulic component pressure values and the electrical control parameter values.
The display 53 is used for displaying information such as a system outlet pressure value, normal/abnormal calibration, a parameter name to be calibrated and the like in the calibration process besides displaying a final calibration result; the electric proportional pump 1 is arranged between an oil inlet pipeline and an oil tank, an inlet of the pump is connected with the oil tank, and an outlet of the pump is connected with the oil inlet pipeline and used for providing hydraulic oil for the whole hydraulic system and improving the pressure of the hydraulic oil.
The displacement sensor 52 may be an existing device, or may be a flow sensor, an angle sensor or an angular velocity sensor, as long as the purpose of acquiring a speed change signal of an oil cylinder, a displacement change signal or an inclination angle change signal of the boom can be achieved. When the angle sensor is adopted, the specific installation structure refers to the invention patent CN107218267A published in 29.9.2017, wherein the invention patent discloses a device for detecting the displacement of the hydraulic oil cylinder, the gear and the angle sensor are coaxially connected, the rotation angle of the lever is detected by the angle sensor, and finally the speed change of the oil cylinder is monitored by the inclination angle change signal of the arm support.
In the hydro-electric parameter calibration system provided by the invention, an electric proportional pump 1 is used as a power element to convert mechanical energy of a prime motor into pressure energy of liquid under the control of a controller 5, an electric proportional reversing valve 21 is used as a control element to control and adjust the pressure, flow and direction of the liquid in a hydraulic system, and a hydraulic oil cylinder 3 is used as an execution element to convert the pressure energy of the liquid into mechanical energy to drive a load to do work.
The mounting structure of each element of the pump-valve cooperative control hydraulic system is shown in figure 1, a P port of an electric proportional directional valve 21 is connected with an oil inlet pipeline of the hydraulic system, a T port is connected with an oil return pipeline of the hydraulic system, an A port is connected with a rodless cavity of a hydraulic oil cylinder 3, and a B port is connected with a rod cavity of the hydraulic oil cylinder 3; the main overflow valve 22 is arranged on an oil inlet pipeline of the hydraulic system, the secondary overflow valve 23 comprises an A-port secondary overflow valve 231 and a B-port secondary overflow valve 232, the A-port secondary overflow valve 231 is arranged on a hydraulic pipeline between an A port and a rodless cavity of the hydraulic oil cylinder 3, and the B-port secondary overflow valve 232 is arranged on a hydraulic pipeline between a B port and a rod cavity of the hydraulic oil cylinder 3. And a balance valve 4 is also arranged on a hydraulic pipeline between the port A and a rodless cavity of the hydraulic oil cylinder 3.
The main overflow valve 22, the secondary overflow valve 23 and the balance valve 4 are used as auxiliary elements for ensuring normal operation of the system, the main overflow valve 22 is used for stabilizing system pressure, the secondary overflow valve 23 is used for stabilizing pressure of a cavity of the hydraulic oil cylinder 3, and the balance valve 4 is used for controlling retraction speed of the oil cylinder to ensure that the speed of the oil cylinder cannot be out of control.
The first embodiment is as follows:
as shown in the pump valve group on the left side of fig. 2, the electric proportional directional valve is a telescopic-coupling proportional directional valve 211, the secondary overflow valve 23 includes an extending secondary overflow valve (an a-port secondary overflow valve 231) and a secondary overflow valve (a B-port secondary overflow valve 232), and the hydraulic cylinder 3 is a telescopic cylinder, and specifically, a double-acting telescopic cylinder may be used.
Example two:
as shown in the right pump valve group in fig. 2, the electric proportional directional valve is a variable amplitude linkage proportional directional valve 212, the secondary overflow valve 23 includes a variable amplitude secondary overflow valve (an a-port secondary overflow valve 231) and a variable amplitude secondary overflow valve (a B-port secondary overflow valve 232), and the hydraulic cylinder 3 is a variable amplitude cylinder, and specifically, a double-acting piston cylinder can be used.
The pump valve cooperative control hydraulic systems provided in the first embodiment and the second embodiment respectively include a set of control element, an actuator element and an auxiliary element, and the combined implementation of the first embodiment and the second embodiment is as shown in fig. 2, that is, a plurality of sets of pump valve cooperative control hydraulic systems can be arranged in the calibration system provided by the present invention, and are respectively calibrated by using the calibration elements connected thereto, so as to obtain the hydraulic and electric parameter values of each set of pump valve cooperative control hydraulic systems.
The invention also adopts a hydro-electric parameter calibration method of the pump-valve cooperative control hydraulic system, which is executed by the controller 5 and comprises a minimum and maximum (displacement) control current calibration method of the electric proportional pump 1, a minimum and maximum control current calibration method of the electric proportional directional valve 21, a pressure calibration method of the main overflow valve 22 and a calibration method of the secondary overflow valve 23; the controller 5 is used for outputting electric control signals to the electric proportional pump 1 and the electric proportional reversing valve 21 and processing signals collected by the displacement sensor 52 and the pressure sensor 51 in real time.
The minimum (displacement) control current calibration method of the electric proportional pump 1 comprises the following steps:
step S1, the controller 5 determines whether the electric proportional pump 1 is in the lift or return stroke, if so, step S101 is executed, and if so, step S106 is executed;
step S101, setting a maximum current value by the electric proportional directional valve 21;
step S102, setting the control current value of the electric proportional pump 1 to be 0 or the lower limit value of the theoretically designed minimum control current;
step S103, gradually increasing the control current value of the electric proportional pump 1;
step S104, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes or not through the displacement sensor 52, if so, the control current value of the electric proportional pump 1 at the moment is automatically calibrated, and if not, the step S103 is returned to;
step S105, the controller 5 repeats the step S102 to the step S104, the control current values of the x electric proportional pumps 1 are obtained, the average value is taken as the minimum control current calibration value of the pump, and x is more than or equal to 2; completing the calibration and ending;
step S106, setting a maximum current value by the electric proportional directional valve 21;
step S107, setting the control current value of the electric proportional pump 1 as the minimum control current upper limit value of theoretical design;
step S108, gradually reducing the control current value of the electric proportional pump 1;
step S109, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes or not through the displacement sensor 52, if so, the control current value of the electric proportional pump 1 at the moment is automatically calibrated, and if not, the step S108 is returned to;
step S110, the controller 5 repeats the steps S107 to S109, control current values of the x electric proportional pumps 1 are obtained, an average value is taken as a pump minimum control current calibration value, and x is larger than or equal to 2; and finishing the calibration.
Wherein, the maximum current value set by the electric proportional directional valve 21 in the steps S101 and S106 is a theoretically designed maximum current value; in step S104, "the controller 5 determines whether the speed of the hydraulic cylinder 3 changes through the displacement sensor 52" means that the controller 5 determines whether the speed of the hydraulic cylinder 3 reaches a preset value or starts to work to generate a speed; in step S109, "the controller 5 determines whether the speed of the hydraulic cylinder 3 changes by using the displacement sensor 52" is that the controller 5 determines whether the speed of the hydraulic cylinder 3 reaches a preset value or decreases to 0.
The maximum (displacement) control current calibration method of the electric proportional pump 1 comprises the following steps:
in step S2, the controller 5 determines whether the electric proportional pump 1 is in the lift or return stroke, and if the electric proportional pump 1 is in the lift, the step S201 is executed, and if the electric proportional pump is in the return stroke, the step S206 is executed;
step S201, the electric proportional directional valve 21 sets a maximum current value;
step S202, setting the control current value of the electric proportional pump 1 as the maximum control current lower limit value of theoretical design;
step S203, gradually increasing the control current value of the electric proportional pump 1;
step S204, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes or not through the displacement sensor 52, if so, the control current value of the electric proportional pump 1 at the moment is automatically calibrated, and if not, the step S203 is returned to;
step S205, the controller 5 repeatedly executes the steps S202 to S204, obtains the control current values of n electric proportional pumps 1, takes the average value as the calibration value of the maximum control current of the pump, and n is more than or equal to 2; completing the calibration and ending;
step S206, the electric proportional directional valve 21 sets a maximum current value;
step S207, setting the control current value of the electric proportional pump 1 as a maximum value or a theoretically designed maximum control current upper limit value;
step S208, gradually reducing the control current value of the electric proportional pump 1;
step S209, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes through the displacement sensor 52, if so, the control current value of the electric proportional pump 1 at the moment is automatically calibrated, and if not, the step S208 is returned;
step S210, the controller 5 repeatedly executes the step S207 to the step S209, obtains the control current values of n electric proportional pumps 1, takes the average value as the calibration value of the maximum control current of the pump, and n is more than or equal to 2; and finishing the calibration.
Wherein, the maximum current value set by the electric proportional directional valve 21 in the steps S201 and S206 is a theoretically designed maximum current value; in step S204, "the controller 5 determines whether the speed of the hydraulic cylinder 3 changes through the displacement sensor 52" means that the controller 5 determines whether the speed of the hydraulic cylinder 3 is increased and then keeps the speed unchanged; in step S209, the "controller 5 determines whether the speed of the hydraulic cylinder 3 has changed by the displacement sensor 52" is the controller 5 determining whether the speed of the hydraulic cylinder 3 is less than a set value or starts to decrease.
The minimum control current calibration method of the electric proportional directional valve 21 comprises the following steps:
in step S3, the controller 5 determines whether the electric proportional switching valve 21 is in the lift or return mode, and if the electric proportional switching valve is in the lift mode, the step S301 is executed, and if the electric proportional switching valve is in the return mode, the step S306 is executed;
step S301, starting the electric proportional pump 1;
step S302, setting the control current value of the electric proportional directional valve 21 to 0 or the lower limit value of the theoretically designed minimum control current;
step S303, gradually increasing the control current value of the electric proportional directional valve 21;
step S304, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes or not through the displacement sensor 52, if so, the control current value of the electric proportional directional valve 21 at the moment is automatically calibrated, and if not, the step S303 is returned;
step S305, the controller 5 repeatedly executes the steps S302 to S304, obtains the control current values of the y electric proportional directional valves 21, takes the average value as the minimum valve control current calibration value, and finishes the calibration when y is more than or equal to 2;
step S306, starting the electric proportional pump 1;
step S307, setting the control current value of the electric proportional directional valve 21 as a maximum value or a theoretically designed maximum control current upper limit value;
step S308, gradually reducing the control current value of the electric proportional directional valve 21;
step S309, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes through the displacement sensor 52, if so, the control current value of the electric proportional directional valve 21 at the moment is automatically calibrated, and if not, the step S308 is returned to;
and S310, the controller 5 repeatedly executes the steps S307 to S309 to obtain the control current values of the y electric proportional directional valves 21, the average value is taken as the valve minimum control current calibration value, y is larger than or equal to 2, the calibration is completed, and the operation is finished.
In step S301 and step S306, starting the electric proportional pump 1, that is, outputting an electric control signal by the controller 5 to enable the electric proportional pump 1 to normally operate, and optionally setting a current value of the normal operation of the pump, in view of energy saving and environmental protection, and based on the calibrated pump minimum (displacement) control current calibration value obtained in step S1 to step S110, setting the normal operation current value as the pump minimum (displacement) control current calibration value plus a certain increment, and controlling the electric proportional pump 1 to operate; in step S304, the "controller 5 determines whether the speed of the hydraulic cylinder 3 changes through the displacement sensor 52" is that the controller 5 determines whether the speed of the hydraulic cylinder 3 reaches a preset value or starts to work to generate a speed; in step S309, "the controller 5 determines whether the speed of the hydraulic cylinder 3 changes by using the displacement sensor 52" is that the controller 5 determines whether the speed of the hydraulic cylinder 3 reaches a preset value or decreases to 0.
The method for calibrating the maximum control current of the electric proportional directional valve 21 comprises the following steps:
in step S4, the controller 5 determines whether the electric proportional switching valve 21 is in the lift or return mode, and if the electric proportional switching valve is in the lift mode, the step S401 is executed, and if the electric proportional switching valve is in the return mode, the step S406 is executed;
step S401, setting a maximum current value for the electric proportional pump 1;
step S402, setting the control current value of the electric proportional directional valve 21 as the maximum control current lower limit value of theoretical design;
in step S403, the control current value of the electro proportional directional valve 21 is gradually increased;
step S404, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes through the displacement sensor 52, if so, the control current value of the electric proportional directional valve 21 at the moment is automatically calibrated, and if not, the step S403 is returned;
step S405, the controller 5 repeatedly executes the steps S402 to S404 to obtain the control current values of the m electric proportional directional valves 21, the average value is taken as the maximum valve control current calibration value, and m is larger than or equal to 2; completing the calibration and ending;
step S406, setting a maximum current value for the electric proportional pump 1;
step S407, setting the control current value of the electric proportional directional valve 21 as a maximum current value or a theoretically designed maximum control current upper limit value;
step S408, gradually reducing the control current value of the electric proportional directional valve 21;
step S409, the controller 5 judges whether the speed of the hydraulic oil cylinder 3 changes through the displacement sensor 52, if so, the control current value of the electric proportional directional valve 21 at the moment is automatically calibrated, and if not, the step S408 is returned to;
and step S410, the controller 5 repeatedly executes the steps S407 to S409 to obtain the control current values of the m electric proportional directional valves 21, the average value is taken as the maximum valve control current calibration value, m is larger than or equal to 2, the calibration is completed, and the operation is finished.
The maximum current value set by the electric proportional pump 1 in steps S401 and S406 is a theoretically designed maximum current value, and may also be set by referring to a calibrated pump maximum (displacement) control current value obtained by calibration in steps S2 to S210; in step S404, "the controller 5 determines whether the speed of the hydraulic cylinder 3 changes through the displacement sensor 52" means that the controller 5 determines whether the speed of the hydraulic cylinder 3 is increased and then keeps the speed unchanged; in step S409, "the controller 5 determines whether the speed of the hydraulic cylinder 3 has changed by the displacement sensor 52" means that the controller 5 determines whether the speed of the hydraulic cylinder 3 is less than a set value or starts to decrease.
The pressure calibration method of the main relief valve 22 includes,
step S501, setting the control current value of the electric proportional directional valve 21 to be zero;
step S502, starting the electric proportional pump 1;
step S503, after the main overflow valve 22 starts to overflow, the controller 5 monitors and determines whether the pump outlet pressure value is not increased and is kept constant through the pressure sensor 51 in real time, if so, the pump outlet pressure value at this time is automatically calibrated, and if not, the step is repeatedly executed.
The pressure calibration method of the secondary overflow valve 23 comprises the following steps,
step S601, extending or retracting the hydraulic oil cylinder 3 to a limit position in advance;
step S602, starting the electric proportional reversing valve 21 and the electric proportional pump 1;
step S603, after the secondary overflow valve 23 starts to overflow, the controller 5 monitors and determines whether the pump outlet pressure value does not increase and keeps constant through the pressure sensor 51 in real time, if so, automatically calibrates the pump outlet pressure value at this time, and if not, repeatedly executes the step.
If the step S601 is that when the hydraulic oil cylinder 3 extends to the limit position, the pressure value of the secondary overflow valve 23 obtained by calibration is the pressure value of the a-port secondary overflow valve 23; if the hydraulic oil cylinder 3 retracts to the limit position in the step S601, the pressure value of the secondary overflow valve 23 obtained through calibration is the pressure value of the B-port secondary overflow valve 23. Equivalently, step S601 and step S602 may also be: and starting the electric proportional directional valve 21 and opening the electric proportional pump 1 under the working condition that the hydraulic oil cylinder 3 extends or retracts to the limit position.
As shown in fig. 3, during the calibration of the hydro-electric parameters of the pump-valve-coordinated control hydraulic system, the controller 5 also sends a calibration execution status to the display 53, indicating that the calibration is being performed or is completed. Each calibrated parameter sets a lower limit value and an upper limit value boundary, and in the calibration range, after calibration is completed, the calibration result is automatically stored in the controller 5, and if the calibration result exceeds the calibration range, the display 53 prompts abnormal calibration to remind an operator to check. The upper/lower limit value is the theoretical maximum/minimum current value given by the pump sample plus a certain upper/lower deviation, the upper/lower deviation is determined according to the current control precision requirement or experience provided by the pump sample, and the upper/lower limit value is preset in the controller 5.
Further, by the above calibration method, fig. 4 shows the theoretical control current of the electric proportional pump 1 with the displacement varying from 0 to 100%, which is relatively linear, the displacement of 0 (point a) at the start point of the pump corresponds to the control current 200mA, the displacement of 100% (point B) at the end point of the pump corresponds to the control current 600mA, and the slope between the two is the theoretical control current curve of the displacement of the electric proportional pump 1 from 0 to 100%. The theoretical maximum control current of the pump is 600mA, the minimum control current is 200mA, if the up-down deviation is +/-100 mA according to sample data, the upper limit value of the maximum control current of the pump is 700mA, and the lower limit value of the maximum control current of the pump is 500 mA; the upper limit value of the pump minimum control current is 300mA, and the lower limit value of the pump minimum control current is 100 mA. Taking the minimum control current of the pump as an example, if the calibrated value of the minimum control current of the pump obtained by calibration is in the boundary range of the upper limit value and the lower limit value of the minimum control current of the pump, automatically extracting and storing the calibration result to the controller 5; otherwise, if the boundary range of the upper and lower limit values is exceeded, the display 53 prompts the calibration abnormality to remind the operator to check.
The hydro-electric parameter calibration method provided by the invention is adopted to carry out calibration for a plurality of times on the opening (lift) and closing (return) processes of the electric proportional pump 1, the actually calibrated maximum and minimum control current curve graphs of the pump are shown in figure 5, and when the pump lift is carried out: the minimum control current is A point, and the maximum control current is B point; when the pump returns: the maximum control current is point C, and the minimum control current is point D.
When the calibration device is used, in the actual calibration process of the pump, the calibration of the minimum control current of the pump comprises the calibration of the minimum control current in the pump lift and the calibration of the minimum control current in the pump return, and the calibration of the maximum control current of the pump comprises the calibration of the maximum control current in the pump lift and the calibration of the maximum control current in the pump return.
As shown in fig. 6, when the minimum pump current is calibrated, when the controller 5 determines that the pump is in a lift range, the "pump lift minimum current calibration" is selected on the display 53, the electric proportional valve sets a theoretical maximum current, the pump starts to increase from a lower limit value of the minimum control current, and when the speed of the oil cylinder reaches a preset value, the pump current at this time is calibrated to be a pump lift minimum control current calibration value, that is, a point a current value 220mA in fig. 5; when the minimum pump current is calibrated, if the controller 5 determines that the pump is in the return stroke, the "pump return stroke minimum current calibration" is selected on the display 53, the electric proportional valve sets the theoretical maximum current, the pump starts to decrease from the upper limit value of the minimum control current, and when the speed of the oil cylinder reaches a preset value, the pump current at the time is calibrated to be the pump return stroke minimum control current calibration value, namely the current value 150mA at the point D in fig. 5.
As shown in fig. 7, when the maximum pump current is calibrated, when the controller 5 determines that the pump is in a lift range, the "pump lift maximum current calibration" is selected on the display 53, the electric proportional valve sets the theoretical maximum current, the pump starts to increase from the lower limit value of the maximum control current, and when the speed of the oil cylinder reaches the preset value, the pump current at this time is calibrated to be the pump lift maximum control current calibration value, that is, the current value 600mA at point B in fig. 5; when the controller 5 judges that the pump is in the return stroke, the display 53 selects 'pump return stroke maximum current calibration', the electro proportional valve sets the theoretical maximum current, the pump starts to decrease from the upper limit value of the maximum control current, and when the speed of the oil cylinder reaches the preset value, the pump current at the time of calibration is the pump return stroke maximum control current calibration value, namely the current value 530mA at the point C in fig. 5.
According to the above, according to the numerical value of the coordinate axis, 150mA is the minimum control current of the pump during return stroke, and 220mA is the minimum control current of the pump lift; 530mA is the maximum control current of the pump return stroke, and 600mA is the maximum control current of the pump lift. If the maximum and minimum control currents of the pump lift and the return stroke are within the boundary range of the upper and lower limit values, the controller 5 determines that the calibration result is normal and automatically stores the calibration result.
Similarly, in the actual calibration process of the valve, the calibration of the minimum control current of the valve comprises the calibration of the minimum control current in the valve lift and the calibration of the minimum control current in the valve return, and the calibration of the maximum control current of the valve comprises the calibration of the maximum control current in the valve lift and the calibration of the maximum control current in the valve return.
As shown in fig. 8, when the minimum valve control current is calibrated, when the controller 5 determines that the valve is in the lift range, the "valve lift minimum current calibration" is selected on the display 53, the pump current is added with a certain increment on the basis of the minimum current, the valve is increased from the lower limit value of the minimum control current, when the speed of the oil cylinder reaches the preset value, the valve current at this time is calibrated to be the valve lift minimum control current calibration value, and the valve lift minimum current calibration is completed; when the controller 5 judges that the valve is in the return stroke, the 'valve return stroke minimum current calibration' is selected on the display 53, the pump current is added with a certain increment on the basis of the minimum current, the valve is reduced from the minimum current upper limit value, when the speed of the oil cylinder reaches a preset value, the valve current at the moment is calibrated to be the valve return stroke minimum control current calibration value, and the valve return stroke minimum current calibration is completed.
As shown in fig. 9, when calibrating the maximum valve control current, when the controller 5 determines that the valve is in the lift range, the display 53 selects "valve lift maximum current calibration", the pump sets the maximum current, the valve starts to increase from the lower limit value of the maximum control current, when the speed of the oil cylinder reaches the preset value, the valve current at this time is calibrated to be the valve lift maximum control current calibration value, and the valve lift maximum current calibration is completed; when the controller 5 judges that the valve is in the return stroke, the display 53 selects 'valve return stroke maximum current calibration', the pump sets the maximum current, the valve starts to reduce from the maximum current upper limit value, when the speed of the oil cylinder reaches the preset value, the valve current at the moment is calibrated to be the valve return stroke maximum control current calibration value, and the valve return stroke maximum current calibration is completed.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A hydro-electric parameter calibration system of a pump-valve cooperative control hydraulic system is characterized by comprising a pump-valve cooperative control hydraulic system and a calibration element;
the pump-valve cooperative control hydraulic system comprises an electric proportional pump, an electric proportional multi-way valve and a hydraulic oil cylinder, wherein the electric proportional multi-way valve is connected between the electric proportional pump and the hydraulic oil cylinder and comprises a main overflow valve, an electric proportional reversing valve and a secondary overflow valve which are arranged on a hydraulic pipeline;
the calibration element comprises a controller, a pressure sensor and a displacement sensor, the pressure sensor is arranged in an oil inlet pipeline of the hydraulic system, and the displacement sensor is arranged on a piston rod of the hydraulic oil cylinder;
the electric proportional pump, the electric proportional reversing valve, the pressure sensor and the displacement sensor are all connected with the controller through electric signals, the controller finishes the calibration of the hydraulic parameters of the hydraulic system by respectively controlling the working currents of the electric proportional pump and the electric proportional reversing valve, and the controller is further connected with a display used for displaying the pressure value and the electric control parameter value of the hydraulic element.
2. The system for calibrating the hydraulic and electric parameters of a pump-valve cooperative control hydraulic system according to claim 1,
the port P of the electric proportional reversing valve is connected with an oil inlet pipeline of a hydraulic system, the port T is connected with an oil return pipeline of the hydraulic system, the port A is connected with a rodless cavity of a hydraulic oil cylinder, and the port B is connected with a rod cavity of the hydraulic oil cylinder;
the secondary overflow valve comprises an A-port secondary overflow valve and a B-port secondary overflow valve, the A-port secondary overflow valve is arranged on a hydraulic pipeline between the A port and a rodless cavity of the hydraulic oil cylinder, and the B-port secondary overflow valve is arranged on a hydraulic pipeline between the B port and a rod cavity of the hydraulic oil cylinder;
and a balance valve is also arranged on a hydraulic pipeline between the port A and a rodless cavity of the hydraulic oil cylinder.
3. A hydraulic-electric parameter calibration method of a pump-valve cooperative control hydraulic system based on claim 1 is executed by a controller, and comprises a minimum and maximum control current calibration method of an electric proportional pump, a minimum and maximum control current calibration method of an electric proportional directional valve, a pressure calibration method of a main overflow valve and a calibration method of a secondary overflow valve; the controller is used for outputting electric control signals to the electric proportional pump and the electric proportional reversing valve and processing signals collected by the displacement sensor and the pressure sensor in real time.
4. The method for calibrating the hydro-electric parameters of the pump-valve cooperative control hydraulic system as claimed in claim 3, wherein the method for calibrating the minimum control current of the electric proportional pump comprises the following steps:
step S1, the controller judges whether the electric proportional pump is in a lift range or a return range, if the electric proportional pump is in the lift range, the step S101 is executed, and if the electric proportional pump is in the return range, the step S106 is executed;
step S101, setting a maximum current value by the electric proportional directional valve;
step S102, setting the control current value of the electric proportional pump to be 0 or the lower limit value of the theoretically designed minimum control current;
step S103, gradually increasing the control current value of the electric proportional pump;
step S104, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S103 is returned to;
step S105, the controller repeats the step S102 to the step S104, control current values of the x electric proportional pumps are obtained, an average value is taken as a pump minimum control current calibration value, and x is larger than or equal to 2; completing the calibration and ending;
step S106, setting a maximum current value by the electric proportional directional valve;
step S107, setting the control current value of the electric proportional pump as the minimum control current upper limit value of theoretical design;
step S108, gradually reducing the control current value of the electric proportional pump;
step S109, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S108 is returned;
step S110, the controller repeats the step S107 to the step S109, control current values of the x electric proportional pumps are obtained, an average value is taken as a pump minimum control current calibration value, and x is larger than or equal to 2; and finishing the calibration.
5. The method for calibrating the hydro-electric parameters of the pump-valve cooperative control hydraulic system as claimed in claim 3, wherein the method for calibrating the maximum control current of the electric proportional pump comprises the following steps:
step S2, the controller determines whether the electric proportional pump is in a lift or return stroke, if yes, step S201 is executed, and if yes, step S206 is executed;
step S201, setting a maximum current value by the electric proportional directional valve;
step S202, setting the control current value of the electric proportional pump as the maximum control current lower limit value of theoretical design;
step S203, gradually increasing the control current value of the electric proportional pump;
step S204, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S203 is returned;
step S205, the controller repeatedly executes the steps S202 to S204, obtains the control current values of the n electric proportional pumps, takes the average value as the calibration value of the maximum control current of the pump, and n is more than or equal to 2; completing the calibration and ending;
step S206, setting a maximum current value by the electric proportional directional valve;
step S207, setting the control current value of the electric proportional pump as a maximum value or a theoretically designed maximum control current upper limit value;
step S208, gradually reducing the control current value of the electric proportional pump;
step S209, the controller judges whether the speed of the hydraulic oil cylinder changes through the displacement sensor, if so, the control current value of the electric proportional pump at the moment is automatically calibrated, and if not, the step S208 is returned;
step S210, the controller repeatedly executes the step S207 to the step S209, obtains the control current values of the n electric proportional pumps, takes the average value as the calibration value of the maximum control current of the pump, and n is more than or equal to 2; and finishing the calibration.
6. The method for calibrating the hydro-electric parameters of the pump-valve cooperative control hydraulic system as claimed in claim 3, wherein the method for calibrating the minimum control current of the electro-proportional directional valve comprises the following steps:
step S3, the controller judges whether the electric proportional directional valve is lift or return, if yes, step S301 is executed, and if yes, step S306 is executed;
step S301, starting the electric proportional pump;
step S302, setting the control current value of the electric proportional directional valve to be 0 or the lower limit value of the theoretically designed minimum control current;
step S303, gradually increasing the control current value of the electric proportional directional valve;
step S304, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional reversing valve is automatically calibrated, and if not, the step S303 is returned;
step S305, the controller repeatedly executes the step S302 to the step S304, the control current values of the y electric proportional directional valves are obtained, the average value is taken as the minimum control current calibration value of the valve, y is larger than or equal to 2, the calibration is completed, and the operation is finished;
step S306, starting the electric proportional pump;
step S307, setting the control current value of the electric proportional directional valve to be a maximum value or a maximum control current upper limit value designed theoretically;
step S308, gradually reducing the control current value of the electric proportional directional valve;
step S309, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional directional valve is automatically calibrated, and if not, the step S308 is returned;
and S310, the controller repeatedly executes the steps S307 to S309, the control current values of the y electric proportional directional valves are obtained, the average value is taken as the minimum control current calibration value of the valve, y is larger than or equal to 2, the calibration is completed, and the operation is finished.
7. The method for calibrating the hydro-electric parameters of the pump-valve cooperative control hydraulic system as claimed in claim 3, wherein the method for calibrating the maximum control current of the electro-proportional directional valve comprises the following steps:
step S4, the controller judges whether the electric proportional directional valve is a lift or a return, if the electric proportional directional valve is the lift, the step S401 is executed, and if the electric proportional directional valve is the return, the step S406 is executed;
step S401, setting a maximum current value by the electric proportional pump;
step S402, setting the control current value of the electric proportional directional valve as the maximum control current lower limit value of theoretical design;
step S403, gradually increasing the control current value of the electric proportional directional valve;
step S404, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional reversing valve is automatically calibrated, and if not, the step S403 is returned;
step S405, the controller repeatedly executes the step S402 to the step S404, the control current values of the m electric proportional directional valves are obtained, the average value is taken as the maximum control current calibration value of the valve, and m is larger than or equal to 2; completing the calibration and ending;
step S406, setting a maximum current value by the electric proportional pump;
step S407, setting the control current value of the electric proportional directional valve as a maximum current value or a theoretically designed maximum control current upper limit value;
step S408, gradually reducing the control current value of the electric proportional directional valve;
step S409, the controller judges whether the speed of the hydraulic oil cylinder changes or not through the displacement sensor, if so, the control current value of the electric proportional reversing valve is automatically calibrated, and if not, the step S408 is returned;
and S410, repeatedly executing the step S407 to the step S409 by the controller, obtaining control current values of the m electric proportional directional valves, taking an average value as a maximum valve control current calibration value, wherein m is more than or equal to 2, completing the calibration, and ending.
8. The method for calibrating the hydraulic and electric parameters of the pump-valve cooperative control hydraulic system as claimed in claim 3, characterized in that the method for calibrating the pressure of the main overflow valve comprises,
step S501, setting the control current value of the electric proportional directional valve to be zero;
step S502, starting the electric proportional pump;
step S503, after the main overflow valve starts to overflow, the controller monitors and judges whether the pump outlet pressure value is not increased and keeps constant through the pressure sensor in real time, if so, the pump outlet pressure value at the moment is automatically calibrated, and if not, the step is repeatedly executed.
9. The method for calibrating the hydraulic and electrical parameters of the pump-valve cooperative control hydraulic system according to claim 3, wherein the method for calibrating the pressure of the secondary overflow valve comprises,
step S601, extending or retracting the hydraulic oil cylinder to a limit position;
step S602, starting the electric proportional reversing valve and the electric proportional pump;
and S604, after the secondary overflow valve starts to overflow, the controller monitors and judges whether the pump outlet pressure value is not increased and keeps constant through the pressure sensor in real time, if so, the pump outlet pressure value at the moment is automatically calibrated, and if not, the step is repeatedly executed.
10. The method for calibrating the hydraulic-electric parameters of the pump-valve cooperative control hydraulic system according to claim 4 or 6, wherein the lower limit value of the theoretically designed minimum control current is the theoretical minimum control current value of the calibrated parameters minus a preset deviation value, and the upper limit value of the theoretically designed minimum control current is the theoretical minimum control current value of the calibrated parameters plus a preset deviation value.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117738975A (en) * | 2024-02-06 | 2024-03-22 | 中科云谷科技有限公司 | Calibration method, calibration device and storage medium for electromagnetic valve |
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| CN117738975A (en) * | 2024-02-06 | 2024-03-22 | 中科云谷科技有限公司 | Calibration method, calibration device and storage medium for electromagnetic valve |
| CN117738975B (en) * | 2024-02-06 | 2024-04-26 | 中科云谷科技有限公司 | Calibration method, calibration device and storage medium for electromagnetic valve |
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